+ python -m lidar_slam --no-model /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 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 0.001858064 Adjusted end_distance from 9.223372036854776e+18 to 263.171858064 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001858064 meters 0.10925134680049543 Centerline is valid? [0, False] SLAMing on 0.031858064 meters 0.11320295013142212 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99995574e-01 2.88017622e-03 -7.46524239e-04 2.03897078e-03] [-2.87822407e-03 9.99992470e-01 2.60301087e-03 4.25654780e-03] [ 7.54015748e-04 -2.60085069e-03 9.99996334e-01 -4.15969338e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061858064 meters 0.11510025763902679 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99998388e-01 6.57671280e-04 -1.67060955e-03 5.14797609e-03] [-6.58452135e-04 9.99999674e-01 -4.66900530e-04 1.21942046e-02] [ 1.67030194e-03 4.67999794e-04 9.99998496e-01 -1.76704562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091858064 meters 0.12339307747454406 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 9.99993354e-01 1.89830571e-03 -3.11259354e-03 9.45578349e-03] [-1.89867195e-03 9.99998191e-01 -1.14712528e-04 2.33177077e-02] [ 3.11237015e-03 1.20621560e-04 9.99995149e-01 -2.92962065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121858064 meters 0.12655683837114426 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99992997e-01 4.77737694e-04 -3.71175385e-03 1.13228044e-02] [-4.86298232e-04 9.99997223e-01 -2.30577221e-03 3.00395167e-02] [ 3.71064199e-03 2.30756108e-03 9.99990453e-01 -3.46998849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.151858064 meters 0.12960254496546483 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99984201e-01 3.45829511e-03 -4.43153086e-03 1.34712032e-02] [-3.45593243e-03 9.99993882e-01 5.40698855e-04 3.36527635e-02] [ 4.43337364e-03 -5.25375241e-04 9.99990035e-01 -4.00917386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18185806399999999 meters 0.13413289292368705 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.00 [[ 0.99998448 0.00157634 -0.00534361 0.01622599] [-0.00158675 0.99999685 -0.00194537 0.04067998] [ 0.00534052 0.00195382 0.99998383 -0.00482513] [ 0. 0. 0. 1. ]] SLAMing on 0.21185806399999998 meters 0.13851432244698492 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.00 [[ 9.99975532e-01 3.62833852e-03 -5.98090336e-03 1.80466064e-02] [-3.63276703e-03 9.99993135e-01 -7.29744140e-04 4.95096066e-02] [ 5.97821454e-03 7.51453513e-04 9.99981848e-01 -4.84851293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24185806399999998 meters 0.14099335922028733 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.01 [[ 0.99995409 0.00680588 -0.00674451 0.02006903] [-0.00678884 0.99997372 0.00254485 0.05208446] [ 0.00676165 -0.00249894 0.99997402 -0.00502029] [ 0. 0. 0. 1. ]] SLAMing on 0.271858064 meters 0.14283029544364725 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-0.01 [[ 9.99959401e-01 4.97053785e-03 -7.51596964e-03 2.26602914e-02] [-4.96831074e-03 9.99987608e-01 3.14959719e-04 5.81966428e-02] [ 7.51744202e-03 -2.77605259e-04 9.99971705e-01 -5.88239347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.301858064 meters 0.14701147897049793 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:-0.01 [[ 0.99996174 0.00378499 -0.00788582 0.02391922] [-0.00380024 0.99999094 -0.00191994 0.06641205] [ 0.00787848 0.00194984 0.99996706 -0.00620419] [ 0. 0. 0. 1. ]] SLAMing on 0.33185806399999995 meters 0.15042321648163653 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:-0.01 [[ 0.99996284 0.00294203 -0.00810346 0.02478624] [-0.00296751 0.99999069 -0.00313321 0.06998012] [ 0.00809416 0.00315714 0.99996226 -0.00651408] [ 0. 0. 0. 1. ]] SLAMing on 0.361858064 meters 0.15200420590850972 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.01 [[ 0.99996178 0.00214166 -0.00847634 0.02586795] [-0.00217677 0.99998908 -0.00413562 0.07314936] [ 0.00846739 0.00415392 0.99995552 -0.00667193] [ 0. 0. 0. 1. ]] SLAMing on 0.391858064 meters 0.15413734619528927 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-0.01 [[ 0.99995403 0.0020834 -0.00935887 0.03010798] [-0.00211271 0.99999289 -0.0031227 0.07534062] [ 0.0093523 0.00314233 0.99995133 -0.0084802 ] [ 0. 0. 0. 1. ]] SLAMing on 0.421858064 meters 0.15611812482840776 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-0.01 [[ 0.99995062 0.00122286 -0.00986206 0.03121456] [-0.00126302 0.99999093 -0.00406737 0.07871137] [ 0.009857 0.00407962 0.9999431 -0.00823044] [ 0. 0. 0. 1. ]] SLAMing on 0.45185806399999995 meters 0.1607431949846574 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-0.01 [[ 9.99947306e-01 5.50072868e-04 -1.02509624e-02 3.27539009e-02] [-5.98975429e-04 9.99988453e-01 -4.76807432e-03 8.05903748e-02] [ 1.02482212e-02 4.77396315e-03 9.99936090e-01 -8.93840277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.481858064 meters 0.15750924047381754 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-0.01 [[ 9.99944148e-01 -5.83821500e-05 -1.05687482e-02 3.37946088e-02] [ 3.30783824e-07 9.99984915e-01 -5.49265653e-03 8.26842757e-02] [ 1.05689095e-02 5.49234626e-03 9.99929064e-01 -9.24505800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.511858064 meters 0.16186878102691613 Centerline is valid? [False, False] Translation: X:0.05, Y:0.08, Z:-0.01 [[ 0.99997261 -0.00297774 -0.00677542 0.04581993] [ 0.00300187 0.99998918 0.00355354 0.08198417] [ 0.00676476 -0.00357379 0.99997073 -0.01013316] [ 0. 0. 0. 1. ]] SLAMing on 0.541858064 meters 0.16180744851394604 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-0.01 [[ 0.9999695 -0.0032011 -0.0071241 0.04644854] [ 0.00322002 0.99999132 0.00264588 0.08680747] [ 0.00711557 -0.00266874 0.99997112 -0.00998147] [ 0. 0. 0. 1. ]] SLAMing on 0.5718580639999999 meters 0.16109664895393688 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-0.01 [[ 0.99996643 -0.00366552 -0.00732864 0.04717747] [ 0.00367969 0.99999138 0.00192089 0.08919456] [ 0.00732154 -0.00194779 0.9999713 -0.0102829 ] [ 0. 0. 0. 1. ]] SLAMing on 0.601858064 meters 0.16351723907171914 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-0.01 [[ 0.99996557 -0.0035634 -0.00749398 0.04757133] [ 0.00357413 0.99999261 0.00141841 0.09165772] [ 0.00748887 -0.00144514 0.99997091 -0.01041714] [ 0. 0. 0. 1. ]] SLAMing on 0.631858064 meters 0.16348572688822952 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-0.01 [[ 0.99996316 -0.00373276 -0.00772919 0.04834391] [ 0.00374273 0.99999218 0.00127632 0.09238611] [ 0.00772437 -0.0013052 0.99996931 -0.0106058 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6618580639999999 meters 0.16730308282765285 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-0.01 [[ 0.99996522 -0.00215952 -0.0080558 0.05134288] [ 0.00218718 0.99999174 0.00342691 0.09298911] [ 0.00804834 -0.00344441 0.99996168 -0.01272618] [ 0. 0. 0. 1. ]] SLAMing on 0.6918580639999999 meters 0.16649484114152482 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-0.01 [[ 0.99996261 -0.00249574 -0.00827918 0.05202653] [ 0.00252077 0.99999228 0.00301434 0.09449484] [ 0.0082716 -0.0030351 0.99996118 -0.01284787] [ 0. 0. 0. 1. ]] SLAMing on 0.721858064 meters 0.16548213702818734 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-0.01 [[ 0.99996162 -0.0023781 -0.00843191 0.05238018] [ 0.00239956 0.99999391 0.00253594 0.09702767] [ 0.00842583 -0.00255608 0.99996124 -0.01299178] [ 0. 0. 0. 1. ]] SLAMing on 0.751858064 meters 0.16598944920237824 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-0.01 [[ 0.99995947 -0.0028161 -0.00855172 0.05336798] [ 0.00283249 0.99999417 0.00190466 0.09839338] [ 0.0085463 -0.0019288 0.99996162 -0.01381452] [ 0. 0. 0. 1. ]] SLAMing on 0.781858064 meters 0.16598944920237824 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-0.01 [[ 0.99995947 -0.0028161 -0.00855172 0.05336798] [ 0.00283249 0.99999417 0.00190466 0.09839338] [ 0.0085463 -0.0019288 0.99996162 -0.01381452] [ 0. 0. 0. 1. ]] SLAMing on 0.8118580639999999 meters 0.16200881055409413 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-0.01 [[ 0.99995688 -0.0031513 -0.00873552 0.05407213] [ 0.00316402 0.99999395 0.00144336 0.09953112] [ 0.00873092 -0.00147094 0.9999608 -0.01413378] [ 0. 0. 0. 1. ]] SLAMing on 0.841858064 meters 0.16138634059530382 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-0.01 [[ 0.99995495 -0.00340437 -0.00886064 0.05472441] [ 0.00341414 0.99999358 0.00108773 0.10042156] [ 0.00885688 -0.00111793 0.99996015 -0.0145361 ] [ 0. 0. 0. 1. ]] SLAMing on 0.871858064 meters 0.16234773207665737 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-0.02 [[ 0.99995884 -0.00129618 -0.00898042 0.05705813] [ 0.00132918 0.99999239 0.00366885 0.10066799] [ 0.0089756 -0.00368063 0.99995294 -0.01644735] [ 0. 0. 0. 1. ]] SLAMing on 0.9018580639999999 meters 0.15878818996836205 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-0.02 [[ 0.99995645 -0.00168876 -0.00917866 0.0580384 ] [ 0.00171879 0.99999319 0.0032652 0.10121827] [ 0.00917309 -0.00328084 0.99995254 -0.01702497] [ 0. 0. 0. 1. ]] SLAMing on 0.9318580639999999 meters 0.15629316334146512 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-0.02 [[ 0.99995489 -0.00201996 -0.0092814 0.05880535] [ 0.00204776 0.99999344 0.00298622 0.10117712] [ 0.00927531 -0.00300509 0.99995247 -0.01759797] [ 0. 0. 0. 1. ]] SLAMing on 0.961858064 meters 0.1537135773821057 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-0.02 [[ 0.99994918 -0.00335262 -0.00950822 0.06103244] [ 0.0033753 0.9999915 0.00236938 0.1001565 ] [ 0.0095002 -0.00240135 0.99995199 -0.01910647] [ 0. 0. 0. 1. ]] SLAMing on 0.991858064 meters 0.15257003831771357 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-0.02 [[ 0.99994733 -0.00360762 -0.00960823 0.06179941] [ 0.00363035 0.99999065 0.0023491 0.09939271] [ 0.00959967 -0.00238386 0.99995108 -0.01967468] [ 0. 0. 0. 1. ]] SLAMing on 1.0218580640000001 meters 0.15010321354874065 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-0.02 [[ 0.99994324 -0.00409224 -0.00983759 0.06334431] [ 0.0041134 0.99998927 0.00213122 0.09871305] [ 0.00982876 -0.00217157 0.99994934 -0.02085633] [ 0. 0. 0. 1. ]] SLAMing on 1.0518580640000001 meters 0.14739062261991226 Centerline is valid? [False, False] Translation: X:0.07, Y:0.10, Z:-0.02 [[ 0.99993662 -0.00532192 -0.00992115 0.06523436] [ 0.00533985 0.99998416 0.00178098 0.09696554] [ 0.00991152 -0.00183384 0.9999492 -0.02237816] [ 0. 0. 0. 1. ]] SLAMing on 1.0818580640000002 meters 0.14335993649470638 Centerline is valid? [False, False] Translation: X:0.07, Y:0.10, Z:-0.02 [[ 0.99993264 -0.0055109 -0.01021514 0.06643333] [ 0.00553018 0.99998298 0.00186009 0.09600528] [ 0.01020472 -0.00191646 0.99994609 -0.02308495] [ 0. 0. 0. 1. ]] SLAMing on 1.111858064 meters 0.14047305525613385 Centerline is valid? [False, False] Translation: X:0.07, Y:0.10, Z:-0.02 [[ 0.99992936 -0.00567542 -0.0104431 0.06743456] [ 0.00569622 0.99998185 0.00196309 0.09504688] [ 0.01043177 -0.00202244 0.99994354 -0.02371028] [ 0. 0. 0. 1. ]] SLAMing on 1.141858064 meters 0.13369236800094322 Centerline is valid? [False, False] Translation: X:0.07, Y:0.09, Z:-0.02 [[ 0.99992603 -0.00644983 -0.0103121 0.06794923] [ 0.0064729 0.99997662 0.00220546 0.09262421] [ 0.01029763 -0.00227205 0.9999444 -0.02404659] [ 0. 0. 0. 1. ]] SLAMing on 1.171858064 meters 0.13157422562553914 Centerline is valid? [False, False] Translation: X:0.07, Y:0.09, Z:-0.02 [[ 0.99992489 -0.00650913 -0.01038507 0.0684454 ] [ 0.00653413 0.99997583 0.00237527 0.09168985] [ 0.01036936 -0.00244295 0.99994325 -0.02439716] [ 0. 0. 0. 1. ]] SLAMing on 1.201858064 meters 0.13179419386204436 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.02 [[ 0.99994899 -0.00878639 -0.00498197 0.084461 ] [ 0.00877459 0.99995866 -0.00238473 0.09333251] [ 0.00500272 0.0023409 0.99998475 -0.02372803] [ 0. 0. 0. 1. ]] SLAMing on 1.231858064 meters 0.1282906528451738 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.02 [[ 0.99997344 -0.00541775 -0.00487452 0.08490351] [ 0.00542743 0.99998332 0.0019732 0.09084022] [ 0.00486375 -0.0019996 0.99998617 -0.02403924] [ 0. 0. 0. 1. ]] SLAMing on 1.2618580640000001 meters 0.12234338601812594 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.02 [[ 0.99997278 -0.00551234 -0.00490414 0.08519498] [ 0.00552012 0.99998353 0.00157321 0.0917663 ] [ 0.00489538 -0.00160023 0.99998674 -0.02459771] [ 0. 0. 0. 1. ]] SLAMing on 1.2918580640000001 meters 0.12005389514538525 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.02 [[ 0.99997173 -0.00566165 -0.00494736 0.08544916] [ 0.00566707 0.99998336 0.00108242 0.09309161] [ 0.00494115 -0.00111043 0.99998718 -0.02497196] [ 0. 0. 0. 1. ]] SLAMing on 1.321858064 meters 0.11745266931912646 Centerline is valid? [False, False] Translation: X:0.09, Y:0.09, Z:-0.03 [[ 9.99970995e-01 -5.79141260e-03 -4.94661504e-03 8.54056041e-02] [ 5.79457673e-03 9.99983016e-01 6.25562496e-04 9.44140356e-02] [ 4.94290813e-03 -6.54207892e-04 9.99987570e-01 -2.50399379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.351858064 meters 0.11196554620953764 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.03 [[ 9.99971991e-01 -5.50110565e-03 -5.07493512e-03 8.54201743e-02] [ 5.50084506e-03 9.99984868e-01 -6.53060469e-05 9.72580537e-02] [ 5.07521758e-03 3.73877860e-05 9.99987120e-01 -2.53715889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.381858064 meters 0.1121516480283555 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.03 [[ 0.99998232 -0.00195914 -0.00561471 0.08766432] [ 0.00197769 0.9999926 0.0033003 0.0975155 ] [ 0.0056082 -0.00331134 0.99997879 -0.02711387] [ 0. 0. 0. 1. ]] SLAMing on 1.411858064 meters 0.11030259485124702 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.03 [[ 0.9999809 -0.00238193 -0.00570382 0.08814497] [ 0.00239504 0.99999451 0.00229109 0.09974957] [ 0.00569833 -0.00230471 0.99998111 -0.02772698] [ 0. 0. 0. 1. ]] SLAMing on 1.441858064 meters 0.10740175841788238 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.03 [[ 0.99998011 -0.00261846 -0.00573768 0.08823687] [ 0.00262751 0.99999532 0.00156918 0.10163867] [ 0.00573354 -0.00158422 0.99998231 -0.02796067] [ 0. 0. 0. 1. ]] SLAMing on 1.471858064 meters 0.10245794188381452 Centerline is valid? [False, False] Translation: X:0.09, Y:0.11, Z:-0.03 [[ 9.99979264e-01 -2.57116782e-03 -5.90429959e-03 8.82925568e-02] [ 2.57366257e-03 9.99996602e-01 4.14971803e-04 1.05462410e-01] [ 5.90321257e-03 -4.30158873e-04 9.99982483e-01 -2.82300779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.501858064 meters 0.10140385912258829 Centerline is valid? [False, False] Translation: X:0.09, Y:0.11, Z:-0.03 [[ 9.99977901e-01 -2.89181653e-03 -5.98628086e-03 8.84809705e-02] [ 2.88875594e-03 9.99995692e-01 -5.19851416e-04 1.07875545e-01] [ 5.98775839e-03 5.02547024e-04 9.99981947e-01 -2.84570991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5318580640000001 meters 0.10175171437536694 Centerline is valid? [False, False] Translation: X:0.09, Y:0.11, Z:-0.03 [[ 0.99997882 0.00111262 -0.0064129 0.08966069] [-0.0010913 0.99999387 0.00332809 0.10836255] [ 0.00641656 -0.00332102 0.9999739 -0.02907493] [ 0. 0. 0. 1. ]] SLAMing on 1.5618580640000002 meters 0.09341877277362605 Centerline is valid? [False, True] Translation: X:0.09, Y:0.11, Z:-0.03 [[ 9.99978385e-01 5.54803272e-04 -6.55142944e-03 8.97905902e-02] [-5.45983171e-04 9.99998942e-01 1.34799823e-03 1.13488004e-01] [ 6.55217038e-03 -1.34439212e-03 9.99977631e-01 -2.95604765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.591858064 meters 0.08979793334520839 Centerline is valid? [True, True] Translation: X:0.12, Y:0.12, Z:-0.03 [[ 9.99981189e-01 1.08591686e-03 -6.03673037e-03 1.17113552e-01] [-1.08628071e-03 9.99999408e-01 -5.69942404e-05 1.17401099e-01] [ 6.03666490e-03 6.35507520e-05 9.99981777e-01 -3.01332881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.621858064 meters 0.09208806146768952 Centerline is valid? [True, True] Translation: X:0.15, Y:0.12, Z:-0.03 [[ 9.99965367e-01 2.35109013e-03 -7.98354058e-03 1.46170822e-01] [-2.35178472e-03 9.99997232e-01 -7.76167488e-05 1.19684990e-01] [ 7.98333600e-03 9.63896295e-05 9.99968128e-01 -2.95620920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.651858064 meters 0.08813180491060209 Centerline is valid? [True, True] Translation: X:0.18, Y:0.12, Z:-0.03 [[ 9.99962248e-01 3.36736369e-03 -8.01015015e-03 1.75225291e-01] [-3.36811031e-03 9.99994325e-01 -7.97218638e-05 1.23982949e-01] [ 8.00983624e-03 1.06697923e-04 9.99967915e-01 -2.85225288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.681858064 meters 0.08359901076919356 Centerline is valid? [True, True] Translation: X:0.20, Y:0.13, Z:-0.03 [[ 9.99952302e-01 4.07765944e-03 -8.87501053e-03 2.04145612e-01] [-4.07859970e-03 9.99991679e-01 -8.78483029e-05 1.26880998e-01] [ 8.87457847e-03 1.24041728e-04 9.99960612e-01 -2.89039939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.711858064 meters 0.08225636646336776 Centerline is valid? [True, True] Translation: X:0.23, Y:0.13, Z:-0.03 [[ 9.99939097e-01 4.56282864e-03 -1.00490713e-02 2.33344196e-01] [-4.56406492e-03 9.99989580e-01 -1.00094453e-04 1.29084891e-01] [ 1.00485099e-02 1.45952971e-04 9.99949502e-01 -2.81173287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.741858064 meters 0.0807425629146909 Centerline is valid? [True, True] Translation: X:0.26, Y:0.13, Z:-0.03 [[ 9.99945250e-01 4.84021124e-03 -9.27737167e-03 2.60963401e-01] [-4.84128507e-03 9.99988277e-01 -9.32930440e-05 1.33857368e-01] [ 9.27681135e-03 1.38202337e-04 9.99956960e-01 -2.97641761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7718580640000001 meters 0.0752435135197955 Centerline is valid? [True, True] Translation: X:0.29, Y:0.14, Z:-0.03 [[ 9.99938242e-01 4.90714435e-03 -9.97152098e-03 2.89311082e-01] [-4.90839327e-03 9.99987949e-01 -1.00779481e-04 1.37113845e-01] [ 9.97090627e-03 1.49717403e-04 9.99950278e-01 -2.85526600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.801858064 meters 0.07474790431347453 Centerline is valid? [True, True] Translation: X:0.32, Y:0.14, Z:-0.03 [[ 9.99940320e-01 4.67804931e-03 -9.87279912e-03 3.18586945e-01] [-4.67926873e-03 9.99989047e-01 -1.00417404e-04 1.38417235e-01] [ 9.87222122e-03 1.46608892e-04 9.99951258e-01 -2.86773237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.831858064 meters 0.0696808150878554 Centerline is valid? [True, True] Translation: X:0.35, Y:0.14, Z:-0.03 [[ 9.99958969e-01 3.38452677e-03 -8.40264375e-03 3.47095079e-01] [-3.38536937e-03 9.99994266e-01 -8.60573440e-05 1.38793535e-01] [ 8.40230431e-03 1.14499866e-04 9.99964693e-01 -2.76784225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.861858064 meters 0.06380192619447696 Centerline is valid? [True, True] Translation: X:0.38, Y:0.14, Z:-0.03 [[ 9.99972209e-01 1.13829326e-03 -7.36791504e-03 3.75891787e-01] [-1.13888406e-03 9.99999349e-01 -7.59906815e-05 1.40250585e-01] [ 7.36782374e-03 8.43797706e-05 9.99972854e-01 -2.57721998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.891858064 meters 0.06529673333758498 Centerline is valid? [True, True] Translation: X:0.40, Y:0.14, Z:-0.03 [[ 9.99963063e-01 1.23212508e-03 -8.50620003e-03 4.03622100e-01] [-1.23292206e-03 9.99999236e-01 -8.84506529e-05 1.42374714e-01] [ 8.50608455e-03 9.89348674e-05 9.99963818e-01 -2.63895353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.921858064 meters 0.06359787190951564 Centerline is valid? [True, True] Translation: X:0.43, Y:0.14, Z:-0.03 [[ 9.99973001e-01 5.62080309e-04 -7.32676940e-03 4.32111627e-01] [-5.62656807e-04 9.99999839e-01 -7.66228061e-05 1.44152270e-01] [ 7.32672515e-03 8.07431941e-05 9.99973156e-01 -2.53740933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.951858064 meters 0.06027938825082511 Centerline is valid? [True, True] Translation: X:0.46, Y:0.15, Z:-0.02 [[ 9.99984976e-01 -6.17845734e-04 -5.44661659e-03 4.60943520e-01] [ 6.17542267e-04 9.99999808e-01 -5.73982858e-05 1.46231660e-01] [ 5.44665100e-03 5.40339075e-05 9.99985165e-01 -2.40343559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.981858064 meters 0.057363987079070936 Centerline is valid? [True, True] Translation: X:0.49, Y:0.15, Z:-0.02 [[ 9.99994322e-01 -1.55317114e-03 -2.99043876e-03 4.89454218e-01] [ 1.55308271e-03 9.99998793e-01 -3.18930217e-05 1.48376779e-01] [ 2.99048469e-03 2.72484419e-05 9.99995528e-01 -2.06402606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0118580639999997 meters 0.05609926954353398 Centerline is valid? [True, True] Translation: X:0.52, Y:0.15, Z:-0.02 [[ 9.99995331e-01 -1.54701109e-03 -2.63543507e-03 5.17659406e-01] [ 1.54694189e-03 9.99998803e-01 -2.82936939e-05 1.51376606e-01] [ 2.63547569e-03 2.42166969e-05 9.99996527e-01 -2.16299984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.041858064 meters 0.05632553530165322 Centerline is valid? [True, True] Translation: X:0.55, Y:0.15, Z:-0.02 [[ 9.99996593e-01 -1.02123376e-03 -2.40240140e-03 5.47432011e-01] [ 1.02117486e-03 9.99999478e-01 -2.57442742e-05 1.51249094e-01] [ 2.40242644e-03 2.32909146e-05 9.99997114e-01 -1.93072692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0718580639999997 meters 0.05132631853314289 Centerline is valid? [True, True] Translation: X:0.58, Y:0.16, Z:-0.02 [[ 9.99998445e-01 -1.75585285e-03 -1.66074429e-04 5.76170364e-01] [ 1.75585253e-03 9.99998458e-01 -2.05951170e-06 1.57206211e-01] [ 1.66077789e-04 1.76790629e-06 9.99999986e-01 -1.98447704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.101858064 meters 0.04913818209536993 Centerline is valid? [True, True] Translation: X:0.61, Y:0.16, Z:-0.02 [[ 9.99997980e-01 -1.98460604e-03 -3.19594326e-04 6.06829187e-01] [ 1.98460505e-03 9.99998031e-01 -3.41560977e-06 1.58428466e-01] [ 3.19600475e-04 2.78133436e-06 9.99999949e-01 -1.95477581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1318580639999998 meters 0.048499578467725346 Centerline is valid? [True, True] Translation: X:0.64, Y:0.16, Z:-0.02 [[ 9.99998775e-01 -1.36742501e-03 -7.61779203e-04 6.37383789e-01] [ 1.36741921e-03 9.99999065e-01 -8.14138512e-06 1.60543385e-01] [ 7.61789624e-04 7.09970363e-06 9.99999710e-01 -1.96210777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.161858064 meters 0.045686888241886166 Centerline is valid? [True, True] Translation: X:0.67, Y:0.16, Z:-0.02 [[ 9.99998442e-01 -1.52519042e-03 -8.88419846e-04 6.66595853e-01] [ 1.52518249e-03 9.99998837e-01 -9.60447882e-06 1.63952972e-01] [ 8.88433461e-04 8.24946147e-06 9.99999605e-01 -1.94952686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.191858064 meters 0.04421917458858635 Centerline is valid? [True, True] Translation: X:0.70, Y:0.17, Z:-0.02 [[ 9.99997873e-01 -1.83588882e-03 -9.40340234e-04 6.96357689e-01] [ 1.83587996e-03 9.99998315e-01 -1.02849125e-05 1.65612589e-01] [ 9.40357531e-04 8.55853879e-06 9.99999558e-01 -1.98759143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2218580639999996 meters 0.04360498100423617 Centerline is valid? [True, True] Translation: X:0.73, Y:0.17, Z:-0.02 [[ 9.99998080e-01 -1.15187857e-03 -1.58510634e-03 7.25802058e-01] [ 1.15185284e-03 9.99999336e-01 -1.71399084e-05 1.67751527e-01] [ 1.58512504e-03 1.53140662e-05 9.99998744e-01 -1.99864121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.251858064 meters 0.042596283462611705 Centerline is valid? [True, True] Translation: X:0.76, Y:0.17, Z:-0.02 [[ 9.99998064e-01 -7.33199392e-04 -1.82611288e-03 7.55342000e-01] [ 7.33164529e-04 9.99999731e-01 -1.97611333e-05 1.71921254e-01] [ 1.82612688e-03 1.84222539e-05 9.99998332e-01 -1.95290079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2818580639999997 meters 0.04156687115322951 Centerline is valid? [True, True] Translation: X:0.78, Y:0.17, Z:-0.02 [[ 9.99998484e-01 -4.53245223e-04 -1.68117757e-03 7.84890622e-01] [ 4.53215221e-04 9.99999897e-01 -1.82264272e-05 1.74953093e-01] [ 1.68118566e-03 1.74644643e-05 9.99998587e-01 -1.99084031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.311858064 meters 0.040365599733426606 Centerline is valid? [True, True] Translation: X:0.81, Y:0.18, Z:-0.02 [[ 9.99998502e-01 -4.62723607e-04 -1.66810329e-03 8.14776753e-01] [ 4.62693841e-04 9.99999893e-01 -1.82302238e-05 1.76990424e-01] [ 1.66811155e-03 1.74583753e-05 9.99998609e-01 -2.00061897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3418580639999997 meters 0.03896023509599523 Centerline is valid? [True, True] Translation: X:0.84, Y:0.18, Z:-0.02 [[ 9.99996585e-01 9.53504755e-05 -2.61160613e-03 8.44570026e-01] [-9.54249419e-05 9.99999995e-01 -2.83890635e-05 1.80794489e-01] [ 2.61160341e-03 2.86381789e-05 9.99996589e-01 -2.07114340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.371858064 meters 0.03902200146074704 Centerline is valid? [True, True] Translation: X:0.87, Y:0.18, Z:-0.02 [[ 9.99993424e-01 9.19004876e-04 -3.50832171e-03 8.74607243e-01] [-9.19144927e-04 9.99999577e-01 -3.83073418e-05 1.83137548e-01] [ 3.50828502e-03 4.15317460e-05 9.99993845e-01 -2.14109720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.401858064 meters 0.03881978294966331 Centerline is valid? [True, True] Translation: X:0.90, Y:0.19, Z:-0.02 [[ 9.99985482e-01 1.72454272e-03 -5.10512237e-03 9.03680637e-01] [-1.72485105e-03 9.99998511e-01 -5.59929827e-05 1.85818203e-01] [ 5.10501821e-03 6.47977455e-05 9.99986967e-01 -2.24944271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4318580639999996 meters 0.03770257271828463 Centerline is valid? [True, True] Translation: X:0.93, Y:0.19, Z:-0.02 [[ 9.99979655e-01 2.53071299e-03 -5.85542858e-03 9.31580496e-01] [-2.53113592e-03 9.99996795e-01 -6.48196196e-05 1.89819741e-01] [ 5.85524577e-03 7.96391864e-05 9.99982855e-01 -2.32296370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461858064 meters 0.03777457090849157 Centerline is valid? [True, True] Translation: X:0.96, Y:0.19, Z:-0.02 [[ 9.99969986e-01 4.32880067e-03 -6.42557341e-03 9.59306317e-01] [-4.32935001e-03 9.99990626e-01 -7.15854105e-05 1.92630911e-01] [ 6.42520330e-03 9.94018182e-05 9.99979353e-01 -2.38154380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4918580639999997 meters 0.037115428337695724 Centerline is valid? [True, True] Translation: X:0.99, Y:0.20, Z:-0.02 [[ 9.99967210e-01 5.16251179e-03 -6.23920595e-03 9.87993928e-01] [-5.16304791e-03 9.99986669e-01 -6.98229796e-05 1.95117217e-01] [ 6.23876231e-03 1.02034009e-04 9.99980534e-01 -2.33688732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.521858064 meters 0.037072584549297405 Centerline is valid? [True, True] Translation: X:1.02, Y:0.20, Z:-0.02 [[ 9.99953337e-01 7.22456628e-03 -6.41324450e-03 1.01593219e+00] [-7.22517878e-03 9.99973895e-01 -7.23421370e-05 1.98234725e-01] [ 6.41255444e-03 1.18675599e-04 9.99979432e-01 -2.36933284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5518580639999997 meters 0.03810227478559823 Centerline is valid? [True, True] Translation: X:1.04, Y:0.21, Z:-0.02 [[ 9.99903081e-01 1.18420069e-02 -7.32089466e-03 1.04477340e+00] [-1.18429295e-02 9.99929867e-01 -8.26817354e-05 2.05642836e-01] [ 7.31940210e-03 1.69374561e-04 9.99973198e-01 -2.40387832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.581858064 meters 0.037585862043270316 Centerline is valid? [True, True] Translation: X:1.07, Y:0.21, Z:-0.02 [[ 9.99893050e-01 1.36814287e-02 -5.16790115e-03 1.07381169e+00] [-1.36819155e-02 9.99906396e-01 -5.88437460e-05 2.09782761e-01] [ 5.16661235e-03 1.29544239e-04 9.99986645e-01 -2.34767106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6118580639999998 meters 0.03871181356166765 Centerline is valid? [True, True] Translation: X:1.10, Y:0.22, Z:-0.02 [[ 9.99827542e-01 1.73706298e-02 -6.56865137e-03 1.10306215e+00] [-1.73714966e-02 9.99849101e-01 -7.49152151e-05 2.15029582e-01] [ 6.56635884e-03 1.89009600e-04 9.99978423e-01 -2.41558080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6418580639999996 meters 0.04085190394354104 Centerline is valid? [True, True] Translation: X:1.13, Y:0.22, Z:-0.02 [[ 9.99696858e-01 2.35570091e-02 -7.15951338e-03 1.13194097e+00] [-2.35581969e-02 9.99722464e-01 -8.15958469e-05 2.23866155e-01] [ 7.15560420e-03 2.50236337e-04 9.99974367e-01 -2.49389295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.671858064 meters 0.04085190394354104 Centerline is valid? [True, True] Translation: X:1.16, Y:0.22, Z:-0.03 [[ 9.99698286e-01 2.34963678e-02 -7.15950565e-03 1.16028770e+00] [-2.34975588e-02 9.99723891e-01 -8.22724822e-05 2.24262711e-01] [ 7.15559574e-03 2.50478564e-04 9.99974367e-01 -2.50977816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7018580639999996 meters 0.042180461503712796 Centerline is valid? [True, True] Translation: X:1.19, Y:0.23, Z:-0.03 [[ 9.99606615e-01 2.70050295e-02 -7.57253397e-03 1.18968397e+00] [-2.70064642e-02 9.99635255e-01 -8.72576150e-05 2.28521076e-01] [ 7.56741553e-03 2.91730657e-04 9.99971324e-01 -2.54353902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.731858064 meters 0.043827494062893275 Centerline is valid? [True, True] Translation: X:1.22, Y:0.23, Z:-0.03 [[ 9.99505741e-01 3.01256658e-02 -8.98426775e-03 1.21995426e+00] [-3.01278105e-02 9.99546049e-01 -1.03442724e-04 2.33608660e-01] [ 8.97707305e-03 3.74067913e-04 9.99959635e-01 -2.64979480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7618580639999997 meters 0.04453675894714449 Centerline is valid? [True, True] Translation: X:1.25, Y:0.24, Z:-0.03 [[ 9.99438249e-01 3.25101704e-02 -8.14095283e-03 1.24904729e+00] [-3.25120160e-02 9.99471340e-01 -9.44251396e-05 2.38617030e-01] [ 8.13357926e-03 3.59050885e-04 9.99966857e-01 -2.57598325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.791858064 meters 0.046749828853244496 Centerline is valid? [True, True] Translation: X:1.28, Y:0.25, Z:-0.02 [[ 9.99292308e-01 3.69905473e-02 -6.82515841e-03 1.27960733e+00] [-3.69919469e-02 9.99315561e-01 -7.89008477e-05 2.46434798e-01] [ 6.81756842e-03 3.31320908e-04 9.99976705e-01 -2.40630419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8218580639999997 meters 0.047330317675559945 Centerline is valid? [True, True] Translation: X:1.31, Y:0.25, Z:-0.02 [[ 9.99223207e-01 3.87147090e-02 -7.35892988e-03 1.30942947e+00] [-3.87163856e-02 9.99250236e-01 -8.54583159e-05 2.50012704e-01] [ 7.35010393e-03 3.70303100e-04 9.99972919e-01 -2.36350205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.851858064 meters 0.03887140341549104 Centerline is valid? [True, True] Translation: X:1.34, Y:0.24, Z:-0.02 [[ 9.99158228e-01 4.03581568e-02 -7.35217952e-03 1.33908364e+00] [-4.03598767e-02 9.99185205e-01 -8.56578614e-05 2.38361185e-01] [ 7.34273201e-03 3.82318816e-04 9.99972969e-01 -1.97035067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8818580639999998 meters 0.04991519052343598 Centerline is valid? [True, True] Translation: X:1.37, Y:0.26, Z:-0.02 [[ 9.99061875e-01 4.26100905e-02 -7.72979657e-03 1.36733407e+00] [-4.26120625e-02 9.99091689e-01 -9.05375827e-05 2.57706507e-01] [ 7.71891770e-03 4.19835222e-04 9.99970121e-01 -2.33104042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9118580639999996 meters 0.04048620425529313 Centerline is valid? [True, True] Translation: X:1.40, Y:0.25, Z:-0.02 [[ 9.98991501e-01 4.45261878e-02 -5.77930186e-03 1.39738034e+00] [-4.45273232e-02 9.99008165e-01 -6.78619993e-05 2.46406628e-01] [ 5.77054811e-03 3.25130402e-04 9.99983297e-01 -1.77400829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.941858064 meters 0.04074204167972485 Centerline is valid? [True, True] Translation: X:1.43, Y:0.25, Z:-0.02 [[ 9.98991092e-01 4.46085159e-02 -5.18449738e-03 1.42589848e+00] [-4.46094336e-02 9.99004502e-01 -6.14344481e-05 2.48326680e-01] [ 5.17659573e-03 2.92649958e-04 9.99986559e-01 -1.71832724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9718580639999996 meters 0.04089410981585923 Centerline is valid? [True, True] Translation: X:1.45, Y:0.25, Z:-0.02 [[ 9.99086473e-01 4.24244224e-02 -5.13700757e-03 1.45439261e+00] [-4.24252953e-02 9.99099640e-01 -6.10370613e-05 2.51024603e-01] [ 5.12979296e-03 2.78920366e-04 9.99986804e-01 -1.73777171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.001858064 meters 0.040245751956634754 Centerline is valid? [True, True] Translation: X:1.48, Y:0.25, Z:-0.02 [[ 9.99173424e-01 4.03222222e-02 -5.15634339e-03 1.48441669e+00] [-4.03230733e-02 9.99186692e-01 -6.11616506e-05 2.51729540e-01] [ 5.14968352e-03 2.69030708e-04 9.99986704e-01 -1.78403825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0318580639999997 meters 0.03918267213606641 Centerline is valid? [True, True] Translation: X:1.51, Y:0.25, Z:-0.02 [[ 9.99259802e-01 3.80922018e-02 -5.36964591e-03 1.51455611e+00] [-3.80930931e-02 9.99274193e-01 -6.37754600e-05 2.51100614e-01] [ 5.36331924e-03 2.68274675e-04 9.99985581e-01 -1.80824745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.061858064 meters 0.038721842550024796 Centerline is valid? [True, True] Translation: X:1.54, Y:0.25, Z:-0.02 [[ 9.99370019e-01 3.50241117e-02 -5.73385797e-03 1.54366695e+00] [-3.50250792e-02 9.99386431e-01 -6.83711958e-05 2.50107406e-01] [ 5.72794521e-03 2.69156953e-04 9.99983559e-01 -1.90579231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0918580639999997 meters 0.03687236566337893 Centerline is valid? [True, True] Translation: X:1.57, Y:0.25, Z:-0.02 [[ 9.99456922e-01 3.23575894e-02 -6.23275179e-03 1.57352243e+00] [-3.23586820e-02 9.99476318e-01 -7.45073929e-05 2.48577711e-01] [ 6.22707693e-03 2.76150563e-04 9.99980573e-01 -1.93461809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.121858064 meters 0.035078373577125274 Centerline is valid? [True, True] Translation: X:1.60, Y:0.25, Z:-0.02 [[ 9.99602670e-01 2.76936635e-02 -5.25013207e-03 1.60245751e+00] [-2.76943755e-02 9.99616435e-01 -6.29521452e-05 2.47441900e-01] [ 5.24637493e-03 2.08326262e-04 9.99986216e-01 -1.87839297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.151858064 meters 0.0338808623031651 Centerline is valid? [True, True] Translation: X:1.63, Y:0.25, Z:-0.02 [[ 9.99650772e-01 2.59313799e-02 -5.08904986e-03 1.63165318e+00] [-2.59320278e-02 9.99663707e-01 -6.13666839e-05 2.46276364e-01] [ 5.08574712e-03 1.93314636e-04 9.99987049e-01 -1.86659196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1818580639999996 meters 0.033088393650606555 Centerline is valid? [True, True] Translation: X:1.66, Y:0.25, Z:-0.02 [[ 9.99689910e-01 2.44576402e-02 -4.68064288e-03 1.66142640e+00] [-2.44581726e-02 9.99700853e-01 -5.65262787e-05 2.45220795e-01] [ 4.67786018e-03 1.70988722e-04 9.99989044e-01 -1.83856104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.211858064 meters 0.03206987157847515 Centerline is valid? [True, True] Translation: X:1.69, Y:0.24, Z:-0.02 [[ 9.99735537e-01 2.25233783e-02 -4.64251916e-03 1.69158106e+00] [-2.25238811e-02 9.99746304e-01 -5.60505429e-05 2.44772194e-01] [ 4.64007892e-03 1.60603269e-04 9.99989222e-01 -1.84163762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2418580639999997 meters 0.032700398707989624 Centerline is valid? [True, True] Translation: X:1.72, Y:0.25, Z:-0.02 [[ 9.99759096e-01 2.14080063e-02 -4.84231890e-03 1.72004192e+00] [-2.14085423e-02 9.99770809e-01 -5.88705205e-05 2.46927266e-01] [ 4.83994879e-03 1.62523327e-04 9.99988274e-01 -1.94842254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.271858064 meters 0.03182313849811824 Centerline is valid? [True, True] Translation: X:1.75, Y:0.25, Z:-0.02 [[ 9.99771663e-01 2.08536332e-02 -4.66345303e-03 1.74919635e+00] [-2.08541261e-02 9.99782527e-01 -5.70919114e-05 2.47228101e-01] [ 4.66124828e-03 1.54331113e-04 9.99989124e-01 -1.98483563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3018580639999997 meters 0.032396299480098506 Centerline is valid? [True, True] Translation: X:1.78, Y:0.25, Z:-0.02 [[ 9.99772360e-01 2.07681254e-02 -4.89012833e-03 1.77743437e+00] [-2.07686663e-02 9.99784306e-01 -5.98469469e-05 2.50184021e-01] [ 4.88783065e-03 1.61394767e-04 9.99988041e-01 -2.06710090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.331858064 meters 0.03263755526353614 Centerline is valid? [True, True] Translation: X:1.81, Y:0.26, Z:-0.02 [[ 9.99763903e-01 2.14037613e-02 -3.74395138e-03 1.80590463e+00] [-2.14040839e-02 9.99770905e-01 -4.61151648e-05 2.56070318e-01] [ 3.74210662e-03 1.26240127e-04 9.99992990e-01 -1.99021925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3618580639999998 meters 0.032364843787076825 Centerline is valid? [True, True] Translation: X:1.84, Y:0.26, Z:-0.02 [[ 9.99762431e-01 2.16694803e-02 -2.34852502e-03 1.83562073e+00] [-2.16696082e-02 9.99765186e-01 -2.90113658e-05 2.58553836e-01] [ 2.34734490e-03 7.98960906e-05 9.99997242e-01 -1.87162076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3918580639999996 meters 0.03293147343337488 Centerline is valid? [True, True] Translation: X:1.87, Y:0.26, Z:-0.02 [[ 9.99751057e-01 2.22271245e-02 -1.94398397e-03 1.86520630e+00] [-2.22272134e-02 9.99752945e-01 -2.41041766e-05 2.61661527e-01] [ 1.94296793e-03 6.73075225e-05 9.99998110e-01 -1.86937986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421858064 meters 0.032963491486871374 Centerline is valid? [True, True] Translation: X:1.90, Y:0.27, Z:-0.02 [[ 9.99730103e-01 2.32123735e-02 -9.52736502e-04 1.89505712e+00] [-2.32123954e-02 9.99730556e-01 -1.19313086e-05 2.66698654e-01] [ 9.52202838e-04 3.40433848e-05 9.99999546e-01 -1.77767915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4518580639999996 meters 0.03341699488543805 Centerline is valid? [True, True] Translation: X:1.92, Y:0.27, Z:-0.02 [[ 9.99712680e-01 2.39627729e-02 -5.86381251e-04 1.92450219e+00] [-2.39627814e-02 9.99712851e-01 -7.42764755e-06 2.70030133e-01] [ 5.86034885e-04 2.14768392e-05 9.99999828e-01 -1.75699704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481858064 meters 0.034214530279280404 Centerline is valid? [True, True] Translation: X:1.95, Y:0.27, Z:-0.02 [[ 9.99689954e-01 2.48995631e-02 8.54796653e-05 1.95330899e+00] [-2.48995632e-02 9.99689958e-01 8.03179654e-07 2.74210623e-01] [-8.54331642e-05 -2.93133696e-06 9.99999996e-01 -1.72861984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5118580639999997 meters 0.03552777984928037 Centerline is valid? [True, True] Translation: X:1.98, Y:0.28, Z:-0.02 [[ 9.99633082e-01 2.70832390e-02 4.46496504e-04 1.98236188e+00] [-2.70832441e-02 9.99633182e-01 5.38701668e-06 2.81671441e-01] [-4.46186823e-04 -1.74776139e-05 9.99999900e-01 -1.72862935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.541858064 meters 0.036269240252932176 Centerline is valid? [True, True] Translation: X:2.01, Y:0.29, Z:-0.02 [[ 9.99594240e-01 2.84804490e-02 4.69006193e-04 2.01140588e+00] [-2.84804548e-02 9.99594350e-01 5.63757681e-06 2.86175761e-01] [-4.68655380e-04 -1.89927990e-05 9.99999890e-01 -1.74433047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5718580639999997 meters 0.0364561403827769 Centerline is valid? [True, True] Translation: X:2.04, Y:0.29, Z:-0.02 [[ 9.99557998e-01 2.96974432e-02 1.36739757e-03 2.04096192e+00] [-2.96974941e-02 9.99558932e-01 1.69459562e-05 2.90806331e-01] [-1.36629121e-03 -5.75467475e-05 9.99999065e-01 -1.68748143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6018580639999995 meters 0.03787953349614853 Centerline is valid? [True, True] Translation: X:2.07, Y:0.30, Z:-0.02 [[ 9.99514745e-01 3.11418286e-02 6.78876764e-04 2.07021002e+00] [-3.11418415e-02 9.99514975e-01 8.42339953e-06 2.95640442e-01] [-6.78285172e-04 -2.95607846e-05 9.99999770e-01 -1.76378177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6318580639999998 meters 0.03927628296294621 Centerline is valid? [True, True] Translation: X:2.10, Y:0.30, Z:-0.02 [[ 9.99458153e-01 3.29127023e-02 3.93756259e-04 2.10011250e+00] [-3.29127068e-02 9.99458230e-01 4.85638925e-06 3.00579174e-01] [-3.93383096e-04 -1.78133421e-05 9.99999922e-01 -1.86171805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6618580639999996 meters 0.04135815270540301 Centerline is valid? [True, True] Translation: X:2.13, Y:0.31, Z:-0.02 [[ 9.99375596e-01 3.53329345e-02 4.85008069e-05 2.12874952e+00] [-3.53329346e-02 9.99375597e-01 3.58811996e-07 3.08516927e-01] [-4.84578449e-05 -2.07226379e-06 9.99999999e-01 -1.99056030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.691858064 meters 0.04232003319656731 Centerline is valid? [True, True] Translation: X:2.16, Y:0.31, Z:-0.02 [[ 9.99342923e-01 3.62403605e-02 5.98827200e-04 2.15760846e+00] [-3.62403714e-02 9.99343102e-01 7.31770434e-06 3.12104440e-01] [-5.98168635e-04 -2.90146162e-05 9.99999821e-01 -2.03298534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7218580639999996 meters 0.0413457842608056 Centerline is valid? [True, True] Translation: X:2.19, Y:0.31, Z:-0.02 [[ 9.99316830e-01 3.69463316e-02 9.16986991e-04 2.18684793e+00] [-3.69463576e-02 9.99317250e-01 1.13753661e-05 3.12708470e-01] [-9.15940640e-04 -4.52469241e-05 9.99999580e-01 -2.01848700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.751858064 meters 0.042539577043622795 Centerline is valid? [True, True] Translation: X:2.22, Y:0.32, Z:-0.02 [[ 9.99284285e-01 3.77953556e-02 1.55855562e-03 2.21561813e+00] [-3.77954320e-02 9.99285497e-01 1.96096354e-05 3.17185684e-01] [-1.55670087e-03 -7.85018833e-05 9.99998785e-01 -2.05107818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7818580639999997 meters 0.042409532496848215 Centerline is valid? [True, True] Translation: X:2.25, Y:0.32, Z:-0.02 [[ 9.99301845e-01 3.73326556e-02 1.44746931e-03 2.24509248e+00] [-3.73327211e-02 9.99302891e-01 1.82903261e-05 3.18735840e-01] [-1.44577744e-03 -7.23155247e-05 9.99998952e-01 -2.08972225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.811858064 meters 0.042700612065060026 Centerline is valid? [True, True] Translation: X:2.27, Y:0.32, Z:-0.02 [[ 9.99310400e-01 3.70921355e-02 1.70228670e-03 2.27362636e+00] [-3.70922259e-02 9.99311846e-01 2.15333027e-05 3.21029842e-01] [-1.70031654e-03 -8.46600559e-05 9.99998551e-01 -2.10942619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8418580639999997 meters 0.0416174502504362 Centerline is valid? [True, True] Translation: X:2.30, Y:0.32, Z:-0.02 [[ 9.99394994e-01 3.47798091e-02 1.01223873e-04 2.30240212e+00] [-3.47798094e-02 9.99394999e-01 1.05325244e-06 3.22479132e-01] [-1.01126001e-04 -4.57316223e-06 9.99999995e-01 -2.26792414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8718580639999995 meters 0.037389382467202956 Centerline is valid? [True, True] Translation: X:2.33, Y:0.32, Z:-0.02 [[ 9.99412083e-01 3.42598266e-02 1.32423955e-03 2.33172424e+00] [-3.42598790e-02 9.99412958e-01 1.68736502e-05 3.18427091e-01] [-1.32288408e-03 -6.22320167e-05 9.99999123e-01 -2.16902368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.901858064 meters 0.036752950677602536 Centerline is valid? [True, True] Translation: X:2.36, Y:0.32, Z:-0.02 [[ 9.99476454e-01 3.23352394e-02 1.11807935e-03 2.36166817e+00] [-3.23352757e-02 9.99477078e-01 1.43231691e-05 3.19488733e-01] [-1.11703154e-03 -5.04690744e-05 9.99999375e-01 -2.23192284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9318580639999996 meters 0.03701866805800959 Centerline is valid? [True, True] Translation: X:2.39, Y:0.32, Z:-0.02 [[ 9.99541992e-01 3.02612281e-02 2.53784819e-04 2.39140467e+00] [-3.02612299e-02 9.99542024e-01 3.19064335e-06 3.21636224e-01] [-2.53572039e-04 -1.08690228e-05 9.99999968e-01 -2.32494420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.961858064 meters 0.03623468179485787 Centerline is valid? [True, True] Translation: X:2.42, Y:0.32, Z:-0.02 [[ 9.99606798e-01 2.80379981e-02 -3.47483197e-04 2.42063858e+00] [-2.80380014e-02 9.99606858e-01 -4.65810584e-06 3.23542606e-01] [ 3.47215983e-04 1.43990086e-05 9.99999940e-01 -2.44069801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9918580639999997 meters 0.036874127182589714 Centerline is valid? [True, True] Translation: X:2.45, Y:0.33, Z:-0.02 [[ 9.99627967e-01 2.72708358e-02 -4.78268789e-04 2.44893270e+00] [-2.72708420e-02 9.99628081e-01 -6.45121318e-06 3.25886438e-01] [ 4.77914982e-04 1.94916057e-05 9.99999886e-01 -2.48328207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.021858064 meters 0.03540490066299052 Centerline is valid? [True, True] Translation: X:2.48, Y:0.33, Z:-0.02 [[ 9.99644833e-01 2.66496463e-02 6.40288823e-05 2.47789762e+00] [-2.66496463e-02 9.99644835e-01 5.89831457e-07 3.25088043e-01] [-6.39904227e-05 -2.29596904e-06 9.99999998e-01 -2.45387110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.051858064 meters 0.03552664732712659 Centerline is valid? [True, True] Translation: X:2.51, Y:0.33, Z:-0.02 [[ 9.99703450e-01 2.43513147e-02 1.57507115e-04 2.50685514e+00] [-2.43513153e-02 9.99703463e-01 1.89226787e-06 3.27604996e-01] [-1.57414329e-04 -5.72721214e-06 9.99999988e-01 -2.39425776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081858064 meters 0.03481660959409506 Centerline is valid? [True, True] Translation: X:2.54, Y:0.33, Z:-0.02 [[ 9.99731295e-01 2.31694362e-02 7.18113413e-04 2.53655742e+00] [-2.31694488e-02 9.99731552e-01 9.23361981e-06 3.28630148e-01] [-7.17706699e-04 -2.58694306e-05 9.99999742e-01 -2.34684702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.111858064 meters 0.034714923966548406 Centerline is valid? [True, True] Translation: X:2.57, Y:0.33, Z:-0.02 [[ 9.99742758e-01 2.26678033e-02 7.67547645e-04 2.56667368e+00] [-2.26678175e-02 9.99743052e-01 9.83666715e-06 3.30063513e-01] [-7.67127450e-04 -2.72327667e-05 9.99999705e-01 -2.30105071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141858064 meters 0.034257217965175085 Centerline is valid? [True, True] Translation: X:2.60, Y:0.33, Z:-0.02 [[ 9.99769505e-01 2.13992238e-02 1.73470909e-03 2.59618972e+00] [-2.13992953e-02 9.99771009e-01 2.26946502e-05 3.31437697e-01] [-1.73382621e-03 -5.98109714e-05 9.99998495e-01 -2.19654265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.171858064 meters 0.034323279083897304 Centerline is valid? [True, True] Translation: X:2.63, Y:0.33, Z:-0.02 [[ 9.99771882e-01 2.12226262e-02 2.40483363e-03 2.62618105e+00] [-2.12227632e-02 9.99774771e-01 3.14809984e-05 3.32885842e-01] [-2.40362389e-03 -8.25110319e-05 9.99997108e-01 -2.15018897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2018580640000005 meters 0.032047437356981394 Centerline is valid? [True, True] Translation: X:2.66, Y:0.33, Z:-0.02 [[ 9.99779449e-01 2.09492100e-02 1.47784812e-03 2.65631761e+00] [-2.09492614e-02 9.99780540e-01 1.93233887e-05 3.30710075e-01] [-1.47711899e-03 -5.02789536e-05 9.99998908e-01 -2.16310151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.231858064 meters 0.036649620631098195 Centerline is valid? [True, True] Translation: X:2.69, Y:0.34, Z:-0.02 [[ 9.99731653e-01 2.30295980e-02 2.50175586e-03 2.68524139e+00] [-2.30297522e-02 9.99734780e-01 3.28526616e-05 3.37592840e-01] [-2.50033576e-03 -9.04586631e-05 9.99996870e-01 -2.24440897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.261858064 meters 0.036675567770972126 Centerline is valid? [True, True] Translation: X:2.72, Y:0.34, Z:-0.02 [[ 9.99715570e-01 2.37427849e-02 2.24930422e-03 2.71506616e+00] [-2.37429116e-02 9.99718097e-01 2.96503371e-05 3.41064029e-01] [-2.24796615e-03 -8.30469350e-05 9.99997470e-01 -2.08144189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.291858064 meters 0.03559642731520568 Centerline is valid? [True, True] Translation: X:2.74, Y:0.34, Z:-0.02 [[ 9.99676632e-01 2.52739488e-02 2.80339636e-03 2.74431009e+00] [-2.52741519e-02 9.99680557e-01 3.70244828e-05 3.42084202e-01] [-2.80156508e-03 -1.07865976e-04 9.99996070e-01 -2.00497137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.321858064000001 meters 0.0386757775461059 Centerline is valid? [True, True] Translation: X:2.77, Y:0.35, Z:-0.02 [[ 9.99568777e-01 2.92949905e-02 2.01600753e-03 2.77404010e+00] [-2.92951039e-02 9.99570806e-01 2.67426439e-05 3.48944144e-01] [-2.01435885e-03 -8.57902621e-05 9.99997967e-01 -2.09830529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.351858064 meters 0.03964149223104201 Centerline is valid? [True, True] Translation: X:2.80, Y:0.35, Z:-0.02 [[ 9.99518966e-01 3.09658470e-02 1.71819205e-03 2.80356789e+00] [-3.09659318e-02 9.99520440e-01 2.27508556e-05 3.50780637e-01] [-1.71666357e-03 -7.59453294e-05 9.99998524e-01 -2.14461377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381858064 meters 0.04082547028467315 Centerline is valid? [True, True] Translation: X:2.83, Y:0.35, Z:-0.02 [[ 9.99515720e-01 3.10511635e-02 2.03717442e-03 2.83231175e+00] [-3.10512829e-02 9.99517792e-01 2.70105868e-05 3.53343482e-01] [-2.03535337e-03 -9.02543854e-05 9.99997925e-01 -2.17336202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4118580640000005 meters 0.04223891193632297 Centerline is valid? [True, True] Translation: X:2.86, Y:0.36, Z:-0.02 [[ 9.99479271e-01 3.20893183e-02 3.38573571e-03 2.86096327e+00] [-3.20896551e-02 9.99484993e-01 4.51835508e-05 3.56224660e-01] [-3.38254212e-03 -1.53807114e-04 9.99994267e-01 -2.07329952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.441858064 meters 0.029492711381706 Centerline is valid? [True, True] Translation: X:2.89, Y:0.34, Z:-0.02 [[ 9.99436965e-01 3.31163266e-02 5.39097284e-03 2.89060779e+00] [-3.31171973e-02 9.99451473e-01 7.22968001e-05 3.39396223e-01] [-5.38562154e-03 -2.50790006e-04 9.99985466e-01 -2.00016557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.471858064 meters 0.022896806878940985 Centerline is valid? [True, True] Translation: X:2.92, Y:0.33, Z:-0.02 [[ 9.99453335e-01 3.26580508e-02 5.14622091e-03 2.92127563e+00] [-3.26588391e-02 9.99466555e-01 6.91879478e-05 3.31868108e-01] [-5.14121614e-03 -2.37219726e-04 9.99986756e-01 -1.93267250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501858064 meters 0.02371543546304433 Centerline is valid? [True, True] Translation: X:2.95, Y:0.34, Z:-0.02 [[ 9.99463680e-01 3.23668491e-02 4.97397427e-03 2.95101866e+00] [-3.23675818e-02 9.99476030e-01 6.68609821e-05 3.35198454e-01] [-4.96920398e-03 -2.27820642e-04 9.99987627e-01 -1.95631984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.531858064000001 meters 0.02388560027296106 Centerline is valid? [True, True] Translation: X:2.98, Y:0.34, Z:-0.02 [[ 9.99547772e-01 2.98107852e-02 3.94557801e-03 2.98077189e+00] [-2.98112266e-02 9.99555545e-01 5.31163367e-05 3.38843426e-01] [-3.94224094e-03 -1.70714836e-04 9.99992215e-01 -2.14528985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561858064 meters 0.023502275287862848 Centerline is valid? [True, True] Translation: X:3.01, Y:0.34, Z:-0.02 [[ 9.99600529e-01 2.81169365e-02 2.86711104e-03 3.01066835e+00] [-2.81171624e-02 9.99604634e-01 3.85023441e-05 3.39048968e-01] [-2.86489491e-03 -1.19101990e-04 9.99995889e-01 -2.28786278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.591858064 meters 0.022780395836022777 Centerline is valid? [True, True] Translation: X:3.04, Y:0.34, Z:-0.02 [[ 9.99664792e-01 2.57911115e-02 2.26320594e-03 3.04040864e+00] [-2.57912464e-02 9.99667350e-01 3.04295617e-05 3.38365678e-01] [-2.26166828e-03 -8.87902637e-05 9.99997438e-01 -2.40526826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.621858064 meters 0.022780395836022777 Centerline is valid? [True, True] Translation: X:3.07, Y:0.34, Z:-0.02 [[ 9.99665699e-01 2.57559265e-02 2.26320488e-03 3.06958978e+00] [-2.57560615e-02 9.99668257e-01 3.05086088e-05 3.38789269e-01] [-2.26166830e-03 -8.87896537e-05 9.99997438e-01 -2.42162287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.651858064 meters 0.02186867897932842 Centerline is valid? [True, True] Translation: X:3.10, Y:0.34, Z:-0.02 [[ 9.99735077e-01 2.29835135e-02 1.23812680e-03 3.09934441e+00] [-2.29835517e-02 9.99735843e-01 1.66445338e-05 3.38287140e-01] [-1.23741719e-03 -4.50966756e-05 9.99999233e-01 -2.48438813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681858064 meters 0.021034684985934075 Centerline is valid? [True, True] Translation: X:3.13, Y:0.34, Z:-0.03 [[ 9.99842641e-01 1.77141228e-02 9.50377166e-04 3.12877314e+00] [-1.77141430e-02 9.99843092e-01 1.28465203e-05 3.39455527e-01] [-9.50000479e-04 -2.96796157e-05 9.99999548e-01 -2.50420745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.711858064 meters 0.020229303942049696 Centerline is valid? [True, True] Translation: X:3.16, Y:0.34, Z:-0.03 [[ 9.99885727e-01 1.50473404e-02 1.45307269e-03 3.15874262e+00] [-1.50473848e-02 9.99886782e-01 1.96470312e-05 3.38888325e-01] [-1.45261254e-03 -4.15097299e-05 9.99998944e-01 -2.51964384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7418580640000005 meters 0.01893904543593165 Centerline is valid? [True, True] Translation: X:3.19, Y:0.34, Z:-0.03 [[ 9.99951706e-01 9.61379056e-03 2.03976673e-03 3.18913031e+00] [-9.61386724e-03 9.99953785e-01 2.77904542e-05 3.35907173e-01] [-2.03940529e-03 -4.73991586e-05 9.99997919e-01 -2.53663821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.771858064 meters 0.018630397358433734 Centerline is valid? [True, True] Translation: X:3.22, Y:0.33, Z:-0.03 [[ 9.99970970e-01 7.43335633e-03 1.67471466e-03 3.21976763e+00] [-7.43340573e-03 9.99972372e-01 2.32733150e-05 3.34991803e-01] [-1.67449539e-03 -3.57214729e-05 9.99998597e-01 -2.56729823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801858064 meters 0.018131508257019948 Centerline is valid? [True, True] Translation: X:3.25, Y:0.33, Z:-0.03 [[ 9.99986288e-01 5.05073639e-03 1.38367093e-03 3.25030844e+00] [-5.05076722e-03 9.99987245e-01 1.87851416e-05 3.33978921e-01] [-1.38355840e-03 -2.57734838e-05 9.99999043e-01 -2.59775653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.831858064 meters 0.017341710260608652 Centerline is valid? [True, True] Translation: X:3.28, Y:0.33, Z:-0.03 [[ 9.99996792e-01 2.08725284e-03 1.43491001e-03 3.28045461e+00] [-2.08728295e-03 9.99997821e-01 1.94807791e-05 3.30850774e-01] [-1.43486622e-03 -2.24757798e-05 9.99998970e-01 -2.60923368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.861858064 meters 0.01741819266516256 Centerline is valid? [True, True] Translation: X:3.31, Y:0.33, Z:-0.03 [[ 9.99997098e-01 1.99885707e-03 1.34489946e-03 3.31196290e+00] [-1.99888364e-03 9.99998002e-01 1.84120284e-05 3.30770447e-01] [-1.34485997e-03 -2.11002725e-05 9.99999095e-01 -2.59853554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.891858064 meters 0.017473332876538704 Centerline is valid? [True, True] Translation: X:3.34, Y:0.33, Z:-0.03 [[ 9.99994976e-01 2.83009812e-03 1.42769513e-03 3.34305559e+00] [-2.83012881e-03 9.99995995e-01 1.94806923e-05 3.32043957e-01] [-1.42763428e-03 -2.35211556e-05 9.99998981e-01 -2.60547539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.921858064 meters 0.018330439825698753 Centerline is valid? [True, True] Translation: X:3.37, Y:0.34, Z:-0.03 [[ 9.99973726e-01 7.24807212e-03 -1.15038397e-04 3.37307980e+00] [-7.24807233e-03 9.99973732e-01 -1.45214516e-06 3.36142283e-01] [ 1.15024850e-04 2.28591363e-06 9.99999993e-01 -2.74962410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9518580640000005 meters 0.01891395124457289 Centerline is valid? [True, True] Translation: X:3.40, Y:0.34, Z:-0.03 [[ 9.99954200e-01 9.48681162e-03 -1.26387941e-03 3.40273254e+00] [-9.48684104e-03 9.99954999e-01 -1.72866029e-05 3.37334819e-01] [ 1.26365854e-03 2.92760342e-05 9.99999201e-01 -2.85090292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.981858064 meters 0.020264031705448035 Centerline is valid? [True, True] Translation: X:3.43, Y:0.34, Z:-0.03 [[ 9.99924395e-01 1.21710404e-02 -1.75188957e-03 3.43222217e+00] [-1.21711010e-02 9.99925929e-01 -2.39449096e-05 3.38962111e-01] [ 1.75146837e-03 4.52655241e-05 9.99998465e-01 -2.93370737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.011858064 meters 0.02217804368854732 Centerline is valid? [True, True] Translation: X:3.46, Y:0.34, Z:-0.03 [[ 9.99852988e-01 1.71221779e-02 -9.13196519e-04 3.46019589e+00] [-1.71221966e-02 9.99853404e-01 -1.27185845e-05 3.43854972e-01] [ 9.12844879e-04 2.83526450e-05 9.99999583e-01 -2.88488566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041858064 meters 0.022790270621531133 Centerline is valid? [True, True] Translation: X:3.49, Y:0.35, Z:-0.03 [[ 9.99820276e-01 1.89563631e-02 -2.67578884e-04 3.48928093e+00] [-1.89563648e-02 9.99820312e-01 -3.94701052e-06 3.45860456e-01] [ 2.67455983e-04 9.01862410e-06 9.99999964e-01 -2.84075312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.071858064 meters 0.02315224145013056 Centerline is valid? [True, True] Translation: X:3.52, Y:0.35, Z:-0.03 [[ 9.99806093e-01 1.96919376e-02 5.78734524e-05 3.51766773e+00] [-1.96919376e-02 9.99806095e-01 5.02210217e-07 3.47796668e-01] [-5.78523410e-05 -1.64175325e-06 9.99999998e-01 -2.82667391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101858064 meters 0.024801005631013204 Centerline is valid? [True, True] Translation: X:3.55, Y:0.35, Z:-0.03 [[ 9.99799191e-01 2.00353655e-02 4.03272860e-04 3.54671723e+00] [-2.00353693e-02 9.99799272e-01 5.25940666e-06 3.50810705e-01] [-4.03086537e-04 -1.33380712e-05 9.99999919e-01 -2.87758007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.131858064 meters 0.025126192127356804 Centerline is valid? [True, True] Translation: X:3.57, Y:0.35, Z:-0.03 [[ 9.99783261e-01 2.08185652e-02 1.35169531e-04 3.57495149e+00] [-2.08185656e-02 9.99783270e-01 1.58598805e-06 3.52257730e-01] [-1.35107218e-04 -4.39968005e-06 9.99999991e-01 -2.98014862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1618580640000005 meters 0.025473890881282272 Centerline is valid? [True, True] Translation: X:3.60, Y:0.35, Z:-0.03 [[ 9.99779482e-01 2.09845112e-02 -7.98168484e-04 3.60357321e+00] [-2.09845270e-02 9.99779801e-01 -1.14536839e-05 3.52572592e-01] [ 7.97752378e-04 2.82003462e-05 9.99999681e-01 -3.09494879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.191858064 meters 0.02710863932044139 Centerline is valid? [True, True] Translation: X:3.63, Y:0.36, Z:-0.03 [[ 9.99768197e-01 2.14585921e-02 -1.75503980e-03 3.63216202e+00] [-2.14586685e-02 9.99769736e-01 -2.47289930e-05 3.55086661e-01] [ 1.75410503e-03 6.23840780e-05 9.99998460e-01 -3.23778522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221858064 meters 0.02879543329289855 Centerline is valid? [True, True] Translation: X:3.66, Y:0.36, Z:-0.03 [[ 9.99710362e-01 2.39728488e-02 -2.12000760e-03 3.66112259e+00] [-2.39729661e-02 9.99712607e-01 -2.99192041e-05 3.56846179e-01] [ 2.11868107e-03 8.07334085e-05 9.99997752e-01 -3.32955021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.251858064 meters 0.03010754471814355 Centerline is valid? [True, True] Translation: X:3.69, Y:0.36, Z:-0.03 [[ 9.99691352e-01 2.47894667e-02 -1.63780703e-03 3.68933742e+00] [-2.47895384e-02 9.99692692e-01 -2.34839332e-05 3.58098200e-01] [ 1.63672156e-03 6.40771652e-05 9.99998659e-01 -3.32938015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.281858064 meters 0.02855292513833249 Centerline is valid? [True, True] Translation: X:3.72, Y:0.35, Z:-0.03 [[ 9.99638593e-01 2.68825604e-02 -1.02576163e-04 3.71895966e+00] [-2.68825607e-02 9.99638599e-01 -1.63609032e-06 3.53564441e-01] [ 1.02495110e-04 4.39300896e-06 9.99999995e-01 -3.16238249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.311858064 meters 0.028987797824836615 Centerline is valid? [True, True] Translation: X:3.75, Y:0.35, Z:-0.03 [[ 9.99607979e-01 2.79978246e-02 -9.89985060e-05 3.74768732e+00] [-2.79978249e-02 9.99607984e-01 -1.78003993e-06 3.54375878e-01] [ 9.89098598e-05 4.55108495e-06 9.99999995e-01 -3.11829912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.341858064 meters 0.03363178781091753 Centerline is valid? [True, True] Translation: X:3.78, Y:0.36, Z:-0.03 [[ 9.99579839e-01 2.89845573e-02 -2.03591262e-04 3.77626907e+00] [-2.89845585e-02 9.99579859e-01 -3.17528412e-06 3.60943256e-01] [ 2.03413691e-04 9.07495286e-06 9.99999979e-01 -3.21962903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.371858064 meters 0.03205825147571551 Centerline is valid? [True, True] Translation: X:3.81, Y:0.36, Z:-0.03 [[ 9.99507429e-01 3.13815608e-02 3.10050426e-04 3.80552454e+00] [-3.13815636e-02 9.99507477e-01 4.14563055e-06 3.56352920e-01] [-3.09767623e-04 -1.38734557e-05 9.99999952e-01 -3.17354427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401858064 meters 0.032911208752005185 Centerline is valid? [True, True] Translation: X:3.83, Y:0.36, Z:-0.03 [[ 9.99471718e-01 3.24981706e-02 3.92189323e-04 3.83490779e+00] [-3.24981752e-02 9.99471795e-01 5.42375711e-06 3.55999743e-01] [-3.91805905e-04 -1.81663292e-05 9.99999923e-01 -3.21454356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.431858064 meters 0.03347435591625615 Centerline is valid? [True, True] Translation: X:3.86, Y:0.36, Z:-0.03 [[ 9.99437913e-01 3.35189496e-02 5.80880609e-04 3.86343335e+00] [-3.35189599e-02 9.99438082e-01 8.06023259e-06 3.56621777e-01] [-5.80284031e-04 -2.75262159e-05 9.99999831e-01 -3.24240058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461858064 meters 0.03392683485587128 Centerline is valid? [True, True] Translation: X:3.89, Y:0.36, Z:-0.03 [[ 9.99411278e-01 3.43054108e-02 4.86810651e-04 3.89316741e+00] [-3.43054182e-02 9.99411396e-01 6.81768351e-06 3.56048778e-01] [-4.86290229e-04 -2.35139127e-05 9.99999881e-01 -3.29276116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4918580640000005 meters 0.035175164280588825 Centerline is valid? [True, True] Translation: X:3.92, Y:0.35, Z:-0.03 [[ 9.99398972e-01 3.46461981e-02 1.15556850e-03 3.92207974e+00] [-3.46462403e-02 9.99399639e-01 1.64383786e-05 3.54609148e-01] [-1.15430522e-03 -5.64646026e-05 9.99999332e-01 -3.29278036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.521858064 meters 0.03474011795182339 Centerline is valid? [True, True] Translation: X:3.95, Y:0.35, Z:-0.03 [[ 9.99419907e-01 3.39970414e-02 2.01270633e-03 3.95055381e+00] [-3.39971682e-02 9.99421929e-01 2.87877174e-05 3.54078288e-01] [-2.01056414e-03 -9.71973334e-05 9.99997974e-01 -3.24956697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.551858064 meters 0.03565856032709476 Centerline is valid? [True, True] Translation: X:3.98, Y:0.35, Z:-0.03 [[ 9.99459175e-01 3.28184876e-02 2.07490385e-03 3.97913290e+00] [-3.28186202e-02 9.99461324e-01 2.98770188e-05 3.53117424e-01] [-2.07280563e-03 -9.79563419e-05 9.99997847e-01 -3.30402182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581858064 meters 0.03426773816166048 Centerline is valid? [True, True] Translation: X:4.01, Y:0.35, Z:-0.03 [[ 9.99570360e-01 2.92769479e-02 1.39866541e-03 4.00873159e+00] [-2.92770048e-02 9.99571336e-01 2.01868940e-05 3.48176150e-01] [-1.39747485e-03 -6.11269549e-05 9.99999022e-01 -3.32667620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.611858064 meters 0.034519686300263495 Centerline is valid? [True, True] Translation: X:4.04, Y:0.34, Z:-0.03 [[ 9.99631568e-01 2.71296443e-02 8.43224202e-04 4.03874360e+00] [-2.71296642e-02 9.99631923e-01 1.22013776e-05 3.44769890e-01] [-8.42582811e-04 -3.50732717e-05 9.99999644e-01 -3.45221394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641858064 meters 0.03270022264154277 Centerline is valid? [True, True] Translation: X:4.07, Y:0.34, Z:-0.03 [[ 9.99704590e-01 2.42924818e-02 7.80025845e-04 4.06779545e+00] [-2.42924979e-02 9.99704894e-01 1.12187509e-05 3.41706021e-01] [-7.79523123e-04 -3.01642130e-05 9.99999696e-01 -3.48765217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.671858064 meters 0.0314656677849034 Centerline is valid? [True, True] Translation: X:4.10, Y:0.34, Z:-0.04 [[ 9.99768899e-01 2.14879752e-02 6.44553516e-04 4.09844479e+00] [-2.14879857e-02 9.99769107e-01 9.41279881e-06 3.37168060e-01] [-6.44202431e-04 -2.32607802e-05 9.99999792e-01 -3.51715800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7018580640000005 meters 0.028647449810339332 Centerline is valid? [True, True] Translation: X:4.13, Y:0.32, Z:-0.03 [[ 9.99855948e-01 1.69188453e-02 1.35492433e-03 4.12885089e+00] [-1.69188875e-02 9.99856865e-01 1.97173035e-05 3.24706204e-01] [-1.35439680e-03 -4.26382755e-05 9.99999082e-01 -3.43171272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.731858064 meters 0.027551841640195363 Centerline is valid? [True, True] Translation: X:4.16, Y:0.32, Z:-0.03 [[ 9.99882369e-01 1.52337225e-02 1.78379366e-03 4.15960745e+00] [-1.52337933e-02 9.99883959e-01 2.60789714e-05 3.22660387e-01] [-1.78318939e-03 -5.32498476e-05 9.99998409e-01 -3.37056065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761858064 meters 0.027768496432840014 Centerline is valid? [True, True] Translation: X:4.19, Y:0.32, Z:-0.03 [[ 9.99892159e-01 1.44060397e-02 2.85256919e-03 4.19023414e+00] [-1.44062174e-02 9.99896224e-01 4.17487471e-05 3.22815998e-01] [-2.85167172e-03 -8.28389767e-05 9.99995931e-01 -3.28568818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.791858064 meters 0.028062419113511032 Centerline is valid? [True, True] Translation: X:4.22, Y:0.32, Z:-0.03 [[ 9.99872856e-01 1.54386715e-02 3.98982300e-03 4.22169555e+00] [-1.54390271e-02 9.99880809e-01 5.83181705e-05 3.18651771e-01] [-3.98844709e-03 -1.19909741e-04 9.99992039e-01 -3.14216011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.821858064 meters 0.027663307676803153 Centerline is valid? [True, True] Translation: X:4.25, Y:0.32, Z:-0.03 [[ 9.99841951e-01 1.70860100e-02 4.91333073e-03 4.25294045e+00] [-1.70865683e-02 9.99854011e-01 7.16778453e-05 3.17687855e-01] [-4.91138875e-03 -1.55618478e-04 9.99987927e-01 -3.05395146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.851858064 meters 0.029245632919162257 Centerline is valid? [True, True] Translation: X:4.28, Y:0.32, Z:-0.03 [[ 9.99766080e-01 2.09931830e-02 5.20312654e-03 4.28261492e+00] [-2.09938585e-02 9.99779602e-01 7.52367760e-05 3.15819865e-01] [-5.20040032e-03 -1.84452879e-04 9.99986461e-01 -3.01387741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881858064 meters 0.02756119560681987 Centerline is valid? [True, True] Translation: X:4.31, Y:0.31, Z:-0.03 [[ 9.99720361e-01 2.31851696e-02 4.65281369e-03 4.31486912e+00] [-2.31857320e-02 9.99731173e-01 6.69617283e-05 3.10151847e-01] [-4.65001037e-03 -1.74821895e-04 9.99989173e-01 -3.05261402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9118580640000005 meters 0.03258703848240654 Centerline is valid? [True, True] Translation: X:4.35, Y:0.32, Z:-0.03 [[ 9.99672189e-01 2.52867353e-02 4.01197780e-03 4.34517287e+00] [-2.52871693e-02 9.99680227e-01 5.74702311e-05 3.15992508e-01] [-4.00924164e-03 -1.58902953e-04 9.99991950e-01 -3.15198540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941858064 meters 0.029430273463213672 Centerline is valid? [True, True] Translation: X:4.38, Y:0.30, Z:-0.03 [[ 9.99604030e-01 2.79735996e-02 3.04310560e-03 4.37698665e+00] [-2.79738616e-02 9.99608654e-01 4.35402670e-05 3.02740264e-01] [-3.04069672e-03 -1.28650441e-04 9.99995369e-01 -3.28644303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.971858064 meters 0.029377826099427712 Centerline is valid? [True, True] Translation: X:4.41, Y:0.30, Z:-0.03 [[ 9.99578398e-01 2.88571086e-02 3.20844961e-03 4.40800374e+00] [-2.88574039e-02 9.99583537e-01 4.57814311e-05 3.00886401e-01] [-3.20579229e-03 -1.38349656e-04 9.99994852e-01 -3.32350326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001858064 meters 0.028709078690284176 Centerline is valid? [True, True] Translation: X:4.44, Y:0.30, Z:-0.03 [[ 9.99564334e-01 2.93620701e-02 3.00198810e-03 4.43949847e+00] [-2.93623306e-02 9.99568833e-01 4.27430887e-05 2.98124324e-01] [-2.99943871e-03 -1.30869834e-04 9.99995493e-01 -3.33635128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.031858064 meters 0.030026715133993562 Centerline is valid? [True, True] Translation: X:4.47, Y:0.30, Z:-0.03 [[ 9.99570197e-01 2.91703071e-02 2.91780039e-03 4.47011694e+00] [-2.91705526e-02 9.99574448e-01 4.15992488e-05 2.96102879e-01] [-2.91534525e-03 -1.26695219e-04 9.99995742e-01 -3.39585447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061858064 meters 0.028896700463314624 Centerline is valid? [True, True] Translation: X:4.50, Y:0.29, Z:-0.03 [[ 9.99592892e-01 2.83241895e-02 3.43383980e-03 4.50129456e+00] [-2.83245227e-02 9.99598779e-01 4.84260483e-05 2.88210819e-01] [-3.43109045e-03 -1.45668207e-04 9.99994103e-01 -3.37618633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.091858064 meters 0.029283278684025853 Centerline is valid? [True, True] Translation: X:4.53, Y:0.29, Z:-0.03 [[ 9.99605499e-01 2.78890210e-02 3.32408783e-03 4.53277639e+00] [-2.78893319e-02 9.99611016e-01 4.71976760e-05 2.85484804e-01] [-3.32147851e-03 -1.39885645e-04 9.99994474e-01 -3.40076714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121858064 meters 0.029197626228550353 Centerline is valid? [True, True] Translation: X:4.56, Y:0.28, Z:-0.03 [[ 9.99633681e-01 2.69210918e-02 2.78555195e-03 4.56414812e+00] [-2.69213037e-02 9.99637555e-01 3.86017827e-05 2.81720574e-01] [-2.78350314e-03 -1.13578332e-04 9.99996120e-01 -3.47028699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.151858064 meters 0.026994661208922046 Centerline is valid? [True, True] Translation: X:4.60, Y:0.27, Z:-0.03 [[ 9.99659072e-01 2.60314903e-02 2.02526687e-03 4.59526893e+00] [-2.60316004e-02 9.99661120e-01 2.80531635e-05 2.74968125e-01] [-2.02385029e-03 -8.07645374e-05 9.99997949e-01 -3.45777724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181858064 meters 0.02566218499532974 Centerline is valid? [True, True] Translation: X:4.63, Y:0.27, Z:-0.03 [[ 9.99683536e-01 2.50644249e-02 2.14534440e-03 4.62659336e+00] [-2.50645461e-02 9.99685834e-01 2.96305141e-05 2.66364870e-01] [-2.14392773e-03 -8.33932205e-05 9.99997698e-01 -3.45597298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.211858064 meters 0.025957665911492133 Centerline is valid? [True, True] Translation: X:4.66, Y:0.26, Z:-0.03 [[ 9.99667259e-01 2.56108011e-02 3.07538484e-03 4.65803309e+00] [-2.56110537e-02 9.99671982e-01 4.27702743e-05 2.64227752e-01] [-3.07328068e-03 -1.21519889e-04 9.99995270e-01 -3.38149762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2418580640000005 meters 0.027881460291034447 Centerline is valid? [True, True] Translation: X:4.69, Y:0.26, Z:-0.03 [[ 9.99606815e-01 2.78039612e-02 3.62693256e-03 4.68900274e+00] [-2.78043231e-02 9.99613384e-01 4.93718169e-05 2.59331300e-01] [-3.62415759e-03 -1.50196809e-04 9.99993421e-01 -3.31536879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.271858064 meters 0.029536082758907976 Centerline is valid? [True, True] Translation: X:4.72, Y:0.26, Z:-0.03 [[ 9.99547681e-01 2.98321790e-02 3.80460759e-03 4.71981324e+00] [-2.98325870e-02 9.99554908e-01 5.05167528e-05 2.58714369e-01] [-3.80140716e-03 -1.63995190e-04 9.99992761e-01 -3.33880774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301858064 meters 0.029785368195066563 Centerline is valid? [True, True] Translation: X:4.75, Y:0.26, Z:-0.03 [[ 9.99470325e-01 3.23315452e-02 3.70684639e-03 4.75208752e+00] [-3.23319494e-02 9.99477185e-01 4.91579941e-05 2.57987493e-01] [-3.70331904e-03 -1.68981526e-04 9.99993128e-01 -3.32814857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.331858064 meters 0.028446207741926206 Centerline is valid? [True, True] Translation: X:4.78, Y:0.25, Z:-0.03 [[ 9.99374905e-01 3.51910868e-02 3.37436583e-03 4.78360662e+00] [-3.51914371e-02 9.99380589e-01 4.44803730e-05 2.52773482e-01] [-3.37071040e-03 -1.63201351e-04 9.99994306e-01 -3.32931547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.361858064 meters 0.030946770939755956 Centerline is valid? [True, True] Translation: X:4.81, Y:0.25, Z:-0.03 [[ 9.99175725e-01 4.04672890e-02 3.20450694e-03 4.81370211e+00] [-4.04676313e-02 9.99180849e-01 4.20167811e-05 2.49137232e-01] [-3.20018166e-03 -1.71660953e-04 9.99994865e-01 -3.31205634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.391858064 meters 0.03243425484302926 Centerline is valid? [True, True] Translation: X:4.85, Y:0.25, Z:-0.03 [[ 9.99058647e-01 4.32489369e-02 3.36894443e-03 4.84519248e+00] [-4.32493315e-02 9.99064309e-01 4.43373057e-05 2.47209254e-01] [-3.36387460e-03 -1.90000163e-04 9.99994324e-01 -3.31156070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421858064 meters 0.03411549230360433 Centerline is valid? [True, True] Translation: X:4.88, Y:0.25, Z:-0.03 [[ 9.98975800e-01 4.51379409e-02 3.14921768e-03 4.87655523e+00] [-4.51382955e-02 9.98980747e-01 4.15506813e-05 2.45915577e-01] [-3.14413232e-03 -1.83658443e-04 9.99995040e-01 -3.32348406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4518580640000005 meters 0.03490151416513306 Centerline is valid? [True, True] Translation: X:4.91, Y:0.24, Z:-0.03 [[ 9.98901169e-01 4.67779988e-02 2.87649778e-03 4.90838479e+00] [-4.67783005e-02 9.98905295e-01 3.76838989e-05 2.43135897e-01] [-2.87158609e-03 -1.72200168e-04 9.99995862e-01 -3.37464046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.481858064 meters 0.03490151416513306 Centerline is valid? [True, True] Translation: X:4.94, Y:0.24, Z:-0.03 [[ 9.98888189e-01 4.70543448e-02 2.87649697e-03 4.94094707e+00] [-4.70546479e-02 9.98892316e-01 3.77552287e-05 2.43464831e-01] [-2.87153417e-03 -1.73065804e-04 9.99995862e-01 -3.39289033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.511858064 meters 0.03575702036506592 Centerline is valid? [True, True] Translation: X:4.97, Y:0.24, Z:-0.03 [[ 9.98850410e-01 4.78820160e-02 2.27397907e-03 4.97236764e+00] [-4.78822065e-02 9.98852989e-01 2.93631697e-05 2.35409534e-01] [-2.26996483e-03 -1.38212550e-04 9.99997414e-01 -3.44329791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541858064 meters 0.037196938035092074 Centerline is valid? [True, True] Translation: X:5.00, Y:0.23, Z:-0.04 [[ 9.98904711e-01 4.67255925e-02 2.46945764e-03 5.00499652e+00] [-4.67258112e-02 9.98907752e-01 3.09346357e-05 2.30643882e-01] [-2.46531495e-03 -1.46288165e-04 9.99996950e-01 -3.54807042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.571858064 meters 0.036849138582662984 Centerline is valid? [True, True] Translation: X:5.04, Y:0.23, Z:-0.04 [[ 9.98926251e-01 4.62569124e-02 2.57738492e-03 5.03736172e+00] [-4.62571490e-02 9.98929565e-01 3.22490759e-05 2.26340478e-01] [-2.57313425e-03 -1.51436927e-04 9.99996678e-01 -3.52628523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601858064 meters 0.03338793162640848 Centerline is valid? [True, True] Translation: X:5.07, Y:0.21, Z:-0.03 [[ 9.99008721e-01 4.44073601e-02 3.09211019e-03 5.06928686e+00] [-4.44076873e-02 9.99013491e-01 3.72319875e-05 2.12791723e-01] [-3.08740643e-03 -1.74508543e-04 9.99995219e-01 -3.38842966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.631858064 meters 0.031581026289976305 Centerline is valid? [True, True] Translation: X:5.10, Y:0.20, Z:-0.03 [[ 9.99088635e-01 4.25632169e-02 3.20504626e-03 5.10108375e+00] [-4.25635585e-02 9.99093760e-01 3.84170239e-05 2.04931579e-01] [-3.20050657e-03 -1.74800186e-04 9.99994863e-01 -3.39783875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6618580640000005 meters 0.032731025856111505 Centerline is valid? [True, True] Translation: X:5.13, Y:0.20, Z:-0.03 [[ 9.99096739e-01 4.23226401e-02 3.80781558e-03 5.13205736e+00] [-4.23231207e-02 9.99103974e-01 4.56974567e-05 2.03960620e-01] [-3.80246964e-03 -2.06814818e-04 9.99992749e-01 -3.30922631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.691858064 meters 0.03040096394455195 Centerline is valid? [True, True] Translation: X:5.16, Y:0.20, Z:-0.03 [[ 9.99126466e-01 4.15876827e-02 4.09499616e-03 5.16454536e+00] [-4.15882283e-02 9.99134834e-01 4.81360192e-05 1.97256123e-01] [-4.08945144e-03 -2.18397606e-04 9.99991614e-01 -3.26986479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721858064 meters 0.030789303361842803 Centerline is valid? [True, True] Translation: X:5.19, Y:0.19, Z:-0.03 [[ 9.99238274e-01 3.89152968e-02 2.91058382e-03 5.19476631e+00] [-3.89155584e-02 9.99242502e-01 3.32846192e-05 1.88776018e-01] [-2.90708378e-03 -1.46526260e-04 9.99995764e-01 -3.44530156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.751858064 meters 0.03145382657596098 Centerline is valid? [True, True] Translation: X:5.23, Y:0.18, Z:-0.03 [[ 9.99249923e-01 3.86514589e-02 2.37830034e-03 5.22698196e+00] [-3.86516345e-02 9.99252746e-01 2.78974856e-05 1.84655564e-01] [-2.37544487e-03 -1.19801756e-04 9.99997171e-01 -3.49619215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.781858064 meters 0.031200324168795805 Centerline is valid? [True, True] Translation: X:5.26, Y:0.18, Z:-0.03 [[ 9.99233359e-01 3.90496117e-02 2.79685621e-03 5.26006363e+00] [-3.90498538e-02 9.99237263e-01 3.19836584e-05 1.81139678e-01] [-2.79347399e-03 -1.41175964e-04 9.99996088e-01 -3.43908934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.811858064 meters 0.027664796192955372 Centerline is valid? [True, True] Translation: X:5.29, Y:0.17, Z:-0.03 [[ 9.99240997e-01 3.88089067e-02 3.36128554e-03 5.29217648e+00] [-3.88092508e-02 9.99246637e-01 3.71535958e-05 1.67563541e-01] [-3.35731138e-03 -1.67574370e-04 9.99994350e-01 -3.31460328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841858064 meters 0.0319196584996605 Centerline is valid? [True, True] Translation: X:5.32, Y:0.17, Z:-0.03 [[ 9.99208925e-01 3.96612878e-02 2.91656305e-03 5.32363172e+00] [-3.96615486e-02 9.99213171e-01 3.16339066e-05 1.71097152e-01] [-2.91301358e-03 -1.47284289e-04 9.99995746e-01 -3.35422721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.871858064 meters 0.03164100100077588 Centerline is valid? [True, True] Translation: X:5.36, Y:0.16, Z:-0.03 [[ 9.99181507e-01 4.04306587e-02 1.29531008e-03 5.35605917e+00] [-4.04307114e-02 9.99182344e-01 1.44866507e-05 1.63425584e-01] [-1.29366526e-03 -6.68451014e-05 9.99999161e-01 -3.45822386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901858064 meters 0.029303851724357195 Centerline is valid? [True, True] Translation: X:5.39, Y:0.15, Z:-0.03 [[ 9.99183377e-01 4.04032828e-02 3.91640429e-04 5.38791618e+00] [-4.04032880e-02 9.99183454e-01 5.25987652e-06 1.54620370e-01] [-3.91108120e-04 -2.10791422e-05 9.99999923e-01 -3.48406137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.931858064 meters 0.030876659676481583 Centerline is valid? [True, True] Translation: X:5.42, Y:0.15, Z:-0.04 [[ 9.99201553e-01 3.99529893e-02 -1.24127068e-04 5.41921263e+00] [-3.99529897e-02 9.99201561e-01 -4.30132133e-07 1.51671464e-01] [ 1.24010775e-04 5.38903615e-06 9.99999992e-01 -3.54440307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961858064 meters 0.03001182598873871 Centerline is valid? [True, True] Translation: X:5.45, Y:0.15, Z:-0.04 [[ 9.99215149e-01 3.96115766e-02 -9.02134482e-05 5.45169300e+00] [-3.96115768e-02 9.99215154e-01 5.02695434e-07 1.45571836e-01] [ 9.01625570e-05 3.07119603e-06 9.99999996e-01 -3.51685582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.991858064 meters 0.028821347050456636 Centerline is valid? [True, True] Translation: X:5.48, Y:0.14, Z:-0.03 [[ 9.99229174e-01 3.92522764e-02 5.63467826e-04 5.48444836e+00] [-3.92522859e-02 9.99229332e-01 5.81022216e-06 1.36722278e-01] [-5.62805515e-04 -2.79231437e-05 9.99999841e-01 -3.29093156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.021858064 meters 0.030622184142535473 Centerline is valid? [True, True] Translation: X:5.52, Y:0.14, Z:-0.03 [[ 9.99244769e-01 3.88466645e-02 9.09552731e-04 5.51600713e+00] [-3.88466890e-02 9.99245182e-01 9.24194978e-06 1.35165447e-01] [-9.08507166e-04 -4.45680820e-05 9.99999586e-01 -3.28598961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.051858064 meters 0.029179061584699784 Centerline is valid? [True, True] Translation: X:5.55, Y:0.13, Z:-0.03 [[ 9.99250665e-01 3.86945934e-02 9.15285641e-04 5.54778942e+00] [-3.86946185e-02 9.99251083e-01 9.65028493e-06 1.29004622e-01] [-9.14226754e-04 -4.50596823e-05 9.99999581e-01 -3.27272017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081858064 meters 0.030906241129246434 Centerline is valid? [True, True] Translation: X:5.58, Y:0.12, Z:-0.03 [[ 9.99257974e-01 3.84983945e-02 1.17232209e-03 5.57881212e+00] [-3.84984346e-02 9.99258660e-01 1.16151927e-05 1.23700281e-01] [-1.17100584e-03 -5.67391393e-05 9.99999313e-01 -3.22335757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.111858064 meters 0.02968408801615327 Centerline is valid? [True, True] Translation: X:5.61, Y:0.12, Z:-0.03 [[ 9.99238804e-01 3.89390744e-02 2.35805700e-03 5.61204746e+00] [-3.89392339e-02 9.99241580e-01 2.17453215e-05 1.18570166e-01] [-2.35542186e-03 -1.13549702e-04 9.99997220e-01 -3.11749881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141858064 meters 0.029786354132585072 Centerline is valid? [True, True] Translation: X:5.64, Y:0.12, Z:-0.03 [[ 9.99234261e-01 3.90012290e-02 3.12991287e-03 5.64279265e+00] [-3.90015057e-02 9.99239151e-01 2.73798858e-05 1.15579409e-01] [-3.12646363e-03 -1.49430235e-04 9.99995101e-01 -2.99759340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.171858064 meters 0.02991942231980013 Centerline is valid? [True, True] Translation: X:5.68, Y:0.11, Z:-0.03 [[ 9.99228777e-01 3.91225183e-02 3.35866738e-03 5.67615642e+00] [-3.91228352e-02 9.99234408e-01 2.86660721e-05 1.11641192e-01] [-3.35497453e-03 -1.60044554e-04 9.99994359e-01 -2.93914445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201858064 meters 0.02795389542746883 Centerline is valid? [True, True] Translation: X:5.71, Y:0.10, Z:-0.03 [[ 9.99207972e-01 3.96434845e-02 3.43840162e-03 5.70852149e+00] [-3.96438162e-02 9.99213875e-01 2.83288888e-05 9.99269029e-02] [-3.43457555e-03 -1.64617813e-04 9.99994088e-01 -2.77051431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.231858064 meters 0.027744254642482903 Centerline is valid? [True, True] Translation: X:5.74, Y:0.10, Z:-0.03 [[ 9.99167027e-01 4.06424844e-02 3.66602563e-03 5.74021653e+00] [-4.06428637e-02 9.99173737e-01 2.90011684e-05 9.66589335e-02] [-3.66181785e-03 -1.77974792e-04 9.99993280e-01 -2.69232376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261858064 meters 0.03092318596941284 Centerline is valid? [True, True] Translation: X:5.77, Y:0.10, Z:-0.03 [[ 9.99133808e-01 4.14442843e-02 3.74226572e-03 5.77125280e+00] [-4.14446840e-02 9.99140800e-01 2.92773041e-05 9.84633817e-02] [-3.73783698e-03 -1.84348964e-04 9.99992997e-01 -2.69916471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.291858064 meters 0.03330203337092345 Centerline is valid? [True, True] Translation: X:5.80, Y:0.09, Z:-0.03 [[ 9.99040740e-01 4.36506865e-02 3.49537318e-03 5.80260119e+00] [-4.36510461e-02 9.99046838e-01 2.66208260e-05 9.41142002e-02] [-3.49087951e-03 -1.79171985e-04 9.99993891e-01 -2.71615191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.321858064 meters 0.031610997780903045 Centerline is valid? [True, True] Translation: X:5.83, Y:0.09, Z:-0.03 [[ 9.99000567e-01 4.45778415e-02 3.26847034e-03 5.83441701e+00] [-4.45781591e-02 9.99005899e-01 2.43209062e-05 8.75032874e-02] [-3.26413698e-03 -1.69998990e-04 9.99994658e-01 -2.71067769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.351858064 meters 0.029397053013324403 Centerline is valid? [True, True] Translation: X:5.87, Y:0.08, Z:-0.03 [[ 9.98927185e-01 4.62021238e-02 3.13725945e-03 5.86647562e+00] [-4.62024222e-02 9.98932098e-01 2.26566742e-05 8.22639939e-02] [-3.13286238e-03 -1.67581353e-04 9.99995079e-01 -2.66553129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381858064 meters 0.03141599314801613 Centerline is valid? [True, True] Translation: X:5.90, Y:0.08, Z:-0.03 [[ 9.98849575e-01 4.78820354e-02 2.61493174e-03 5.89757891e+00] [-4.78822472e-02 9.98852987e-01 1.84231564e-05 7.93237916e-02] [-2.61105024e-03 -1.43610770e-04 9.99996581e-01 -2.65975953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4118580640000005 meters 0.03133650093680733 Centerline is valid? [True, True] Translation: X:5.93, Y:0.08, Z:-0.03 [[ 9.98814387e-01 4.86076363e-02 2.66800556e-03 5.92952394e+00] [-4.86078578e-02 9.98817939e-01 1.82051130e-05 7.66215969e-02] [-2.66396691e-03 -1.47869564e-04 9.99996441e-01 -2.62323514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441858064 meters 0.03161685199475786 Centerline is valid? [True, True] Translation: X:5.96, Y:0.07, Z:-0.03 [[ 9.98828782e-01 4.83207407e-02 2.48389814e-03 5.96199911e+00] [-4.83209305e-02 9.98831861e-01 1.64433862e-05 7.38897056e-02] [-2.48020205e-03 -1.36448397e-04 9.99996915e-01 -2.72438245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.471858064 meters 0.0326828141661361 Centerline is valid? [True, True] Translation: X:5.99, Y:0.07, Z:-0.03 [[ 9.98832922e-01 4.82744572e-02 1.53973049e-03 5.99272549e+00] [-4.82745302e-02 9.98834105e-01 1.02590103e-05 7.27338599e-02] [-1.53744008e-03 -8.45768035e-05 9.99998815e-01 -2.79147418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501858064 meters 0.030027013666076484 Centerline is valid? [True, True] Translation: X:6.02, Y:0.06, Z:-0.03 [[ 9.98923466e-01 4.63873002e-02 3.57991841e-04 6.02463651e+00] [-4.63873041e-02 9.98923530e-01 2.46502841e-06 6.20708327e-02] [-3.57492127e-04 -1.90686511e-05 9.99999936e-01 -2.93241614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.531858064 meters 0.029351844152207814 Centerline is valid? [True, True] Translation: X:6.06, Y:0.06, Z:-0.03 [[ 9.98942946e-01 4.59670283e-02 1.52689296e-04 6.05650037e+00] [-4.59670292e-02 9.98942957e-01 2.21638910e-06 5.86428263e-02] [-1.52426016e-04 -9.23271956e-06 9.99999988e-01 -2.94124052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561858064 meters 0.031932405022440026 Centerline is valid? [True, True] Translation: X:6.09, Y:0.06, Z:-0.03 [[ 9.98965887e-01 4.54556147e-02 -9.71531958e-04 6.08809822e+00] [-4.54556398e-02 9.98966358e-01 -3.78426324e-06 5.98280487e-02] [ 9.70355726e-04 4.79419566e-05 9.99999528e-01 -3.09251284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.591858064 meters 0.029778763511157626 Centerline is valid? [True, True] Translation: X:6.12, Y:0.05, Z:-0.03 [[ 9.99005837e-01 4.45715395e-02 -8.46367987e-04 6.11989727e+00] [-4.45715580e-02 9.99006194e-01 -2.94241734e-06 5.41490331e-02] [ 8.45395714e-04 4.06634319e-05 9.99999642e-01 -3.10777336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621858064 meters 0.030910365738237376 Centerline is valid? [True, True] Translation: X:6.15, Y:0.05, Z:-0.03 [[ 9.99086403e-01 4.27115533e-02 -1.44323241e-03 6.14992033e+00] [-4.27116081e-02 9.99087443e-01 -7.17917518e-06 5.13140354e-02] [ 1.44160875e-03 6.88153935e-05 9.99998959e-01 -3.24102712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.651858064 meters 0.027114200097534253 Centerline is valid? [True, True] Translation: X:6.18, Y:0.04, Z:-0.03 [[ 9.99099339e-01 4.24129857e-02 -1.28448704e-03 6.18184886e+00] [-4.24130268e-02 9.99100163e-01 -4.79496736e-06 4.34714864e-02] [ 1.28312784e-03 5.92696319e-05 9.99999175e-01 -3.20035851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681858064 meters 0.030868020367960398 Centerline is valid? [True, True] Translation: X:6.21, Y:0.05, Z:-0.03 [[ 9.99118486e-01 4.19495910e-02 -1.57546001e-03 6.21338544e+00] [-4.19496522e-02 9.99119726e-01 -5.82114526e-06 4.66509698e-02] [ 1.57382898e-03 7.19060135e-05 9.99998759e-01 -3.31680140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.711858064 meters 0.02717451670464268 Centerline is valid? [True, True] Translation: X:6.25, Y:0.04, Z:-0.03 [[ 9.99153697e-01 4.11285695e-02 -5.75303502e-04 6.24550046e+00] [-4.11285770e-02 9.99153862e-01 -1.14302422e-06 3.51757866e-02] [ 5.74769705e-04 2.48034713e-05 9.99999835e-01 -3.07813450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741858064 meters 0.02716560186297396 Centerline is valid? [True, True] Translation: X:6.28, Y:0.03, Z:-0.03 [[ 9.99180496e-01 4.04728352e-02 -5.34274728e-04 6.27743799e+00] [-4.04728415e-02 9.99180639e-01 -8.44574727e-07 3.21957935e-02] [ 5.33802782e-04 2.24674990e-05 9.99999857e-01 -3.04082745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.771858064 meters 0.031034545225315294 Centerline is valid? [True, True] Translation: X:6.31, Y:0.04, Z:-0.03 [[ 9.99202046e-01 3.99402220e-02 2.22261525e-04 6.30889614e+00] [-3.99402233e-02 9.99202071e-01 1.63630179e-06 3.55346228e-02] [-2.22018822e-04 -1.05121711e-05 9.99999975e-01 -3.10952764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801858064 meters 0.027269746166675973 Centerline is valid? [True, True] Translation: X:6.34, Y:0.03, Z:-0.03 [[ 9.99222944e-01 3.94141003e-02 1.89845021e-04 6.34119712e+00] [-3.94141014e-02 9.99222962e-01 2.02076487e-06 2.58780595e-02] [-1.89617857e-04 -9.50176551e-06 9.99999982e-01 -3.03577341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.831858064 meters 0.027339619446649192 Centerline is valid? [True, True] Translation: X:6.37, Y:0.02, Z:-0.03 [[ 9.99247466e-01 3.87866955e-02 3.07285788e-04 6.37315501e+00] [-3.87866981e-02 9.99247513e-01 2.37749767e-06 2.32229133e-02] [-3.06962344e-04 -1.42943096e-05 9.99999953e-01 -3.06806415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.861858064 meters 0.027602171237515405 Centerline is valid? [True, True] Translation: X:6.41, Y:0.02, Z:-0.03 [[ 9.99235512e-01 3.90840213e-02 9.11787013e-04 6.40571084e+00] [-3.90840416e-02 9.99235927e-01 4.41206167e-06 2.08624320e-02] [-9.10917900e-04 -4.00450102e-05 9.99999584e-01 -2.97832992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.891858064 meters 0.027913362853006277 Centerline is valid? [True, True] Translation: X:6.44, Y:0.02, Z:-0.03 [[ 9.99249794e-01 3.86891605e-02 1.73134078e-03 6.43695060e+00] [-3.86892296e-02 9.99251291e-01 6.38028543e-06 1.59631551e-02] [-1.72979767e-03 -7.33597400e-05 9.99998501e-01 -2.75078238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921858064 meters 0.027582145139943032 Centerline is valid? [True, True] Translation: X:6.47, Y:0.01, Z:-0.03 [[ 9.99286512e-01 3.76992365e-02 2.28784118e-03 6.46937819e+00] [-3.76993526e-02 9.99289127e-01 7.60382883e-06 1.26917212e-02] [-2.28592816e-03 -9.38485349e-05 9.99997383e-01 -2.71279094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.951858064 meters 0.027886479218492407 Centerline is valid? [True, True] Translation: X:6.50, Y:0.01, Z:-0.03 [[ 9.99307970e-01 3.71066136e-02 2.58460886e-03 6.50090925e+00] [-3.71067576e-02 9.99311307e-01 7.78200179e-06 7.90956831e-03] [-2.58254009e-03 -1.03683071e-04 9.99996660e-01 -2.56473406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.981858064 meters 0.028111341193245692 Centerline is valid? [True, True] Translation: X:6.53, Y:0.01, Z:-0.03 [[ 9.99299392e-01 3.73107764e-02 2.93772941e-03 6.53412121e+00] [-3.73109615e-02 9.99303704e-01 8.19289678e-06 6.28741672e-03] [-2.93537820e-03 -1.17796666e-04 9.99995685e-01 -2.54313304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.011858064 meters 0.028362967853826023 Centerline is valid? [True, True] Translation: X:6.57, Y:0.01, Z:-0.03 [[ 9.99285510e-01 3.76511092e-02 3.29599538e-03 6.56696056e+00] [-3.76513406e-02 9.99290937e-01 8.17002747e-06 5.50120231e-03] [-3.29335070e-03 -1.32262835e-04 9.99994568e-01 -2.51406289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041858064 meters 0.028841545207407844 Centerline is valid? [True, True] Translation: X:6.60, Y:0.00, Z:-0.03 [[ 9.99275952e-01 3.78999057e-02 3.34193464e-03 6.60000065e+00] [-3.79001421e-02 9.99281531e-01 7.40784253e-06 4.27673346e-03] [-3.33925281e-03 -1.34062277e-04 9.99994416e-01 -2.59702771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.071858064 meters 0.02920615724440315 Centerline is valid? [True, True] Translation: X:6.63, Y:0.00, Z:-0.03 [[ 9.99267466e-01 3.81543293e-02 2.96283778e-03 6.63226140e+00] [-3.81545144e-02 9.99271851e-01 5.93080656e-06 3.18974379e-04] [-2.96045411e-03 -1.18972099e-04 9.99995611e-01 -2.55304425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101858064 meters 0.029253385114457648 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.00, Z:-0.03 [[ 9.99272699e-01 3.80222392e-02 2.89534311e-03 6.66440907e+00] [-3.80224133e-02 9.99276887e-01 5.09282217e-06 -2.14795912e-03] [-2.89305581e-03 -1.15177051e-04 9.99995808e-01 -2.54362254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.131858064 meters 0.023960608734461254 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.01, Z:-0.03 [[ 9.99310824e-01 3.69860148e-02 3.14843418e-03 6.69688826e+00] [-3.69862132e-02 9.99315776e-01 4.79254574e-06 -1.18532653e-02] [-3.14610269e-03 -1.21237901e-04 9.99995044e-01 -2.50304091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161858064 meters 0.0280674657417667 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.01, Z:-0.03 [[ 9.99368898e-01 3.54077091e-02 2.84584913e-03 6.72798570e+00] [-3.54078631e-02 9.99372945e-01 3.72806616e-06 -7.50911605e-03] [-2.84393263e-03 -1.04491150e-04 9.99995951e-01 -2.63581130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.191858064 meters 0.025043364560637178 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.02, Z:-0.03 [[ 9.99557136e-01 2.96841500e-02 2.09374622e-03 6.75856582e+00] [-2.96842190e-02 9.99559326e-01 1.90716153e-06 -1.55065971e-02] [-2.09276695e-03 -6.40575384e-05 9.99997808e-01 -2.86338300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221858064 meters 0.023450119952942463 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.02, Z:-0.03 [[ 9.99644087e-01 2.66403666e-02 1.41044751e-03 6.79021386e+00] [-2.66403952e-02 9.99645082e-01 1.46404867e-06 -2.01627500e-02] [-1.40990791e-03 -3.90384066e-05 9.99999005e-01 -2.96585533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.251858064 meters 0.019532350325349272 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.03, Z:-0.03 [[ 9.99737873e-01 2.27988169e-02 2.09736456e-03 6.82185996e+00] [-2.27988709e-02 9.99740072e-01 1.83648023e-06 -2.91154449e-02] [-2.09677753e-03 -4.96535428e-05 9.99997801e-01 -2.93884789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281858064 meters 0.01855960507985804 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.04, Z:-0.03 [[ 9.99881739e-01 1.50330521e-02 3.24287090e-03 6.85173370e+00] [-1.50331390e-02 9.99886996e-01 2.41038190e-06 -3.62876700e-02] [-3.24246820e-03 -5.11606257e-05 9.99994742e-01 -2.84796691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.311858064 meters 0.016880432890913462 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.04, Z:-0.03 [[ 9.99929294e-01 1.11895856e-02 4.02501462e-03 6.88365400e+00] [-1.11896896e-02 9.99937393e-01 3.32728492e-06 -4.26338662e-02] [-4.02472540e-03 -4.83657141e-05 9.99991900e-01 -2.77420146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341858064 meters 0.014922846683382784 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.05, Z:-0.03 [[ 9.99979177e-01 4.14677749e-03 4.94463341e-03 6.91600995e+00] [-4.14684196e-03 9.99991402e-01 2.78581911e-06 -5.23409744e-02] [-4.94457934e-03 -2.32903744e-05 9.99987775e-01 -2.65931518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.371858064 meters 0.014806654700498047 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.06, Z:-0.03 [[ 9.99984410e-01 1.21453204e-03 5.45020018e-03 6.94670643e+00] [-1.21455873e-03 9.99999262e-01 1.58826884e-06 -5.50085527e-02] [-5.45019423e-03 -8.20783229e-06 9.99985148e-01 -2.67680565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401858064 meters 0.014892430953233067 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.06, Z:-0.03 [[ 9.99966403e-01 -4.66538456e-03 6.73999464e-03 6.97980975e+00] [ 4.66548994e-03 9.99989117e-01 8.76635231e-08 -6.05658922e-02] [-6.73992170e-03 3.13577166e-05 9.99977286e-01 -2.59135176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.431858064 meters 0.014892430953233067 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.06, Z:-0.03 [[ 9.99966563e-01 -4.63099628e-03 6.73999430e-03 7.01063266e+00] [ 4.63111155e-03 9.99989276e-01 -1.49522891e-06 -6.06020973e-02] [-6.73991510e-03 3.27088443e-05 9.99977286e-01 -2.60867825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461858064 meters 0.01583911296285163 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.07, Z:-0.03 [[ 9.99948936e-01 -7.04257041e-03 7.24755025e-03 7.04189050e+00] [ 7.04277009e-03 9.99975199e-01 -2.03051167e-06 -6.56887632e-02] [-7.24735620e-03 5.30732381e-05 9.99973736e-01 -2.51066976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.491858064 meters 0.015282802387499303 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.07, Z:-0.02 [[ 9.99930968e-01 -9.16718745e-03 7.34992115e-03 7.07283252e+00] [ 9.16745612e-03 9.99957978e-01 -2.86294307e-06 -6.50065389e-02] [-7.34958605e-03 7.02428251e-05 9.99972989e-01 -2.48969072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521858064 meters 0.015550224829442346 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.07, Z:-0.03 [[ 9.99919259e-01 -1.03801975e-02 7.32990372e-03 7.10304716e+00] [ 1.03804987e-02 9.99946121e-01 -3.04355707e-06 -6.59860094e-02] [-7.32947720e-03 7.91313672e-05 9.99973136e-01 -2.51310768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.551858064 meters 0.015682852760332627 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.07, Z:-0.03 [[ 9.99910984e-01 -1.13109788e-02 7.07708928e-03 7.13311728e+00] [ 1.13112829e-02 9.99936025e-01 -2.93858227e-06 -6.59709146e-02] [-7.07660329e-03 8.29892795e-05 9.99974957e-01 -2.57382219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581858064 meters 0.015641189809560443 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.06, Z:-0.03 [[ 9.99921133e-01 -1.11032402e-02 5.86902315e-03 7.16329661e+00] [ 1.11034456e-02 9.99938355e-01 -2.41678117e-06 -6.38529687e-02] [-5.86863452e-03 6.75829700e-05 9.99982777e-01 -2.76360958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.611858064 meters 0.015416160322983869 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.06, Z:-0.03 [[ 9.99934528e-01 -1.02049291e-02 5.17672513e-03 7.19217116e+00] [ 1.02050750e-02 9.99947927e-01 -1.77734020e-06 -6.22103339e-02] [-5.17643743e-03 5.46060921e-05 9.99986601e-01 -2.85852612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641858064000001 meters 0.015048954828300438 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.06, Z:-0.03 [[ 9.99948774e-01 -8.92341598e-03 4.77734104e-03 7.22154873e+00] [ 8.92352533e-03 9.99960185e-01 -1.57237548e-06 -5.90920975e-02] [-4.77713680e-03 4.42030187e-05 9.99988588e-01 -2.92596200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.671858064 meters 0.014564581041864541 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.05, Z:-0.03 [[ 9.99982284e-01 -4.92513535e-03 3.34297244e-03 7.25128360e+00] [ 4.92516384e-03 9.99987871e-01 -2.90606463e-07 -5.43494505e-02] [-3.34293047e-03 1.67552883e-05 9.99994412e-01 -2.96173155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701858064 meters 0.014597798314944215 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.05, Z:-0.03 [[ 9.99992702e-01 -2.55888107e-03 2.83685200e-03 7.28179133e+00] [ 2.55889160e-03 9.99996726e-01 -8.12509989e-08 -5.17723457e-02] [-2.83684250e-03 7.34044715e-06 9.99995976e-01 -3.03323166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.731858064 meters 0.014573655317470792 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.05, Z:-0.03 [[ 9.99993758e-01 2.39959861e-03 2.59333123e-03 7.31242535e+00] [-2.39960662e-03 9.99997121e-01 -2.19009793e-08 -4.58435744e-02] [-2.59332381e-03 -6.20107395e-06 9.99996637e-01 -3.17150504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761858064 meters 0.01473950201144108 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.04, Z:-0.03 [[ 9.99982295e-01 5.24887810e-03 2.80324884e-03 7.34428875e+00] [-5.24889891e-03 9.99986224e-01 6.56312371e-08 -4.32685517e-02] [-2.80320988e-03 -1.47795999e-05 9.99996071e-01 -3.18688580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.791858064 meters 0.015057162370718922 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.04, Z:-0.03 [[ 9.99962697e-01 8.00138546e-03 3.25306119e-03 7.37685397e+00] [-8.00142710e-03 9.99967988e-01 -2.13418122e-07 -4.06829176e-02] [-3.25295876e-03 -2.58157218e-05 9.99994709e-01 -3.20629211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821858064 meters 0.015344490140938642 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.04, Z:-0.03 [[ 9.99916217e-01 1.21307061e-02 4.51727375e-03 7.40933244e+00] [-1.21308264e-02 9.99926419e-01 -7.57690543e-07 -3.72899938e-02] [-4.51695055e-03 -5.40406367e-05 9.99989797e-01 -3.07303739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.851858064 meters 0.015661934433642173 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.04, Z:-0.03 [[ 9.99888770e-01 1.37805878e-02 5.70471569e-03 7.44042833e+00] [-1.37808036e-02 9.99905040e-01 -1.48062831e-06 -3.53117973e-02] [-5.70419438e-03 -7.71351028e-05 9.99983728e-01 -3.01013422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881858064 meters 0.015647052042966063 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.03, Z:-0.03 [[ 9.99864488e-01 1.49876729e-02 6.80995759e-03 7.47290478e+00] [-1.49879960e-02 9.99887674e-01 -3.58968636e-06 -3.43820966e-02] [-6.80924646e-03 -9.84784174e-05 9.99976812e-01 -2.93335533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.911858064 meters 0.01614641988738937 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.03, Z:-0.03 [[ 9.99825284e-01 1.68908013e-02 8.00640160e-03 7.50361369e+00] [-1.68912933e-02 9.99857332e-01 -6.17775883e-06 -3.16491859e-02] [-8.00536369e-03 -1.29061798e-04 9.99967948e-01 -2.82471382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941858064 meters 0.016159337112729953 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.03, Z:-0.03 [[ 9.99800483e-01 1.77949084e-02 9.07385489e-03 7.53558133e+00] [-1.77955620e-02 9.99841646e-01 -8.70641832e-06 -3.08886929e-02] [-9.07257295e-03 -1.52769666e-04 9.99958832e-01 -2.81841398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.971858064 meters 0.017218691163791783 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.03, Z:-0.03 [[ 9.99778660e-01 1.87686408e-02 9.50626236e-03 7.56650164e+00] [-1.87693800e-02 9.99823840e-01 -1.14555041e-05 -2.69957431e-02] [-9.50480274e-03 -1.66973682e-04 9.99954814e-01 -2.75179676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001858064 meters 0.016484611153660327 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.03, Z:-0.03 [[ 9.99754954e-01 1.96649617e-02 1.01647403e-02 7.59860635e+00] [-1.96658280e-02 9.99806609e-01 -1.47275625e-05 -2.78084003e-02] [-1.01630642e-02 -1.85174081e-04 9.99948338e-01 -2.79066008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.031858064 meters 0.016754797187950636 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.03, Z:-0.03 [[ 9.99743661e-01 2.07849530e-02 8.97759042e-03 7.62951036e+00] [-2.07856589e-02 9.99783955e-01 -1.46728064e-05 -2.54127784e-02] [-8.97595583e-03 -1.71936087e-04 9.99959701e-01 -2.94346052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061858064 meters 0.016874939155924813 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.02, Z:-0.03 [[ 9.99746951e-01 2.10146895e-02 8.02595225e-03 7.66247486e+00] [-2.10152503e-02 9.99779155e-01 -1.44577548e-05 -2.44198599e-02] [-8.02448358e-03 -1.54213299e-04 9.99967791e-01 -3.05483454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.091858064 meters 0.01684107015234364 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.02, Z:-0.03 [[ 9.99750309e-01 2.12743286e-02 6.83542504e-03 7.69498789e+00] [-2.12747301e-02 9.99773667e-01 -1.39633195e-05 -2.39157720e-02] [-6.83417502e-03 -1.31461990e-04 9.99976638e-01 -3.19749804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121858064 meters 0.015893191332049573 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.02, Z:-0.03 [[ 9.99794033e-01 1.96995071e-02 4.88073223e-03 7.72711442e+00] [-1.96996886e-02 9.99805942e-01 -1.08870679e-05 -2.46296616e-02] [-4.87999956e-03 -8.52640797e-05 9.99988089e-01 -3.42581150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.151858064 meters 0.015822232762186653 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.02, Z:-0.04 [[ 9.99822939e-01 1.85114413e-02 3.37891151e-03 7.75842935e+00] [-1.85115200e-02 9.99828647e-01 -7.98928211e-06 -2.44857258e-02] [-3.37848042e-03 -5.45609206e-05 9.99994291e-01 -3.60201458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181858064 meters 0.015297462736766283 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.03, Z:-0.04 [[ 9.99862059e-01 1.65071596e-02 1.83754551e-03 7.79017580e+00] [-1.65071799e-02 9.99863747e-01 -4.12151369e-06 -2.53585731e-02] [-1.83736318e-03 -2.62117493e-05 9.99998312e-01 -3.75606822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.211858064 meters 0.014846353015616168 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.03, Z:-0.04 [[ 9.99926976e-01 1.20830098e-02 2.06551353e-04 7.82125660e+00] [-1.20830101e-02 9.99926998e-01 1.32023806e-07 -2.70671388e-02] [-2.06534679e-04 -2.62777625e-06 9.99999979e-01 -3.84977840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241858064 meters 0.014406573437332986 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.03, Z:-0.04 [[ 9.99952259e-01 9.75763402e-03 5.17574305e-04 7.85374295e+00] [-9.75763515e-03 9.99952393e-01 -3.55494475e-07 -2.83361700e-02] [-5.17553134e-04 -4.69482373e-06 9.99999866e-01 -3.75753554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.271858064 meters 0.014313216140516546 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.03, Z:-0.04 [[ 9.99971262e-01 7.54080882e-03 7.81722021e-04 7.88487757e+00] [-7.54080959e-03 9.99971568e-01 -1.96151341e-06 -2.83781348e-02] [-7.81714586e-04 -3.93335988e-06 9.99999694e-01 -3.73058803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301858064 meters 0.014093792658145516 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.03, Z:-0.04 [[ 9.99991252e-01 3.49665570e-03 2.29536214e-03 7.91740465e+00] [-3.49664826e-03 9.99993887e-01 -7.25182161e-06 -2.74848747e-02] [-2.29537346e-03 -7.74315847e-07 9.99997366e-01 -3.56422893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.331858064 meters 0.014112777891929138 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.03, Z:-0.03 [[ 9.99993007e-01 1.79715694e-03 3.27958203e-03 7.94892851e+00] [-1.79712752e-03 9.99998385e-01 -1.19169688e-05 -2.67748361e-02] [-3.27959815e-03 6.02305830e-06 9.99994622e-01 -3.49660168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361858064 meters 0.01416843605367681 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.03, Z:-0.03 [[ 9.99992859e-01 3.54634745e-04 3.76250116e-03 7.98100943e+00] [-3.54583254e-04 9.99999937e-01 -1.43523666e-05 -2.63167271e-02] [-3.76250601e-03 1.30181442e-05 9.99992922e-01 -3.38329226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.391858064 meters 0.014258218980711347 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.02, Z:-0.03 [[ 9.99990265e-01 -1.79936630e-03 4.02883573e-03 8.01322455e+00] [ 1.79944702e-03 9.99998381e-01 -1.64117342e-05 -2.43234178e-02] [-4.02879967e-03 2.36612509e-05 9.99991884e-01 -3.23027651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421858064 meters 0.014352028343812228 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.02, Z:-0.03 [[ 9.99988936e-01 -2.13449656e-03 4.19180340e-03 8.04461324e+00] [ 2.13459262e-03 9.99997722e-01 -1.84403309e-05 -2.25834418e-02] [-4.19175449e-03 2.73879194e-05 9.99991214e-01 -3.24260541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.451858064 meters 0.0143631403447 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.02, Z:-0.03 [[ 9.99992448e-01 -1.86552754e-03 3.40921721e-03 8.07590765e+00] [ 1.86558919e-03 9.99998260e-01 -1.49015881e-05 -2.04261282e-02] [-3.40918348e-03 2.12616744e-05 9.99994188e-01 -3.31657199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481858064 meters 0.014373986840225393 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.01, Z:-0.03 [[ 9.99997167e-01 3.80538639e-04 2.34953089e-03 8.10601765e+00] [-3.80514638e-04 9.99999928e-01 -1.06624729e-05 -1.48970543e-02] [-2.34953478e-03 9.76841184e-06 9.99997240e-01 -3.48071210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.511858064 meters 0.01425695066439837 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.01, Z:-0.04 [[ 9.99996495e-01 2.06435062e-03 1.65808332e-03 8.13750272e+00] [-2.06434109e-03 9.99997869e-01 -7.45857756e-06 -1.07967084e-02] [-1.65809519e-03 4.03570187e-06 9.99998625e-01 -3.55901581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541858064 meters 0.014271793985924154 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.00, Z:-0.04 [[ 9.99983354e-01 5.69907652e-03 9.01719503e-04 8.16844854e+00] [-5.69907523e-03 9.99983760e-01 -3.99376632e-06 -3.89678275e-03] [-9.01727620e-04 -1.14526744e-06 9.99999593e-01 -3.62418889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.571858064 meters 0.014376234289669635 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.00, Z:-0.04 [[ 9.99973649e-01 7.21491437e-03 8.03693603e-04 8.19999617e+00] [-7.21491403e-03 9.99973972e-01 -3.31257713e-06 -9.39107947e-04] [-8.03696584e-04 -2.48609041e-06 9.99999677e-01 -3.67440025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601858064 meters 0.014415744175190807 Centerline is valid? [True, True] Translation: X:8.23, Y:0.00, Z:-0.04 [[ 9.99960712e-01 8.80901342e-03 9.87739151e-04 8.23198072e+00] [-8.80901420e-03 9.99961200e-01 -3.55147946e-06 1.12616815e-03] [-9.87732111e-04 -5.14966828e-06 9.99999512e-01 -3.56638832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.631858064 meters 0.014614225111367882 Centerline is valid? [True, True] Translation: X:8.26, Y:0.01, Z:-0.04 [[ 9.99934696e-01 1.13672787e-02 1.17807378e-03 8.26452067e+00] [-1.13672800e-02 9.99935390e-01 -5.55545918e-06 5.28822987e-03] [-1.17806082e-03 -7.83639819e-06 9.99999306e-01 -3.52129661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661858064 meters 0.014843446867785116 Centerline is valid? [True, True] Translation: X:8.30, Y:0.01, Z:-0.04 [[ 9.99915024e-01 1.29691731e-02 1.32118323e-03 8.29659790e+00] [-1.29691771e-02 9.99915897e-01 -5.55105410e-06 7.51420304e-03] [-1.32114411e-03 -1.15840769e-05 9.99999127e-01 -3.59287361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.691858064 meters 0.014861298648717462 Centerline is valid? [True, True] Translation: X:8.33, Y:0.01, Z:-0.04 [[ 9.99900337e-01 1.40583827e-02 1.29558122e-03 8.32907520e+00] [-1.40583871e-02 9.99901176e-01 -5.68131210e-06 9.26711296e-03] [-1.29553305e-03 -1.25330365e-05 9.99999161e-01 -3.64030535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721858064 meters 0.015159185084353715 Centerline is valid? [True, True] Translation: X:8.36, Y:0.01, Z:-0.04 [[ 9.99882761e-01 1.52234511e-02 1.64658882e-03 8.36129178e+00] [-1.52234582e-02 9.99884116e-01 -8.17844014e-06 1.13122054e-02] [-1.64652251e-03 -1.68892948e-05 9.99998644e-01 -3.72922939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.751858064 meters 0.015077994986604707 Centerline is valid? [True, True] Translation: X:8.39, Y:0.01, Z:-0.04 [[ 9.99868203e-01 1.60172687e-02 2.65036235e-03 8.39396765e+00] [-1.60172860e-02 9.99871715e-01 -1.46877260e-05 1.29429578e-02] [-2.65025761e-03 -2.77658217e-05 9.99996488e-01 -3.67127712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781858064 meters 0.015302887194986545 Centerline is valid? [True, True] Translation: X:8.43, Y:0.01, Z:-0.04 [[ 9.99866598e-01 1.60536586e-02 3.01109505e-03 8.42602724e+00] [-1.60536771e-02 9.99871131e-01 -1.80085278e-05 1.33706081e-02] [-3.01099611e-03 -3.03330222e-05 9.99995466e-01 -3.68551041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.811858064 meters 0.014992326702450178 Centerline is valid? [True, True] Translation: X:8.46, Y:0.01, Z:-0.04 [[ 9.99862949e-01 1.63208957e-02 2.77688098e-03 8.45872704e+00] [-1.63209123e-02 9.99866805e-01 -1.66961965e-05 1.18244012e-02] [-2.77678361e-03 -2.86273226e-05 9.99996144e-01 -3.64231112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841858064 meters 0.015007794042831276 Centerline is valid? [True, True] Translation: X:8.49, Y:0.01, Z:-0.04 [[ 9.99863880e-01 1.62807064e-02 2.67592058e-03 8.49047799e+00] [-1.62807189e-02 9.99867460e-01 -1.71083316e-05 1.13656720e-02] [-2.67584445e-03 -2.64599081e-05 9.99996420e-01 -3.65791808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.871858064 meters 0.015110907380201613 Centerline is valid? [True, True] Translation: X:8.52, Y:0.01, Z:-0.04 [[ 9.99859210e-01 1.65868603e-02 2.53704517e-03 8.52279303e+00] [-1.65868722e-02 9.99862428e-01 -1.63556472e-05 1.12069968e-02] [-2.53696743e-03 -2.57282995e-05 9.99996782e-01 -3.70939516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901858064 meters 0.015570095830358103 Centerline is valid? [True, True] Translation: X:8.55, Y:0.01, Z:-0.04 [[ 9.99845083e-01 1.74638774e-02 2.19623786e-03 8.55440382e+00] [-1.74638876e-02 9.99847495e-01 -1.45449621e-05 1.26332395e-02] [-2.19615693e-03 -2.38121422e-05 9.99997588e-01 -3.81938135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.931858064 meters 0.01548452303306756 Centerline is valid? [True, True] Translation: X:8.59, Y:0.01, Z:-0.04 [[ 9.99800584e-01 1.98827820e-02 1.86189073e-03 8.58606341e+00] [-1.98827928e-02 9.99802318e-01 -1.27045640e-05 1.15203804e-02] [-1.86177527e-03 -2.43175571e-05 9.99998267e-01 -3.78794619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961858064 meters 0.015841086870727362 Centerline is valid? [True, True] Translation: X:8.62, Y:0.01, Z:-0.04 [[ 9.99755297e-01 2.20422769e-02 1.86680984e-03 8.61732205e+00] [-2.20422907e-02 9.99757039e-01 -1.31765290e-05 1.24016182e-02] [-1.86664672e-03 -2.79754606e-05 9.99998257e-01 -3.79233300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991858064 meters 0.01642775200687807 Centerline is valid? [True, True] Translation: X:8.65, Y:0.01, Z:-0.04 [[ 9.99699742e-01 2.44691308e-02 1.29937098e-03 8.64822676e+00] [-2.44691397e-02 9.99700586e-01 -9.08984037e-06 1.40085917e-02] [-1.29920435e-03 -2.27073790e-05 9.99999156e-01 -3.85479214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021858064 meters 0.01779055268654579 Centerline is valid? [True, True] Translation: X:8.68, Y:0.02, Z:-0.04 [[ 9.99558738e-01 2.97034305e-02 -1.89624757e-04 8.68038130e+00] [-2.97034307e-02 9.99558756e-01 1.91025367e-06 1.92592967e-02] [ 1.89597827e-04 3.72309507e-06 9.99999982e-01 -4.07959068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051858064 meters 0.018642887658698332 Centerline is valid? [True, True] Translation: X:8.71, Y:0.02, Z:-0.04 [[ 9.99481496e-01 3.21981789e-02 1.29193699e-04 8.71166420e+00] [-3.21981792e-02 9.99481504e-01 1.76463743e-07 2.14522025e-02] [-1.29121031e-04 -4.33617413e-06 9.99999992e-01 -4.18469986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081858064 meters 0.01919881772285105 Centerline is valid? [True, True] Translation: X:8.74, Y:0.02, Z:-0.04 [[ 9.99422167e-01 3.39893564e-02 2.35681449e-04 8.74358742e+00] [-3.39893572e-02 9.99422195e-01 -6.71673935e-07 2.23171531e-02] [-2.35568101e-04 -7.33937513e-06 9.99999972e-01 -4.19353910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.111858064 meters 0.020623998868190163 Centerline is valid? [True, True] Translation: X:8.77, Y:0.02, Z:-0.04 [[ 9.99359659e-01 3.57766911e-02 5.47882290e-04 8.77497906e+00] [-3.57766945e-02 9.99359809e-01 -3.54908985e-06 2.45613700e-02] [-5.47658516e-04 -1.60546001e-05 9.99999850e-01 -4.23552080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141858064 meters 0.02028263026130401 Centerline is valid? [True, True] Translation: X:8.81, Y:0.02, Z:-0.04 [[ 9.99339847e-01 3.63298043e-02 1.24529288e-04 8.80786893e+00] [-3.63298046e-02 9.99339855e-01 3.82200018e-07 2.37851987e-02] [-1.24433195e-04 -4.90607240e-06 9.99999992e-01 -4.26193285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.171858064 meters 0.018655158896899785 Centerline is valid? [True, True] Translation: X:8.84, Y:0.02, Z:-0.04 [[ 9.99324466e-01 3.67506806e-02 4.75444783e-06 8.84041271e+00] [-3.67506806e-02 9.99324466e-01 1.55078734e-06 2.02337695e-02] [-4.69424355e-06 -1.72446892e-06 1.00000000e+00 -4.21306927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201858064 meters 0.020430161806607897 Centerline is valid? [True, True] Translation: X:8.87, Y:0.02, Z:-0.04 [[ 9.99347423e-01 3.61209943e-02 -4.79121142e-05 8.87115454e+00] [-3.61209943e-02 9.99347424e-01 1.24121171e-06 2.21333714e-02] [ 4.79256818e-05 4.90231482e-07 9.99999999e-01 -4.30989102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231858064 meters 0.02032377260190208 Centerline is valid? [True, True] Translation: X:8.90, Y:0.02, Z:-0.04 [[ 9.99365065e-01 3.56271996e-02 -4.10813496e-04 8.90345353e+00] [-3.56272005e-02 9.99365150e-01 5.24699173e-06 2.05421377e-02] [ 4.10739626e-04 9.39247454e-06 9.99999916e-01 -4.34783455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261858064 meters 0.01883628468490273 Centerline is valid? [True, True] Translation: X:8.94, Y:0.02, Z:-0.04 [[ 9.99390154e-01 3.49110747e-02 -7.33240479e-04 8.93518067e+00] [-3.49110778e-02 9.99390422e-01 8.58266318e-06 1.62785013e-02] [ 7.33093142e-04 1.70207863e-05 9.99999731e-01 -4.33177877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.291858064 meters 0.01883628468490273 Centerline is valid? [True, True] Translation: X:8.97, Y:0.02, Z:-0.04 [[ 9.99380571e-01 3.51843107e-02 -7.33236357e-04 8.96763328e+00] [-3.51843135e-02 9.99380840e-01 8.97597369e-06 1.58746810e-02] [ 7.33098180e-04 1.68280042e-05 9.99999731e-01 -4.35000077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321858064 meters 0.018001889572838024 Centerline is valid? [True, True] Translation: X:9.00, Y:0.01, Z:-0.04 [[ 9.99398961e-01 3.46579647e-02 -7.36009939e-04 8.99960818e+00] [-3.46579674e-02 9.99399232e-01 9.02569019e-06 1.27328107e-02] [ 7.35880580e-04 1.64883431e-05 9.99999729e-01 -4.30124879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.351858064 meters 0.019932979295971088 Centerline is valid? [True, True] Translation: X:9.03, Y:0.02, Z:-0.04 [[ 9.99407116e-01 3.44177501e-02 -9.13790065e-04 9.03053303e+00] [-3.44177545e-02 9.99407534e-01 1.09723264e-05 1.57400673e-02] [ 9.13626317e-04 2.04847810e-05 9.99999582e-01 -4.41507658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381858064 meters 0.0181116937064252 Centerline is valid? [True, True] Translation: X:9.06, Y:0.01, Z:-0.04 [[ 9.99411304e-01 3.43046905e-02 -4.83203714e-04 9.06248085e+00] [-3.43046913e-02 9.99411421e-01 6.60278814e-06 1.20264260e-02] [ 4.83145817e-04 9.97725315e-06 9.99999883e-01 -4.38021596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.411858064 meters 0.017904084579496667 Centerline is valid? [True, True] Translation: X:9.10, Y:0.01, Z:-0.04 [[ 9.99439492e-01 3.34757907e-02 -2.68896646e-04 9.09507404e+00] [-3.34757909e-02 9.99439529e-01 3.71416665e-06 1.03398113e-02] [ 2.68870271e-04 5.28944307e-06 9.99999964e-01 -4.34613743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441858064 meters 0.017214849649022146 Centerline is valid? [True, True] Translation: X:9.13, Y:0.01, Z:-0.04 [[ 9.99566368e-01 2.94458830e-02 1.29432149e-04 9.12579089e+00] [-2.94458831e-02 9.99566376e-01 -1.23560332e-06 6.76193293e-03] [-1.29412407e-04 -2.57617640e-06 9.99999992e-01 -4.28440874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.471858064 meters 0.016353224147889273 Centerline is valid? [True, True] Translation: X:9.16, Y:0.00, Z:-0.04 [[ 9.99643555e-01 2.66933241e-02 4.78575859e-04 9.15787113e+00] [-2.66933252e-02 9.99643670e-01 -4.06867304e-06 3.40900703e-03] [-4.78513935e-04 -8.70755828e-06 9.99999885e-01 -4.26339642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501858064 meters 0.01567936391903548 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.00, Z:-0.04 [[ 9.99722127e-01 2.35658808e-02 5.63773060e-04 9.18997679e+00] [-2.35658817e-02 9.99722286e-01 -5.16832915e-06 -2.45090041e-04] [-5.63738289e-04 -8.11891621e-06 9.99999841e-01 -4.30399932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.531858064 meters 0.014738262340949075 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.01, Z:-0.04 [[ 9.99868068e-01 1.61883663e-02 1.33531507e-03 9.22065763e+00] [-1.61883610e-02 9.99868960e-01 -1.47928120e-05 -7.66888240e-03] [-1.33537957e-03 -6.82570205e-06 9.99999108e-01 -4.27567885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561858063999999 meters 0.014489889798455731 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.01, Z:-0.04 [[ 9.99918448e-01 1.26757999e-02 1.55585870e-03 9.25229629e+00] [-1.26757886e-02 9.99919659e-01 -1.71262616e-05 -1.18407542e-02] [-1.55595079e-03 -2.59687105e-06 9.99998790e-01 -4.18545203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.591858064 meters 0.014558268415600822 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.02, Z:-0.04 [[ 9.99952108e-01 9.53810170e-03 2.19230195e-03 9.28534116e+00] [-9.53806958e-03 9.99954511e-01 -2.51084059e-05 -1.56331249e-02] [-2.19244171e-03 4.19687489e-06 9.99997597e-01 -4.10135748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621858064 meters 0.014847213934737721 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.02, Z:-0.04 [[ 9.99987237e-01 4.23307751e-03 2.75791898e-03 9.31698531e+00] [-4.23300307e-03 9.99991040e-01 -3.28293944e-05 -2.14030073e-02] [-2.75803324e-03 2.11546959e-05 9.99996196e-01 -3.95266396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.651858064 meters 0.015461995679607468 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.03, Z:-0.04 [[ 9.99988693e-01 3.11716448e-03 3.59117005e-03 9.34900874e+00] [-3.11702649e-03 9.99995141e-01 -4.40213590e-05 -2.51746375e-02] [-3.59128982e-03 3.28270891e-05 9.99993551e-01 -3.97372767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681858064 meters 0.015068788961565554 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.02, Z:-0.04 [[ 9.99988030e-01 2.93613787e-03 3.91404437e-03 9.38197542e+00] [-2.93596811e-03 9.99995689e-01 -4.91172954e-05 -2.45129761e-02] [-3.91417172e-03 3.76251980e-05 9.99992339e-01 -3.90576832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.711858064 meters 0.014793194626034447 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.02, Z:-0.04 [[ 9.99971646e-01 5.47211366e-03 5.17338806e-03 9.41455781e+00] [-5.47184058e-03 9.99985027e-01 -6.69364316e-05 -2.34376910e-02] [-5.17367689e-03 3.86265789e-05 9.99986616e-01 -3.79310942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741858064 meters 0.01467574283049354 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.02, Z:-0.04 [[ 9.99956913e-01 7.68753153e-03 5.20317291e-03 9.44688808e+00] [-7.68728339e-03 9.99970450e-01 -6.76875148e-05 -2.20120924e-02] [-5.20353950e-03 2.76863338e-05 9.99986461e-01 -3.80157857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.771858064 meters 0.014605463952393835 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.02, Z:-0.04 [[ 9.99937988e-01 1.00349099e-02 4.82905900e-03 9.47953809e+00] [-1.00347222e-02 9.99949649e-01 -6.31008572e-05 -2.08198932e-02] [-4.82944907e-03 1.46386786e-05 9.99988338e-01 -3.87242469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801858064 meters 0.014466905773469417 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.02, Z:-0.04 [[ 9.99889203e-01 1.44123591e-02 3.72376129e-03 9.51279240e+00] [-1.44122767e-02 9.99896137e-01 -4.89737780e-05 -1.74591829e-02] [-3.72408035e-03 -4.69952604e-06 9.99993066e-01 -3.99900466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.831858064 meters 0.014478403343527691 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.02, Z:-0.04 [[ 9.99858851e-01 1.65017532e-02 3.15759857e-03 9.54568075e+00] [-1.65017050e-02 9.99863837e-01 -4.13308247e-05 -1.59701553e-02] [-3.15785066e-03 -1.07807692e-05 9.99995014e-01 -4.06115813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861858064 meters 0.01463704715618151 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.01, Z:-0.04 [[ 9.99825870e-01 1.84651534e-02 2.69604026e-03 9.57795745e+00] [-1.84651237e-02 9.99829504e-01 -3.58886842e-05 -1.42834907e-02] [-2.69624329e-03 -1.39002821e-05 9.99996365e-01 -4.18637085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.891858064 meters 0.014594707760360905 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.01, Z:-0.04 [[ 9.99787040e-01 2.04344461e-02 2.88248414e-03 9.61072310e+00] [-2.04344180e-02 9.99791195e-01 -3.92045607e-05 -1.25118880e-02] [-2.88268339e-03 -1.97056741e-05 9.99995845e-01 -4.20599122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921858064 meters 0.014586362540899848 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.01, Z:-0.04 [[ 9.99778200e-01 2.08795099e-02 2.75637313e-03 9.64412354e+00] [-2.08794840e-02 9.99781999e-01 -3.81874841e-05 -1.20160268e-02] [-2.75656957e-03 -1.93726345e-05 9.99996200e-01 -4.18176182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.951858064 meters 0.014667963609049177 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.01, Z:-0.04 [[ 9.99776289e-01 2.09618735e-02 2.82336027e-03 9.67561016e+00] [-2.09618440e-02 9.99780276e-01 -4.00330861e-05 -1.08186100e-02] [-2.82357907e-03 -1.91587073e-05 9.99996014e-01 -4.26586162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981858064 meters 0.014540085562183102 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.01, Z:-0.04 [[ 9.99796373e-01 1.99583664e-02 2.97922128e-03 9.70823925e+00] [-1.99583266e-02 9.99800812e-01 -4.30944278e-05 -1.20919884e-02] [-2.97948795e-03 -1.63746185e-05 9.99995561e-01 -4.21468293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.011858064 meters 0.014524595881889237 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.01, Z:-0.04 [[ 9.99799996e-01 1.97027500e-02 3.43083588e-03 9.74001399e+00] [-1.97026913e-02 9.99805882e-01 -5.08958470e-05 -1.28849466e-02] [-3.43117268e-03 -1.67110328e-05 9.99994113e-01 -4.19457629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041858064 meters 0.01448430148564586 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.01, Z:-0.04 [[ 9.99801093e-01 1.96219585e-02 3.57121479e-03 9.77199157e+00] [-1.96218908e-02 9.99807471e-01 -5.40026479e-05 -1.26614103e-02] [-3.57158686e-03 -1.60820800e-05 9.99993622e-01 -4.21465488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.071858064 meters 0.014474257431733823 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.01, Z:-0.04 [[ 9.99784363e-01 2.04112409e-02 3.82211049e-03 9.80541549e+00] [-2.04111650e-02 9.99791669e-01 -5.88633886e-05 -1.02705417e-02] [-3.82251570e-03 -1.91630324e-05 9.99992694e-01 -4.37021574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101858064 meters 0.014572447931908799 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.01, Z:-0.04 [[ 9.99762422e-01 2.14815485e-02 3.69356332e-03 9.83788841e+00] [-2.14814814e-02 9.99769245e-01 -5.78510723e-05 -9.90524122e-03] [-3.69395374e-03 -2.15058837e-05 9.99993177e-01 -4.41104586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131858064 meters 0.014616760080993252 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.01, Z:-0.04 [[ 9.99732059e-01 2.27652723e-02 4.18959783e-03 9.87113067e+00] [-2.27651914e-02 9.99740837e-01 -6.70025508e-05 -9.90257439e-03] [-4.19003738e-03 -2.83923985e-05 9.99991221e-01 -4.41761062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161858064 meters 0.014935967175939247 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.01, Z:-0.04 [[ 9.99683347e-01 2.47930425e-02 4.30233681e-03 9.90205017e+00] [-2.47929701e-02 9.99692605e-01 -7.01531464e-05 -8.83746417e-03] [-4.30275360e-03 -3.65367757e-05 9.99990742e-01 -4.42950436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.191858064 meters 0.014918539679028198 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.01, Z:-0.04 [[ 9.99654697e-01 2.59753795e-02 3.97075009e-03 9.93477471e+00] [-2.59753243e-02 9.99662582e-01 -6.54709624e-05 -9.80886371e-03] [-3.97111092e-03 -3.76931664e-05 9.99992114e-01 -4.44455369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221858064 meters 0.01493166945512123 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.01, Z:-0.04 [[ 9.99634408e-01 2.68151490e-02 3.46385075e-03 9.96754116e+00] [-2.68151093e-02 9.99640409e-01 -5.79034412e-05 -1.09249098e-02] [-3.46415787e-03 -3.50012644e-05 9.99993999e-01 -4.48467648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251858064 meters 0.015144828380721906 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.01, Z:-0.04 [[ 9.99608174e-01 2.77418522e-02 3.72676565e-03 9.99993789e+00] [-2.77418082e-02 9.99615120e-01 -6.35280147e-05 -1.19617956e-02] [-3.72709368e-03 -3.98840951e-05 9.99993054e-01 -4.45019276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281858064 meters 0.015221574700907611 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.01, Z:-0.04 [[ 9.99601289e-01 2.79526835e-02 3.98873695e-03 1.00314557e+01] [-2.79526300e-02 9.99609247e-01 -6.91738772e-05 -1.23649915e-02] [-3.98911193e-03 -4.23493914e-05 9.99992043e-01 -4.49208218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311858063999999 meters 0.015341336832889641 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.01, Z:-0.05 [[ 9.99593813e-01 2.82345606e-02 3.87545463e-03 1.00633529e+01] [-2.82345085e-02 9.99601324e-01 -6.81850884e-05 -1.27463643e-02] [-3.87583476e-03 -4.12641641e-05 9.99992488e-01 -4.54106584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341858064 meters 0.015184952312371878 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.02, Z:-0.05 [[ 9.99591378e-01 2.84760890e-02 2.48768279e-03 1.00959529e+01] [-2.84760681e-02 9.99594474e-01 -4.38259022e-05 -1.52519266e-02] [-2.48792196e-03 -2.70314304e-05 9.99996905e-01 -4.62435154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371858064 meters 0.015184275436107345 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.02, Z:-0.05 [[ 9.99585047e-01 2.86914162e-02 2.55678369e-03 1.01287461e+01] [-2.86913929e-02 9.99588316e-01 -4.58100920e-05 -1.67290387e-02] [-2.55704546e-03 -2.75666025e-05 9.99996730e-01 -4.62673168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401858064 meters 0.015244038823763299 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.02, Z:-0.05 [[ 9.99579161e-01 2.88666549e-02 2.86640396e-03 1.01619623e+01] [-2.88666234e-02 9.99583271e-01 -5.23438421e-05 -1.82724110e-02] [-2.86672044e-03 -3.04215900e-05 9.99995890e-01 -4.68399647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431858064 meters 0.015405118078785711 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.02, Z:-0.05 [[ 9.99584006e-01 2.87483799e-02 2.31193139e-03 1.01936990e+01] [-2.87483582e-02 9.99586680e-01 -4.26235683e-05 -1.97706107e-02] [-2.31220118e-03 -2.38583947e-05 9.99997327e-01 -4.83641019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461858064 meters 0.015302013119691048 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.02, Z:-0.05 [[ 9.99574933e-01 2.91184606e-02 1.43845449e-03 1.02269579e+01] [-2.91184529e-02 9.99575968e-01 -2.62897525e-05 -2.11588146e-02] [-1.43861005e-03 -1.56069916e-05 9.99998965e-01 -4.91246243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.491858064 meters 0.015074169498049565 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.02, Z:-0.05 [[ 9.99568069e-01 2.93857974e-02 3.89013427e-04 1.02600891e+01] [-2.93857972e-02 9.99568144e-01 -6.04922106e-06 -2.40840090e-02] [-3.89023191e-04 -5.38486148e-06 9.99999924e-01 -4.92585977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521858064 meters 0.01529587013611312 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.03, Z:-0.05 [[ 9.99564679e-01 2.95015675e-02 -3.30872139e-04 1.02916977e+01] [-2.95015667e-02 9.99564734e-01 7.53126057e-06 -2.54518611e-02] [ 3.30950306e-04 2.23326441e-06 9.99999945e-01 -4.99531743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.551858064 meters 0.01576661355146931 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.03, Z:-0.05 [[ 9.99534830e-01 3.04830244e-02 -9.52893920e-04 1.03228507e+01] [-3.04830189e-02 9.99535285e-01 2.02880868e-05 -2.70583119e-02] [ 9.53069537e-04 8.76843390e-06 9.99999546e-01 -5.05449580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581858064 meters 0.0158012950136951 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.03, Z:-0.05 [[ 9.99520599e-01 3.09522864e-02 -7.26836686e-04 1.03558590e+01] [-3.09522827e-02 9.99520863e-01 1.62429912e-05 -2.84289991e-02] [ 7.26991190e-04 6.26205026e-06 9.99999736e-01 -5.02025598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.611858064 meters 0.01561934239322121 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.03, Z:-0.05 [[ 9.99497015e-01 3.17129295e-02 8.85857773e-05 1.03889635e+01] [-3.17129296e-02 9.99497019e-01 -2.68436071e-07 -3.19438767e-02] [-8.85497332e-05 -2.54101347e-06 9.99999996e-01 -4.84528567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641858064 meters 0.01575331759110377 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.03, Z:-0.05 [[ 9.99472870e-01 3.24620927e-02 4.40222617e-04 1.04218884e+01] [-3.24620925e-02 9.99472967e-01 -7.60074739e-06 -3.39697616e-02] [-4.40237342e-04 -6.69380653e-06 9.99999903e-01 -4.80046609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.671858064 meters 0.01595067281850178 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.04, Z:-0.05 [[ 9.99435235e-01 3.36014089e-02 3.96007330e-04 1.04535126e+01] [-3.36014088e-02 9.99435313e-01 -6.89224331e-06 -3.52388030e-02] [-3.96015299e-04 -6.41805338e-06 9.99999922e-01 -4.80511637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701858064 meters 0.016121660452840577 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.04, Z:-0.05 [[ 9.99390147e-01 3.49167823e-02 3.89586208e-04 1.04852539e+01] [-3.49167822e-02 9.99390223e-01 -6.94147308e-06 -3.72909110e-02] [-3.89591021e-04 -6.66585696e-06 9.99999924e-01 -4.78443801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.731858064 meters 0.017448026440364254 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.04, Z:-0.05 [[ 9.99296423e-01 3.75041517e-02 3.11894193e-04 1.05166193e+01] [-3.75041516e-02 9.99296472e-01 -5.96526788e-06 -3.77056113e-02] [-3.11898489e-04 -5.73625627e-06 9.99999951e-01 -4.77181267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761858064 meters 0.017204155029049296 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.04, Z:-0.05 [[ 9.99221477e-01 3.94410215e-02 9.19382809e-04 1.05487525e+01] [-3.94410210e-02 9.99221900e-01 -1.86197293e-05 -3.94398011e-02] [-9.19401818e-04 -1.76561632e-05 9.99999577e-01 -4.66136316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.791858064 meters 0.01850843321206917 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.04, Z:-0.05 [[ 9.99067015e-01 4.31492055e-02 1.80131351e-03 1.05799304e+01] [-4.31492059e-02 9.99068639e-01 -3.86521246e-05 -3.84856992e-02] [-1.80130364e-03 -3.91091846e-05 9.99998377e-01 -4.58605929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821858064 meters 0.017642292945239637 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.04, Z:-0.05 [[ 9.99001455e-01 4.46392074e-02 1.85309421e-03 1.06116789e+01] [-4.46392108e-02 9.99003173e-01 -3.95244703e-05 -4.18657915e-02] [-1.85301134e-03 -4.32356598e-05 9.99998282e-01 -4.51158213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.851858064 meters 0.017806021407025977 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.04, Z:-0.04 [[ 9.98954982e-01 4.56631140e-02 1.95561534e-03 1.06435818e+01] [-4.56631186e-02 9.98956895e-01 -4.22776512e-05 -4.33769030e-02] [-1.95550596e-03 -4.70660250e-05 9.99998087e-01 -4.45494659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881858064 meters 0.018815158798318438 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.05, Z:-0.04 [[ 9.98910595e-01 4.66165568e-02 2.12595748e-03 1.06747716e+01] [-4.66165630e-02 9.98912856e-01 -4.66816563e-05 -4.61503343e-02] [-2.12582240e-03 -5.24740297e-05 9.99997739e-01 -4.38480891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.911858064 meters 0.019089768201770878 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.05, Z:-0.04 [[ 9.98919539e-01 4.64250933e-02 2.11326733e-03 1.07063554e+01] [-4.64250980e-02 9.98921773e-01 -4.68454131e-05 -4.79383119e-02] [-2.11316355e-03 -5.13138444e-05 9.99997766e-01 -4.36399177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941858064 meters 0.018145761946838673 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.05, Z:-0.04 [[ 9.98938288e-01 4.60191214e-02 2.12985969e-03 1.07380634e+01] [-4.60191242e-02 9.98940558e-01 -4.77183176e-05 -5.21102754e-02] [-2.12979918e-03 -5.03466230e-05 9.99997731e-01 -4.36312628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971858064 meters 0.01823391397472458 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.05, Z:-0.04 [[ 9.98954993e-01 4.56863197e-02 1.29676374e-03 1.07696751e+01] [-4.56863208e-02 9.98955834e-01 -2.88383792e-05 -5.40064037e-02] [-1.29672722e-03 -3.04361212e-05 9.99999159e-01 -4.44103512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001858064 meters 0.018192789919241326 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.06, Z:-0.05 [[ 9.99039215e-01 4.38090862e-02 1.18821459e-03 1.08012556e+01] [-4.38090855e-02 9.99039921e-01 -2.66095739e-05 -5.68097024e-02] [-1.18823955e-03 -2.54705866e-05 9.99999294e-01 -4.61557735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.031858064 meters 0.01771080729597195 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.06, Z:-0.05 [[ 9.99098262e-01 4.24479955e-02 9.11332176e-04 1.08336366e+01] [-4.24479946e-02 9.99098677e-01 -2.03383102e-05 -5.99986259e-02] [-9.11374093e-04 -1.83642530e-05 9.99999585e-01 -4.64061409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061858063999999 meters 0.017322456985644122 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.06, Z:-0.05 [[ 9.99146084e-01 4.13135487e-02 5.41317146e-04 1.08657878e+01] [-4.13135484e-02 9.99146231e-01 -1.16546511e-05 -6.47842558e-02] [-5.41336481e-04 -1.07190331e-05 9.99999853e-01 -4.63957384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.091858064 meters 0.016596346319428093 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.07, Z:-0.05 [[ 9.99250858e-01 3.87003687e-02 -5.72667532e-05 1.08977874e+01] [-3.87003686e-02 9.99250860e-01 2.74704841e-06 -7.17758336e-02] [ 5.73301642e-05 -5.28746022e-07 9.99999998e-01 -4.57424007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121858064 meters 0.01628177446861093 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.08, Z:-0.05 [[ 9.99278941e-01 3.79674839e-02 -2.60769994e-04 1.09303444e+01] [-3.79674833e-02 9.99278975e-01 7.12166802e-06 -7.52006336e-02] [ 2.60852364e-04 2.78424751e-06 9.99999966e-01 -4.59682917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.151858064 meters 0.016597420178801458 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.08, Z:-0.05 [[ 9.99303758e-01 3.73095074e-02 -2.07367761e-05 1.09616581e+01] [-3.73095073e-02 9.99303758e-01 1.80026323e-06 -7.59028665e-02] [ 2.07895052e-05 -1.02533091e-06 1.00000000e+00 -4.69718409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181858064 meters 0.016124574060589987 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.08, Z:-0.05 [[ 9.99331800e-01 3.65496145e-02 -2.81526465e-04 1.09932249e+01] [-3.65496136e-02 9.99331840e-01 8.39881313e-06 -8.13471713e-02] [ 2.81645334e-04 1.89648247e-06 9.99999960e-01 -4.71672467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.211858064 meters 0.016124574060589987 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.08, Z:-0.05 [[ 9.99321352e-01 3.68341835e-02 -2.81519257e-04 1.10256401e+01] [-3.68341825e-02 9.99321391e-01 8.67898526e-06 -8.22190490e-02] [ 2.81647899e-04 1.69643642e-06 9.99999960e-01 -4.73494059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241858064 meters 0.016026187160385945 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.08, Z:-0.05 [[ 9.99331519e-01 3.65583839e-02 7.56227829e-06 1.10586568e+01] [-3.65583839e-02 9.99331519e-01 1.42220460e-06 -8.48668643e-02] [-7.50522955e-06 -1.69771855e-06 1.00000000e+00 -4.76460708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.271858064 meters 0.016284823502549867 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.09, Z:-0.05 [[ 9.99372074e-01 3.54313017e-02 -2.82542777e-04 1.10892646e+01] [-3.54313007e-02 9.99372114e-01 8.55459140e-06 -8.71603041e-02] [ 2.82668473e-04 1.46163833e-06 9.99999960e-01 -4.90720259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301858064 meters 0.015785448809698403 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.09, Z:-0.05 [[ 9.99403597e-01 3.45292570e-02 -4.25153841e-04 1.11215266e+01] [-3.45292549e-02 9.99403687e-01 1.23940259e-05 -9.13473937e-02] [ 4.25328273e-04 2.29361122e-06 9.99999910e-01 -4.82232216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.331858064 meters 0.01589570707210169 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.09, Z:-0.05 [[ 9.99422707e-01 3.39686158e-02 -6.20526362e-04 1.11538904e+01] [-3.39686113e-02 9.99422900e-01 1.78162728e-05 -9.39706283e-02] [ 6.20773450e-04 3.27243120e-06 9.99999807e-01 -4.83787280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361858064 meters 0.015703328127000267 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.10, Z:-0.05 [[ 9.99449826e-01 3.31537970e-02 -9.32967452e-04 1.11872289e+01] [-3.31537869e-02 9.99450262e-01 2.62720611e-05 -9.66936352e-02] [ 9.33325583e-04 4.67379721e-06 9.99999564e-01 -4.87579445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391858064 meters 0.015602081126729943 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.10, Z:-0.05 [[ 9.99498356e-01 3.16498069e-02 -1.15193689e-03 1.12195565e+01] [-3.16497905e-02 9.99499019e-01 3.24453221e-05 -1.02120234e-01] [ 1.15238668e-03 4.02951511e-06 9.99999336e-01 -4.78550955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421858064 meters 0.015435537218393518 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.11, Z:-0.05 [[ 9.99529853e-01 3.06266856e-02 -1.44183158e-03 1.12528574e+01] [-3.06266589e-02 9.99530893e-01 4.06525961e-05 -1.05354423e-01] [ 1.44240026e-03 3.52500054e-06 9.99998960e-01 -4.78485820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.451858064 meters 0.015536032897536658 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.11, Z:-0.05 [[ 9.99580019e-01 2.88926298e-02 -2.23643389e-03 1.12850979e+01] [-2.88925619e-02 9.99582521e-01 6.26441350e-05 -1.10045963e-01] [ 2.23731018e-03 1.99847890e-06 9.99997497e-01 -4.85633503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481858064 meters 0.015525728468956211 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.11, Z:-0.05 [[ 9.99603958e-01 2.80263635e-02 -2.53966312e-03 1.13173940e+01] [-2.80262739e-02 9.99607184e-01 7.08638379e-05 -1.13134832e-01] [ 2.54065156e-03 3.41521406e-07 9.99996773e-01 -4.90680716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.511858064 meters 0.015485859489935534 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.12, Z:-0.05 [[ 9.99629096e-01 2.70998393e-02 -2.69620422e-03 1.13499307e+01] [-2.70997315e-02 9.99632732e-01 7.65058653e-05 -1.16273858e-01] [ 2.69728729e-03 -3.41107845e-06 9.99996362e-01 -4.93763400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541858064 meters 0.01550201640986154 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.12, Z:-0.05 [[ 9.99655979e-01 2.60681743e-02 -2.89387631e-03 1.13813237e+01] [-2.60680443e-02 9.99660167e-01 8.26473285e-05 -1.19208631e-01] [ 2.89504734e-03 -7.18120006e-06 9.99995809e-01 -4.98075846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571858064 meters 0.015618899590354418 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.12, Z:-0.05 [[ 9.99674830e-01 2.53637031e-02 -2.62990167e-03 1.14132753e+01] [-2.53635931e-02 9.99678289e-01 7.52014563e-05 -1.22263395e-01] [ 2.63096299e-03 -8.47324726e-06 9.99996539e-01 -5.06457112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601858064 meters 0.015717117189721554 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.13, Z:-0.05 [[ 9.99682455e-01 2.49086485e-02 -3.81417364e-03 1.14453231e+01] [-2.49084103e-02 9.99689731e-01 1.09952482e-04 -1.26384445e-01] [ 3.81572899e-03 -1.49125653e-05 9.99992720e-01 -5.10330548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631858064 meters 0.015635946722304225 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.13, Z:-0.05 [[ 9.99665885e-01 2.53976808e-02 -4.80376964e-03 1.14784217e+01] [-2.53973025e-02 9.99677427e-01 1.39747264e-04 -1.28758253e-01] [ 4.80576933e-03 -1.76977818e-05 9.99988452e-01 -5.10724255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661858064 meters 0.015572693142596952 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.13, Z:-0.05 [[ 9.99642302e-01 2.62958865e-02 -4.87786345e-03 1.15101841e+01] [-2.62955015e-02 9.99654203e-01 1.43068563e-04 -1.31117516e-01] [ 4.87993881e-03 -1.47515222e-05 9.99988093e-01 -5.15686472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.691858064 meters 0.015582906616076893 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.13, Z:-0.05 [[ 9.99603827e-01 2.79006750e-02 -3.70692353e-03 1.15415588e+01] [-2.79004630e-02 9.99610700e-01 1.08889939e-04 -1.32979967e-01] [ 3.70851853e-03 -5.42191690e-06 9.99993123e-01 -5.08926799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721858064 meters 0.015580584465980653 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.13, Z:-0.05 [[ 9.99571089e-01 2.91765209e-02 -2.52343282e-03 1.15738875e+01] [-2.91764230e-02 9.99574275e-01 7.55881938e-05 -1.34179014e-01] [ 2.52456393e-03 -1.93102992e-06 9.99996813e-01 -5.00653256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.751858064 meters 0.01549302781743023 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.14, Z:-0.05 [[ 9.99543064e-01 3.01611061e-02 -1.99277383e-03 1.16066520e+01] [-3.01610449e-02 9.99545050e-01 6.07394310e-05 -1.35721129e-01] [ 1.99369918e-03 -6.07536047e-07 9.99998013e-01 -4.95515818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781858064 meters 0.015644329146277204 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.14, Z:-0.05 [[ 9.99489301e-01 3.18975198e-02 -1.91957324e-03 1.16397961e+01] [-3.18974651e-02 9.99491145e-01 5.90952372e-05 -1.38206340e-01] [ 1.92048145e-03 2.16446318e-06 9.99998156e-01 -4.96904435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.811858063999999 meters 0.015632732702613245 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.14, Z:-0.05 [[ 9.99471826e-01 3.24116237e-02 -2.35685391e-03 1.16714442e+01] [-3.24115424e-02 9.99474605e-01 7.27042050e-05 -1.39784590e-01] [ 2.35797210e-03 3.72346597e-06 9.99997220e-01 -5.05507952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841858064 meters 0.015485796418966294 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.14, Z:-0.05 [[ 9.99465129e-01 3.26012995e-02 -2.57120317e-03 1.17047112e+01] [-3.26012015e-02 9.99468436e-01 8.00405870e-05 -1.42519897e-01] [ 2.57244583e-03 3.82653684e-06 9.99996691e-01 -5.04093753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.871858064 meters 0.015618492812287287 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.14, Z:-0.05 [[ 9.99463746e-01 3.26569837e-02 -2.39618540e-03 1.17370499e+01] [-3.26568989e-02 9.99466618e-01 7.45197279e-05 -1.44891111e-01] [ 2.39734091e-03 3.77221787e-06 9.99997126e-01 -5.12301628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901858064 meters 0.01567217198316704 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.15, Z:-0.05 [[ 9.99459746e-01 3.27864703e-02 -2.29423232e-03 1.17696021e+01] [-3.27863900e-02 9.99462379e-01 7.26005288e-05 -1.47672996e-01] [ 2.29537920e-03 2.65828939e-06 9.99997366e-01 -5.00519916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.931858064 meters 0.015508269084843174 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.15, Z:-0.05 [[ 9.99452318e-01 3.29958760e-02 -2.51717844e-03 1.18020083e+01] [-3.29957785e-02 9.99455488e-01 8.02704143e-05 -1.50643380e-01] [ 2.51845640e-03 2.82981054e-06 9.99996829e-01 -4.90667785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961858064 meters 0.015558298162626395 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.15, Z:-0.05 [[ 9.99441699e-01 3.33008045e-02 -2.71062225e-03 1.18336890e+01] [-3.33006932e-02 9.99445374e-01 8.61920618e-05 -1.52302698e-01] [ 2.71198913e-03 4.12165917e-06 9.99996323e-01 -4.93244939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.991858064 meters 0.015488777284872508 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.15, Z:-0.05 [[ 9.99432828e-01 3.35681021e-02 -2.68421653e-03 1.18670505e+01] [-3.35679903e-02 9.99436432e-01 8.66947559e-05 -1.54266719e-01] [ 2.68561397e-03 3.45816939e-06 9.99996394e-01 -4.89709140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021858064 meters 0.01543073484649879 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.16, Z:-0.05 [[ 9.99424496e-01 3.38351881e-02 -2.41997373e-03 1.19002438e+01] [-3.38350960e-02 9.99427426e-01 7.90106748e-05 -1.56199169e-01] [ 2.42126146e-03 2.91483943e-06 9.99997069e-01 -4.86410916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051858064 meters 0.015299701575917698 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.16, Z:-0.05 [[ 9.99434952e-01 3.35355794e-02 -2.26734294e-03 1.19328173e+01] [-3.35354961e-02 9.99437524e-01 7.47497629e-05 -1.57799619e-01] [ 2.26857439e-03 1.32894458e-06 9.99997427e-01 -4.84251079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081858064 meters 0.015164580410883033 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.16, Z:-0.05 [[ 9.99486836e-01 3.19295916e-02 -2.56226881e-03 1.19655281e+01] [-3.19294786e-02 9.99490121e-01 8.50059114e-05 -1.61214569e-01] [ 2.56367656e-03 -3.15038252e-06 9.99996714e-01 -4.84795449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.111858064 meters 0.015313546175829964 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.16, Z:-0.05 [[ 9.99516890e-01 3.09682590e-02 -2.63686187e-03 1.19982602e+01] [-3.09681341e-02 9.99520368e-01 8.81624203e-05 -1.63969105e-01] [ 2.63832738e-03 -6.46113609e-06 9.99996520e-01 -4.92595413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141858064 meters 0.015327033573920573 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.17, Z:-0.05 [[ 9.99560820e-01 2.94612399e-02 -3.19418252e-03 1.20302558e+01] [-2.94610477e-02 9.99565923e-01 1.07192381e-04 -1.66671697e-01] [ 3.19595402e-03 -1.30413405e-05 9.99994893e-01 -4.96544079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.171858064 meters 0.015192395841568118 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.17, Z:-0.05 [[ 9.99630990e-01 2.69694676e-02 -3.24529325e-03 1.20623187e+01] [-2.69692539e-02 9.99636258e-01 1.09593376e-04 -1.70812751e-01] [ 3.24706847e-03 -2.20297968e-05 9.99994728e-01 -5.01192904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201858064 meters 0.015341919729059145 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.17, Z:-0.05 [[ 9.99653308e-01 2.60454340e-02 -3.85998476e-03 1.20934487e+01] [-2.60451228e-02 9.99660760e-01 1.30855876e-04 -1.74231381e-01] [ 3.86208350e-03 -3.02767324e-05 9.99992542e-01 -5.10547493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231858063999999 meters 0.015488877909568323 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.18, Z:-0.05 [[ 9.99677570e-01 2.50555358e-02 -4.12033064e-03 1.21246134e+01] [-2.50551696e-02 9.99686060e-01 1.40485547e-04 -1.78131762e-01] [ 4.12255705e-03 -3.72046674e-05 9.99991502e-01 -5.11745845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261858064 meters 0.015322548056818434 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.18, Z:-0.05 [[ 9.99663784e-01 2.56634819e-02 -3.70204377e-03 1.21571701e+01] [-2.56631850e-02 9.99670638e-01 1.27706172e-04 -1.79139786e-01] [ 3.70410185e-03 -3.26570012e-05 9.99993139e-01 -5.10576731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.291858064 meters 0.015346110392089158 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.18, Z:-0.05 [[ 9.99651885e-01 2.61303559e-02 -3.64867112e-03 1.21891501e+01] [-2.61300703e-02 9.99658543e-01 1.25928920e-04 -1.80544084e-01] [ 3.65071583e-03 -3.05450493e-05 9.99993336e-01 -5.17494642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321858064 meters 0.014956477788413984 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.18, Z:-0.05 [[ 9.99610976e-01 2.76809795e-02 -3.41476891e-03 1.22217746e+01] [-2.76807388e-02 9.99616808e-01 1.17736822e-04 -1.81334657e-01] [ 3.41671947e-03 -2.31676935e-05 9.99994163e-01 -5.17224981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.351858064 meters 0.014852414945643665 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.18, Z:-0.05 [[ 9.99577827e-01 2.89235463e-02 -2.75595936e-03 1.22529808e+01] [-2.89233901e-02 9.99581627e-01 9.65116648e-05 -1.82387986e-01] [ 2.75759780e-03 -1.67592324e-05 9.99996198e-01 -5.14633401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381858064 meters 0.014836784237412607 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.18, Z:-0.05 [[ 9.99546438e-01 3.00291789e-02 -2.27325460e-03 1.22837763e+01] [-3.00290738e-02 9.99549022e-01 8.03259393e-05 -1.83972173e-01] [ 2.27464153e-03 -1.20257764e-05 9.99997413e-01 -5.12384050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.411858064 meters 0.014587742824096096 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.19, Z:-0.05 [[ 9.99463574e-01 3.26858301e-02 -2.04961758e-03 1.23155627e+01] [-3.26857488e-02 9.99465675e-01 7.31712675e-05 -1.86836062e-01] [ 2.05091409e-03 -6.13873102e-06 9.99997897e-01 -4.91148193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441858064 meters 0.014570231036876756 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.19, Z:-0.05 [[ 9.99419501e-01 3.40000515e-02 -2.15819370e-03 1.23475955e+01] [-3.39999646e-02 9.99421831e-01 7.69568437e-05 -1.88664429e-01] [ 2.15956243e-03 -3.53366107e-06 9.99997668e-01 -4.90397122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.471858064 meters 0.014516943524047522 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.19, Z:-0.05 [[ 9.99375709e-01 3.52566192e-02 -2.27214356e-03 1.23802438e+01] [-3.52565235e-02 9.99378292e-01 8.21943755e-05 -1.89776349e-01] [ 2.27362885e-03 -2.03517954e-06 9.99997415e-01 -4.93897719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501858064 meters 0.014524214792748832 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.19, Z:-0.05 [[ 9.99302016e-01 3.72906195e-02 -2.21150864e-03 1.24135019e+01] [-3.72905322e-02 9.99304463e-01 8.06984340e-05 -1.90908642e-01] [ 2.21297974e-03 1.82622615e-06 9.99997551e-01 -4.99999047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.531858064 meters 0.0145017977419406 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.19, Z:-0.05 [[ 9.99254522e-01 3.85496066e-02 -2.08040359e-03 1.24466787e+01] [-3.85495307e-02 9.99256688e-01 7.65977918e-05 -1.92339787e-01] [ 2.08181002e-03 3.65789232e-06 9.99997833e-01 -5.03434329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561858063999999 meters 0.014567912984492117 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.19, Z:-0.05 [[ 9.99212987e-01 3.96022593e-02 -2.25093656e-03 1.24791234e+01] [-3.96021720e-02 9.99215523e-01 8.33841295e-05 -1.93577177e-01] [ 2.25247295e-03 5.82347135e-06 9.99997463e-01 -5.06260715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.591858064 meters 0.014672664723602773 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.19, Z:-0.05 [[ 9.99155609e-01 4.10474055e-02 -1.78328301e-03 1.25107400e+01] [-4.10473529e-02 9.99157200e-01 6.61048129e-05 -1.94797698e-01] [ 1.78449349e-03 7.15005263e-06 9.99998408e-01 -5.09099215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621858064 meters 0.014684581779055579 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.20, Z:-0.05 [[ 9.99027674e-01 4.40614559e-02 -1.51467183e-03 1.25425620e+01] [-4.40614200e-02 9.99028822e-01 5.70619009e-05 -1.96494780e-01] [ 1.51571504e-03 9.73217338e-06 9.99998851e-01 -5.08048629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.651858064 meters 0.01484496577063621 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.20, Z:-0.05 [[ 9.98961532e-01 4.55370212e-02 -1.49554857e-03 1.25752010e+01] [-4.55369869e-02 9.98962652e-01 5.69696269e-05 -1.97967367e-01] [ 1.49659139e-03 1.11923097e-05 9.99998880e-01 -5.12633967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681858064 meters 0.014815964332470576 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.20, Z:-0.05 [[ 9.98923188e-01 4.63760621e-02 -1.31351133e-03 1.26080694e+01] [-4.63760356e-02 9.98924052e-01 5.06164507e-05 -1.99387268e-01] [ 1.31444545e-03 1.03535021e-05 9.99999136e-01 -5.17848328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.711858064 meters 0.014869695215525893 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.20, Z:-0.05 [[ 9.98902798e-01 4.68053324e-02 -1.56906617e-03 1.26411691e+01] [-4.68052949e-02 9.98904030e-01 6.06075033e-05 -2.00818241e-01] [ 1.57018327e-03 1.28996001e-05 9.99998767e-01 -5.29157914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741858064 meters 0.014614538699609422 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.20, Z:-0.05 [[ 9.98977168e-01 4.52156844e-02 -3.99023243e-04 1.26720773e+01] [-4.52156814e-02 9.98977248e-01 1.63841488e-05 -2.04576431e-01] [ 3.99355961e-04 1.67471723e-06 9.99999920e-01 -5.33285470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.771858064 meters 0.014533977913764035 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.21, Z:-0.05 [[ 9.99034420e-01 4.39332531e-02 -3.09883279e-04 1.27041787e+01] [-4.39332511e-02 9.99034469e-01 1.31728514e-05 -2.08450942e-01] [ 3.10162803e-04 4.54047908e-07 9.99999952e-01 -5.27146973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801858064 meters 0.014245097436853458 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.21, Z:-0.05 [[ 9.99112103e-01 4.21306908e-02 -1.01775181e-04 1.27361491e+01] [-4.21306905e-02 9.99112108e-01 5.27299943e-06 -2.12164894e-01] [ 1.01906971e-04 -9.80458879e-07 9.99999995e-01 -5.27281935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831858064 meters 0.01405593828556208 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.22, Z:-0.05 [[ 9.99228208e-01 3.92746922e-02 -6.98095897e-04 1.27677997e+01] [-3.92746823e-02 9.99228452e-01 2.78544728e-05 -2.17363673e-01] [ 6.98651258e-04 -4.15480324e-07 9.99999756e-01 -5.26922048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861858064 meters 0.01404819988317059 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.22, Z:-0.05 [[ 9.99263407e-01 3.83529699e-02 -1.30090650e-03 1.27997026e+01] [-3.83529349e-02 9.99264254e-01 5.18626583e-05 -2.20021172e-01] [ 1.30193845e-03 -1.93087436e-06 9.99999152e-01 -5.28293626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.891858064 meters 0.014162312243846979 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.22, Z:-0.05 [[ 9.99292407e-01 3.75210893e-02 -2.61788218e-03 1.28326465e+01] [-3.75209463e-02 9.99295836e-01 1.03729879e-04 -2.22342160e-01] [ 2.61993082e-03 -5.43106410e-06 9.99996568e-01 -5.47174075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921858064 meters 0.014077652018589288 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.22, Z:-0.06 [[ 9.99297876e-01 3.72689834e-02 -3.84410972e-03 1.28658648e+01] [-3.72686718e-02 9.99305270e-01 1.52684606e-04 -2.23660067e-01] [ 3.84712950e-03 -9.31253956e-06 9.99992600e-01 -5.60663513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.951858064 meters 0.014186042389389187 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.23, Z:-0.06 [[ 9.99300002e-01 3.71234248e-02 -4.62139922e-03 1.28969916e+01] [-3.71229752e-02 9.99310688e-01 1.83054944e-04 -2.25649665e-01] [ 4.62500926e-03 -1.13667178e-05 9.99989305e-01 -5.75839066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981858063999999 meters 0.014085493675404036 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.23, Z:-0.06 [[ 9.99295524e-01 3.72723892e-02 -4.38462334e-03 1.29297320e+01] [-3.72719772e-02 9.99305143e-01 1.75655840e-04 -2.29262294e-01] [ 4.38812376e-03 -1.21085135e-05 9.99990372e-01 -5.60346602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.011858064 meters 0.013964583991432704 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.23, Z:-0.05 [[ 9.99296306e-01 3.73516119e-02 -3.42770336e-03 1.29630586e+01] [-3.73513559e-02 9.99302185e-01 1.38669003e-04 -2.30883760e-01] [ 3.43049097e-03 -1.05420539e-05 9.99994116e-01 -5.43941690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041858064 meters 0.013993125263401584 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.23, Z:-0.05 [[ 9.99298004e-01 3.74009692e-02 -2.16041096e-03 1.29947260e+01] [-3.74008657e-02 9.99300339e-01 8.83012561e-05 -2.31960204e-01] [ 2.16220196e-03 -7.43802886e-06 9.99997662e-01 -5.37079356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071858064 meters 0.013927786307074391 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.23, Z:-0.05 [[ 9.99292075e-01 3.76053589e-02 -1.08855233e-03 1.30273699e+01] [-3.76053315e-02 9.99292668e-01 4.56645054e-05 -2.33157196e-01] [ 1.08949959e-03 -4.69680712e-06 9.99999406e-01 -5.30224464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101858064 meters 0.013927786307074391 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.23, Z:-0.05 [[ 9.99281623e-01 3.78820853e-02 -1.08854003e-03 1.30597453e+01] [-3.78820577e-02 9.99282216e-01 4.59618474e-05 -2.34541995e-01] [ 1.08949982e-03 -4.69269339e-06 9.99999406e-01 -5.32046612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.131858064 meters 0.01379284363080339 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.24, Z:-0.05 [[ 9.99282755e-01 3.78642050e-02 5.27605972e-04 1.30910808e+01] [-3.78641993e-02 9.99282894e-01 -2.08349470e-05 -2.35751193e-01] [-5.28016521e-04 8.42625569e-07 9.99999861e-01 -5.17422362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161858064 meters 0.013870530699481805 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.24, Z:-0.05 [[ 9.99258948e-01 3.84815475e-02 8.51812400e-04 1.31239176e+01] [-3.84815329e-02 9.99259311e-01 -3.35636702e-05 -2.36793434e-01] [-8.52473054e-04 7.59750947e-07 9.99999637e-01 -5.14850881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.191858064 meters 0.01387230350029858 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.24, Z:-0.05 [[ 9.99238775e-01 3.89963698e-02 1.07390703e-03 1.31567755e+01] [-3.89963461e-02 9.99239352e-01 -4.30182498e-05 -2.37484777e-01] [-1.07476772e-03 1.10705316e-06 9.99999422e-01 -5.19359640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221858064 meters 0.013727115562345724 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.24, Z:-0.05 [[ 9.99145663e-01 4.13267615e-02 2.08984316e-04 1.31896891e+01] [-4.13267609e-02 9.99145684e-01 -7.20912479e-06 -2.37439259e-01] [-2.09103707e-04 -1.43367908e-06 9.99999978e-01 -5.25242090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.251858064 meters 0.013796059419484455 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.24, Z:-0.05 [[ 9.99065265e-01 4.32178682e-02 -9.01312498e-04 1.32224310e+01] [-4.32178503e-02 9.99065671e-01 3.93805730e-05 -2.38012566e-01] [ 9.02172320e-04 -3.90974019e-07 9.99999593e-01 -5.30921955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281858064 meters 0.01387300804626497 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.24, Z:-0.05 [[ 9.98988397e-01 4.49397030e-02 -1.61411992e-03 1.32556616e+01] [-4.49396489e-02 9.98989701e-01 6.97995062e-05 -2.38121126e-01] [ 1.61562594e-03 2.80908554e-06 9.99998695e-01 -5.34804977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.311858063999999 meters 0.013917980473312734 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.24, Z:-0.06 [[ 9.98817090e-01 4.85434705e-02 -2.82010208e-03 1.32879365e+01] [-4.85433213e-02 9.98821071e-01 1.21356594e-04 -2.35374108e-01] [ 2.82266845e-03 1.56840810e-05 9.99996016e-01 -5.55101097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341858064 meters 0.014182174200078088 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.23, Z:-0.06 [[ 9.98744798e-01 4.99928797e-02 -3.08860392e-03 1.33189708e+01] [-4.99927088e-02 9.98749574e-01 1.32573734e-04 -2.34885672e-01] [ 3.09136960e-03 2.20003494e-05 9.99995221e-01 -5.71267624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371858064 meters 0.01428637712226642 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.24, Z:-0.06 [[ 9.98661761e-01 5.15881403e-02 -3.65398465e-03 1.33506244e+01] [-5.15879066e-02 9.98668445e-01 1.58238108e-04 -2.36682933e-01] [ 3.65728238e-03 3.04750710e-05 9.99993312e-01 -5.67892410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401858063999999 meters 0.014318888561870647 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.24, Z:-0.06 [[ 9.98599692e-01 5.27653981e-02 -3.80371165e-03 1.33834906e+01] [-5.27651487e-02 9.98606935e-01 1.65948911e-04 -2.39136744e-01] [ 3.80716919e-03 3.49868795e-05 9.99992752e-01 -5.60833862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.431858064 meters 0.014804473178570685 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.24, Z:-0.06 [[ 9.98537737e-01 5.39459139e-02 -3.49657715e-03 1.34155287e+01] [-5.39457071e-02 9.98543858e-01 1.53489631e-04 -2.40274832e-01] [ 3.49976577e-03 3.53601383e-05 9.99993875e-01 -5.60587981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461858064 meters 0.014668387387511393 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.24, Z:-0.06 [[ 9.98550256e-01 5.37829272e-02 -2.18709929e-03 1.34478184e+01] [-5.37828439e-02 9.98552651e-01 9.69484684e-05 -2.41718359e-01] [ 2.18914796e-03 2.08205015e-05 9.99997604e-01 -5.58424085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.491858064 meters 0.014484032774174465 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.24, Z:-0.06 [[ 9.98542165e-01 5.39593874e-02 -1.38890261e-03 1.34805869e+01] [-5.39593524e-02 9.98543131e-01 6.26999421e-05 -2.43936990e-01] [ 1.39026241e-03 1.23357495e-05 9.99999034e-01 -5.53034938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521858064 meters 0.014424222654845584 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.25, Z:-0.05 [[ 9.98580923e-01 5.32514506e-02 6.49898581e-04 1.35119876e+01] [-5.32514440e-02 9.98581135e-01 -2.74627561e-05 -2.46246906e-01] [-6.50438894e-04 -7.18425355e-06 9.99999788e-01 -5.41563277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.551858064 meters 0.014430479602026768 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.25, Z:-0.05 [[ 9.98596246e-01 5.29513272e-02 1.30143965e-03 1.35452963e+01] [-5.29512987e-02 9.98597094e-01 -5.63559987e-05 -2.48670369e-01] [-1.30259797e-03 -1.26360307e-05 9.99999152e-01 -5.35970938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581858064 meters 0.014482883100432085 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.25, Z:-0.05 [[ 9.98595451e-01 5.29515233e-02 1.80603072e-03 1.35769234e+01] [-5.29514663e-02 9.98597084e-01 -7.93965040e-05 -2.50690512e-01] [-1.80770117e-03 -1.63469869e-05 9.99998366e-01 -5.31120321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.611858064 meters 0.014220124283500689 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.25, Z:-0.05 [[ 9.98608909e-01 5.26693802e-02 2.48673594e-03 1.36099801e+01] [-5.26692684e-02 9.98612005e-01 -1.10447706e-04 -2.53437907e-01] [-2.48910157e-03 -2.06804992e-05 9.99996902e-01 -5.28307723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641858064 meters 0.0142947307991939 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.25, Z:-0.05 [[ 9.98605620e-01 5.27611796e-02 1.75299142e-03 1.36420598e+01] [-5.27611241e-02 9.98607159e-01 -7.79619822e-05 -2.54238138e-01] [-1.75466315e-03 -1.46365242e-05 9.99998460e-01 -5.32983378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.671858064 meters 0.01418387984527739 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.26, Z:-0.05 [[ 9.98605887e-01 5.27785630e-02 8.39615444e-04 1.36746407e+01] [-5.27785508e-02 9.98606240e-01 -3.67064131e-05 -2.55773895e-01] [-8.40382534e-04 -7.65844608e-06 9.99999647e-01 -5.39104536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701858064 meters 0.014013912220380578 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.26, Z:-0.06 [[ 9.98677131e-01 5.14193071e-02 -2.05273671e-04 1.37061666e+01] [-5.14193060e-02 9.98677152e-01 1.08743284e-05 -2.57723771e-01] [ 2.05561276e-04 -3.04913406e-07 9.99999979e-01 -5.61058049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.731858063999999 meters 0.013939314384134904 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.26, Z:-0.06 [[ 9.98728920e-01 5.03996004e-02 -6.51710796e-04 1.37385416e+01] [-5.03995904e-02 9.98729133e-01 3.16448936e-05 -2.60568211e-01] [ 6.52477448e-04 1.24128682e-06 9.99999787e-01 -5.65628055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761858064 meters 0.013798371978998733 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.26, Z:-0.06 [[ 9.98779835e-01 4.93765645e-02 -8.92048616e-04 1.37706770e+01] [-4.93765459e-02 9.98780234e-01 4.28564629e-05 -2.63196854e-01] [ 8.93076630e-04 1.24210853e-06 9.99999601e-01 -5.72170907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.791858064 meters 0.013825942543793563 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.27, Z:-0.06 [[ 9.98916353e-01 4.65244672e-02 -1.26237954e-03 1.38032655e+01] [-4.65244280e-02 9.98917151e-01 6.04671469e-05 -2.67588725e-01] [ 1.26382578e-03 -1.67013584e-06 9.99999201e-01 -5.82302432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821858064 meters 0.013876397300142118 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.27, Z:-0.06 [[ 9.98999386e-01 4.46940655e-02 -1.63341932e-03 1.38346178e+01] [-4.46939976e-02 9.99000721e-01 7.80978340e-05 -2.70991580e-01] [ 1.63527759e-03 -5.01564897e-06 9.99998663e-01 -5.90841171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.851858064 meters 0.013900738032336287 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.27, Z:-0.06 [[ 9.99061663e-01 4.32617089e-02 -2.05401930e-03 1.38670649e+01] [-4.32615978e-02 9.99063774e-01 9.85185704e-05 -2.74582785e-01] [ 2.05635836e-03 -9.56596978e-06 9.99997886e-01 -5.90331160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881858064 meters 0.013959335315880603 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.28, Z:-0.06 [[ 9.99111467e-01 4.20715301e-02 -2.50245011e-03 1.38989008e+01] [-4.20713609e-02 9.99114601e-01 1.20225020e-04 -2.77840451e-01] [ 2.50529250e-03 -1.48367143e-05 9.99996862e-01 -5.96215139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.911858064 meters 0.01403896382523395 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.28, Z:-0.06 [[ 9.99155102e-01 4.10468802e-02 -2.05799985e-03 1.39315923e+01] [-4.10467615e-02 9.99157222e-01 9.98768033e-05 -2.80579162e-01] [ 2.06036505e-03 -1.53181885e-05 9.99997877e-01 -5.97798875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941858064 meters 0.01398712050497168 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.28, Z:-0.06 [[ 9.99134167e-01 4.15556427e-02 -2.01107741e-03 1.39636832e+01] [-4.15555295e-02 9.99136191e-01 9.80636231e-05 -2.82553026e-01] [ 2.01341532e-03 -1.44073297e-05 9.99997973e-01 -5.98327745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.971858064 meters 0.014083986087404179 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.28, Z:-0.06 [[ 9.99087904e-01 4.26720126e-02 -1.56815944e-03 1.39964006e+01] [-4.26719438e-02 9.99089135e-01 7.73231440e-05 -2.84094746e-01] [ 1.57003059e-03 -1.03362064e-05 9.99998767e-01 -6.01109391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001858064 meters 0.014072446119079653 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.29, Z:-0.06 [[ 9.99002381e-01 4.46514508e-02 -7.00572362e-04 1.40272956e+01] [-4.46514370e-02 9.99002627e-01 3.52696652e-05 -2.85317871e-01] [ 7.01448472e-04 -3.95291681e-06 9.99999754e-01 -6.09736826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.031858064 meters 0.013965125916134045 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.29, Z:-0.06 [[ 9.98951413e-01 4.57825224e-02 -1.88262294e-04 1.40602662e+01] [-4.57825212e-02 9.98951431e-01 1.07346926e-05 -2.86920255e-01] [ 1.88556349e-04 -2.10431393e-06 9.99999982e-01 -6.02564899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061858063999999 meters 0.014011042021770689 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.29, Z:-0.06 [[ 9.98918245e-01 4.64987339e-02 4.55496804e-04 1.40934277e+01] [-4.64987292e-02 9.98918349e-01 -2.07960394e-05 -2.88565730e-01] [-4.55971104e-04 -4.06479325e-07 9.99999896e-01 -6.00514644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.091858064 meters 0.013928243190551125 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.29, Z:-0.06 [[ 9.98868800e-01 4.75479517e-02 5.59817780e-04 1.41252363e+01] [-4.75479445e-02 9.98868957e-01 -2.61701013e-05 -2.90450532e-01] [-5.60428937e-04 -4.77687054e-07 9.99999843e-01 -5.98851943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121858064 meters 0.013887042585184648 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.29, Z:-0.06 [[ 9.98827154e-01 4.83843921e-02 1.80738492e-03 1.41561373e+01] [-4.83843109e-02 9.98828789e-01 -8.86696597e-05 -2.91863079e-01] [-1.80955832e-03 1.11658981e-06 9.99998363e-01 -5.94192528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.151858063999999 meters 0.013867457190736942 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.29, Z:-0.06 [[ 9.98800982e-01 4.89103731e-02 2.09114194e-03 1.41890563e+01] [-4.89102656e-02 9.98803172e-01 -1.02512104e-04 -2.93734634e-01] [-2.09365311e-03 1.10882344e-07 9.99997808e-01 -5.90548380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181858064 meters 0.013793281548017615 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.30, Z:-0.06 [[ 9.98765893e-01 4.96183002e-02 2.17150577e-03 1.42206897e+01] [-4.96181845e-02 9.98768254e-01 -1.07167351e-04 -2.95442862e-01] [-2.17414849e-03 -7.11079160e-07 9.99997637e-01 -5.92483928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.211858064 meters 0.013910697119915978 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.30, Z:-0.06 [[ 9.98737452e-01 5.01916849e-02 2.07297802e-03 1.42522471e+01] [-5.01915796e-02 9.98739603e-01 -1.02781422e-04 -2.96906339e-01] [-2.07552402e-03 -1.39438604e-06 9.99997846e-01 -6.03882235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241858064 meters 0.01387750856143889 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.30, Z:-0.06 [[ 9.98714138e-01 5.06705958e-02 1.60050192e-03 1.42854737e+01] [-5.06705337e-02 9.98715420e-01 -7.93292499e-05 -2.98356770e-01] [-1.60246561e-03 -1.87104309e-06 9.99998716e-01 -6.09147134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.271858064 meters 0.013925347171092246 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.30, Z:-0.06 [[ 9.98700270e-01 5.09585216e-02 1.00018011e-03 1.43185197e+01] [-5.09584978e-02 9.98700771e-01 -4.92806310e-05 -2.99869162e-01] [-1.00139191e-03 -1.75109646e-06 9.99999499e-01 -6.25523409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301858064 meters 0.013875477728718553 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.30, Z:-0.06 [[ 9.98712812e-01 5.07211861e-02 2.82713183e-04 1.43509515e+01] [-5.07211844e-02 9.98712852e-01 -1.29187353e-05 -3.01694726e-01] [-2.83004543e-04 -1.43744102e-06 9.99999960e-01 -6.40008905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.331858064 meters 0.014062425026925816 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.31, Z:-0.06 [[ 9.98799784e-01 4.89736136e-02 -7.59163009e-04 1.43841306e+01] [-4.89735969e-02 9.98800073e-01 4.05559920e-05 -3.05725918e-01] [ 7.60238242e-04 -3.32837284e-06 9.99999711e-01 -6.48917650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361858064 meters 0.014152787393587055 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.31, Z:-0.07 [[ 9.98860037e-01 4.77307173e-02 -6.36529762e-04 1.44172506e+01] [-4.77307051e-02 9.98860240e-01 3.44229830e-05 -3.08804457e-01] [ 6.37447304e-04 -4.00172774e-06 9.99999797e-01 -6.57709087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.391858064 meters 0.014397094145032254 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.31, Z:-0.07 [[ 9.98940091e-01 4.60275862e-02 -3.96026085e-04 1.44495767e+01] [-4.60275811e-02 9.98940169e-01 2.21217158e-05 -3.11934993e-01] [ 3.96624573e-04 -3.87014609e-06 9.99999921e-01 -6.59332947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421858064 meters 0.014593613192891151 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.32, Z:-0.07 [[ 9.99028776e-01 4.40614384e-02 3.06549206e-04 1.44821218e+01] [-4.40614360e-02 9.99028823e-01 -1.44534206e-05 -3.15471919e-01] [-3.06888331e-04 9.32384847e-07 9.99999953e-01 -6.57391524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.451858064 meters 0.015075534788126824 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.32, Z:-0.07 [[ 9.99205312e-01 3.98333064e-02 1.43265455e-03 1.45137181e+01] [-3.98332416e-02 9.99206339e-01 -7.37452324e-05 -3.19480122e-01] [-1.43445502e-03 1.66193530e-05 9.99998971e-01 -6.50213583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481858063999999 meters 0.015588573950181749 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.32, Z:-0.07 [[ 9.99275452e-01 3.80308622e-02 1.49164451e-03 1.45460196e+01] [-3.80307893e-02 9.99276565e-01 -7.72167950e-05 -3.21868489e-01] [-1.49350202e-03 2.04324296e-05 9.99998885e-01 -6.52796642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.511858064 meters 0.0157883675707739 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.32, Z:-0.07 [[ 9.99332914e-01 3.65032218e-02 1.11462925e-03 1.45775972e+01] [-3.65031797e-02 9.99333535e-01 -5.81240095e-05 -3.23800094e-01] [-1.11600810e-03 1.73977241e-05 9.99999377e-01 -6.60787375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541858064 meters 0.01638577384993569 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.33, Z:-0.07 [[ 9.99406803e-01 3.44387937e-02 -1.11134967e-04 1.46091668e+01] [-3.44387932e-02 9.99406809e-01 7.14376363e-06 -3.26159100e-01] [ 1.11315066e-04 -3.31217182e-06 9.99999994e-01 -6.71204826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.571858064 meters 0.016598332884232535 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.33, Z:-0.07 [[ 9.99415474e-01 3.41815352e-02 -5.77559201e-04 1.46413641e+01] [-3.41815224e-02 9.99415641e-01 3.21100535e-05 -3.27683618e-01] [ 5.78319270e-04 -1.23494316e-05 9.99999833e-01 -6.75755734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601858064 meters 0.016907901485963477 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.33, Z:-0.07 [[ 9.99431771e-01 3.36964440e-02 -8.27276028e-04 1.46728527e+01] [-3.36964179e-02 9.99432113e-01 4.54903952e-05 -3.28947013e-01] [ 8.28339093e-04 -1.75883075e-05 9.99999657e-01 -6.78982260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.631858064 meters 0.0181868627888552 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.33, Z:-0.07 [[ 9.99481649e-01 3.21831561e-02 -8.23015318e-04 1.47037610e+01] [-3.21831296e-02 9.99481988e-01 4.54330452e-05 -3.31298871e-01] [ 8.24051164e-04 -1.89222863e-05 9.99999660e-01 -6.83755692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661858064 meters 0.018042793680857587 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.33, Z:-0.07 [[ 9.99500921e-01 3.15806184e-02 -7.57740828e-04 1.47354673e+01] [-3.15805955e-02 9.99501208e-01 4.21720441e-05 -3.31960865e-01] [ 7.58694692e-04 -1.82210904e-05 9.99999712e-01 -6.81954764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.691858064 meters 0.01742060779133794 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.33, Z:-0.07 [[ 9.99522082e-01 3.09099173e-02 -4.28573003e-04 1.47680137e+01] [-3.09099096e-02 9.99522174e-01 2.45712348e-05 -3.31731881e-01] [ 4.29127715e-04 -1.13123390e-05 9.99999908e-01 -6.73545559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721858064 meters 0.017446316295766706 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.33, Z:-0.07 [[ 9.99522804e-01 3.08875525e-02 3.49987348e-04 1.48013650e+01] [-3.08875483e-02 9.99522866e-01 -1.75097275e-05 -3.32798610e-01] [-3.50361190e-04 6.69112081e-06 9.99999939e-01 -6.66604726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.751858064 meters 0.01703593624007642 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.33, Z:-0.06 [[ 9.99523962e-01 3.07902433e-02 1.95189055e-03 1.48348674e+01] [-3.07900964e-02 9.99525867e-01 -1.05274971e-04 -3.31563398e-01] [-1.95420654e-03 4.51259584e-05 9.99998090e-01 -6.47479576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781858064 meters 0.017835523822450332 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.33, Z:-0.06 [[ 9.99496532e-01 3.16160852e-02 2.66564078e-03 1.48663691e+01] [-3.16158102e-02 9.99500085e-01 -1.45261975e-04 -3.33239991e-01] [-2.66890080e-03 6.09124472e-05 9.99996437e-01 -6.49917626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.811858063999999 meters 0.017552707516298022 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.33, Z:-0.07 [[ 9.99466272e-01 3.25518690e-02 2.74701170e-03 1.48980563e+01] [-3.25515787e-02 9.99470046e-01 -1.50328606e-04 -3.32800400e-01] [-2.75044938e-03 6.08288041e-05 9.99996216e-01 -6.52530693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841858064 meters 0.01727241185757759 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.33, Z:-0.07 [[ 9.99385007e-01 3.49778238e-02 2.48171218e-03 1.49306317e+01] [-3.49775932e-02 9.99388087e-01 -1.36278910e-04 -3.30407356e-01] [-2.48496033e-03 4.93907807e-05 9.99996911e-01 -6.64730303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.871858064 meters 0.016594754478342896 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.33, Z:-0.07 [[ 9.99342233e-01 3.61938067e-02 2.26052171e-03 1.49629154e+01] [-3.61936176e-02 9.99344789e-01 -1.24523690e-04 -3.28835380e-01] [-2.26354758e-03 4.26253236e-05 9.99997437e-01 -6.68925970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901858063999999 meters 0.016867961473785845 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.33, Z:-0.07 [[ 9.99291966e-01 3.75135865e-02 2.88058438e-03 1.49940103e+01] [-3.75132816e-02 9.99296116e-01 -1.59805529e-04 -3.29592498e-01] [-2.88455166e-03 5.16322077e-05 9.99995838e-01 -6.69785048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.931858064 meters 0.015872829981139095 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.33, Z:-0.07 [[ 9.99230854e-01 3.89981842e-02 4.10395332e-03 1.50262103e+01] [-3.89975721e-02 9.99239279e-01 -2.29083367e-04 -3.26883526e-01] [-4.10976520e-03 6.88629527e-05 9.99991553e-01 -6.61692151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961858064 meters 0.015678026419831674 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.32, Z:-0.07 [[ 9.99079493e-01 4.25270444e-02 5.62297481e-03 1.50578920e+01] [-4.25259404e-02 9.99095313e-01 -3.15809769e-04 -3.24192974e-01] [-5.63131824e-03 7.63967718e-05 9.99984141e-01 -6.50549068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.991858064 meters 0.01530063433424106 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.32, Z:-0.06 [[ 9.98992908e-01 4.45172900e-02 5.60191947e-03 1.50903520e+01] [-4.45162183e-02 9.99008612e-01 -3.15922514e-04 -3.22599116e-01] [-5.61042981e-03 6.62280803e-05 9.99984259e-01 -6.49507338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021858064 meters 0.01530063433424106 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.32, Z:-0.07 [[ 9.98980359e-01 4.47980195e-02 5.60184158e-03 1.51227053e+01] [-4.47969445e-02 9.98996063e-01 -3.17297713e-04 -3.24497865e-01] [-5.61043199e-03 6.60287970e-05 9.99984259e-01 -6.51328762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.051858064 meters 0.01509867508009402 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.32, Z:-0.07 [[ 9.98867417e-01 4.72944360e-02 5.20757487e-03 1.51549432e+01] [-4.72935338e-02 9.98880991e-01 -2.96336000e-04 -3.22602246e-01] [-5.21576259e-03 4.97157565e-05 9.99986397e-01 -6.60566781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081858064 meters 0.01501807856165682 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.32, Z:-0.07 [[ 9.98759750e-01 4.96180206e-02 4.12477134e-03 1.51875429e+01] [-4.96174714e-02 9.98768267e-01 -2.35453726e-04 -3.20831510e-01] [-4.13137347e-03 3.05009805e-05 9.99991465e-01 -6.71864821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.111858064 meters 0.014940485735385324 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.32, Z:-0.07 [[ 9.98591098e-01 5.29952630e-02 2.70592292e-03 1.52184835e+01] [-5.29950383e-02 9.98594764e-01 -1.54712223e-04 -3.18975297e-01] [-2.71031948e-03 1.10937594e-05 9.99996327e-01 -6.83632620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141858064 meters 0.014875748499842176 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.32, Z:-0.07 [[ 9.98531427e-01 5.41098980e-02 2.66628342e-03 1.52515409e+01] [-5.41096827e-02 9.98534986e-01 -1.52890995e-04 -3.19533388e-01] [-2.67065020e-03 8.39471371e-06 9.99996434e-01 -6.79753211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.171858064 meters 0.014900136306970277 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.32, Z:-0.07 [[ 9.98494388e-01 5.47591557e-02 3.22361490e-03 1.52841149e+01] [-5.47588403e-02 9.98499592e-01 -1.86077145e-04 -3.19889959e-01] [-3.22896759e-03 9.27557119e-06 9.99994787e-01 -6.80677228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201858064 meters 0.014864636211523825 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.32, Z:-0.07 [[ 9.98474415e-01 5.51338761e-02 3.01628666e-03 1.53165329e+01] [-5.51335993e-02 9.98478971e-01 -1.74894999e-04 -3.17409237e-01] [-3.02134144e-03 8.32944181e-06 9.99995436e-01 -6.99816769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.231858064 meters 0.014943851439677799 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.32, Z:-0.07 [[ 9.98454495e-01 5.55146067e-02 2.59799963e-03 1.53496458e+01] [-5.55144016e-02 9.98457875e-01 -1.51065694e-04 -3.17930978e-01] [-2.60237954e-03 6.60582669e-06 9.99996614e-01 -7.12837201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261858064 meters 0.014973706154050736 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.32, Z:-0.07 [[ 9.98433634e-01 5.58999511e-02 2.33982019e-03 1.53828895e+01] [-5.58997846e-02 9.98436375e-01 -1.36542028e-04 -3.18856264e-01] [-2.34379429e-03 5.53270810e-06 9.99997253e-01 -7.24421237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.291858064 meters 0.014938181781623573 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.32, Z:-0.07 [[ 9.98412303e-01 5.63016987e-02 1.72983459e-03 1.54148449e+01] [-5.63016081e-02 9.98413801e-01 -1.01092027e-04 -3.20022523e-01] [-1.73278239e-03 3.53905440e-06 9.99998499e-01 -7.35558511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321858064 meters 0.015127754293401283 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.32, Z:-0.07 [[ 9.98366965e-01 5.70806737e-02 2.28047625e-03 1.54478485e+01] [-5.70805160e-02 9.98369569e-01 -1.34223764e-04 -3.21529553e-01] [-2.28441968e-03 3.83381033e-06 9.99997391e-01 -7.31774269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.351858063999998 meters 0.01513305821463684 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.32, Z:-0.07 [[ 9.98345401e-01 5.74410705e-02 2.64267820e-03 1.54802201e+01] [-5.74408572e-02 9.98348899e-01 -1.56581588e-04 -3.22986091e-01] [-2.64730908e-03 4.52480772e-06 9.99996496e-01 -7.33437753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381858064 meters 0.015095637851743603 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.32, Z:-0.07 [[ 9.98323370e-01 5.78029875e-02 3.04368126e-03 1.55133821e+01] [-5.78027034e-02 9.98328010e-01 -1.81317519e-04 -3.22955079e-01] [-3.04907295e-03 5.08051166e-06 9.99995352e-01 -7.35046077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.411858064 meters 0.015243300075344848 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.32, Z:-0.07 [[ 9.98299019e-01 5.82136594e-02 3.19972132e-03 1.55462906e+01] [-5.82133445e-02 9.98304147e-01 -1.91533661e-04 -3.23361400e-01] [-3.20544494e-03 4.94138640e-06 9.99994863e-01 -7.40393332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441858063999998 meters 0.015044828109646755 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.32, Z:-0.07 [[ 9.98259916e-01 5.88934320e-02 2.95036243e-03 1.55794179e+01] [-5.88931652e-02 9.98264275e-01 -1.77292840e-04 -3.23701309e-01] [-2.95568280e-03 3.22815391e-06 9.99995632e-01 -7.43781478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.471858064 meters 0.015137091945372192 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.32, Z:-0.07 [[ 9.98184149e-01 6.01594296e-02 3.04106575e-03 1.56127827e+01] [-6.01591493e-02 9.98188781e-01 -1.83644571e-04 -3.24221941e-01] [-3.04660566e-03 3.63171817e-07 9.99995359e-01 -7.42739077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501858064 meters 0.015091745049635934 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.33, Z:-0.07 [[ 9.98161825e-01 6.05221097e-02 3.16951166e-03 1.56452085e+01] [-6.05218041e-02 9.98166857e-01 -1.92331746e-04 -3.26488082e-01] [-3.17534182e-03 1.53643067e-07 9.99994959e-01 -7.37388734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.531858064 meters 0.0151295945921712 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.33, Z:-0.07 [[ 9.98156374e-01 6.06219136e-02 2.97252095e-03 1.56770193e+01] [-6.06216429e-02 9.98160800e-01 -1.81168702e-04 -3.29012467e-01] [-2.97803668e-03 6.35591604e-07 9.99995566e-01 -7.33290315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561858064 meters 0.015134708457663302 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.33, Z:-0.07 [[ 9.98171127e-01 6.04072276e-02 2.31693276e-03 1.57093708e+01] [-6.04070619e-02 9.98173816e-01 -1.41491212e-04 -3.31130262e-01] [-2.32124871e-03 1.27334203e-06 9.99997306e-01 -7.35260096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.591858064 meters 0.015198897179336666 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.33, Z:-0.08 [[ 9.98173246e-01 6.03944613e-02 1.63717218e-03 1.57416567e+01] [-6.03943785e-02 9.98174588e-01 -9.99869550e-05 -3.32806777e-01] [-1.64022233e-03 9.28306759e-07 9.99998655e-01 -7.55881057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621858064 meters 0.01511408344930539 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.33, Z:-0.08 [[ 9.98155851e-01 6.06921419e-02 1.16682835e-03 1.57742989e+01] [-6.06921003e-02 9.98156533e-01 -7.10747155e-05 -3.33942914e-01] [-1.16899101e-03 1.26380054e-07 9.99999317e-01 -7.52564885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.651858064 meters 0.015232860038293324 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.34, Z:-0.08 [[ 9.98146686e-01 6.08480914e-02 8.38029716e-04 1.58067509e+01] [-6.08480701e-02 9.98147038e-01 -5.08363397e-05 -3.36049445e-01] [-8.39570174e-04 -2.50366912e-07 9.99999648e-01 -7.56217972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681858064 meters 0.015233468767561742 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.34, Z:-0.08 [[ 9.98203906e-01 5.99043338e-02 6.58643192e-04 1.58391405e+01] [-5.99043205e-02 9.98204123e-01 -3.97856548e-05 -3.39074006e-01] [-6.59843683e-04 2.58623098e-07 9.99999782e-01 -7.54531217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.711858064 meters 0.015306697332512838 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.34, Z:-0.08 [[ 9.98267076e-01 5.88438898e-02 4.90861577e-04 1.58704882e+01] [-5.88438824e-02 9.98267197e-01 -2.94868064e-05 -3.42373580e-01] [-4.91746129e-04 5.51507014e-07 9.99999879e-01 -7.54951943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741858064 meters 0.015433794570027479 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.35, Z:-0.08 [[ 9.98348898e-01 5.74378320e-02 6.11472208e-04 1.59032298e+01] [-5.74378200e-02 9.98349085e-01 -3.71724913e-05 -3.45670725e-01] [-6.12597827e-04 1.98948509e-06 9.99999812e-01 -7.54620269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.771858064 meters 0.0159142368390987 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.35, Z:-0.08 [[ 9.98571397e-01 5.33981853e-02 1.94925493e-03 1.59338220e+01] [-5.33980476e-02 9.98573299e-01 -1.22664058e-04 -3.49202652e-01] [-1.95302397e-03 1.84024119e-05 9.99998093e-01 -7.56556700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801858064 meters 0.016069804755152715 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.35, Z:-0.08 [[ 9.98667827e-01 5.15344722e-02 2.60170618e-03 1.59661058e+01] [-5.15342181e-02 9.98671216e-01 -1.64670808e-04 -3.51744789e-01] [-2.60673530e-03 3.03745443e-05 9.99996602e-01 -7.55623792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.831858064 meters 0.01663753098047356 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.36, Z:-0.08 [[ 9.98751535e-01 4.98594485e-02 3.06690130e-03 1.59971092e+01] [-4.98590842e-02 9.98756243e-01 -1.95158424e-04 -3.56089703e-01] [-3.07281731e-03 4.20018854e-05 9.99995278e-01 -7.52139643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861858064 meters 0.016440509918960098 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.36, Z:-0.07 [[ 9.98848801e-01 4.78247696e-02 3.72350162e-03 1.60289843e+01] [-4.78242146e-02 9.98855739e-01 -2.38007054e-04 -3.58174167e-01] [-3.73062360e-03 5.96595194e-05 9.99993039e-01 -7.39507547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.891858064 meters 0.018067277548892337 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.36, Z:-0.07 [[ 9.99003977e-01 4.44163688e-02 4.27095467e-03 1.60592971e+01] [-4.44156008e-02 9.99013103e-01 -2.74548148e-04 -3.64321353e-01] [-4.27893410e-03 8.45776736e-05 9.99990842e-01 -7.32993877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921858064 meters 0.0185572830375645 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.37, Z:-0.07 [[ 9.99048420e-01 4.34541723e-02 3.74011770e-03 1.60910199e+01] [-4.34535776e-02 9.99055418e-01 -2.40171722e-04 -3.66944233e-01] [-3.74702131e-03 7.74216852e-05 9.99992977e-01 -7.39278970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.951858064 meters 0.019037291083950907 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.37, Z:-0.07 [[ 9.99075325e-01 4.28440711e-02 3.58904242e-03 1.61217752e+01] [-4.28435166e-02 9.99081768e-01 -2.31281135e-04 -3.69102798e-01] [-3.59565587e-03 7.73000770e-05 9.99993533e-01 -7.42621927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981858064 meters 0.018073295180396125 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.37, Z:-0.07 [[ 9.99084329e-01 4.26378782e-02 3.53752471e-03 1.61543786e+01] [-4.26373360e-02 9.99090589e-01 -2.28566062e-04 -3.68790532e-01] [-3.54405322e-03 7.75261408e-05 9.99993717e-01 -7.45127289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.011858064 meters 0.01785015498933014 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.37, Z:-0.07 [[ 9.99084773e-01 4.25886077e-02 3.97827680e-03 1.61876270e+01] [-4.25879165e-02 9.99092690e-01 -2.58326228e-04 -3.69628521e-01] [-3.98566902e-03 8.86632812e-05 9.99992053e-01 -7.41226025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041858064 meters 0.01853165943417659 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.37, Z:-0.07 [[ 9.99056081e-01 4.32537879e-02 4.00705904e-03 1.62185959e+01] [-4.32530871e-02 9.99064113e-01 -2.61411149e-04 -3.71905023e-01] [-4.01461591e-03 8.78467238e-05 9.99991938e-01 -7.46293280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.071858064 meters 0.017437953743192083 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.37, Z:-0.07 [[ 9.98998075e-01 4.46152641e-02 3.51054751e-03 1.62514589e+01] [-4.46147317e-02 9.99004241e-01 -2.29841138e-04 -3.69677164e-01] [-3.51730627e-03 7.29887191e-05 9.99993812e-01 -7.46191637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101858063999998 meters 0.017625279733375226 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.37, Z:-0.07 [[ 9.98946526e-01 4.57613701e-02 3.42558495e-03 1.62820224e+01] [-4.57608691e-02 9.98952397e-01 -2.24516402e-04 -3.71812247e-01] [-3.43227048e-03 6.75221353e-05 9.99994107e-01 -7.45055957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.131858064 meters 0.017645198506363514 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.37, Z:-0.07 [[ 9.98892723e-01 4.69080750e-02 3.60013149e-03 1.63143896e+01] [-4.69075261e-02 9.98899208e-01 -2.36819647e-04 -3.72918483e-01] [-3.60727724e-03 6.76841607e-05 9.99993491e-01 -7.45918628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161858064 meters 0.01719752655822403 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.37, Z:-0.07 [[ 9.98829704e-01 4.82494265e-02 3.34896733e-03 1.63463995e+01] [-4.82489567e-02 9.98835316e-01 -2.21007173e-04 -3.73119792e-01] [-3.35573032e-03 5.91643494e-05 9.99994368e-01 -7.41265137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.191858063999998 meters 0.01698504288174173 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.37, Z:-0.07 [[ 9.98708388e-01 5.07203489e-02 3.00032418e-03 1.63787272e+01] [-5.07199812e-02 9.98712894e-01 -1.98595158e-04 -3.72331280e-01] [-3.00653526e-03 4.61622646e-05 9.99995479e-01 -7.42450305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221858064 meters 0.016492200083750273 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.37, Z:-0.07 [[ 9.98627364e-01 5.23331799e-02 2.15087088e-03 1.64107702e+01] [-5.23329944e-02 9.98629680e-01 -1.42481748e-04 -3.71631494e-01] [-2.15538002e-03 2.97246590e-05 9.99997677e-01 -7.43809144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.251858064 meters 0.016522806309938794 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.37, Z:-0.08 [[ 9.98543001e-01 5.39372346e-02 1.62795077e-03 1.64420504e+01] [-5.39371302e-02 9.98544328e-01 -1.07988516e-04 -3.72152852e-01] [-1.63140561e-03 2.00241844e-05 9.99998669e-01 -7.52296622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281858064 meters 0.016440978971852767 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.37, Z:-0.08 [[ 9.98460974e-01 5.54430974e-02 1.32141053e-03 1.64743564e+01] [-5.54430299e-02 9.98461848e-01 -8.76578308e-05 -3.72624934e-01] [-1.32423802e-03 1.42599195e-05 9.99999123e-01 -7.58625796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.311858064 meters 0.016359494108828795 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.37, Z:-0.08 [[ 9.98374757e-01 5.69852222e-02 7.27148817e-04 1.65060326e+01] [-5.69852025e-02 9.98375022e-01 -4.77979732e-05 -3.73577958e-01] [-7.28690995e-04 6.28356727e-06 9.99999734e-01 -7.59503568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341858064 meters 0.01617572740926734 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.37, Z:-0.07 [[ 9.98258797e-01 5.89748775e-02 1.15645361e-03 1.65376865e+01] [-5.89748278e-02 9.98259467e-01 -7.71235410e-05 -3.73688967e-01] [-1.15898911e-03 8.78760105e-06 9.99999328e-01 -7.47512222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.371858064 meters 0.01601890223047877 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.37, Z:-0.07 [[ 9.98176580e-01 6.03390663e-02 1.64669978e-03 1.65702175e+01] [-6.03389657e-02 9.98177939e-01 -1.10793717e-04 -3.74555494e-01] [-1.65038458e-03 1.12315319e-05 9.99998638e-01 -7.37414361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401858064 meters 0.01605435355011368 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.37, Z:-0.07 [[ 9.98081000e-01 6.18649297e-02 2.65461116e-03 1.66012979e+01] [-6.18646694e-02 9.98084531e-01 -1.80156723e-04 -3.74412556e-01] [-2.66067171e-03 1.55843609e-05 9.99996460e-01 -7.31999336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.431858064 meters 0.01610496565408985 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.38, Z:-0.07 [[ 9.98058022e-01 6.22236426e-02 2.89895029e-03 1.66331432e+01] [-6.22233316e-02 9.98062232e-01 -1.97431519e-04 -3.75293814e-01] [-2.90561770e-03 1.66657661e-05 9.99995779e-01 -7.38268938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461858064 meters 0.015991179473561982 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.38, Z:-0.07 [[ 9.98052833e-01 6.22974396e-02 3.09377662e-03 1.66657418e+01] [-6.22970832e-02 9.98057628e-01 -2.11529674e-04 -3.76385473e-01] [-3.10094512e-03 1.83845304e-05 9.99995192e-01 -7.37961089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.491858064 meters 0.016133824509418578 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.38, Z:-0.07 [[ 9.98076374e-01 6.18914640e-02 3.60522958e-03 1.66981025e+01] [-6.18909728e-02 9.98082885e-01 -2.47763916e-04 -3.78681326e-01] [-3.61365242e-03 2.41561450e-05 9.99993470e-01 -7.42456609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521858064 meters 0.016405327954027993 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.38, Z:-0.08 [[ 9.98221419e-01 5.95473026e-02 2.84917002e-03 1.67302222e+01] [-5.95469846e-02 9.98225485e-01 -1.96367686e-04 -3.82123902e-01] [-2.85580729e-03 2.63589469e-05 9.99995922e-01 -7.53397141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.551858064 meters 0.01658602512406478 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.38, Z:-0.08 [[ 9.98270930e-01 5.87351039e-02 2.31050151e-03 1.67613936e+01] [-5.87348918e-02 9.98273603e-01 -1.59614569e-04 -3.84892782e-01] [-2.31588764e-03 2.36315286e-05 9.99997318e-01 -7.62210687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581858064 meters 0.01668726445679342 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.39, Z:-0.08 [[ 9.98281488e-01 5.85651934e-02 2.04683006e-03 1.67930119e+01] [-5.85650261e-02 9.98283586e-01 -1.41603574e-04 -3.87228892e-01] [-2.05160989e-03 2.14875707e-05 9.99997895e-01 -7.73516375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.611858064 meters 0.016650197520644304 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.39, Z:-0.08 [[ 9.98239093e-01 5.93067513e-02 1.19304772e-03 1.68259579e+01] [-5.93066954e-02 9.98239805e-01 -8.21605444e-05 -3.87030982e-01] [-1.19582040e-03 1.12601492e-05 9.99999285e-01 -7.95373121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641858064 meters 0.016669688013639494 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.39, Z:-0.08 [[ 9.98156863e-01 6.06728213e-02 1.29854532e-03 1.68568393e+01] [-6.06727554e-02 9.98157707e-01 -9.01558104e-05 -3.88245264e-01] [-1.30162303e-03 1.12033182e-05 9.99999153e-01 -8.03021936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.671858064 meters 0.016439815216723313 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.39, Z:-0.08 [[ 9.98050913e-01 6.23775228e-02 1.84933938e-03 1.68890467e+01] [-6.23773903e-02 9.98052626e-01 -1.29291537e-04 -3.89587464e-01] [-1.85380292e-03 1.36825714e-05 9.99998282e-01 -7.99288494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701858064 meters 0.016100333059552534 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.39, Z:-0.08 [[ 9.97762318e-01 6.67892029e-02 3.09181953e-03 1.69210741e+01] [-6.67888488e-02 9.97767108e-01 -2.17759306e-04 -3.88671044e-01] [-3.09945980e-03 1.07729628e-05 9.99995197e-01 -7.82073747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.731858064 meters 0.016099793971427342 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.39, Z:-0.08 [[ 9.97580331e-01 6.94699898e-02 2.72101495e-03 1.69542028e+01] [-6.94697244e-02 9.97584042e-01 -1.92043876e-04 -3.88908504e-01] [-2.72778238e-03 2.55103446e-06 9.99996280e-01 -7.84430851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761858064 meters 0.016057175908129884 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.39, Z:-0.08 [[ 9.97363020e-01 7.25437554e-02 2.09984181e-03 1.69857397e+01] [-7.25436035e-02 9.97365231e-01 -1.48500966e-04 -3.88931776e-01] [-2.10508203e-03 -4.22072005e-06 9.99997784e-01 -7.91361175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.791858064 meters 0.016546630604848678 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.39, Z:-0.08 [[ 9.96945234e-01 7.80803184e-02 -1.91408699e-03 1.70166105e+01] [-7.80801994e-02 9.96947072e-01 1.36936969e-04 -3.88221446e-01] [ 1.91893550e-03 1.29336355e-05 9.99998159e-01 -8.16528214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821858064 meters 0.016784504860718717 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.39, Z:-0.08 [[ 9.96758347e-01 8.03723797e-02 -3.61649663e-03 1.70482327e+01] [-8.03719641e-02 9.96764907e-01 2.60340429e-04 -3.89769730e-01] [ 3.62572110e-03 3.11684414e-05 9.99993427e-01 -8.26896506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.851858063999998 meters 0.017290357436445736 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.39, Z:-0.08 [[ 9.96551474e-01 8.28511603e-02 -4.56555818e-03 1.70806951e+01] [-8.28505202e-02 9.96561931e-01 3.29471517e-04 -3.91340386e-01] [ 4.57715857e-03 4.99235443e-05 9.99989524e-01 -8.34607921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881858064 meters 0.017805269516013175 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.39, Z:-0.08 [[ 9.96192888e-01 8.70278750e-02 -5.08717354e-03 1.71131629e+01] [-8.70271292e-02 9.96205874e-01 3.68198708e-04 -3.92966575e-01] [ 5.09991571e-03 7.59251745e-05 9.99986992e-01 -8.25620079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.911858064 meters 0.017805269516013175 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.40, Z:-0.08 [[ 9.96169594e-01 8.72941096e-02 -5.08706146e-03 1.71455071e+01] [-8.72933594e-02 9.96182580e-01 3.69747409e-04 -3.95389087e-01] [ 5.09991879e-03 7.57355581e-05 9.99986992e-01 -8.27441848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941858063999998 meters 0.01826039954438531 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.40, Z:-0.08 [[ 9.96009317e-01 8.91267247e-02 -4.67629280e-03 1.71771590e+01] [-8.91261070e-02 9.96020291e-01 3.40738126e-04 -3.96507715e-01] [ 4.68805139e-03 7.74014236e-05 9.99989008e-01 -8.24050414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.971858064 meters 0.018799403875930872 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.40, Z:-0.08 [[ 9.95828051e-01 9.11477140e-02 -4.31119724e-03 1.72097341e+01] [-9.11472028e-02 9.95837380e-01 3.15321369e-04 -3.97467794e-01] [ 4.32199219e-03 7.89477046e-05 9.99990657e-01 -8.23156546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001858064 meters 0.018386796836840073 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.40, Z:-0.08 [[ 9.95649402e-01 9.30955906e-02 -3.93435392e-03 1.72412467e+01] [-9.30951762e-02 9.95657172e-01 2.88733519e-04 -4.00639036e-01] [ 3.94414752e-03 7.87920161e-05 9.99992219e-01 -8.18033270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.031858063999998 meters 0.02004878209909656 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.40, Z:-0.08 [[ 9.95460469e-01 9.51194514e-02 -3.27802481e-03 1.72729344e+01] [-9.51191743e-02 9.95465863e-01 2.40668786e-04 -3.99832586e-01] [ 3.28605408e-03 7.22267510e-05 9.99994598e-01 -8.25189138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061858064 meters 0.018790525835531577 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.41, Z:-0.08 [[ 9.95395679e-01 9.58165985e-02 -2.57329029e-03 1.73053669e+01] [-9.58164256e-02 9.95399004e-01 1.90659982e-04 -4.05972147e-01] [ 2.57971898e-03 5.67813555e-05 9.99996671e-01 -8.17649428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.091858064 meters 0.02011192728990719 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.41, Z:-0.08 [[ 9.95401596e-01 9.57481722e-02 -2.81955640e-03 1.73376548e+01] [-9.57479630e-02 9.95405588e-01 2.09388801e-04 -4.06008256e-01] [ 2.82665079e-03 6.15408349e-05 9.99996003e-01 -8.33747436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121858064 meters 0.01854816604822788 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.41, Z:-0.08 [[ 9.95371958e-01 9.60419684e-02 -3.25654959e-03 1.73697348e+01] [-9.60416883e-02 9.95377283e-01 2.42660608e-04 -4.13180354e-01] [ 3.26480108e-03 7.12269561e-05 9.99994668e-01 -8.26754416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.151858064 meters 0.018472648709032296 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.42, Z:-0.08 [[ 9.95451200e-01 9.52439092e-02 -2.34633055e-03 1.74009389e+01] [-9.52437616e-02 9.95453964e-01 1.74811626e-04 -4.17951875e-01] [ 2.35231379e-03 4.94569051e-05 9.99997232e-01 -8.30387071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181858064 meters 0.01811138936682144 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.42, Z:-0.08 [[ 9.95444924e-01 9.53212611e-02 -1.80577265e-03 1.74335057e+01] [-9.53211711e-02 9.95446561e-01 1.36051577e-04 -4.23521490e-01] [ 1.81051878e-03 3.66965121e-05 9.99998360e-01 -8.21484450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.211858064 meters 0.01835859695320658 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.43, Z:-0.08 [[ 9.95496490e-01 9.47857285e-02 -1.55034248e-03 1.74646798e+01] [-9.47856621e-02 9.95497697e-01 1.16440104e-04 -4.27296202e-01] [ 1.55439923e-03 3.10345236e-05 9.99998791e-01 -8.18083927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241858064 meters 0.017893582606365574 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.43, Z:-0.08 [[ 9.95656105e-01 9.30928509e-02 -1.62511281e-03 1.74961684e+01] [-9.30927741e-02 9.95657431e-01 1.22996963e-04 -4.34090370e-01] [ 1.62950579e-03 2.88235824e-05 9.99998672e-01 -8.17885014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.271858064 meters 0.01756703292026241 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.44, Z:-0.08 [[ 9.95731947e-01 9.22638912e-02 -2.29444571e-03 1.75275103e+01] [-9.22637360e-02 9.95734590e-01 1.73657756e-04 -4.38971882e-01] [ 2.30068130e-03 3.87775578e-05 9.99997353e-01 -8.27625637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301858064 meters 0.017419193924678566 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.44, Z:-0.08 [[ 9.95836992e-01 9.11137546e-02 -2.63991198e-03 1.75590849e+01] [-9.11135438e-02 9.95840490e-01 2.00240355e-04 -4.44420497e-01] [ 2.64717589e-03 4.11249827e-05 9.99996495e-01 -8.36206401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.331858064 meters 0.01675814765116853 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.45, Z:-0.08 [[ 9.96139786e-01 8.76961878e-02 -3.86078100e-03 1.75893362e+01] [-8.76957108e-02 9.96147266e-01 2.92973938e-04 -4.54612667e-01] [ 3.87159914e-03 4.67309378e-05 9.99992504e-01 -8.36551616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361858064 meters 0.01673416496479321 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.46, Z:-0.08 [[ 9.96294453e-01 8.59197763e-02 -3.89302238e-03 1.76204300e+01] [-8.59192776e-02 9.96302058e-01 2.95455401e-04 -4.60681573e-01] [ 3.90401167e-03 4.01250934e-05 9.99992379e-01 -8.41756226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.391858064 meters 0.016264377138894608 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.47, Z:-0.08 [[ 9.96465433e-01 8.39183847e-02 -3.78763300e-03 1.76517889e+01] [-8.39178927e-02 9.96472631e-01 2.88913019e-04 -4.66791859e-01] [ 3.79851774e-03 2.99583438e-05 9.99992785e-01 -8.41113354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421858064 meters 0.016060217358481073 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.47, Z:-0.08 [[ 9.96632691e-01 8.19087565e-02 -3.77279562e-03 1.76836998e+01] [-8.19082505e-02 9.96639832e-01 2.88707565e-04 -4.73102065e-01] [ 3.78376607e-03 2.12876906e-05 9.99992841e-01 -8.39132499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.451858064 meters 0.01608053407947702 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.48, Z:-0.08 [[ 9.96904085e-01 7.85214077e-02 -4.07854711e-03 1.77147188e+01] [-7.85207842e-02 9.96912428e-01 3.13007138e-04 -4.82460188e-01] [ 4.09053206e-03 8.21262334e-06 9.99991634e-01 -8.35092814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481858064 meters 0.016004462912425948 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.49, Z:-0.08 [[ 9.96984599e-01 7.74944255e-02 -4.04012007e-03 1.77461602e+01] [-7.74938007e-02 9.96992785e-01 3.11199663e-04 -4.88241511e-01] [ 4.05208680e-03 2.82298794e-06 9.99991790e-01 -8.39045299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.511858064 meters 0.015913218710617995 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.49, Z:-0.08 [[ 9.97036916e-01 7.68545090e-02 -3.28205653e-03 1.77787786e+01] [-7.68540893e-02 9.97042318e-01 2.54005428e-04 -4.94028343e-01] [ 3.29187072e-03 -1.01332287e-06 9.99994582e-01 -8.38038406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541858064 meters 0.01598754461752896 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.50, Z:-0.08 [[ 9.97154678e-01 7.53647298e-02 -1.64475368e-03 1.78098989e+01] [-7.53646207e-02 9.97156035e-01 1.28335972e-04 -5.02578707e-01] [ 1.64974806e-03 -4.01457802e-06 9.99998639e-01 -8.20012826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.571858064 meters 0.016045408992041536 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.51, Z:-0.08 [[ 9.97218079e-01 7.45305212e-02 -1.14189837e-03 1.78410922e+01] [-7.45304678e-02 9.97218733e-01 8.93244495e-05 -5.07488948e-01] [ 1.14537985e-03 -3.96973614e-06 9.99999344e-01 -8.21081417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601858063999998 meters 0.016062380602170582 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.51, Z:-0.08 [[ 9.97249508e-01 7.41152427e-02 -5.92033887e-04 1.78731479e+01] [-7.41152275e-02 9.97249683e-01 4.75400334e-05 -5.13656698e-01] [ 5.93929047e-04 -3.53054870e-06 9.99999824e-01 -8.22003693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.631858064 meters 0.016063761456495376 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.52, Z:-0.08 [[ 9.97206404e-01 7.46943534e-02 -3.74873056e-04 1.79044803e+01] [-7.46943472e-02 9.97206475e-01 3.06670069e-05 -5.17523478e-01] [ 3.76116491e-04 -2.58043747e-06 9.99999929e-01 -8.21618801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661858064 meters 0.016104165011327748 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.52, Z:-0.08 [[ 9.97106376e-01 7.60186483e-02 1.98671041e-04 1.79363277e+01] [-7.60186470e-02 9.97106396e-01 -1.40811392e-05 -5.21379608e-01] [-1.99166595e-04 -1.06231010e-06 9.99999980e-01 -8.21210486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.691858063999998 meters 0.0161605532311058 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.52, Z:-0.08 [[ 9.96997198e-01 7.74375296e-02 1.27640470e-04 1.79687191e+01] [-7.74375292e-02 9.96997206e-01 -8.46154718e-06 -5.24557602e-01] [-1.27912433e-04 -1.44802380e-06 9.99999992e-01 -8.21941995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721858064 meters 0.016240783126931252 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.53, Z:-0.08 [[ 9.96660972e-01 8.16509949e-02 -1.51116874e-04 1.80010996e+01] [-8.16509938e-02 9.96660983e-01 1.34559092e-05 -5.26948464e-01] [ 1.51710981e-04 -1.07213654e-06 9.99999988e-01 -8.30393345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.751858064 meters 0.01631873536053568 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.53, Z:-0.08 [[ 9.96476041e-01 8.38770548e-02 -3.74225699e-04 1.80327426e+01] [-8.38770491e-02 9.96476111e-01 3.10081093e-05 -5.29215786e-01] [ 3.75507838e-04 4.90109359e-07 9.99999929e-01 -8.35267999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781858063999998 meters 0.016539688849071227 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.53, Z:-0.08 [[ 9.96246618e-01 8.65599094e-02 -2.43046264e-04 1.80643049e+01] [-8.65599070e-02 9.96246647e-01 2.05838789e-05 -5.32140135e-01] [ 2.43915764e-04 5.31442317e-07 9.99999970e-01 -8.37105195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.811858064 meters 0.016633460997924863 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.54, Z:-0.08 [[ 9.96169910e-01 8.74325114e-02 -1.03239215e-03 1.80973159e+01] [-8.74324717e-02 9.96170445e-01 8.36005661e-05 -5.36076298e-01] [ 1.03574795e-03 6.98422871e-06 9.99999464e-01 -8.44022604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841858064 meters 0.01665105089913803 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.54, Z:-0.09 [[ 9.96128694e-01 8.78873401e-02 -1.85502677e-03 1.81301920e+01] [-8.78872141e-02 9.96130421e-01 1.49494095e-04 -5.40125077e-01] [ 1.86098723e-03 1.41177770e-05 9.99998268e-01 -8.50390772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.871858064 meters 0.016650955505366924 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.55, Z:-0.09 [[ 9.96101728e-01 8.81827087e-02 -2.27085066e-03 1.81624900e+01] [-8.81825200e-02 9.96104317e-01 1.83314577e-04 -5.45205261e-01] [ 2.27816932e-03 1.76493662e-05 9.99997405e-01 -8.52397516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901858064 meters 0.016725632138171465 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.55, Z:-0.09 [[ 9.96107242e-01 8.81040166e-02 -2.83614652e-03 1.81940382e+01] [-8.81037212e-02 9.96111280e-01 2.29189518e-04 -5.51862493e-01] [ 2.84531006e-03 2.15777234e-05 9.99995952e-01 -8.59372143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.931858064 meters 0.016543207770539026 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.56, Z:-0.08 [[ 9.96127126e-01 8.78843378e-02 -2.66299388e-03 1.82269448e+01] [-8.78840740e-02 9.96130686e-01 2.16163362e-04 -5.57585709e-01] [ 2.67168730e-03 1.87085630e-05 9.99996431e-01 -8.48743285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961858064 meters 0.016423855568718882 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.56, Z:-0.08 [[ 9.96140535e-01 8.77542460e-02 -1.79630553e-03 1.82580498e+01] [-8.77541246e-02 9.96142155e-01 1.46418017e-04 -5.61592515e-01] [ 1.80222446e-03 1.17802976e-05 9.99998376e-01 -8.47049990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.991858064 meters 0.01635074472880803 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.57, Z:-0.08 [[ 9.96190066e-01 8.72034339e-02 -9.55883436e-04 1.82898918e+01] [-8.72033984e-02 9.96190524e-01 7.88144653e-05 -5.65513541e-01] [ 9.59114914e-04 4.84209669e-06 9.99999540e-01 -8.44920333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021858064 meters 0.01619289753790973 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.57, Z:-0.08 [[ 9.96341858e-01 8.54570211e-02 -8.03375964e-06 1.83214555e+01] [-8.54570211e-02 9.96341858e-01 2.01224692e-06 -5.71079190e-01] [ 8.17633163e-06 -1.31834467e-06 1.00000000e+00 -8.33624795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.051858064 meters 0.016103475483794958 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.58, Z:-0.08 [[ 9.96412233e-01 8.46245869e-02 1.15787137e-03 1.83520568e+01] [-8.46245358e-02 9.96412906e-01 -9.31368098e-05 -5.75396759e-01] [-1.16159964e-03 -5.18167025e-06 9.99999325e-01 -8.27185448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081858064 meters 0.01585910019345912 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.58, Z:-0.08 [[ 9.96621350e-01 8.21039333e-02 2.19765275e-03 1.83834356e+01] [-8.21037397e-02 9.96623773e-01 -1.78305494e-04 -5.82948642e-01] [-2.20487255e-03 -2.73244724e-06 9.99997569e-01 -8.04206409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.111858064 meters 0.01582420058910178 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.59, Z:-0.08 [[ 9.96740763e-01 8.06472989e-02 1.96584602e-03 1.84161464e+01] [-8.06471408e-02 9.96742702e-01 -1.59701882e-04 -5.88783460e-01] [-1.97232220e-03 6.41514372e-07 9.99998055e-01 -7.98046475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141858064 meters 0.015805329888737424 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.59, Z:-0.08 [[ 9.96852676e-01 7.92679568e-02 1.15474505e-03 1.84484616e+01] [-7.92679017e-02 9.96853345e-01 -9.34868209e-05 -5.94223455e-01] [-1.15852197e-03 1.65837066e-06 9.99999329e-01 -8.00713002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.171858064 meters 0.016023384590795425 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.60, Z:-0.08 [[ 9.97127367e-01 7.57374270e-02 -9.25390191e-04 1.84792349e+01] [-7.57373875e-02 9.97127796e-01 7.76792386e-05 -6.00380664e-01] [ 9.28615507e-04 -7.36945912e-06 9.99999569e-01 -8.18670876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201858064 meters 0.01614841139764987 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.60, Z:-0.08 [[ 9.97218172e-01 7.45113630e-02 -1.99340378e-03 1.85111855e+01] [-7.45111792e-02 9.97220164e-01 1.66419672e-04 -6.04123016e-01] [ 2.00026260e-03 -1.74258551e-05 9.99997999e-01 -8.28463177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.231858064 meters 0.016120391518415357 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.61, Z:-0.08 [[ 9.97292014e-01 7.34982408e-02 -2.57813253e-03 1.85428685e+01] [-7.34979294e-02 9.97295346e-01 2.15464023e-04 -6.07645617e-01] [ 2.58699580e-03 -2.53931466e-05 9.99996653e-01 -8.32636539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261858064 meters 0.016336158640641807 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.61, Z:-0.08 [[ 9.97428796e-01 7.15550715e-02 -3.95844413e-03 1.85746396e+01] [-7.15543210e-02 9.97436649e-01 3.31085109e-04 -6.11332722e-01] [ 3.97198806e-03 -4.69900402e-05 9.99992111e-01 -8.37051668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.291858064 meters 0.01660302207251584 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.61, Z:-0.08 [[ 9.97464031e-01 7.10403251e-02 -4.33346593e-03 1.86057142e+01] [-7.10394175e-02 9.97473443e-01 3.63190951e-04 -6.14734341e-01] [ 4.34831838e-03 -5.44230152e-05 9.99990545e-01 -8.43612608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321858064 meters 0.016805170793571418 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.62, Z:-0.08 [[ 9.97502388e-01 7.04482448e-02 -5.10198014e-03 1.86372419e+01] [-7.04469736e-02 9.97515434e-01 4.28659112e-04 -6.17755690e-01] [ 5.11950221e-03 -6.81694281e-05 9.99986893e-01 -8.47000864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351858063999998 meters 0.016993484270073748 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.62, Z:-0.09 [[ 9.97554244e-01 6.96567017e-02 -5.78565670e-03 1.86696013e+01] [-6.96550468e-02 9.97571019e-01 4.87284022e-04 -6.20871526e-01] [ 5.80554605e-03 -8.30920560e-05 9.99983144e-01 -8.52854004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381858064 meters 0.016985546062443856 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.62, Z:-0.09 [[ 9.97637117e-01 6.81725976e-02 -8.52525588e-03 1.87017634e+01] [-6.81689372e-02 9.97673533e-01 7.19543832e-04 -6.21878767e-01] [ 8.55447533e-03 -1.36686001e-04 9.99963400e-01 -8.61233276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411858064 meters 0.017365992372628338 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.62, Z:-0.09 [[ 9.97660778e-01 6.77164638e-02 -9.35158358e-03 1.87322422e+01] [-6.77120266e-02 9.97704594e-01 7.90653258e-04 -6.24671537e-01] [ 9.38365814e-03 -1.55589069e-04 9.99955960e-01 -8.73337006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441858063999998 meters 0.017258669982249647 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.63, Z:-0.09 [[ 9.97696722e-01 6.71632417e-02 -9.50522390e-03 1.87640217e+01] [-6.71586075e-02 9.97741986e-01 8.06254013e-04 -6.26363101e-01] [ 9.53791161e-03 -1.66039385e-04 9.99954499e-01 -8.71941829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.471858064 meters 0.017778050844620513 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.63, Z:-0.09 [[ 9.97854795e-01 6.49820900e-02 -7.94581587e-03 1.87954813e+01] [-6.49787672e-02 9.97886418e-01 6.75906375e-04 -6.29093416e-01] [ 7.97294354e-03 -1.58147097e-04 9.99968203e-01 -8.56065612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501858064 meters 0.01936016795533625 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.63, Z:-0.09 [[ 9.97933699e-01 6.38784404e-02 -6.91932130e-03 1.88262452e+01] [-6.38758822e-02 9.97957676e-01 5.90299765e-04 -6.34117787e-01] [ 6.94289724e-03 -1.47102276e-04 9.99975887e-01 -8.62537004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.531858063999998 meters 0.017850618318583245 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.63, Z:-0.08 [[ 9.97989102e-01 6.30549474e-02 -6.46735281e-03 1.88585839e+01] [-6.30526834e-02 9.98010046e-01 5.53562490e-04 -6.33030156e-01] [ 6.48938793e-03 -1.44665383e-04 9.99978933e-01 -8.31365824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561858064 meters 0.018231776286687262 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.64, Z:-0.08 [[ 9.98017463e-01 6.26625150e-02 -5.87814463e-03 1.88900216e+01] [-6.26606275e-02 9.98034764e-01 5.04901687e-04 -6.35209339e-01] [ 5.89823110e-03 -1.35572470e-04 9.99982596e-01 -8.26038083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.591858064 meters 0.017993319174645122 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.64, Z:-0.08 [[ 9.97945647e-01 6.37582730e-02 -6.27434403e-03 1.89216916e+01] [-6.37561357e-02 9.97965362e-01 5.40262441e-04 -6.37428770e-01] [ 6.29602421e-03 -1.39124622e-04 9.99980170e-01 -8.22503633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621858064 meters 0.017528617108941255 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.64, Z:-0.08 [[ 9.97749406e-01 6.66743408e-02 -7.11720777e-03 1.89537436e+01] [-6.66716538e-02 9.97774781e-01 6.14389750e-04 -6.37731054e-01] [ 7.14233446e-03 -1.38490996e-04 9.99974484e-01 -8.23428589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.651858064 meters 0.01763436266707487 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.64, Z:-0.08 [[ 9.97592549e-01 6.89779786e-02 -7.15152932e-03 1.89848414e+01] [-6.89753140e-02 9.97618175e-01 6.18848795e-04 -6.38272949e-01] [ 7.17718257e-03 -1.24079966e-04 9.99974236e-01 -8.39089409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681858064 meters 0.016717974546267066 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.64, Z:-0.08 [[ 9.97382758e-01 7.19569060e-02 -7.05959356e-03 1.90177773e+01] [-7.19543851e-02 9.97407737e-01 6.10752817e-04 -6.36288356e-01] [ 7.08524112e-03 -1.01185616e-04 9.99974894e-01 -8.47656873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.711858064 meters 0.015912557317138396 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.63, Z:-0.09 [[ 9.96925433e-01 7.80081285e-02 -7.37651455e-03 1.90507124e+01] [-7.80055372e-02 9.96952721e-01 6.38785146e-04 -6.32890486e-01] [ 7.40386669e-03 -6.14121780e-05 9.99972589e-01 -8.61722250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741858064 meters 0.0157829051930864 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.63, Z:-0.09 [[ 9.96634028e-01 8.16188029e-02 -7.68014023e-03 1.90819762e+01] [-8.16160821e-02 9.96663619e-01 6.67537881e-04 -6.33684210e-01] [ 7.70900000e-03 -3.84680113e-05 9.99970284e-01 -8.77570990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.771858064 meters 0.015487879343925077 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.63, Z:-0.09 [[ 9.96342217e-01 8.50699205e-02 -8.08058001e-03 1.91144743e+01] [-8.50670013e-02 9.96374984e-01 7.04897398e-04 -6.34405838e-01] [ 8.11125334e-03 -1.49283258e-05 9.99967103e-01 -8.64543873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801858064 meters 0.015420456028795786 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.64, Z:-0.09 [[ 9.96061303e-01 8.82745521e-02 -8.33567978e-03 1.91466744e+01] [-8.82715409e-02 9.96096182e-01 7.29187413e-04 -6.35637533e-01] [ 8.36750750e-03 9.48793377e-06 9.99964992e-01 -8.67715050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.831858064 meters 0.015420456028795786 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.64, Z:-0.09 [[ 9.96036885e-01 8.85496633e-02 -8.33547107e-03 1.91789531e+01] [-8.85466418e-02 9.96071763e-01 7.31571984e-04 -6.38530497e-01] [ 8.36750782e-03 9.40529063e-06 9.99964992e-01 -8.69536964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861858064 meters 0.01548510343269907 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.64, Z:-0.09 [[ 9.95518951e-01 9.41341192e-02 -8.98804753e-03 1.92107420e+01] [-9.41308185e-02 9.95559523e-01 7.90507806e-04 -6.37419961e-01] [ 9.02255006e-03 5.90867685e-05 9.99959294e-01 -8.69216340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.891858064 meters 0.015677452739244688 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.64, Z:-0.09 [[ 9.95320761e-01 9.62547625e-02 -8.46189576e-03 1.92428306e+01] [-9.62518924e-02 9.95356728e-01 7.46723784e-04 -6.38196212e-01] [ 8.49448059e-03 7.12437951e-05 9.99963919e-01 -8.81539317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921858064 meters 0.015663928845429134 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.64, Z:-0.09 [[ 9.95189112e-01 9.76633939e-02 -7.77770797e-03 1.92760382e+01] [-9.76609936e-02 9.95219501e-01 6.88723919e-04 -6.40973576e-01] [ 7.80778976e-03 7.41681422e-05 9.99969516e-01 -8.72752928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.951858064 meters 0.015545498082082667 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.64, Z:-0.08 [[ 9.95120894e-01 9.84914409e-02 -5.81747361e-03 1.93084661e+01] [-9.84901132e-02 9.95137896e-01 5.14973328e-04 -6.44931928e-01] [ 5.83990891e-03 6.05029160e-05 9.99982946e-01 -8.43972111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981858064 meters 0.015393192675979977 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.65, Z:-0.08 [[ 9.95120282e-01 9.85756608e-02 -4.29690873e-03 1.93404795e+01] [-9.85749283e-02 9.95129558e-01 3.82437195e-04 -6.48605973e-01] [ 4.31367988e-03 4.29964602e-05 9.99990695e-01 -8.32847217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.011858064 meters 0.01547354612873626 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.65, Z:-0.08 [[ 9.95131197e-01 9.84976034e-02 -3.48172807e-03 1.93716210e+01] [-9.84971187e-02 9.95137288e-01 3.10828073e-04 -6.51308453e-01] [ 3.49541325e-03 3.36254710e-05 9.99993890e-01 -8.30439373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041858064 meters 0.015425235945987596 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.65, Z:-0.08 [[ 9.95171995e-01 9.80591601e-02 -4.13542743e-03 1.94043500e+01] [-9.80584677e-02 9.95180587e-01 3.70330880e-04 -6.53791371e-01] [ 4.15181143e-03 3.69707562e-05 9.99991381e-01 -8.47534170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.071858064 meters 0.015195948177855384 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.66, Z:-0.09 [[ 9.95199390e-01 9.77545767e-02 -4.71338369e-03 1.94373728e+01] [-9.77536684e-02 9.95210551e-01 4.23249683e-04 -6.57380035e-01] [ 4.73218377e-03 3.95327194e-05 9.99988802e-01 -8.57038219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101858063999998 meters 0.015292312564027511 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.66, Z:-0.09 [[ 9.95267192e-01 9.70378822e-02 -5.18327546e-03 1.94694370e+01] [-9.70367684e-02 9.95280688e-01 4.66524586e-04 -6.60803405e-01] [ 5.20408452e-03 3.86516860e-05 9.99986458e-01 -8.71072325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.131858064 meters 0.014903270281080664 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.67, Z:-0.09 [[ 9.95621104e-01 9.33248682e-02 -5.39320793e-03 1.95011262e+01] [-9.33236022e-02 9.95635711e-01 4.86474822e-04 -6.68516836e-01] [ 5.41507061e-03 1.89689922e-05 9.99985338e-01 -8.66860521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161858064 meters 0.014691763720393209 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.67, Z:-0.08 [[ 9.95819529e-01 9.11884104e-02 -5.30472775e-03 1.95336094e+01] [-9.11871457e-02 9.95833658e-01 4.80289471e-04 -6.74948662e-01] [ 5.32642327e-03 5.44134802e-06 9.99985814e-01 -8.48786522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.191858063999998 meters 0.014807746496865731 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.68, Z:-0.09 [[ 9.96092952e-01 8.81407757e-02 -5.48037194e-03 1.95654124e+01] [-8.81393727e-02 9.96108028e-01 4.97470094e-04 -6.81012217e-01] [ 5.50288989e-03 -1.24899099e-05 9.99984859e-01 -8.54278088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221858064 meters 0.015356541712007449 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.69, Z:-0.09 [[ 9.96629070e-01 8.17610680e-02 -6.75457748e-03 1.95969387e+01] [-8.17587824e-02 9.96651957e-01 6.14285570e-04 -6.89413822e-01] [ 6.78218751e-03 -5.99688263e-05 9.99976999e-01 -8.59370299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.251858064 meters 0.0157814160233144 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.69, Z:-0.09 [[ 9.96862246e-01 7.88337319e-02 -7.13481720e-03 1.96287793e+01] [-7.88310949e-02 9.96887775e-01 6.50508064e-04 -6.94058933e-01] [ 7.16389402e-03 -8.60214774e-05 9.99974335e-01 -8.68000628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281858063999998 meters 0.016124199273886 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.70, Z:-0.09 [[ 9.97065489e-01 7.62264817e-02 -7.06642624e-03 1.96601100e+01] [-7.62238187e-02 9.97090524e-01 6.45804809e-04 -6.98008738e-01] [ 7.09509407e-03 -1.05279695e-04 9.99974824e-01 -8.73448302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311858064 meters 0.016862750162465717 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.70, Z:-0.09 [[ 9.97460133e-01 7.08564570e-02 -7.25576430e-03 1.96920217e+01] [-7.08535101e-02 9.97486512e-01 6.62719271e-04 -7.03394735e-01] [ 7.28448496e-03 -1.46939682e-04 9.99973457e-01 -8.79254551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341858064 meters 0.018437886822676886 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.71, Z:-0.09 [[ 9.97589359e-01 6.89542724e-02 -7.79606346e-03 1.97225594e+01] [-6.89507918e-02 9.97619806e-01 7.14677856e-04 -7.10068050e-01] [ 7.82678740e-03 -1.75410277e-04 9.99969355e-01 -8.95630904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.371858064 meters 0.018430209820929175 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.71, Z:-0.09 [[ 9.97791675e-01 6.58672730e-02 -8.56008371e-03 1.97545850e+01] [-6.58629667e-02 9.97828369e-01 7.84309687e-04 -7.13419594e-01] [ 8.59315470e-03 -2.18785169e-04 9.99963054e-01 -8.98243989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401858064 meters 0.01940849307734779 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.72, Z:-0.09 [[ 9.97930405e-01 6.39613808e-02 -6.62185620e-03 1.97853938e+01] [-6.39587458e-02 9.97952357e-01 6.09145239e-04 -7.16986298e-01] [ 6.64725877e-03 -1.84358938e-04 9.99977890e-01 -8.90659819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.431858064 meters 0.018934600376693256 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.72, Z:-0.09 [[ 9.97945572e-01 6.39789522e-02 -3.36590097e-03 1.98175806e+01] [-6.39782664e-02 9.97951244e-01 3.11160900e-04 -7.16459119e-01] [ 3.37891281e-03 -9.51771336e-05 9.99994287e-01 -8.69007326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461858064 meters 0.01832221802420238 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.72, Z:-0.09 [[ 9.97918404e-01 6.44622973e-02 -1.86284983e-03 1.98493208e+01] [-6.44620861e-02 9.97920142e-01 1.73303012e-04 -7.16605295e-01] [ 1.87014687e-03 -5.28590797e-05 9.99998250e-01 -8.55293771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.491858064 meters 0.01832221802420238 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.72, Z:-0.09 [[ 9.97900324e-01 6.47415959e-02 -1.86278345e-03 1.98815895e+01] [-6.47413838e-02 9.97902061e-01 1.74019004e-04 -7.19649349e-01] [ 1.87014171e-03 -5.30544417e-05 9.99998250e-01 -8.57115753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521858064 meters 0.018517792685141466 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.72, Z:-0.08 [[ 9.97859462e-01 6.53948727e-02 6.49074987e-05 1.99126323e+01] [-6.53948725e-02 9.97859464e-01 -5.23406635e-06 -7.21176779e-01] [-6.51108430e-05 9.78245033e-07 9.99999998e-01 -8.49970864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.551858064 meters 0.0189807270103052 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.72, Z:-0.08 [[ 9.97793086e-01 6.63789930e-02 1.66930212e-03 1.99441052e+01] [-6.63788278e-02 9.97794482e-01 -1.54226016e-04 -7.23147369e-01] [-1.67585781e-03 4.30793343e-05 9.99998595e-01 -8.39863925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581858064 meters 0.01768479702959858 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.72, Z:-0.08 [[ 9.97602060e-01 6.91448373e-02 3.02002092e-03 1.99765686e+01] [-6.91443070e-02 9.97606629e-01 -2.79797942e-04 -7.19963097e-01] [-3.03213947e-03 7.03097500e-05 9.99995401e-01 -8.21241761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.611858064 meters 0.01743090587695995 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.72, Z:-0.08 [[ 9.97446817e-01 7.13865977e-02 1.94979856e-03 2.00080506e+01] [-7.13863808e-02 9.97448721e-01 -1.80704307e-04 -7.20319690e-01] [-1.95772395e-03 4.10538733e-05 9.99998083e-01 -8.32758192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641858064 meters 0.016931545029856696 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.72, Z:-0.09 [[ 9.97258276e-01 7.39983316e-02 4.22810599e-04 2.00400901e+01] [-7.39983220e-02 9.97258365e-01 -3.82206298e-05 -7.19895490e-01] [-4.24479670e-04 6.82856445e-06 9.99999910e-01 -8.50540539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.671858064 meters 0.01601193038732177 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.72, Z:-0.09 [[ 9.96823230e-01 7.96042193e-02 -2.57213370e-03 2.00721406e+01] [-7.96038583e-02 9.96826548e-01 2.42576382e-04 -7.15343813e-01] [ 2.58328126e-03 -3.70540068e-05 9.99996663e-01 -8.89001428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701858064 meters 0.015494051142214823 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.71, Z:-0.09 [[ 9.96558563e-01 8.28288821e-02 -3.22598295e-03 2.01047562e+01] [-8.28283299e-02 9.96563784e-01 3.04637586e-04 -7.14431334e-01] [ 3.24013056e-03 -3.63864154e-05 9.99994750e-01 -9.03369568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.731858064 meters 0.015013488504931996 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.71, Z:-0.09 [[ 9.96292376e-01 8.59556732e-02 -3.62268665e-03 2.01376299e+01] [-8.59550000e-02 9.96298962e-01 3.41404587e-04 -7.13373965e-01] [ 3.63862461e-03 -2.87507555e-05 9.99993380e-01 -9.07157834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761858064 meters 0.014399531353655796 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.71, Z:-0.09 [[ 9.95754347e-01 9.20273782e-02 -2.05975692e-03 2.01695382e+01] [-9.20271706e-02 9.95756477e-01 1.95497494e-04 -7.09801210e-01] [ 2.06900742e-03 -5.11387800e-06 9.99997860e-01 -8.98710884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.791858064 meters 0.014121062705424299 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.71, Z:-0.09 [[ 9.95511789e-01 9.46277844e-02 -1.36366515e-03 2.02021564e+01] [-9.46276944e-02 9.95512723e-01 1.30468543e-04 -7.10562393e-01] [ 1.36989196e-03 -8.42483790e-07 9.99999062e-01 -8.87618312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821858064 meters 0.01408530320555657 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.71, Z:-0.09 [[ 9.95286983e-01 9.69697239e-02 -8.33460739e-04 2.02354861e+01] [-9.69696905e-02 9.95287332e-01 8.05504757e-05 -7.11744401e-01] [ 8.37343872e-04 6.49589913e-07 9.99999649e-01 -8.79348193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.851858063999998 meters 0.014265505814806295 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.71, Z:-0.09 [[ 9.94954883e-01 1.00316688e-01 1.15850396e-03 2.02680863e+01] [-1.00316629e-01 9.94955558e-01 -1.08795599e-04 -7.09754311e-01] [-1.16357397e-03 -7.97049956e-06 9.99999323e-01 -8.78483594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881858064 meters 0.014377441770594898 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.71, Z:-0.09 [[ 9.94815231e-01 1.01673064e-01 2.29010047e-03 2.03006548e+01] [-1.01672834e-01 9.94817867e-01 -2.16959574e-04 -7.10786933e-01] [-2.30029181e-03 -1.70063156e-05 9.99997354e-01 -8.75823105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.911858064 meters 0.014184310471024574 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.71, Z:-0.09 [[ 9.94675886e-01 1.03014833e-01 2.79756030e-03 2.03330141e+01] [-1.03014492e-01 9.94679820e-01 -2.65988686e-04 -7.14171389e-01] [-2.81007756e-03 -2.36167225e-05 9.99996051e-01 -8.73249916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941858063999998 meters 0.014665462298439963 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.71, Z:-0.09 [[ 9.94384664e-01 1.05802082e-01 2.24913240e-03 2.03645759e+01] [-1.05801867e-01 9.94387208e-01 -2.14365269e-04 -7.14612063e-01] [-2.25918877e-03 -2.48008707e-05 9.99997448e-01 -8.85098744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.971858064 meters 0.015095045358057715 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.72, Z:-0.09 [[ 9.94203902e-01 1.07497766e-01 1.68299885e-03 2.03954655e+01] [-1.07497648e-01 9.94205326e-01 -1.60518765e-04 -7.16717724e-01] [-1.69050183e-03 -2.13300363e-05 9.99998571e-01 -8.95384109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001858064 meters 0.015166922715729607 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.72, Z:-0.09 [[ 9.94011205e-01 1.09274068e-01 9.49630702e-04 2.04272679e+01] [-1.09274031e-01 9.94011659e-01 -9.01282506e-05 -7.19792978e-01] [-9.53792670e-04 -1.41814840e-05 9.99999545e-01 -9.04059370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.031858063999998 meters 0.016728994960785126 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.72, Z:-0.09 [[ 9.93852325e-01 1.10712942e-01 4.47059116e-04 2.04583814e+01] [-1.10712934e-01 9.93852426e-01 -4.23905013e-05 -7.18371414e-01] [-4.49003964e-04 -7.36532829e-06 9.99999899e-01 -9.23222451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061858064 meters 0.016252266760819537 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.72, Z:-0.09 [[ 9.93450107e-01 1.14263675e-01 -8.34881001e-04 2.04902965e+01] [-1.14263646e-01 9.93450458e-01 8.21166611e-05 -7.22245524e-01] [ 8.38795864e-04 1.38177416e-05 9.99999648e-01 -9.28592352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.091858064 meters 0.015835337861816352 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.73, Z:-0.09 [[ 9.93314402e-01 1.15437838e-01 -7.76836865e-04 2.05225544e+01] [-1.15437814e-01 9.93314706e-01 7.67592538e-05 -7.26234373e-01] [ 7.80504405e-04 1.34302771e-05 9.99999695e-01 -9.27496246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121858063999998 meters 0.015904287891037122 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.73, Z:-0.09 [[ 9.93229841e-01 1.16160852e-01 -1.06760753e-03 2.05556199e+01] [-1.16160806e-01 9.93230414e-01 1.05470654e-04 -7.28953983e-01] [ 1.07263183e-03 1.92575504e-05 9.99999425e-01 -9.34813748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.151858064 meters 0.016068853943832014 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.73, Z:-0.10 [[ 9.93250242e-01 1.15949282e-01 -3.11797275e-03 2.05874334e+01] [-1.15948893e-01 9.93255134e-01 3.05649371e-04 -7.33088905e-01] [ 3.13238226e-03 5.79391782e-05 9.99995092e-01 -9.52278886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181858064 meters 0.01654111746392971 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.74, Z:-0.10 [[ 9.93349593e-01 1.15084709e-01 -3.47788929e-03 2.06185398e+01] [-1.15084219e-01 9.93355680e-01 3.41341085e-04 -7.36510290e-01] [ 3.49406422e-03 6.11791451e-05 9.99993894e-01 -9.63575430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.211858064 meters 0.016209978265734493 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.74, Z:-0.10 [[ 9.93492784e-01 1.13822961e-01 -4.05229618e-03 2.06505725e+01] [-1.13822282e-01 9.93501046e-01 3.98511186e-04 -7.41799247e-01] [ 4.07132022e-03 6.53236102e-05 9.99991710e-01 -9.68163362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241858064 meters 0.015728219445473944 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.75, Z:-0.10 [[ 9.93819630e-01 1.10915764e-01 -4.49837113e-03 2.06808609e+01] [-1.10914895e-01 9.93829809e-01 4.43116213e-04 -7.47981796e-01] [ 4.51976390e-03 5.85587695e-05 9.99989784e-01 -9.81812343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.271858064 meters 0.015125619331626166 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.75, Z:-0.10 [[ 9.93920452e-01 1.09977145e-01 -5.21171850e-03 2.07137547e+01] [-1.09975956e-01 9.93934114e-01 5.15009089e-04 -7.54141675e-01] [ 5.23674404e-03 6.12856597e-05 9.99986286e-01 -9.79061230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301858064 meters 0.014899567242991471 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.76, Z:-0.10 [[ 9.93959302e-01 1.09612205e-01 -5.48374299e-03 2.07464671e+01] [-1.09610874e-01 9.93974427e-01 5.43439864e-04 -7.59338911e-01] [ 5.51026794e-03 6.09207570e-05 9.99984817e-01 -9.85291355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331858064 meters 0.01491157150756946 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.76, Z:-0.10 [[ 9.94044890e-01 1.08796575e-01 -6.16942604e-03 2.07783026e+01] [-1.08794867e-01 9.94064033e-01 6.12740260e-04 -7.64976047e-01] [ 6.19946857e-03 6.21105632e-05 9.99980781e-01 -9.91378592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361858064 meters 0.014796068936222711 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.77, Z:-0.10 [[ 9.94115585e-01 1.08181157e-01 -5.57142123e-03 2.08096701e+01] [-1.08179746e-01 9.94131196e-01 5.54759182e-04 -7.70249892e-01] [ 5.59873814e-03 5.12201871e-05 9.99984326e-01 -9.90901726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.391858064 meters 0.014572245788043371 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.78, Z:-0.10 [[ 9.94496777e-01 1.04669106e-01 -4.53200841e-03 2.08404754e+01] [-1.04668131e-01 9.94507103e-01 4.52444538e-04 -7.78765838e-01] [ 4.55447152e-03 2.44022163e-05 9.99989628e-01 -9.89770478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421858064 meters 0.01433717506714054 Centerline is valid? [True, True] Translation: X:20.87, Y:-0.79, Z:-0.10 [[ 9.94682672e-01 1.02908782e-01 -4.02049968e-03 2.08716284e+01] [-1.02907995e-01 9.94690797e-01 4.02586531e-04 -7.85390156e-01] [ 4.04058372e-03 1.32957157e-05 9.99991837e-01 -9.84401046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.451858064 meters 0.014257717707176307 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.79, Z:-0.10 [[ 9.94840404e-01 1.01388736e-01 -3.59091152e-03 2.09029854e+01] [-1.01388095e-01 9.94846885e-01 3.60598141e-04 -7.91908956e-01] [ 3.60896773e-03 5.33807793e-06 9.99993488e-01 -9.83542142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481858064 meters 0.014302404986985519 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.80, Z:-0.10 [[ 9.94956648e-01 1.00238705e-01 -3.67036413e-03 2.09357203e+01] [-1.00238022e-01 9.94963417e-01 3.69789082e-04 -7.99069609e-01] [ 3.68894522e-03 -1.40630226e-08 9.99993196e-01 -9.79489344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.511858064 meters 0.014321681956137295 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.81, Z:-0.10 [[ 9.95031965e-01 9.94906764e-02 -3.60483694e-03 2.09668820e+01] [-9.94900104e-02 9.95038494e-01 3.64048637e-04 -8.08773320e-01] [ 3.62317096e-03 -3.59476563e-06 9.99993436e-01 -9.76647609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541858064 meters 0.014314806376839738 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.81, Z:-0.10 [[ 9.94975889e-01 1.00060583e-01 -3.29541731e-03 2.09997752e+01] [-1.00060026e-01 9.94981346e-01 3.33954543e-04 -8.13635986e-01] [ 3.31229444e-03 -2.53717784e-06 9.99994514e-01 -9.63149062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.571858064 meters 0.014261995112936372 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.82, Z:-0.10 [[ 9.94831160e-01 1.01502006e-01 -2.88180658e-03 2.10323378e+01] [-1.01501583e-01 9.94835334e-01 2.93033210e-04 -8.17505632e-01] [ 2.89666647e-03 9.89362657e-07 9.99995805e-01 -9.64657078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601858063999998 meters 0.014582418567240713 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.82, Z:-0.10 [[ 9.94327049e-01 1.06314385e-01 -3.31232322e-03 2.10636907e+01] [-1.06313852e-01 9.94332566e-01 3.37021313e-04 -8.20188224e-01] [ 3.32938106e-03 1.70364339e-05 9.99994457e-01 -9.70531381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.631858064 meters 0.01530706385441267 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.82, Z:-0.10 [[ 9.94016746e-01 1.09161944e-01 -3.79192140e-03 2.10947097e+01] [-1.09161267e-01 9.94023978e-01 3.85597947e-04 -8.21277976e-01] [ 3.81135342e-03 3.06401288e-05 9.99992736e-01 -9.92748035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661858064 meters 0.015460958486731628 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.82, Z:-0.10 [[ 9.93399971e-01 1.14645179e-01 -3.60280833e-03 2.11261674e+01] [-1.14644603e-01 9.93406503e-01 3.66858474e-04 -8.24420680e-01] [ 3.62111178e-03 4.86053323e-05 9.99993443e-01 -9.70608961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.691858063999998 meters 0.01623731960140898 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.83, Z:-0.10 [[ 9.93178299e-01 1.16554437e-01 -3.45383540e-03 2.11576303e+01] [-1.16553917e-01 9.93184303e-01 3.52213556e-04 -8.25832123e-01] [ 3.47134715e-03 5.27471819e-05 9.99993973e-01 -9.86193220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721858064 meters 0.01623731960140898 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.83, Z:-0.10 [[ 9.93146874e-01 1.16821908e-01 -3.45366293e-03 2.11898686e+01] [-1.16821383e-01 9.93152878e-01 3.53905100e-04 -8.29202066e-01] [ 3.47135915e-03 5.19819372e-05 9.99993973e-01 -9.88012490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.751858064 meters 0.016613157751899314 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.83, Z:-0.10 [[ 9.92934392e-01 1.18611861e-01 -3.53829068e-03 2.12216743e+01] [-1.18611320e-01 9.92940695e-01 3.63184141e-04 -8.32792218e-01] [ 3.55639075e-03 5.90633026e-05 9.99993674e-01 -9.89172296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781858063999998 meters 0.016724106712062595 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.84, Z:-0.10 [[ 9.92748062e-01 1.20147696e-01 -3.97696831e-03 2.12527581e+01] [-1.20147021e-01 9.92756025e-01 4.09037461e-04 -8.40201268e-01] [ 3.99730416e-03 7.17497492e-05 9.99992008e-01 -9.73806257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.811858064 meters 0.01678850832192629 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.84, Z:-0.10 [[ 9.92644355e-01 1.21011674e-01 -3.65501761e-03 2.12851861e+01] [-1.21011105e-01 9.92651082e-01 3.77248325e-04 -8.44898157e-01] [ 3.67380864e-03 6.78242999e-05 9.99993249e-01 -9.69094628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841858064 meters 0.01772782833167502 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.85, Z:-0.10 [[ 9.92519742e-01 1.22041475e-01 -3.23124015e-03 2.13175211e+01] [-1.22041033e-01 9.92524999e-01 3.34419289e-04 -8.47004752e-01] [ 3.24789965e-03 6.24261402e-05 9.99994724e-01 -9.70812284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.871858063999998 meters 0.018485468926816975 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.85, Z:-0.10 [[ 9.92390950e-01 1.23100068e-01 -2.56435247e-03 2.13484427e+01] [-1.23099791e-01 9.92394262e-01 2.66002631e-04 -8.49300304e-01] [ 2.57759362e-03 5.16926501e-05 9.99996677e-01 -9.69537913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901858064 meters 0.018994425921529765 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.85, Z:-0.10 [[ 9.92151680e-01 1.25021202e-01 -2.17774947e-03 2.13800216e+01] [-1.25021006e-01 9.92154069e-01 2.26669019e-04 -8.52335715e-01] [ 2.18900143e-03 4.73743813e-05 9.99997603e-01 -9.63432442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.931858064 meters 0.019792726599998336 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.85, Z:-0.10 [[ 9.92076273e-01 1.25615253e-01 -2.34037939e-03 2.14122607e+01] [-1.25615026e-01 9.92079032e-01 2.44148895e-04 -8.54361184e-01] [ 2.35251014e-03 5.17724914e-05 9.99997232e-01 -9.74457647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961858064 meters 0.018594943380830137 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.86, Z:-0.10 [[ 9.92001964e-01 1.26189614e-01 -2.87822048e-03 2.14447400e+01] [-1.26189272e-01 9.92006138e-01 3.00871946e-04 -8.60122128e-01] [ 2.89317930e-03 6.47349849e-05 9.99995813e-01 -9.82705606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.991858064 meters 0.020181382600882567 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.86, Z:-0.10 [[ 9.91954557e-01 1.26548341e-01 -3.41669970e-03 2.14765356e+01] [-1.26547859e-01 9.91960438e-01 3.57626666e-04 -8.62364961e-01] [ 3.43448800e-03 7.76266320e-05 9.99994099e-01 -1.01326721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021858064 meters 0.01881904977080761 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.87, Z:-0.10 [[ 9.91957590e-01 1.26513595e-01 -3.80126910e-03 2.15090938e+01] [-1.26512995e-01 9.91964870e-01 3.98842305e-04 -8.69636058e-01] [ 3.82118438e-03 8.52752881e-05 9.99992696e-01 -1.00515349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.051858064 meters 0.018902118387782833 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.87, Z:-0.10 [[ 9.91931045e-01 1.26707899e-01 -4.23195673e-03 2.15414480e+01] [-1.26707153e-01 9.91940068e-01 4.44979520e-04 -8.74073461e-01] [ 4.25422987e-03 9.48301900e-05 9.99990946e-01 -1.00735856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081858064 meters 0.01896439624467546 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.88, Z:-0.10 [[ 9.92021080e-01 1.26019769e-01 -3.63234349e-03 2.15723621e+01] [-1.26019215e-01 9.92027727e-01 3.81873188e-04 -8.78922820e-01] [ 3.65150903e-03 7.89188240e-05 9.99993330e-01 -1.00132147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.111858064 meters 0.02005930760512435 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.88, Z:-0.10 [[ 9.92067217e-01 1.25665400e-01 -3.29293210e-03 2.16029848e+01] [-1.25664938e-01 9.92072680e-01 3.47413218e-04 -8.81158667e-01] [ 3.31048579e-03 6.91488447e-05 9.99994518e-01 -1.01173121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141858064 meters 0.017232720191969347 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.89, Z:-0.10 [[ 9.92161346e-01 1.24902217e-01 -3.91138110e-03 2.16346109e+01] [-1.24901557e-01 9.92169053e-01 4.13600281e-04 -8.91646160e-01] [ 3.93241087e-03 7.81793762e-05 9.99992265e-01 -9.95252946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.171858064 meters 0.017050405307418876 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.90, Z:-0.10 [[ 9.92333226e-01 1.23499620e-01 -4.75532847e-03 2.16661244e+01] [-1.23498624e-01 9.92344616e-01 5.03728740e-04 -8.98092951e-01] [ 4.78113491e-03 8.74097579e-05 9.99988566e-01 -1.00536045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201858064 meters 0.016852333713271668 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.90, Z:-0.10 [[ 9.92390037e-01 1.22994251e-01 -5.86756897e-03 2.16981989e+01] [-1.22992716e-01 9.92407378e-01 6.23131371e-04 -9.03079483e-01] [ 5.89966031e-03 1.03278877e-04 9.99982592e-01 -1.01161792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.231858064 meters 0.01785148801602381 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.91, Z:-0.11 [[ 9.92472316e-01 1.22239824e-01 -7.49185234e-03 2.17300694e+01] [-1.22237287e-01 9.92500584e-01 7.97322050e-04 -9.05892842e-01] [ 7.53313233e-03 1.24463645e-04 9.99971618e-01 -1.06335204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261858064 meters 0.01856756984356193 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.91, Z:-0.11 [[ 9.92530626e-01 1.21689969e-01 -8.63178524e-03 2.17621713e+01] [-1.21686565e-01 9.92568150e-01 9.20355625e-04 -9.09188419e-01] [ 8.67963316e-03 1.36891154e-04 9.99962322e-01 -1.08861271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.291858064 meters 0.016617213767861648 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.92, Z:-0.11 [[ 9.92639131e-01 1.20806147e-01 -8.56914671e-03 2.17940506e+01] [-1.20802760e-01 9.92676110e-01 9.13569724e-04 -9.18016399e-01] [ 8.61675206e-03 1.28331519e-04 9.99962867e-01 -1.05410199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321858064 meters 0.01632251439651413 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.92, Z:-0.11 [[ 9.92759291e-01 1.19830975e-01 -8.33834945e-03 2.18261192e+01] [-1.19827710e-01 9.92794301e-01 8.91895314e-04 -9.21928406e-01] [ 8.38514250e-03 1.13727959e-04 9.99964838e-01 -1.05411761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351858063999998 meters 0.0156925268826185 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.93, Z:-0.10 [[ 9.93107109e-01 1.17076765e-01 -5.59466434e-03 2.18584379e+01] [-1.17075250e-01 9.93122866e-01 5.98499728e-04 -9.26714416e-01] [ 5.62625949e-03 6.06223936e-05 9.99984171e-01 -1.03187173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381858064 meters 0.01564849864392586 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.93, Z:-0.10 [[ 9.93274001e-01 1.15684238e-01 -4.89045522e-03 2.18894216e+01] [-1.15683055e-01 9.93286039e-01 5.25135828e-04 -9.31100349e-01] [ 4.91837083e-03 4.41390348e-05 9.99987904e-01 -1.02525364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.411858064 meters 0.0154145494480769 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.94, Z:-0.10 [[ 9.93441518e-01 1.14274396e-01 -3.91310052e-03 2.19199119e+01] [-1.14273623e-01 9.93449225e-01 4.21297665e-04 -9.36132980e-01] [ 3.93561021e-03 2.86295799e-05 9.99992255e-01 -1.00970076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441858063999998 meters 0.014957868037829584 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.94, Z:-0.10 [[ 9.93903929e-01 1.10151075e-01 -4.66062027e-03 2.19511558e+01] [-1.10149929e-01 9.93914856e-01 5.02818753e-04 -9.44050968e-01] [ 4.68764575e-03 1.36134567e-05 9.99989013e-01 -9.89287044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.471858064 meters 0.014966163055866453 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.95, Z:-0.10 [[ 9.94141140e-01 1.07971603e-01 -5.05230152e-03 2.19824479e+01] [-1.07970221e-01 9.94153978e-01 5.46401064e-04 -9.49363484e-01] [ 5.08176145e-03 2.29833426e-06 9.99987088e-01 -9.99175171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501858064 meters 0.014983345864872615 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.95, Z:-0.10 [[ 9.94427509e-01 1.05234160e-01 -6.30092042e-03 2.20137999e+01] [-1.05231948e-01 9.94447470e-01 6.82516634e-04 -9.54148517e-01] [ 6.33775844e-03 -1.56551873e-05 9.99979916e-01 -1.00254831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.531858063999998 meters 0.015342918477564206 Centerline is valid? [True, True] Translation: X:22.05, Y:-0.96, Z:-0.10 [[ 9.94990362e-01 9.97311749e-02 -6.91904124e-03 2.20454755e+01] [-9.97283634e-02 9.95014417e-01 7.51027512e-04 -9.59337620e-01] [ 6.95944664e-03 -5.72404765e-05 9.99975781e-01 -1.02551993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561858064 meters 0.015807974513961928 Centerline is valid? [True, True] Translation: X:22.08, Y:-0.96, Z:-0.10 [[ 9.95305136e-01 9.65135740e-02 -7.26742999e-03 2.20769723e+01] [-9.65103741e-02 9.95331665e-01 7.90540808e-04 -9.63665571e-01] [ 7.30980111e-03 -8.54469393e-05 9.99973279e-01 -1.03316289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.591858064 meters 0.01627800016128557 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.97, Z:-0.10 [[ 9.95566722e-01 9.37688078e-02 -7.36976634e-03 2.21084594e+01] [-9.37654290e-02 9.95593993e-01 8.03427781e-04 -9.68656930e-01] [ 7.41263156e-03 -1.08836660e-04 9.99972520e-01 -1.03463103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621858063999998 meters 0.01732337248635056 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.97, Z:-0.10 [[ 9.96147463e-01 8.74090862e-02 -7.06288467e-03 2.21398830e+01] [-8.74058117e-02 9.96172489e-01 7.71563302e-04 -9.73657765e-01] [ 7.10329305e-03 -1.51253658e-04 9.99974760e-01 -1.02848403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.651858064 meters 0.018040618708390823 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.98, Z:-0.10 [[ 9.96373176e-01 8.48447705e-02 -6.46992930e-03 2.21719142e+01] [-8.48419572e-02 9.96394169e-01 7.08566167e-04 -9.78126759e-01] [ 6.50671796e-03 -1.57074857e-04 9.99978819e-01 -1.02641790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681858064 meters 0.018483134839398417 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.98, Z:-0.10 [[ 9.96600680e-01 8.21580012e-02 -6.09494338e-03 2.22040003e+01] [-8.21554445e-02 9.96619303e-01 6.69093061e-04 -9.82012442e-01] [ 6.12930957e-03 -1.66085817e-04 9.99981202e-01 -1.01822838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.711858064 meters 0.019277549757708068 Centerline is valid? [True, True] Translation: X:22.24, Y:-0.98, Z:-0.10 [[ 9.96962094e-01 7.76995388e-02 -5.41897873e-03 2.22350215e+01] [-7.76974565e-02 9.96976806e-01 5.94056760e-04 -9.84553073e-01] [ 5.44875404e-03 -1.71211208e-04 9.99985141e-01 -1.00262778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741858064 meters 0.020284521774697774 Centerline is valid? [True, True] Translation: X:22.27, Y:-0.99, Z:-0.10 [[ 9.97064311e-01 7.64491705e-02 -4.27591911e-03 2.22660870e+01] [-7.64478535e-02 9.97073470e-01 4.70850630e-04 -9.87702851e-01] [ 4.29940165e-03 -1.42583521e-04 9.99990747e-01 -1.00232717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.771858064 meters 0.020904648316523396 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.99, Z:-0.10 [[ 9.97132234e-01 7.56224517e-02 -2.92437019e-03 2.22972261e+01] [-7.56218291e-02 9.97136518e-01 3.23057223e-04 -9.89441963e-01] [ 2.94042669e-03 -1.00984548e-04 9.99995672e-01 -1.00244499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801858064 meters 0.020067525462513884 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.99, Z:-0.10 [[ 9.97097254e-01 7.61093583e-02 -2.10514649e-03 2.23294706e+01] [-7.61090347e-02 9.97099474e-01 2.33548673e-04 -9.85510131e-01] [ 2.11681569e-03 -7.26500738e-05 9.99997757e-01 -1.00129780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.831858064 meters 0.02008334287009017 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.99, Z:-0.10 [[ 9.97011587e-01 7.71937001e-02 -3.00476907e-03 2.23618295e+01] [-7.71930452e-02 9.97016109e-01 3.33493155e-04 -9.85723994e-01] [ 3.02154674e-03 -1.00549265e-04 9.99995430e-01 -1.01231831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861858064 meters 0.01936230051889602 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.98, Z:-0.10 [[ 9.96864260e-01 7.90596175e-02 -3.35010777e-03 2.23944031e+01] [-7.90588116e-02 9.96869884e-01 3.72506999e-04 -9.84985815e-01] [ 3.36907181e-03 -1.06483375e-04 9.99994319e-01 -1.01532638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.891858064 meters 0.01850459908759927 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.98, Z:-0.10 [[ 9.96512352e-01 8.33956435e-02 -2.88074417e-03 2.24252581e+01] [-8.33950687e-02 9.96516513e-01 3.19283134e-04 -9.80973701e-01] [ 2.89733596e-03 -7.79297285e-05 9.99995800e-01 -1.01159163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921858064 meters 0.01796270761556502 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.98, Z:-0.10 [[ 9.96277214e-01 8.61805483e-02 -2.15071190e-03 2.24564023e+01] [-8.61802308e-02 9.96279534e-01 2.40041370e-04 -9.80400426e-01] [ 2.16339714e-03 -5.37988993e-05 9.99997658e-01 -1.00361361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.951858064 meters 0.016388188778026357 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.97, Z:-0.10 [[ 9.95790646e-01 9.16549415e-02 -6.01213614e-04 2.24890352e+01] [-9.16549177e-02 9.95790827e-01 6.70803535e-05 -9.73784702e-01] [ 6.04831248e-04 -1.16938042e-05 9.99999817e-01 -9.87779856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981858064 meters 0.016396694407666706 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.97, Z:-0.10 [[ 9.95583414e-01 9.38805074e-02 3.41382397e-04 2.25200429e+01] [-9.38805003e-02 9.95583472e-01 -3.67184175e-05 -9.73918716e-01] [-3.43321816e-04 4.50709727e-06 9.99999941e-01 -9.93763316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.011858064 meters 0.015531534796894498 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.97, Z:-0.10 [[ 9.95395466e-01 9.58468677e-02 1.11541956e-03 2.25523393e+01] [-9.58467900e-02 9.95396091e-01 -1.23036982e-04 -9.72714278e-01] [-1.12207698e-03 1.55610695e-05 9.99999370e-01 -9.85720299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041858064 meters 0.015135290254887546 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.97, Z:-0.10 [[ 9.95172952e-01 9.81192351e-02 1.84700607e-03 2.25842862e+01] [-9.81190234e-02 9.95174666e-01 -2.05105385e-04 -9.73086934e-01] [-1.85821843e-03 2.28889003e-05 9.99998273e-01 -9.79261955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.071858064 meters 0.014924830845998202 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.97, Z:-0.10 [[ 9.94802393e-01 1.01811721e-01 1.60364606e-03 2.26157715e+01] [-1.01811566e-01 9.94803686e-01 -1.78380392e-04 -9.72206838e-01] [-1.61347423e-03 1.41835235e-05 9.99998698e-01 -9.80427702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101858063999998 meters 0.014691739837332648 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.97, Z:-0.10 [[ 9.94633633e-01 1.03446444e-01 1.66424213e-03 2.26483979e+01] [-1.03446278e-01 9.94635025e-01 -1.85524832e-04 -9.72782607e-01] [-1.67450539e-03 1.23695835e-05 9.99998598e-01 -9.88076169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.131858064 meters 0.014598980112653849 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.97, Z:-0.10 [[ 9.94422902e-01 1.05459771e-01 1.15267978e-03 2.26809881e+01] [-1.05459693e-01 9.94423570e-01 -1.28362780e-04 -9.73155111e-01] [-1.15978905e-03 6.08563251e-06 9.99999327e-01 -9.96990245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161858064 meters 0.014229977340289864 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.97, Z:-0.10 [[ 9.93960954e-01 1.09734223e-01 1.52123864e-04 2.27135752e+01] [-1.09734222e-01 9.93960965e-01 -1.57665662e-05 -9.70376694e-01] [-1.52935314e-04 -1.02184273e-06 9.99999988e-01 -1.01256310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.191858063999998 meters 0.014202064821374854 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.97, Z:-0.10 [[ 9.93696723e-01 1.12101711e-01 -1.69838775e-04 2.27463964e+01] [-1.12101709e-01 9.93696738e-01 2.08002993e-05 -9.71461858e-01] [ 1.71099986e-04 -1.62997237e-06 9.99999985e-01 -1.01994157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221858064 meters 0.014217983766912187 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.97, Z:-0.10 [[ 9.93430528e-01 1.14436660e-01 -1.89626618e-04 2.27786973e+01] [-1.14436657e-01 9.93430547e-01 2.29771970e-05 -9.72525357e-01] [ 1.91010308e-04 -1.12601266e-06 9.99999982e-01 -1.02730605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.251858064 meters 0.014207571783780057 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.97, Z:-0.10 [[ 9.93022839e-01 1.17919797e-01 7.50720951e-04 2.28116093e+01] [-1.17919767e-01 9.93023122e-01 -8.37007428e-05 -9.71952840e-01] [-7.55353237e-04 -5.40809072e-06 9.99999715e-01 -1.02257701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281858063999998 meters 0.014223124316227704 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.97, Z:-0.10 [[ 9.92892176e-01 1.19010337e-01 1.29126913e-03 2.28435664e+01] [-1.19010248e-01 9.92893015e-01 -1.45958061e-04 -9.73917904e-01] [-1.29946262e-03 -8.75364340e-06 9.99999156e-01 -1.01945613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.311858064 meters 0.014215868263716312 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.98, Z:-0.10 [[ 9.92759180e-01 1.20114985e-01 1.26551531e-03 2.28763047e+01] [-1.20114901e-01 9.92759986e-01 -1.42810826e-04 -9.77069265e-01] [-1.27350668e-03 -1.02304878e-05 9.99999189e-01 -1.01535514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341858064 meters 0.014146867171132302 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.98, Z:-0.10 [[ 9.92673462e-01 1.20827955e-01 -6.27648715e-05 2.29086500e+01] [-1.20827955e-01 9.92673464e-01 8.78211281e-06 -9.80396646e-01] [ 6.33661471e-05 -1.13401925e-06 9.99999998e-01 -1.02434829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.371858063999998 meters 0.014196298245201607 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.98, Z:-0.10 [[ 9.92653172e-01 1.20992213e-01 -7.50959450e-04 2.29407867e+01] [-1.20992182e-01 9.92653456e-01 8.75838528e-05 -9.83576828e-01] [ 7.56039458e-04 3.91983290e-06 9.99999714e-01 -1.03518262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401858064 meters 0.014320338815363542 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.99, Z:-0.10 [[ 9.92597677e-01 1.21440476e-01 -1.43619674e-03 2.29737066e+01] [-1.21440362e-01 9.92598716e-01 1.66655052e-04 -9.86952513e-01] [ 1.44580571e-03 8.99083423e-06 9.99998955e-01 -1.04188966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.431858064 meters 0.01414139938603976 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.99, Z:-0.10 [[ 9.92558985e-01 1.21760783e-01 -9.86263475e-04 2.30069688e+01] [-1.21760729e-01 9.92559475e-01 1.15241680e-04 -9.89647269e-01] [ 9.92957075e-04 5.70399444e-06 9.99999507e-01 -1.04001324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461858064 meters 0.014182178004187154 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.99, Z:-0.10 [[ 9.92553362e-01 1.21809927e-01 -4.05896810e-04 2.30385459e+01] [-1.21809918e-01 9.92553445e-01 4.83697089e-05 -9.91954460e-01] [ 4.08766188e-04 1.43273967e-06 9.99999916e-01 -1.04550061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.491858064 meters 0.014176642177827986 Centerline is valid? [True, True] Translation: X:23.07, Y:-1.00, Z:-0.10 [[ 9.92486690e-01 1.22352234e-01 3.18635920e-04 2.30711883e+01] [-1.22352229e-01 9.92486741e-01 -3.52862427e-05 -9.95067934e-01] [-3.20559276e-04 -3.96468878e-06 9.99999949e-01 -1.04180420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521858064 meters 0.014055396752205804 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.00, Z:-0.10 [[ 9.92525294e-01 1.22029585e-01 1.52329161e-03 2.31023128e+01] [-1.22029459e-01 9.92526463e-01 -1.75419128e-04 -9.97696160e-01] [-1.53331355e-03 -1.17785294e-05 9.99998824e-01 -1.03265433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.551858064 meters 0.013969176670641292 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.00, Z:-0.10 [[ 9.92589328e-01 1.21502411e-01 1.89455413e-03 2.31351578e+01] [-1.21502215e-01 9.92591136e-01 -2.18748332e-04 -1.00190037e+00] [-1.90709608e-03 -1.30652615e-05 9.99998181e-01 -1.02992837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581858064 meters 0.01383550183023236 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.01, Z:-0.10 [[ 9.92695505e-01 1.20628501e-01 2.09732522e-03 2.31672973e+01] [-1.20628257e-01 9.92697721e-01 -2.42912036e-04 -1.00629106e+00] [-2.11131209e-03 -1.18590006e-05 9.99997771e-01 -1.02941348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.611858064 meters 0.013775126753512367 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.01, Z:-0.10 [[ 9.93045945e-01 1.17707368e-01 2.17393355e-03 2.31985052e+01] [-1.17707098e-01 9.93048325e-01 -2.52570383e-04 -1.01161337e+00] [-2.18855046e-03 -5.07341296e-06 9.99997605e-01 -1.02374047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641858064 meters 0.013775126753512367 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.02, Z:-0.10 [[ 9.93012703e-01 1.17987479e-01 2.17388522e-03 2.32306934e+01] [-1.17987208e-01 9.93015083e-01 -2.52985199e-04 -1.01544175e+00] [-2.18854990e-03 -5.27313135e-06 9.99997605e-01 -1.02556183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671858064 meters 0.01361520574909709 Centerline is valid? [True, True] Translation: X:23.26, Y:-1.02, Z:-0.10 [[ 9.93195716e-01 1.16438757e-01 2.06999144e-03 2.32636840e+01] [-1.16438507e-01 9.93197873e-01 -2.41410659e-04 -1.02058030e+00] [-2.08402065e-03 -1.25868072e-06 9.99997828e-01 -1.02351501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701858064 meters 0.013674986838318479 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.03, Z:-0.10 [[ 9.93539640e-01 1.13446518e-01 2.97846082e-03 2.32952756e+01] [-1.13445982e-01 9.93544104e-01 -3.48961819e-04 -1.02634865e+00] [-2.99882069e-03 8.81298864e-06 9.99995503e-01 -1.01043769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.731858064 meters 0.013869497659580695 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.03, Z:-0.10 [[ 9.93611365e-01 1.12805940e-01 3.35791655e-03 2.33280248e+01] [-1.12805251e-01 9.93617039e-01 -3.94448731e-04 -1.02951720e+00] [-3.38097926e-03 1.31381210e-05 9.99994284e-01 -1.01040540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761858064 meters 0.013798867018256158 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.03, Z:-0.10 [[ 9.93634151e-01 1.12589380e-01 3.84789262e-03 2.33602489e+01] [-1.12588468e-01 9.93641601e-01 -4.53388815e-04 -1.03227533e+00] [-3.87447295e-03 1.72742751e-05 9.99992494e-01 -1.01731588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.791858064 meters 0.013700315562616042 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.03, Z:-0.10 [[ 9.93565643e-01 1.13221268e-01 2.87355522e-03 2.33933866e+01] [-1.13220762e-01 9.93569798e-01 -3.38923973e-04 -1.03462179e+00] [-2.89345108e-03 1.13971049e-05 9.99995814e-01 -1.02538402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821858064 meters 0.013663455744336573 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.04, Z:-0.10 [[ 9.93503805e-01 1.13772739e-01 2.43982618e-03 2.34246309e+01] [-1.13772374e-01 9.93506801e-01 -2.88570314e-04 -1.03824851e+00] [-2.45681534e-03 9.11088984e-06 9.99996982e-01 -1.02994403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.851858063999998 meters 0.013600972735376915 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.04, Z:-0.10 [[ 9.93375166e-01 1.14892818e-01 2.32789534e-03 2.34579962e+01] [-1.14892488e-01 9.93377894e-01 -2.75353525e-04 -1.03984371e+00] [-2.34411592e-03 6.07166644e-06 9.99997253e-01 -1.03588900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881858064 meters 0.013547909650774655 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.04, Z:-0.10 [[ 9.93313381e-01 1.15432205e-01 1.98342027e-03 2.34907410e+01] [-1.15431966e-01 9.93315361e-01 -2.34919544e-04 -1.04232774e+00] [-1.99727910e-03 4.39862538e-06 9.99998005e-01 -1.04132177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.911858064 meters 0.01352103692690445 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.05, Z:-0.10 [[ 9.93266428e-01 1.15841589e-01 1.59025599e-03 2.35227460e+01] [-1.15841435e-01 9.93267701e-01 -1.88936058e-04 -1.04520182e+00] [-1.60143657e-03 3.44630800e-06 9.99998718e-01 -1.04680823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941858063999998 meters 0.013555387538542105 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.05, Z:-0.11 [[ 9.93197901e-01 1.16428580e-01 1.52178475e-03 2.35542071e+01] [-1.16428440e-01 9.93199067e-01 -1.80696584e-04 -1.04802984e+00] [-1.53247344e-03 2.28844390e-06 9.99998826e-01 -1.05115636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.971858064 meters 0.01346897863098383 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.05, Z:-0.10 [[ 9.93021915e-01 1.17913870e-01 1.94807971e-03 2.35875788e+01] [-1.17913642e-01 9.93023826e-01 -2.32168129e-04 -1.05040436e+00] [-1.96186541e-03 8.42866622e-07 9.99998076e-01 -1.03126183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001858064 meters 0.013425392728214948 Centerline is valid? [True, True] Translation: X:23.62, Y:-1.05, Z:-0.10 [[ 9.92890216e-01 1.19012191e-01 2.26199128e-03 2.36195035e+01] [-1.19011883e-01 9.92892793e-01 -2.70549795e-04 -1.05388262e+00] [-2.27811356e-03 -5.77597589e-07 9.99997405e-01 -1.02010342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.031858063999998 meters 0.013396252993444945 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.06, Z:-0.10 [[ 9.92749690e-01 1.20174798e-01 2.46409075e-03 2.36517376e+01] [-1.20174434e-01 9.92752748e-01 -2.95517474e-04 -1.05717296e+00] [-2.48174661e-03 -2.74583054e-06 9.99996920e-01 -1.01502231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061858064 meters 0.013608826743059785 Centerline is valid? [True, True] Translation: X:23.68, Y:-1.06, Z:-0.10 [[ 9.92421671e-01 1.22856057e-01 2.36992698e-03 2.36843695e+01] [-1.22855727e-01 9.92424500e-01 -2.84831286e-04 -1.05723521e+00] [-2.38696684e-03 -8.48636153e-06 9.99997151e-01 -1.02516506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.091858064 meters 0.013577602157842043 Centerline is valid? [True, True] Translation: X:23.72, Y:-1.06, Z:-0.10 [[ 9.92240785e-01 1.24310822e-01 2.24602080e-03 2.37176173e+01] [-1.24310529e-01 9.92243327e-01 -2.70326241e-04 -1.05924460e+00] [-2.26220363e-03 -1.09753123e-05 9.99997441e-01 -1.03215723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121858063999998 meters 0.013794683604592533 Centerline is valid? [True, True] Translation: X:23.75, Y:-1.06, Z:-0.10 [[ 9.92054434e-01 1.25795193e-01 1.88904649e-03 2.37497790e+01] [-1.25794987e-01 9.92056233e-01 -2.27721810e-04 -1.06090224e+00] [-1.90268666e-03 -1.17201476e-05 9.99998190e-01 -1.04553998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151858064 meters 0.013741996914379743 Centerline is valid? [True, True] Translation: X:23.78, Y:-1.06, Z:-0.10 [[ 9.91788954e-01 1.27883608e-01 6.72966175e-04 2.37817898e+01] [-1.27883583e-01 9.91789183e-01 -8.04058063e-05 -1.06336881e+00] [-6.77723157e-04 -6.31573504e-06 9.99999770e-01 -1.04838528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181858064 meters 0.0139027749882104 Centerline is valid? [True, True] Translation: X:23.81, Y:-1.07, Z:-0.11 [[ 9.91710288e-01 1.28493676e-01 2.83203822e-04 2.38138251e+01] [-1.28493672e-01 9.91710328e-01 -3.34779914e-05 -1.06624369e+00] [-2.85157865e-04 -3.18943047e-06 9.99999959e-01 -1.05196886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211858064 meters 0.01391584708428283 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.07, Z:-0.11 [[ 9.91700640e-01 1.28568430e-01 1.26202937e-06 2.38465097e+01] [-1.28568430e-01 9.91700640e-01 1.43646106e-06 -1.06938165e+00] [-1.06687179e-06 -1.58679649e-06 1.00000000e+00 -1.05688713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241858064 meters 0.01376808138426409 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.07, Z:-0.11 [[ 9.91880775e-01 1.27170516e-01 4.34154439e-04 2.38784053e+01] [-1.27170505e-01 9.91880870e-01 -5.17191585e-05 -1.07332446e+00] [-4.37206635e-04 -3.91240050e-06 9.99999904e-01 -1.05538870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.271858064 meters 0.013573220559489643 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.08, Z:-0.11 [[ 9.92043291e-01 1.25897201e-01 5.30554708e-05 2.39113937e+01] [-1.25897201e-01 9.92043293e-01 -4.89952662e-06 -1.07823426e+00] [-5.32501607e-05 -1.81899275e-06 9.99999999e-01 -1.05559089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301858064 meters 0.013600483979970893 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.08, Z:-0.11 [[ 9.92214281e-01 1.24542200e-01 -2.46332278e-04 2.39443811e+01] [-1.24542196e-01 9.92214312e-01 3.18907769e-05 -1.08317030e+00] [ 2.48386160e-04 -9.63721334e-07 9.99999969e-01 -1.05892596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.331858064 meters 0.013564421165020298 Centerline is valid? [True, True] Translation: X:23.98, Y:-1.09, Z:-0.11 [[ 9.92745994e-01 1.20226560e-01 -9.82776868e-04 2.39755838e+01] [-1.20226498e-01 9.92746480e-01 1.22540481e-04 -1.08993064e+00] [ 9.90380897e-04 -3.49575055e-06 9.99999510e-01 -1.06515627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361858064 meters 0.013748197322712171 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.10, Z:-0.11 [[ 9.92984129e-01 1.18242806e-01 -1.07657140e-03 2.40079320e+01] [-1.18242729e-01 9.92984712e-01 1.34487426e-04 -1.09612117e+00] [ 1.08492111e-03 -6.24713917e-06 9.99999411e-01 -1.06568510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.391858064 meters 0.013941494040674176 Centerline is valid? [True, True] Translation: X:24.04, Y:-1.10, Z:-0.11 [[ 9.93227811e-01 1.16178489e-01 -1.03638606e-03 2.40398213e+01] [-1.16178417e-01 9.93228352e-01 1.29578248e-04 -1.10161863e+00] [ 1.04442222e-03 -8.29502770e-06 9.99999455e-01 -1.06612656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421858064 meters 0.01429628932760297 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.11, Z:-0.11 [[ 9.93616556e-01 1.12798727e-01 -1.60812470e-03 2.40714602e+01] [-1.12798549e-01 9.93617858e-01 2.00708193e-04 -1.10632203e+00] [ 1.62050105e-03 -1.80328501e-05 9.99998687e-01 -1.07493233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.451858064 meters 0.014278746917487027 Centerline is valid? [True, True] Translation: X:24.10, Y:-1.11, Z:-0.11 [[ 9.93714834e-01 1.11918001e-01 -2.27828151e-03 2.41032970e+01] [-1.11917643e-01 9.93717445e-01 2.84380653e-04 -1.11072537e+00] [ 2.29579539e-03 -2.76133764e-05 9.99997364e-01 -1.07856844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481858064 meters 0.014416390214289978 Centerline is valid? [True, True] Translation: X:24.14, Y:-1.12, Z:-0.11 [[ 9.93793573e-01 1.11197972e-01 -3.05691924e-03 2.41350969e+01] [-1.11197323e-01 9.93798274e-01 3.81862632e-04 -1.11611322e+00] [ 3.08042341e-03 -3.95713934e-05 9.99995255e-01 -1.08181687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511858064 meters 0.014924919753632571 Centerline is valid? [True, True] Translation: X:24.17, Y:-1.12, Z:-0.11 [[ 9.93850735e-01 1.10685512e-01 -3.07132937e-03 2.41661342e+01] [-1.10684852e-01 9.93855480e-01 3.84581699e-04 -1.12212307e+00] [ 3.09502515e-03 -4.22671680e-05 9.99995210e-01 -1.09195494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541858064 meters 0.014882353900338322 Centerline is valid? [True, True] Translation: X:24.20, Y:-1.13, Z:-0.11 [[ 9.93823215e-01 1.10936370e-01 -2.92214179e-03 2.41985598e+01] [-1.10935771e-01 9.93827510e-01 3.66876503e-04 -1.12538977e+00] [ 2.94480485e-03 -4.04403338e-05 9.99995663e-01 -1.09634045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.571858064 meters 0.014576492549669001 Centerline is valid? [True, True] Translation: X:24.23, Y:-1.13, Z:-0.11 [[ 9.93773542e-01 1.11391084e-01 -2.48476834e-03 2.42310464e+01] [-1.11390650e-01 9.93776648e-01 3.12967981e-04 -1.12812336e+00] [ 2.50416660e-03 -3.42393387e-05 9.99996864e-01 -1.09865533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601858063999998 meters 0.014707237802623304 Centerline is valid? [True, True] Translation: X:24.26, Y:-1.13, Z:-0.11 [[ 9.93581149e-01 1.13096912e-01 -2.36421699e-03 2.42618432e+01] [-1.13096525e-01 9.93583961e-01 2.97386464e-04 -1.13308772e+00] [ 2.38268157e-03 -2.80928597e-05 9.99997161e-01 -1.10208460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.631858064 meters 0.014390378654235356 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.14, Z:-0.11 [[ 9.93423243e-01 1.14454629e-01 -3.22466377e-03 2.42946306e+01] [-1.14453911e-01 9.93428476e-01 4.07030918e-04 -1.13720342e+00] [ 3.25005938e-03 -3.52785960e-05 9.99994718e-01 -1.09602501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661858064 meters 0.014464409495718025 Centerline is valid? [True, True] Translation: X:24.33, Y:-1.14, Z:-0.11 [[ 9.93262569e-01 1.15838112e-01 -3.31679077e-03 2.43260267e+01] [-1.15837358e-01 9.93268106e-01 4.19232705e-04 -1.14119554e+00] [ 3.34302561e-03 -3.21998749e-05 9.99994412e-01 -1.09673097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691858063999998 meters 0.014169702845616115 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.14, Z:-0.11 [[ 9.92947968e-01 1.18503255e-01 -3.36329098e-03 2.43577332e+01] [-1.18502492e-01 9.92953664e-01 4.25931702e-04 -1.14344723e+00] [ 3.39006639e-03 -2.43696566e-05 9.99994253e-01 -1.10249294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721858064 meters 0.01413411666956206 Centerline is valid? [True, True] Translation: X:24.39, Y:-1.15, Z:-0.11 [[ 9.92784496e-01 1.19863702e-01 -3.41134447e-03 2.43909365e+01] [-1.19862921e-01 9.92790357e-01 4.33164521e-04 -1.14657214e+00] [ 3.43867059e-03 -2.11453080e-05 9.99994088e-01 -1.10994856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.751858064 meters 0.014074674590851264 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.15, Z:-0.11 [[ 9.92515319e-01 1.22092717e-01 -2.59034692e-03 2.44216774e+01] [-1.22092272e-01 9.92518699e-01 3.29582367e-04 -1.14938704e+00] [ 2.61120736e-03 -1.08542070e-05 9.99996591e-01 -1.11775467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781858063999998 meters 0.014017321122318372 Centerline is valid? [True, True] Translation: X:24.45, Y:-1.15, Z:-0.11 [[ 9.92432492e-01 1.22778625e-01 -1.77717881e-03 2.44533086e+01] [-1.22778415e-01 9.92434083e-01 2.27168384e-04 -1.15437121e+00] [ 1.79162425e-03 -7.25008644e-06 9.99998395e-01 -1.10949104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.811858064 meters 0.014139342102589715 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.16, Z:-0.11 [[ 9.92358037e-01 1.23388572e-01 -8.86588531e-04 2.44853389e+01] [-1.23388519e-01 9.92358433e-01 1.14416603e-04 -1.15975578e+00] [ 8.93931307e-04 -4.14738996e-06 9.99999600e-01 -1.09857729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841858064 meters 0.01408659740700083 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.17, Z:-0.11 [[ 9.92334705e-01 1.23579099e-01 -2.00010786e-04 2.45178649e+01] [-1.23579096e-01 9.92334725e-01 2.70835578e-05 -1.16549963e+00] [ 2.01824610e-04 -2.15880219e-06 9.99999980e-01 -1.08722317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.871858063999998 meters 0.014074935255517338 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.17, Z:-0.11 [[ 9.92300519e-01 1.23853234e-01 2.36974051e-04 2.45506781e+01] [-1.23853230e-01 9.92300547e-01 -2.87337149e-05 -1.17084548e+00] [-2.38708244e-04 -8.37521559e-07 9.99999972e-01 -1.08257681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901858064 meters 0.01422740651169711 Centerline is valid? [True, True] Translation: X:24.58, Y:-1.18, Z:-0.11 [[ 9.92197646e-01 1.24672314e-01 8.03057961e-04 2.45827311e+01] [-1.24672273e-01 9.92197971e-01 -1.01337161e-04 -1.17585185e+00] [-8.09426418e-04 4.27431137e-07 9.99999672e-01 -1.08658903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.931858064 meters 0.0142777121249133 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.18, Z:-0.11 [[ 9.92097726e-01 1.25466692e-01 4.60031926e-04 2.46149866e+01] [-1.25466679e-01 9.92097832e-01 -5.75251527e-05 -1.18060033e+00] [-4.63614167e-04 -6.48104762e-07 9.99999893e-01 -1.09444043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961858064 meters 0.014339829384177803 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.19, Z:-0.11 [[ 9.91823389e-01 1.27616036e-01 -7.15786644e-04 2.46475091e+01] [-1.27616002e-01 9.91823647e-01 9.36530864e-05 -1.18723694e+00] [ 7.21885756e-04 -1.54149210e-06 9.99999739e-01 -1.09837545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.991858064 meters 0.014278704008081837 Centerline is valid? [True, True] Translation: X:24.68, Y:-1.19, Z:-0.11 [[ 9.91670663e-01 1.28797727e-01 -6.64834191e-04 2.46788478e+01] [-1.28797697e-01 9.91670886e-01 8.71619503e-05 -1.19255026e+00] [ 6.70522972e-04 -8.06836036e-07 9.99999775e-01 -1.09384501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021858064 meters 0.014396375194829447 Centerline is valid? [True, True] Translation: X:24.71, Y:-1.20, Z:-0.11 [[ 9.91483412e-01 1.30227377e-01 1.21412835e-03 2.47098407e+01] [-1.30227285e-01 9.91484155e-01 -1.55599202e-04 -1.19823737e+00] [-1.22405229e-03 -3.83860949e-06 9.99999251e-01 -1.07308745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.051858064 meters 0.014393320485489238 Centerline is valid? [True, True] Translation: X:24.74, Y:-1.20, Z:-0.11 [[ 9.91451288e-01 1.30466205e-01 1.70689031e-03 2.47422367e+01] [-1.30466020e-01 9.91452757e-01 -2.19426068e-04 -1.20265799e+00] [-1.72092879e-03 -5.14092880e-06 9.99998519e-01 -1.06877715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081858064 meters 0.014403522213837483 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.21, Z:-0.11 [[ 9.91393138e-01 1.30907042e-01 1.72980740e-03 2.47750894e+01] [-1.30906852e-01 9.91394647e-01 -2.22868483e-04 -1.20689412e+00] [-1.74409685e-03 -5.49335709e-06 9.99998479e-01 -1.07519740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.111858064 meters 0.014463469232491356 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.21, Z:-0.11 [[ 9.91391309e-01 1.30927646e-01 1.10596685e-03 2.48066937e+01] [-1.30927568e-01 9.91391926e-01 -1.42705088e-04 -1.21113320e+00] [-1.11513065e-03 -3.32496670e-06 9.99999378e-01 -1.09333005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141858064 meters 0.014418062360077886 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.22, Z:-0.11 [[ 9.91356430e-01 1.31196142e-01 1.55423890e-05 2.48395097e+01] [-1.31196142e-01 9.91356431e-01 -4.95549949e-07 -1.21740191e+00] [-1.54730615e-05 -1.54783484e-06 1.00000000e+00 -1.10899560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.171858064 meters 0.014335046001225569 Centerline is valid? [True, True] Translation: X:24.87, Y:-1.22, Z:-0.11 [[ 9.91347015e-01 1.31265775e-01 6.25912600e-04 2.48721008e+01] [-1.31265751e-01 9.91347213e-01 -8.00254751e-05 -1.22275604e+00] [-6.31001318e-04 -2.82787170e-06 9.99999801e-01 -1.10574751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201858064 meters 0.014354426242068055 Centerline is valid? [True, True] Translation: X:24.90, Y:-1.23, Z:-0.11 [[ 9.91334958e-01 1.31356638e-01 6.59401486e-04 2.49040231e+01] [-1.31356611e-01 9.91335177e-01 -8.51259975e-05 -1.22740854e+00] [-6.64869754e-04 -2.22836713e-06 9.99999779e-01 -1.11844324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.231858064 meters 0.014360967158813036 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.23, Z:-0.11 [[ 9.91309604e-01 1.31549137e-01 -3.07357517e-04 2.49361455e+01] [-1.31549131e-01 9.91309651e-01 4.18172986e-05 -1.23290682e+00] [ 3.10187503e-04 -1.02127550e-06 9.99999952e-01 -1.12081372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261858064 meters 0.014414583276911332 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.24, Z:-0.11 [[ 9.91311213e-01 1.31536341e-01 -5.18810543e-04 2.49691991e+01] [-1.31536322e-01 9.91311349e-01 6.96412807e-05 -1.23769107e+00] [ 5.23463138e-04 -7.93751680e-07 9.99999863e-01 -1.12758678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.291858064 meters 0.01448133814491827 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.24, Z:-0.11 [[ 9.91270157e-01 1.31844504e-01 -7.08807961e-04 2.50006151e+01] [-1.31844470e-01 9.91270410e-01 9.46453539e-05 -1.24272076e+00] [ 7.15098828e-04 -3.66704600e-07 9.99999744e-01 -1.13076059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321858064 meters 0.014451249551734815 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.25, Z:-0.11 [[ 9.91265329e-01 1.31880629e-01 -7.39879805e-04 2.50331288e+01] [-1.31880591e-01 9.91265605e-01 9.90249673e-05 -1.25014787e+00] [ 7.46476877e-04 -5.84230521e-07 9.99999721e-01 -1.12832756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.351858063999998 meters 0.014617306468116225 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.26, Z:-0.11 [[ 9.91223693e-01 1.32189853e-01 -1.19734289e-03 2.50656342e+01] [-1.32189757e-01 9.91224416e-01 1.59640314e-04 -1.25597376e+00] [ 1.20793833e-03 3.72032163e-08 9.99999270e-01 -1.12937599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381858064 meters 0.01470975828411357 Centerline is valid? [True, True] Translation: X:25.10, Y:-1.26, Z:-0.11 [[ 9.91170364e-01 1.32583035e-01 -1.74581722e-03 2.50980699e+01] [-1.32582831e-01 9.91171902e-01 2.32605902e-04 -1.26121135e+00] [ 1.76124457e-03 9.13311910e-07 9.99998449e-01 -1.12896883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.411858064 meters 0.01474394887598557 Centerline is valid? [True, True] Translation: X:25.13, Y:-1.27, Z:-0.12 [[ 9.91112074e-01 1.33006812e-01 -2.45859093e-03 2.51295849e+01] [-1.33006409e-01 9.91115123e-01 3.27466415e-04 -1.26588721e+00] [ 2.48030192e-03 2.45243265e-06 9.99996924e-01 -1.15506863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441858063999998 meters 0.014795966789717029 Centerline is valid? [True, True] Translation: X:25.16, Y:-1.27, Z:-0.11 [[ 9.91134093e-01 1.32838937e-01 -2.65086992e-03 2.51621013e+01] [-1.32838466e-01 9.91137638e-01 3.53795250e-04 -1.27155898e+00] [ 2.67437473e-03 1.47895928e-06 9.99996424e-01 -1.14960860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.471858064 meters 0.01480435453109202 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.28, Z:-0.11 [[ 9.91162772e-01 1.32618244e-01 -2.95999389e-03 2.51945028e+01] [-1.32617653e-01 9.91167191e-01 3.95691417e-04 -1.27780688e+00] [ 2.98632473e-03 3.52842514e-07 9.99995541e-01 -1.14757978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501858064 meters 0.01482148388196353 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.29, Z:-0.11 [[ 9.91421921e-01 1.30683599e-01 -2.09075282e-03 2.52263661e+01] [-1.30683297e-01 9.91424126e-01 2.80605994e-04 -1.28670782e+00] [ 2.10949339e-03 -4.97246123e-06 9.99997775e-01 -1.12777523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.531858063999998 meters 0.01482148388196353 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.29, Z:-0.11 [[ 9.91384566e-01 1.30966683e-01 -2.09067318e-03 2.52584828e+01] [-1.30966381e-01 9.91386770e-01 2.81200441e-04 -1.29105582e+00] [ 2.10949362e-03 -4.96987644e-06 9.99997775e-01 -1.12959737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561858064 meters 0.014793496146186752 Centerline is valid? [True, True] Translation: X:25.29, Y:-1.30, Z:-0.11 [[ 9.91567146e-01 1.29571568e-01 -2.40914912e-03 2.52893634e+01] [-1.29571162e-01 9.91570073e-01 3.24329717e-04 -1.29725202e+00] [ 2.43086408e-03 -9.43844080e-06 9.99997045e-01 -1.13459713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.591858064 meters 0.014992504339432366 Centerline is valid? [True, True] Translation: X:25.32, Y:-1.30, Z:-0.11 [[ 9.91767364e-01 1.28035466e-01 -2.10137113e-03 2.53220414e+01] [-1.28035152e-01 9.91769590e-01 2.83762832e-04 -1.30340734e+00] [ 2.12040769e-03 -1.23773437e-05 9.99997752e-01 -1.13347607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621858063999998 meters 0.015064334534149973 Centerline is valid? [True, True] Translation: X:25.35, Y:-1.31, Z:-0.11 [[ 9.91951653e-01 1.26606538e-01 -1.64379495e-03 2.53539720e+01] [-1.26606342e-01 9.91953015e-01 2.22808183e-04 -1.30970245e+00] [ 1.65877633e-03 -1.29000800e-05 9.99998624e-01 -1.12983800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.651858064 meters 0.015371327936546662 Centerline is valid? [True, True] Translation: X:25.38, Y:-1.32, Z:-0.11 [[ 9.92337327e-01 1.23549472e-01 -1.46861047e-03 2.53841187e+01] [-1.23549313e-01 9.92338414e-01 1.99265031e-04 -1.31787693e+00] [ 1.48197767e-03 -1.62923139e-05 9.99998902e-01 -1.12558370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681858064 meters 0.015885831733427114 Centerline is valid? [True, True] Translation: X:25.41, Y:-1.32, Z:-0.11 [[ 9.92616999e-01 1.21282333e-01 -1.44532638e-03 2.54142940e+01] [-1.21282176e-01 9.92618051e-01 1.96435399e-04 -1.32410851e+00] [ 1.45848120e-03 -1.96927880e-05 9.99998936e-01 -1.14175919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711858063999998 meters 0.015779770338869833 Centerline is valid? [True, True] Translation: X:25.45, Y:-1.33, Z:-0.11 [[ 9.92706145e-01 1.20553597e-01 -1.15771709e-03 2.54468138e+01] [-1.20553494e-01 9.92706820e-01 1.58265269e-04 -1.32786873e+00] [ 1.16835310e-03 -1.75440642e-05 9.99999317e-01 -1.14775389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741858064 meters 0.016055364633728933 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.33, Z:-0.12 [[ 9.92754290e-01 1.20161018e-01 -4.99312406e-04 2.54783046e+01] [-1.20160998e-01 9.92754416e-01 6.86524801e-05 -1.33281244e+00] [ 5.03943948e-04 -8.15716696e-06 9.99999873e-01 -1.15464094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.771858064 meters 0.016028244925148396 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.34, Z:-0.12 [[ 9.92783080e-01 1.19923135e-01 -4.45823399e-04 2.55105238e+01] [-1.19923119e-01 9.92783180e-01 6.21088575e-05 -1.33735841e+00] [ 4.50054261e-04 -8.19609030e-06 9.99999899e-01 -1.15697410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801858064 meters 0.016524983542932165 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.34, Z:-0.12 [[ 9.92805996e-01 1.19716117e-01 -2.07502923e-03 2.55410026e+01] [-1.19715786e-01 9.92808164e-01 2.83496233e-04 -1.34395158e+00] [ 2.09404503e-03 -3.30430038e-05 9.99997807e-01 -1.16571302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.831858064 meters 0.016116888240698422 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.35, Z:-0.12 [[ 9.92763707e-01 1.20055163e-01 -2.64207583e-03 2.55740080e+01] [-1.20054625e-01 9.92767222e-01 3.61684715e-04 -1.34743524e+00] [ 2.66638840e-03 -4.18740354e-05 9.99996444e-01 -1.16457001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861858064 meters 0.016129761098343253 Centerline is valid? [True, True] Translation: X:25.61, Y:-1.35, Z:-0.12 [[ 9.92819702e-01 1.19568526e-01 -3.52237109e-03 2.56058646e+01] [-1.19567568e-01 9.92825949e-01 4.82338593e-04 -1.35174472e+00] [ 3.55477393e-03 -5.77139158e-05 9.99993680e-01 -1.16703220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.891858064 meters 0.016571881012825754 Centerline is valid? [True, True] Translation: X:25.64, Y:-1.36, Z:-0.12 [[ 9.92964073e-01 1.18350460e-01 -3.93929067e-03 2.56369222e+01] [-1.18349248e-01 9.92971885e-01 5.40061635e-04 -1.35565317e+00] [ 3.97552142e-03 -7.00497114e-05 9.99992095e-01 -1.18249015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921858064 meters 0.016968056371048045 Centerline is valid? [True, True] Translation: X:25.67, Y:-1.36, Z:-0.12 [[ 9.93066755e-01 1.17472398e-01 -4.31929367e-03 2.56684096e+01] [-1.17470929e-01 9.93076145e-01 5.93179154e-04 -1.36020962e+00] [ 4.35906968e-03 -8.16750593e-05 9.99990496e-01 -1.19077868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951858064 meters 0.01782483116485519 Centerline is valid? [True, True] Translation: X:25.70, Y:-1.37, Z:-0.12 [[ 9.93260114e-01 1.15807605e-01 -4.79010546e-03 2.56988938e+01] [-1.15805775e-01 9.93271659e-01 6.58663643e-04 -1.36742915e+00] [ 4.83415426e-03 -9.95024512e-05 9.99988310e-01 -1.19639415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981858064 meters 0.017883571131778013 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.37, Z:-0.12 [[ 9.93377689e-01 1.14795885e-01 -4.76138329e-03 2.57308123e+01] [-1.14794059e-01 9.93389095e-01 6.55954899e-04 -1.37250520e+00] [ 4.80520716e-03 -1.05032446e-04 9.99988449e-01 -1.18894156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.011858064 meters 0.017421607012254453 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.38, Z:-0.12 [[ 9.93397440e-01 1.14632872e-01 -4.56419146e-03 2.57634600e+01] [-1.14631185e-01 9.93407919e-01 6.30380506e-04 -1.37619744e+00] [ 4.60636627e-03 -1.03019706e-04 9.99989385e-01 -1.17574141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041858064 meters 0.018157828003599913 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.38, Z:-0.12 [[ 9.93281220e-01 1.15658802e-01 -3.93197256e-03 2.57937857e+01] [-1.15657555e-01 9.93288998e-01 5.43873234e-04 -1.38073673e+00] [ 3.96848882e-03 -8.54567369e-05 9.99992122e-01 -1.18356346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.071858064 meters 0.017513386089407904 Centerline is valid? [True, True] Translation: X:25.83, Y:-1.38, Z:-0.12 [[ 9.93117550e-01 1.17062412e-01 -3.73143451e-03 2.58261852e+01] [-1.17061295e-01 9.93124557e-01 5.17166942e-04 -1.38325439e+00] [ 3.76632006e-03 -7.68010101e-05 9.99992904e-01 -1.17835917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101858063999998 meters 0.016639724381303473 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.38, Z:-0.12 [[ 9.92901982e-01 1.18892332e-01 -3.20437300e-03 2.58583571e+01] [-1.18891515e-01 9.92907151e-01 4.45160851e-04 -1.38450657e+00] [ 3.23457108e-03 -6.10283319e-05 9.99994767e-01 -1.17103154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.131858064 meters 0.015918092490504184 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.38, Z:-0.12 [[ 9.92401776e-01 1.23021065e-01 -2.12877515e-03 2.58907958e+01] [-1.23020712e-01 9.92404059e-01 2.96722576e-04 -1.38497440e+00] [ 2.14910823e-03 -3.25845782e-05 9.99997690e-01 -1.16220422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161858064 meters 0.01535588317410942 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.39, Z:-0.12 [[ 9.92105321e-01 1.25398978e-01 -1.45884564e-03 2.59227448e+01] [-1.25398813e-01 9.92106393e-01 2.04180525e-04 -1.38744177e+00] [ 1.47293411e-03 -1.96310734e-05 9.99998915e-01 -1.15501360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.191858063999998 meters 0.015306414524480089 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.39, Z:-0.12 [[ 9.91814648e-01 1.27676674e-01 -1.53977279e-03 2.59540752e+01] [-1.27676493e-01 9.91815843e-01 2.15809633e-04 -1.39130488e+00] [ 1.55472490e-03 -1.74503669e-05 9.99998791e-01 -1.15529767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221858064 meters 0.01507004075403187 Centerline is valid? [True, True] Translation: X:25.99, Y:-1.39, Z:-0.12 [[ 9.91488504e-01 1.30189515e-01 -1.11171793e-03 2.59859070e+01] [-1.30189421e-01 9.91489128e-01 1.56457468e-04 -1.39222330e+00] [ 1.12262536e-03 -1.03918672e-05 9.99999370e-01 -1.15380257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.251858064 meters 0.014898112743332153 Centerline is valid? [True, True] Translation: X:26.02, Y:-1.39, Z:-0.12 [[ 9.91378211e-01 1.31026911e-01 -1.09104592e-03 2.60188515e+01] [-1.31026821e-01 9.91378812e-01 1.54129447e-04 -1.39489390e+00] [ 1.10183491e-03 -9.84429661e-06 9.99999393e-01 -1.15327051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281858063999998 meters 0.014901170520730837 Centerline is valid? [True, True] Translation: X:26.05, Y:-1.40, Z:-0.12 [[ 9.91329137e-01 1.31397131e-01 -1.15553134e-03 2.60517467e+01] [-1.31397030e-01 9.91329811e-01 1.63468128e-04 -1.39889758e+00] [ 1.16699191e-03 -1.02173321e-05 9.99999319e-01 -1.15794981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.311858064 meters 0.015407905911984435 Centerline is valid? [True, True] Translation: X:26.08, Y:-1.41, Z:-0.12 [[ 9.91306435e-01 1.31568092e-01 -1.17869979e-03 2.60827793e+01] [-1.31567987e-01 9.91307136e-01 1.66316881e-04 -1.40541244e+00] [ 1.19033550e-03 -9.79183570e-06 9.99999292e-01 -1.17418918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341858064 meters 0.015113277060335302 Centerline is valid? [True, True] Translation: X:26.12, Y:-1.41, Z:-0.12 [[ 9.91313086e-01 1.31517675e-01 -1.21112415e-03 2.61159163e+01] [-1.31517564e-01 9.91313826e-01 1.71747575e-04 -1.40887601e+00] [ 1.22319196e-03 -1.09715204e-05 9.99999252e-01 -1.16156610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.371858063999998 meters 0.015238990242653325 Centerline is valid? [True, True] Translation: X:26.15, Y:-1.41, Z:-0.12 [[ 9.91458371e-01 1.30418776e-01 -1.11434145e-03 2.61484076e+01] [-1.30418680e-01 9.91458997e-01 1.58458995e-04 -1.41341483e+00] [ 1.12548988e-03 -1.17745568e-05 9.99999367e-01 -1.16139975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401858064 meters 0.015215548606774834 Centerline is valid? [True, True] Translation: X:26.18, Y:-1.42, Z:-0.12 [[ 9.91571260e-01 1.29557319e-01 -1.15670980e-03 2.61807566e+01] [-1.29557215e-01 9.91571934e-01 1.64782893e-04 -1.41762643e+00] [ 1.16830981e-03 -1.35338797e-05 9.99999317e-01 -1.16184658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.431858064 meters 0.015682810772716122 Centerline is valid? [True, True] Translation: X:26.21, Y:-1.42, Z:-0.12 [[ 9.91797069e-01 1.27814029e-01 -1.46536142e-03 2.62109960e+01] [-1.27813862e-01 9.91798152e-01 2.07698802e-04 -1.42331666e+00] [ 1.47988956e-03 -1.87015614e-05 9.99998905e-01 -1.16516031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461858063999998 meters 0.015656136609453267 Centerline is valid? [True, True] Translation: X:26.24, Y:-1.43, Z:-0.12 [[ 9.91924604e-01 1.26815529e-01 -1.84445425e-03 2.62425934e+01] [-1.26815260e-01 9.91926318e-01 2.62326293e-04 -1.42794430e+00] [ 1.86282976e-03 -2.63029588e-05 9.99998265e-01 -1.16695252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491858064 meters 0.01601386615510228 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.43, Z:-0.12 [[ 9.92067693e-01 1.25682903e-01 -2.34518032e-03 2.62727222e+01] [-1.25682466e-01 9.92070465e-01 3.33326580e-04 -1.43364324e+00] [ 2.36847759e-03 -3.59344854e-05 9.99997195e-01 -1.17343986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521858064 meters 0.016167131590589436 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.44, Z:-0.12 [[ 9.92243662e-01 1.24288397e-01 -2.21589853e-03 2.63044433e+01] [-1.24288001e-01 9.92246135e-01 3.15861970e-04 -1.43924094e+00] [ 2.23797473e-03 -3.80024382e-05 9.99997495e-01 -1.16885292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551858064 meters 0.016394800800300913 Centerline is valid? [True, True] Translation: X:26.34, Y:-1.45, Z:-0.12 [[ 9.92618996e-01 1.21263170e-01 -1.66481804e-03 2.63354504e+01] [-1.21262941e-01 9.92620392e-01 2.37978250e-04 -1.44534671e+00] [ 1.68139033e-03 -3.43409995e-05 9.99998586e-01 -1.15968964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581858064 meters 0.016984802885512424 Centerline is valid? [True, True] Translation: X:26.37, Y:-1.45, Z:-0.12 [[ 9.92763637e-01 1.20073330e-01 -1.66018600e-03 2.63662208e+01] [-1.20073100e-01 9.92765025e-01 2.37695903e-04 -1.45049526e+00] [ 1.67671553e-03 -3.66321688e-05 9.99998594e-01 -1.16971754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.611858064 meters 0.017372853513333356 Centerline is valid? [True, True] Translation: X:26.40, Y:-1.45, Z:-0.12 [[ 9.92865590e-01 1.19220284e-01 -2.10820578e-03 2.63966672e+01] [-1.19219912e-01 9.92867827e-01 3.01955076e-04 -1.45494349e+00] [ 2.12916886e-03 -4.84606979e-05 9.99997732e-01 -1.18043300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641858064 meters 0.017498888567258564 Centerline is valid? [True, True] Translation: X:26.43, Y:-1.46, Z:-0.12 [[ 9.92992696e-01 1.18131771e-01 -3.22325667e-03 2.64283812e+01] [-1.18130894e-01 9.92997925e-01 4.61901102e-04 -1.45962015e+00] [ 3.25525238e-03 -7.78982294e-05 9.99994699e-01 -1.19260941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.671858064 meters 0.017557275695271497 Centerline is valid? [True, True] Translation: X:26.46, Y:-1.46, Z:-0.12 [[ 9.93016702e-01 1.17917214e-01 -3.65513266e-03 2.64597822e+01] [-1.17916082e-01 9.93023425e-01 5.24515231e-04 -1.46481093e+00] [ 3.69148173e-03 -8.98534631e-05 9.99993182e-01 -1.19081931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701858064 meters 0.01775186535049005 Centerline is valid? [True, True] Translation: X:26.49, Y:-1.47, Z:-0.12 [[ 9.92999412e-01 1.18066229e-01 -3.54028775e-03 2.64920520e+01] [-1.18065164e-01 9.93005719e-01 5.09280443e-04 -1.47034480e+00] [ 3.57565480e-03 -8.77305288e-05 9.99993603e-01 -1.18640117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.731858064 meters 0.018478594442308593 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.48, Z:-0.12 [[ 9.92967706e-01 1.18365693e-01 -2.16759951e-03 2.65223324e+01] [-1.18365292e-01 9.92970070e-01 3.12616812e-04 -1.47649806e+00] [ 2.18936454e-03 -5.38498498e-05 9.99997602e-01 -1.17662176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761858064 meters 0.018301072672798114 Centerline is valid? [True, True] Translation: X:26.55, Y:-1.48, Z:-0.12 [[ 9.92888516e-01 1.19038734e-01 -1.47458841e-03 2.65544675e+01] [-1.19038548e-01 9.92889610e-01 2.13494494e-04 -1.48042537e+00] [ 1.48951763e-03 -3.64433678e-05 9.99998890e-01 -1.17049748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.791858064 meters 0.017905757480375015 Centerline is valid? [True, True] Translation: X:26.59, Y:-1.48, Z:-0.12 [[ 9.92776406e-01 1.19972295e-01 -1.28696993e-03 2.65867507e+01] [-1.19972154e-01 9.92777240e-01 1.86818662e-04 -1.48335030e+00] [ 1.30008752e-03 -3.10686064e-05 9.99999154e-01 -1.16671232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821858064 meters 0.017428268967081252 Centerline is valid? [True, True] Translation: X:26.62, Y:-1.49, Z:-0.12 [[ 9.92361792e-01 1.23356494e-01 -1.11764154e-03 2.66183123e+01] [-1.23356389e-01 9.92362421e-01 1.62671997e-04 -1.48555886e+00] [ 1.12917211e-03 -2.35612506e-05 9.99999362e-01 -1.16991462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.851858063999998 meters 0.016351986911057496 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.49, Z:-0.12 [[ 9.92113574e-01 1.25333390e-01 -1.48246440e-03 2.66506922e+01] [-1.25333208e-01 9.92114681e-01 2.15759472e-04 -1.48757607e+00] [ 1.49781657e-03 -2.82558813e-05 9.99998878e-01 -1.16772845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881858064 meters 0.01579759796568354 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.49, Z:-0.12 [[ 9.91831720e-01 1.27544331e-01 -1.51103361e-03 2.66823996e+01] [-1.27544144e-01 9.91832870e-01 2.20310180e-04 -1.49034007e+00] [ 1.52679212e-03 -2.57871367e-05 9.99998834e-01 -1.16715509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.911858064 meters 0.015504915810539187 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.49, Z:-0.12 [[ 9.91307479e-01 1.31559542e-01 -1.25246568e-03 2.67133104e+01] [-1.31559416e-01 9.91308270e-01 1.83039736e-04 -1.49219656e+00] [ 1.26566021e-03 -1.66750068e-05 9.99999199e-01 -1.17853028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941858063999998 meters 0.015230663187572227 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.49, Z:-0.12 [[ 9.90987461e-01 1.33947473e-01 -1.38812350e-03 2.67445976e+01] [-1.33947321e-01 9.90988433e-01 2.02398509e-04 -1.49481913e+00] [ 1.40272510e-03 -1.46389607e-05 9.99999016e-01 -1.18722036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.971858064 meters 0.01489196737429333 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.50, Z:-0.12 [[ 9.90591489e-01 1.36843607e-01 -1.52603600e-03 2.67767554e+01] [-1.36843425e-01 9.90592665e-01 2.23383124e-04 -1.49630653e+00] [ 1.54224862e-03 -1.24534297e-05 9.99998811e-01 -1.19890069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001858064 meters 0.014415609342714927 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.50, Z:-0.12 [[ 9.89703203e-01 1.43098355e-01 -3.22972672e-03 2.68089532e+01] [-1.43097576e-01 9.89708473e-01 4.72096981e-04 -1.49575912e+00] [ 3.26404420e-03 -5.06982796e-06 9.99994673e-01 -1.21700763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.031858063999998 meters 0.014532699598745733 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.50, Z:-0.12 [[ 9.89292082e-01 1.45904214e-01 -3.62458163e-03 2.68415733e+01] [-1.45903249e-01 9.89298721e-01 5.30874546e-04 -1.49981423e+00] [ 3.66325081e-03 3.64825094e-06 9.99993290e-01 -1.22391451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061858064 meters 0.014435756668141892 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.50, Z:-0.12 [[ 9.88823664e-01 1.49056465e-01 -3.15155651e-03 2.68729997e+01] [-1.49055748e-01 9.88828686e-01 4.62531515e-04 -1.50371990e+00] [ 3.18529279e-03 1.23955049e-05 9.99994927e-01 -1.22084392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.091858064 meters 0.014584850594415975 Centerline is valid? [True, True] Translation: X:26.91, Y:-1.51, Z:-0.12 [[ 9.88684251e-01 1.49984763e-01 -2.83242617e-03 2.69058290e+01] [-1.49984185e-01 9.88688308e-01 4.16735572e-04 -1.50823816e+00] [ 2.86289062e-03 1.27992329e-05 9.99995902e-01 -1.22120864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121858063999998 meters 0.014600356647452973 Centerline is valid? [True, True] Translation: X:26.94, Y:-1.51, Z:-0.12 [[ 9.88610108e-01 1.50477211e-01 -2.58128592e-03 2.69384659e+01] [-1.50476730e-01 9.88613478e-01 3.80652598e-04 -1.51283356e+00] [ 2.60917360e-03 1.21064600e-05 9.99996596e-01 -1.22643411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.151858064 meters 0.014626398944618974 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.52, Z:-0.12 [[ 9.88595647e-01 1.50576081e-01 -2.34317716e-03 2.69707499e+01] [-1.50575683e-01 9.88598424e-01 3.46335634e-04 -1.51798510e+00] [ 2.36861111e-03 1.04396001e-05 9.99997195e-01 -1.22783877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181858064 meters 0.014439553806398572 Centerline is valid? [True, True] Translation: X:27.00, Y:-1.53, Z:-0.12 [[ 9.88598691e-01 1.50548308e-01 -2.79907968e-03 2.70029073e+01] [-1.50547739e-01 9.88602654e-01 4.14274279e-04 -1.52563153e+00] [ 2.82954589e-03 1.18441062e-05 9.99995997e-01 -1.21463915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.211858063999998 meters 0.014440417575869769 Centerline is valid? [True, True] Translation: X:27.04, Y:-1.53, Z:-0.12 [[ 9.88596387e-01 1.50566073e-01 -2.65360639e-03 2.70355968e+01] [-1.50565558e-01 9.88599948e-01 3.93588990e-04 -1.53189988e+00] [ 2.68261629e-03 1.04410746e-05 9.99996402e-01 -1.21668771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241858064 meters 0.014486755498326672 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.54, Z:-0.12 [[ 9.88594414e-01 1.50582582e-01 -2.44353565e-03 2.70680475e+01] [-1.50582144e-01 9.88597434e-01 3.63248060e-04 -1.53782085e+00] [ 2.47037190e-03 8.84783443e-06 9.99996949e-01 -1.21752621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.271858064 meters 0.014514106963253118 Centerline is valid? [True, True] Translation: X:27.10, Y:-1.54, Z:-0.12 [[ 9.88693056e-01 1.49937404e-01 -2.19462192e-03 2.70997030e+01] [-1.49937047e-01 9.88695492e-01 3.26881389e-04 -1.54420069e+00] [ 2.21882455e-03 5.86977189e-06 9.99997538e-01 -1.22478755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301858064 meters 0.01443885761428247 Centerline is valid? [True, True] Translation: X:27.13, Y:-1.55, Z:-0.12 [[ 9.88760174e-01 1.49488103e-01 -2.57413670e-03 2.71323158e+01] [-1.49487610e-01 9.88763524e-01 3.83989119e-04 -1.55001523e+00] [ 2.60261428e-03 5.12839426e-06 9.99996613e-01 -1.23582750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.331858064 meters 0.014385733081580228 Centerline is valid? [True, True] Translation: X:27.16, Y:-1.56, Z:-0.12 [[ 9.88772218e-01 1.49388119e-01 -3.56256008e-03 2.71638934e+01] [-1.49387172e-01 9.88778635e-01 5.31848482e-04 -1.55817305e+00] [ 3.60203514e-03 6.32377265e-06 9.99993513e-01 -1.24741548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361858064 meters 0.014564991473042311 Centerline is valid? [True, True] Translation: X:27.20, Y:-1.57, Z:-0.12 [[ 9.88753358e-01 1.49517062e-01 -3.38295514e-03 2.71951169e+01] [-1.49516206e-01 9.88759146e-01 5.05902369e-04 -1.56555043e+00] [ 3.42056887e-03 5.59395168e-06 9.99994150e-01 -1.24582415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.391858064 meters 0.01443632094437385 Centerline is valid? [True, True] Translation: X:27.23, Y:-1.57, Z:-0.12 [[ 9.88710547e-01 1.49821688e-01 -2.21729352e-03 2.72260382e+01] [-1.49821319e-01 9.88713033e-01 3.32566405e-04 -1.57302463e+00] [ 2.24209266e-03 3.38592804e-06 9.99997487e-01 -1.23548422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421858064 meters 0.014353588286579682 Centerline is valid? [True, True] Translation: X:27.26, Y:-1.58, Z:-0.12 [[ 9.88659541e-01 1.50167045e-01 -1.47349097e-03 2.72577972e+01] [-1.50166881e-01 9.88660639e-01 2.22104571e-04 -1.58118368e+00] [ 1.49013531e-03 1.68373960e-06 9.99998890e-01 -1.22918359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.451858064 meters 0.014353588286579682 Centerline is valid? [True, True] Translation: X:27.29, Y:-1.59, Z:-0.12 [[ 9.88617164e-01 1.50445780e-01 -1.47342868e-03 2.72898404e+01] [-1.50445616e-01 9.88618262e-01 2.22518871e-04 -1.58604701e+00] [ 1.49013553e-03 1.68490980e-06 9.99998890e-01 -1.23100572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481858064 meters 0.014353588286579682 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.59, Z:-0.12 [[ 9.88574708e-01 1.50724503e-01 -1.47336611e-03 2.73218822e+01] [-1.50724338e-01 9.88575806e-01 2.22934311e-04 -1.59091937e+00] [ 1.49013575e-03 1.68491035e-06 9.99998890e-01 -1.23282785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.511858064 meters 0.014334683842230448 Centerline is valid? [True, True] Translation: X:27.35, Y:-1.60, Z:-0.13 [[ 9.88375487e-01 1.52008325e-01 -2.71417634e-03 2.73530471e+01] [-1.52007772e-01 9.88379213e-01 4.09808516e-04 -1.59806293e+00] [ 2.74492979e-03 7.53120847e-06 9.99996233e-01 -1.25625848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541858064 meters 0.014516985549191386 Centerline is valid? [True, True] Translation: X:27.38, Y:-1.60, Z:-0.13 [[ 9.88206179e-01 1.53081041e-01 -3.83973297e-03 2.73845561e+01] [-1.53079943e-01 9.88213638e-01 5.80125995e-04 -1.60470527e+00] [ 3.88328278e-03 1.45020110e-05 9.99992460e-01 -1.26962705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.571858064 meters 0.014562592694103265 Centerline is valid? [True, True] Translation: X:27.41, Y:-1.61, Z:-0.13 [[ 9.87975601e-01 1.54544263e-01 -4.50354348e-03 2.74143543e+01] [-1.54542768e-01 9.87985865e-01 6.80169347e-04 -1.61386097e+00] [ 4.55455358e-03 2.39993550e-05 9.99989628e-01 -1.27880222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601858063999998 meters 0.01447299185411004 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.62, Z:-0.13 [[ 9.87930207e-01 1.54838335e-01 -4.35842188e-03 2.74461611e+01] [-1.54836929e-01 9.87939821e-01 6.60387835e-04 -1.62199118e+00] [ 4.40811189e-03 2.24275682e-05 9.99990284e-01 -1.27169199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.631858064 meters 0.014660467885828364 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.63, Z:-0.13 [[ 9.87878179e-01 1.55183810e-01 -3.83267038e-03 2.74773170e+01] [-1.55182724e-01 9.87885613e-01 5.80999424e-04 -1.62893238e+00] [ 3.87640163e-03 2.08075759e-05 9.99992487e-01 -1.27532881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661858064 meters 0.01455605392660665 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.64, Z:-0.13 [[ 9.87957302e-01 1.54688740e-01 -3.42986611e-03 2.75093667e+01] [-1.54687861e-01 9.87963255e-01 5.21578253e-04 -1.63978305e+00] [ 3.46926397e-03 1.52616080e-05 9.99993982e-01 -1.27056383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.691858063999998 meters 0.014674498613765909 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.65, Z:-0.13 [[ 9.88084921e-01 1.53875396e-01 -3.24838541e-03 2.75404085e+01] [-1.53874600e-01 9.88090260e-01 4.94806567e-04 -1.64717433e+00] [ 3.28583654e-03 1.09330991e-05 9.99994602e-01 -1.29310845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721858064 meters 0.014358928004076895 Centerline is valid? [True, True] Translation: X:27.57, Y:-1.66, Z:-0.13 [[ 9.88183990e-01 1.53249510e-01 -2.64385281e-03 2.75717960e+01] [-1.53248978e-01 9.88187527e-01 4.03861803e-04 -1.65676469e+00] [ 2.67451399e-03 6.07797321e-06 9.99996423e-01 -1.26696807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.751858064 meters 0.014284367741114546 Centerline is valid? [True, True] Translation: X:27.60, Y:-1.67, Z:-0.12 [[ 9.88493138e-01 1.51260849e-01 -1.21280601e-03 2.76010227e+01] [-1.51260735e-01 9.88493882e-01 1.85487399e-04 -1.66914376e+00] [ 1.22690831e-03 9.69072724e-08 9.99999247e-01 -1.24688279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781858063999998 meters 0.014242200127700177 Centerline is valid? [True, True] Translation: X:27.63, Y:-1.68, Z:-0.12 [[ 9.88597035e-01 1.50583351e-01 -7.46504176e-04 2.76331320e+01] [-1.50583306e-01 9.88597317e-01 1.15473509e-04 -1.67757553e+00] [ 7.55380413e-04 -1.74570129e-06 9.99999715e-01 -1.24305828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.811858064 meters 0.014377894876166118 Centerline is valid? [True, True] Translation: X:27.66, Y:-1.69, Z:-0.12 [[ 9.88667754e-01 1.50116611e-01 -1.03730979e-03 2.76638991e+01] [-1.50116526e-01 9.88668298e-01 1.60003304e-04 -1.68513592e+00] [ 1.04957446e-03 -2.47276574e-06 9.99999449e-01 -1.24738656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841858064 meters 0.014389974437810612 Centerline is valid? [True, True] Translation: X:27.70, Y:-1.69, Z:-0.13 [[ 9.88724416e-01 1.49739601e-01 -1.44279584e-03 2.76957390e+01] [-1.49739436e-01 9.88725468e-01 2.22520281e-04 -1.69357938e+00] [ 1.45984909e-03 -3.96779991e-06 9.99998934e-01 -1.25222014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.871858063999998 meters 0.014468151124142651 Centerline is valid? [True, True] Translation: X:27.73, Y:-1.70, Z:-0.13 [[ 9.88618828e-01 1.50436093e-01 -1.33950825e-03 2.77269599e+01] [-1.50435951e-01 9.88619736e-01 2.06958552e-04 -1.70011129e+00] [ 1.35539833e-03 -3.09292377e-06 9.99999081e-01 -1.25955788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901858064 meters 0.014555243982441499 Centerline is valid? [True, True] Translation: X:27.76, Y:-1.71, Z:-0.13 [[ 9.88502201e-01 1.51197163e-01 -1.67815542e-03 2.77595174e+01] [-1.51196941e-01 9.88503626e-01 2.59408976e-04 -1.70647873e+00] [ 1.69808462e-03 -2.69437841e-06 9.99998558e-01 -1.26201448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.931858064 meters 0.014383040117542326 Centerline is valid? [True, True] Translation: X:27.79, Y:-1.71, Z:-0.13 [[ 9.88366603e-01 1.52079462e-01 -1.81509681e-03 2.77915403e+01] [-1.52079203e-01 9.88368270e-01 2.80994536e-04 -1.71270529e+00] [ 1.83671759e-03 -1.68713979e-06 9.99998313e-01 -1.26276059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961858063999998 meters 0.014509632982780926 Centerline is valid? [True, True] Translation: X:27.82, Y:-1.72, Z:-0.13 [[ 9.88191389e-01 1.53209798e-01 -2.12979960e-03 2.78223435e+01] [-1.53209444e-01 9.88193684e-01 3.29224333e-04 -1.71967696e+00] [ 2.15509490e-03 9.68762294e-07 9.99997678e-01 -1.26337459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.991858064 meters 0.014511065550907734 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.73, Z:-0.13 [[ 9.88060920e-01 1.54041640e-01 -2.60623289e-03 2.78548735e+01] [-1.54041110e-01 9.88064357e-01 4.03946244e-04 -1.72531796e+00] [ 2.63735037e-03 2.34351018e-06 9.99996522e-01 -1.26668404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021858064 meters 0.014519480983570388 Centerline is valid? [True, True] Translation: X:27.89, Y:-1.73, Z:-0.13 [[ 9.87914231e-01 1.54975123e-01 -2.86057536e-03 2.78873915e+01] [-1.54974487e-01 9.87918373e-01 4.44105363e-04 -1.73070829e+00] [ 2.89484023e-03 4.57818904e-06 9.99995810e-01 -1.26732626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.051858064 meters 0.014779715003199205 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.74, Z:-0.13 [[ 9.87539884e-01 1.57319114e-01 -3.95899969e-03 2.79181556e+01] [-1.57317914e-01 9.87547820e-01 6.14644009e-04 -1.73581889e+00] [ 4.00639676e-03 1.58360998e-05 9.99991974e-01 -1.28225442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081858064 meters 0.014883259935368163 Centerline is valid? [True, True] Translation: X:27.95, Y:-1.74, Z:-0.13 [[ 9.87377774e-01 1.58326737e-01 -4.21615192e-03 2.79496025e+01] [-1.58325384e-01 9.87386775e-01 6.54844844e-04 -1.74123410e+00] [ 4.26665210e-03 2.09446274e-05 9.99990898e-01 -1.28084733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.111858064 meters 0.014731318952217621 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.75, Z:-0.13 [[ 9.87260602e-01 1.59078544e-01 -3.24362527e-03 2.79822696e+01] [-1.59077741e-01 9.87265930e-01 5.05471799e-04 -1.74686053e+00] [ 3.28273044e-03 1.69561899e-05 9.99994612e-01 -1.27526561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141858064 meters 0.014956985376624304 Centerline is valid? [True, True] Translation: X:28.01, Y:-1.75, Z:-0.13 [[ 9.87061272e-01 1.60317957e-01 -2.86308564e-03 2.80139165e+01] [-1.60317335e-01 9.87065424e-01 4.46984628e-04 -1.75225760e+00] [ 2.89771251e-03 1.78010455e-05 9.99995801e-01 -1.26138045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.171858064 meters 0.014853604397655491 Centerline is valid? [True, True] Translation: X:28.05, Y:-1.76, Z:-0.12 [[ 9.86911354e-01 1.61243704e-01 -2.53907461e-03 2.80462732e+01] [-1.61243215e-01 9.86914620e-01 3.97448901e-04 -1.75812597e+00] [ 2.56993598e-03 1.71617186e-05 9.99996698e-01 -1.24705688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201858064 meters 0.01507451555767564 Centerline is valid? [True, True] Translation: X:28.08, Y:-1.76, Z:-0.13 [[ 9.86811584e-01 1.61854148e-01 -2.47640115e-03 2.80779130e+01] [-1.61853683e-01 9.86814691e-01 3.88218407e-04 -1.76152134e+00] [ 2.50658380e-03 1.77162273e-05 9.99996858e-01 -1.25946713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.231858064 meters 0.014862909086040085 Centerline is valid? [True, True] Translation: X:28.11, Y:-1.77, Z:-0.12 [[ 9.86483198e-01 1.63846526e-01 -2.28402342e-03 2.81092241e+01] [-1.63846135e-01 9.86485841e-01 3.58556388e-04 -1.76578479e+00] [ 2.31190499e-03 2.05185585e-05 9.99997327e-01 -1.24823410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261858064 meters 0.014956708349176433 Centerline is valid? [True, True] Translation: X:28.14, Y:-1.77, Z:-0.13 [[ 9.86297659e-01 1.64960870e-01 -2.19983013e-03 2.81405669e+01] [-1.64960508e-01 9.86300112e-01 3.46171721e-04 -1.76958577e+00] [ 2.22679749e-03 2.14567372e-05 9.99997520e-01 -1.25202475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.291858064 meters 0.014946960169936569 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.77, Z:-0.12 [[ 9.86145367e-01 1.65867956e-01 -2.26633484e-03 2.81733235e+01] [-1.65867573e-01 9.86147971e-01 3.57352049e-04 -1.77411929e+00] [ 2.29421476e-03 2.35103918e-05 9.99997368e-01 -1.24657790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321858064 meters 0.015020963967902869 Centerline is valid? [True, True] Translation: X:28.20, Y:-1.78, Z:-0.12 [[ 9.86022087e-01 1.66597740e-01 -2.37405869e-03 2.82048635e+01] [-1.66597320e-01 9.86024945e-01 3.74783668e-04 -1.77860177e+00] [ 2.40331920e-03 2.59668413e-05 9.99997112e-01 -1.24192349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.351858063999998 meters 0.014845385248448145 Centerline is valid? [True, True] Translation: X:28.24, Y:-1.78, Z:-0.12 [[ 9.85980809e-01 1.66832547e-01 -2.95725934e-03 2.82371848e+01] [-1.66831896e-01 9.85985243e-01 4.67449993e-04 -1.78227280e+00] [ 2.99379994e-03 3.24684588e-05 9.99995518e-01 -1.23650240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381858064 meters 0.014812364958742228 Centerline is valid? [True, True] Translation: X:28.27, Y:-1.79, Z:-0.12 [[ 9.85967440e-01 1.66897044e-01 -3.68550915e-03 2.82696209e+01] [-1.66896030e-01 9.85974328e-01 5.83224986e-04 -1.78656912e+00] [ 3.73115593e-03 4.00559993e-05 9.99993038e-01 -1.24166865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.411858064 meters 0.014718638795727925 Centerline is valid? [True, True] Translation: X:28.30, Y:-1.79, Z:-0.13 [[ 9.85905173e-01 1.67178392e-01 -6.50956377e-03 2.83010634e+01] [-1.67175234e-01 9.85926661e-01 1.03017168e-03 -1.79012206e+00] [ 6.59017492e-03 7.25862555e-05 9.99978282e-01 -1.25423920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441858063999998 meters 0.014737450693279391 Centerline is valid? [True, True] Translation: X:28.33, Y:-1.79, Z:-0.13 [[ 9.85940176e-01 1.66924929e-01 -7.61828264e-03 2.83320312e+01] [-1.66920593e-01 9.85969605e-01 1.20593662e-03 -1.79374838e+00] [ 7.71269601e-03 8.26668932e-05 9.99970253e-01 -1.27510657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.471858064 meters 0.014699124807881842 Centerline is valid? [True, True] Translation: X:28.36, Y:-1.80, Z:-0.13 [[ 9.86025836e-01 1.66349537e-01 -8.99342589e-03 2.83633960e+01] [-1.66343443e-01 9.86066845e-01 1.42661381e-03 -1.79780010e+00] [ 9.10543565e-03 8.93193493e-05 9.99958541e-01 -1.29437545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501858064 meters 0.014614397557606459 Centerline is valid? [True, True] Translation: X:28.39, Y:-1.80, Z:-0.13 [[ 9.86154444e-01 1.65559289e-01 -9.46226280e-03 2.83947622e+01] [-1.65552485e-01 9.86199835e-01 1.50337999e-03 -1.80334834e+00] [ 9.58058054e-03 8.39362570e-05 9.99954102e-01 -1.30083135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.531858063999998 meters 0.014296283866430061 Centerline is valid? [True, True] Translation: X:28.43, Y:-1.81, Z:-0.13 [[ 9.86335831e-01 1.64450918e-01 -9.87544701e-03 2.84268692e+01] [-1.64443422e-01 9.86385265e-01 1.57191437e-03 -1.80988871e+00] [ 9.99949817e-03 7.35168327e-05 9.99950001e-01 -1.28874215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561858064 meters 0.01402335066307906 Centerline is valid? [True, True] Translation: X:28.46, Y:-1.82, Z:-0.13 [[ 9.86830924e-01 1.61496105e-01 -9.15068946e-03 2.84581976e+01] [-1.61489521e-01 9.86873349e-01 1.45872490e-03 -1.81591959e+00] [ 9.26614994e-03 3.82256181e-05 9.99957068e-01 -1.27681019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.591858064 meters 0.013991339163983237 Centerline is valid? [True, True] Translation: X:28.49, Y:-1.82, Z:-0.13 [[ 9.87040483e-01 1.60228326e-01 -8.82995201e-03 2.84891811e+01] [-1.60222128e-01 9.87079978e-01 1.40955499e-03 -1.82145172e+00] [ 8.94171948e-03 2.34658587e-05 9.99960022e-01 -1.27464685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621858063999998 meters 0.01391955799028216 Centerline is valid? [True, True] Translation: X:28.52, Y:-1.83, Z:-0.13 [[ 9.87298814e-01 1.58654412e-01 -8.35637189e-03 2.85203138e+01] [-1.58648786e-01 9.87334177e-01 1.33615897e-03 -1.82838135e+00] [ 8.46251908e-03 6.54008750e-06 9.99964192e-01 -1.26161267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.651858064 meters 0.014711464994633352 Centerline is valid? [True, True] Translation: X:28.55, Y:-1.83, Z:-0.13 [[ 9.87175705e-01 1.59390562e-01 -8.87559124e-03 2.85524682e+01] [-1.59384221e-01 9.87215604e-01 1.42174816e-03 -1.83485144e+00] [ 8.98873541e-03 1.11139524e-05 9.99959600e-01 -1.27104940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681858064 meters 0.014746856300947467 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.84, Z:-0.13 [[ 9.87249765e-01 1.58924994e-01 -8.98597730e-03 2.85850193e+01] [-1.58918453e-01 9.87290660e-01 1.44189036e-03 -1.84009330e+00] [ 9.10092387e-03 4.53168727e-06 9.99958586e-01 -1.27385324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.711858063999998 meters 0.014887663636061288 Centerline is valid? [True, True] Translation: X:28.62, Y:-1.85, Z:-0.13 [[ 9.87271865e-01 1.58795531e-01 -8.84557531e-03 2.86172813e+01] [-1.58789165e-01 9.87311491e-01 1.42182954e-03 -1.84516338e+00] [ 8.95911832e-03 8.49215245e-07 9.99959866e-01 -1.28191204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741858064 meters 0.01494244484612892 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.85, Z:-0.13 [[ 9.87319609e-01 1.58534559e-01 -8.17210989e-03 2.86491203e+01] [-1.58529101e-01 9.87353429e-01 1.31546514e-03 -1.84973124e+00] [ 8.27730741e-03 -3.26728837e-06 9.99965742e-01 -1.28797719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.771858064 meters 0.015063898208155242 Centerline is valid? [True, True] Translation: X:28.68, Y:-1.85, Z:-0.13 [[ 9.87342178e-01 1.58424814e-01 -7.54996419e-03 2.86802906e+01] [-1.58420139e-01 9.87371044e-01 1.21699747e-03 -1.85177129e+00] [ 7.64741862e-03 -5.52655417e-06 9.99970758e-01 -1.30405635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801858063999997 meters 0.015289316471537563 Centerline is valid? [True, True] Translation: X:28.71, Y:-1.86, Z:-0.13 [[ 9.87238334e-01 1.59084607e-01 -7.24980826e-03 2.87130762e+01] [-1.59080298e-01 9.87264953e-01 1.17088898e-03 -1.85508183e+00] [ 7.34375202e-03 -2.64482607e-06 9.99973034e-01 -1.31852881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.831858064 meters 0.015268507222770338 Centerline is valid? [True, True] Translation: X:28.74, Y:-1.86, Z:-0.13 [[ 9.87189364e-01 1.59400084e-01 -6.98378162e-03 2.87446591e+01] [-1.59396081e-01 9.87214067e-01 1.12963413e-03 -1.85889042e+00] [ 7.07455122e-03 -1.97537108e-06 9.99974975e-01 -1.32928086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861858064 meters 0.015360196301432946 Centerline is valid? [True, True] Translation: X:28.78, Y:-1.86, Z:-0.13 [[ 9.87089738e-01 1.60018304e-01 -6.92761361e-03 2.87775634e+01] [-1.60014367e-01 9.87114047e-01 1.12247701e-03 -1.86402312e+00] [ 7.01796157e-03 5.32172242e-07 9.99975374e-01 -1.32465598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.891858064 meters 0.015325899129081255 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.87, Z:-0.13 [[ 9.87018208e-01 1.60470988e-01 -6.64224897e-03 2.88096724e+01] [-1.60467366e-01 9.87040557e-01 1.07827861e-03 -1.86922493e+00] [ 6.72920156e-03 1.58356783e-06 9.99977359e-01 -1.30305434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921858064 meters 0.01533299322376923 Centerline is valid? [True, True] Translation: X:28.84, Y:-1.87, Z:-0.13 [[ 9.86971506e-01 1.60801635e-01 -5.48451977e-03 2.88402502e+01] [-1.60799163e-01 9.86986745e-01 8.91563466e-04 -1.87236671e+00] [ 5.55651318e-03 1.95845241e-06 9.99984562e-01 -1.29574455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.951858064 meters 0.015368466122153337 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.88, Z:-0.13 [[ 9.86920864e-01 1.61133079e-01 -4.83112469e-03 2.88728973e+01] [-1.61131156e-01 9.86932688e-01 7.87216936e-04 -1.87593343e+00] [ 4.89484157e-03 1.52388827e-06 9.99988020e-01 -1.29423053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981858064 meters 0.015356073970164613 Centerline is valid? [True, True] Translation: X:28.90, Y:-1.88, Z:-0.13 [[ 9.86865019e-01 1.61479680e-01 -4.66333118e-03 2.89049624e+01] [-1.61477886e-01 9.86876037e-01 7.61073828e-04 -1.87905795e+00] [ 4.72502776e-03 1.94772404e-06 9.99988837e-01 -1.30737543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.011858064 meters 0.015472244619718493 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.88, Z:-0.13 [[ 9.86822505e-01 1.61735292e-01 -4.79989875e-03 2.89374457e+01] [-1.61733388e-01 9.86834178e-01 7.84782180e-04 -1.88271432e+00] [ 4.86363111e-03 1.86317234e-06 9.99988172e-01 -1.31229615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041858064 meters 0.015422930107722476 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.89, Z:-0.13 [[ 9.86785648e-01 1.61945082e-01 -5.27968422e-03 2.89697368e+01] [-1.61942774e-01 9.86799772e-01 8.64619376e-04 -1.88710007e+00] [ 5.35001204e-03 1.81271661e-06 9.99985689e-01 -1.31799733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.071858064 meters 0.01550813813372556 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.89, Z:-0.13 [[ 9.86990905e-01 1.60689695e-01 -5.27017640e-03 2.90023334e+01] [-1.60687369e-01 9.87004976e-01 8.64594770e-04 -1.89293539e+00] [ 5.34062180e-03 -6.49639488e-06 9.99985739e-01 -1.31676779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101858063999998 meters 0.01558885781114024 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.90, Z:-0.13 [[ 9.87188228e-01 1.59494006e-01 -4.58970505e-03 2.90347733e+01] [-1.59492221e-01 9.87198897e-01 7.54507169e-04 -1.89886813e+00] [ 4.65129113e-03 -1.28183413e-05 9.99989183e-01 -1.31585726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.131858064 meters 0.015896883336153467 Centerline is valid? [True, True] Translation: X:29.07, Y:-1.90, Z:-0.13 [[ 9.87749050e-01 1.56014016e-01 -3.38232291e-03 2.90657916e+01] [-1.56013022e-01 9.87754841e-01 5.57252840e-04 -1.90499700e+00] [ 3.42784508e-03 -2.27395441e-05 9.99994125e-01 -1.31655103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161858064 meters 0.01614236376641093 Centerline is valid? [True, True] Translation: X:29.10, Y:-1.91, Z:-0.13 [[ 9.88045606e-01 1.54144056e-01 -2.34300518e-03 2.90968012e+01] [-1.54143571e-01 9.88048384e-01 3.87088112e-04 -1.91101829e+00] [ 2.37466981e-03 -2.13015228e-05 9.99997180e-01 -1.31782464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.191858063999998 meters 0.016230675023099272 Centerline is valid? [True, True] Translation: X:29.13, Y:-1.92, Z:-0.13 [[ 9.88381816e-01 1.51985785e-01 -1.30681638e-03 2.91282656e+01] [-1.51985632e-01 9.88382679e-01 2.16802585e-04 -1.91629586e+00] [ 1.32458559e-03 -1.56664192e-05 9.99999123e-01 -1.31044955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221858064 meters 0.016806107667202117 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.92, Z:-0.13 [[ 9.88832699e-01 1.49028501e-01 6.32356370e-04 2.91588863e+01] [-1.49028466e-01 9.88832901e-01 -1.03567321e-04 -1.92245415e+00] [-6.40729266e-04 8.17165414e-06 9.99999795e-01 -1.30659229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.251858064 meters 0.01702987121022468 Centerline is valid? [True, True] Translation: X:29.19, Y:-1.93, Z:-0.13 [[ 9.88931238e-01 1.48371300e-01 9.82111670e-04 2.91909121e+01] [-1.48371213e-01 9.88931725e-01 -1.60733985e-04 -1.92825339e+00] [-9.95089698e-04 1.32377592e-05 9.99999505e-01 -1.30381200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281858063999998 meters 0.01724839548921298 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.93, Z:-0.13 [[ 9.89023344e-01 1.47755307e-01 1.09267886e-03 2.92227235e+01] [-1.47755199e-01 9.89023948e-01 -1.79476573e-04 -1.93367714e+00] [-1.10720418e-03 1.60575377e-05 9.99999387e-01 -1.30879746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.311858064 meters 0.01738397683050217 Centerline is valid? [True, True] Translation: X:29.26, Y:-1.94, Z:-0.13 [[ 9.89074768e-01 1.47411897e-01 9.13684838e-04 2.92555783e+01] [-1.47411822e-01 9.89075190e-01 -1.49905912e-04 -1.93612735e+00] [-9.25800920e-04 1.35802084e-05 9.99999571e-01 -1.33239638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341858064 meters 0.01738397683050217 Centerline is valid? [True, True] Translation: X:29.29, Y:-1.94, Z:-0.13 [[ 9.89034153e-01 1.47684152e-01 9.13643391e-04 2.92875365e+01] [-1.47684077e-01 9.89034575e-01 -1.50157013e-04 -1.94150026e+00] [-9.25800714e-04 1.35798337e-05 9.99999571e-01 -1.33421871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.371858063999998 meters 0.017741110626787408 Centerline is valid? [True, True] Translation: X:29.32, Y:-1.95, Z:-0.14 [[ 9.89014595e-01 1.47815083e-01 9.11754037e-04 2.93190560e+01] [-1.47815007e-01 9.89015016e-01 -1.50191515e-04 -1.94610220e+00] [-9.23939004e-04 1.37706709e-05 9.99999573e-01 -1.35079799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401858064 meters 0.017376651604938186 Centerline is valid? [True, True] Translation: X:29.35, Y:-1.95, Z:-0.14 [[ 9.88955763e-01 1.48209972e-01 5.50998857e-04 2.93515441e+01] [-1.48209945e-01 9.88955916e-01 -9.02330127e-05 -1.94964992e+00] [-5.58287012e-04 7.57294777e-06 9.99999844e-01 -1.35458544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.431858064 meters 0.017703935502347286 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.95, Z:-0.14 [[ 9.88853970e-01 1.48880215e-01 1.58341633e-03 2.93823595e+01] [-1.48879985e-01 9.88855238e-01 -2.62909730e-04 -1.95442726e+00] [-1.60491159e-03 2.42403310e-05 9.99998712e-01 -1.35439858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461858063999998 meters 0.017358444154400438 Centerline is valid? [True, True] Translation: X:29.42, Y:-1.96, Z:-0.13 [[ 9.88762775e-01 1.49472701e-01 2.46722442e-03 2.94153631e+01] [-1.49472141e-01 9.88765852e-01 -4.10743888e-04 -1.95776698e+00] [-2.50090225e-03 3.73469496e-05 9.99996872e-01 -1.34733697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.491858064 meters 0.0177493208932837 Centerline is valid? [True, True] Translation: X:29.45, Y:-1.96, Z:-0.13 [[ 9.88640659e-01 1.50273025e-01 2.76872103e-03 2.94462544e+01] [-1.50272320e-01 9.88644535e-01 -4.62079628e-04 -1.96292004e+00] [-2.80671902e-03 4.07685764e-05 9.99996060e-01 -1.34995241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521858064 meters 0.01734494053300105 Centerline is valid? [True, True] Translation: X:29.48, Y:-1.97, Z:-0.14 [[ 9.88545446e-01 1.50888632e-01 3.24365194e-03 2.94791467e+01] [-1.50887665e-01 9.88550767e-01 -5.42190445e-04 -1.96550122e+00] [-3.28832498e-03 4.65528289e-05 9.99994592e-01 -1.35325732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.551858063999997 meters 0.017155978255330894 Centerline is valid? [True, True] Translation: X:29.51, Y:-1.97, Z:-0.14 [[ 9.88195159e-01 1.53170640e-01 3.01360104e-03 2.95100851e+01] [-1.53169814e-01 9.88199754e-01 -5.04620727e-04 -1.96660508e+00] [-3.05533289e-03 3.70710501e-05 9.99995332e-01 -1.36480824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581858064 meters 0.017051449890033783 Centerline is valid? [True, True] Translation: X:29.54, Y:-1.97, Z:-0.14 [[ 9.88028668e-01 1.54235484e-01 3.28135724e-03 2.95425507e+01] [-1.54234507e-01 9.88034116e-01 -5.50283559e-04 -1.96983789e+00] [-3.32696615e-03 3.75974160e-05 9.99994465e-01 -1.37236047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.611858064 meters 0.017078283996761156 Centerline is valid? [True, True] Translation: X:29.57, Y:-1.97, Z:-0.14 [[ 9.87841468e-01 1.55438821e-01 2.82950899e-03 2.95744254e+01] [-1.55438098e-01 9.87845520e-01 -4.75018343e-04 -1.97368590e+00] [-2.86895407e-03 2.94293219e-05 9.99995884e-01 -1.38123493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641858064 meters 0.017024630404392966 Centerline is valid? [True, True] Translation: X:29.61, Y:-1.98, Z:-0.14 [[ 9.87686153e-01 1.56431656e-01 2.28058864e-03 2.96059904e+01] [-1.56431188e-01 9.87688785e-01 -3.83106721e-04 -1.97626814e+00] [-2.31244184e-03 2.16340127e-05 9.99997326e-01 -1.39273526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.671858064 meters 0.017034299508172042 Centerline is valid? [True, True] Translation: X:29.64, Y:-1.98, Z:-0.14 [[ 9.87552159e-01 1.57280531e-01 1.88888191e-03 2.96386701e+01] [-1.57280211e-01 9.87553965e-01 -3.17485756e-04 -1.98025332e+00] [-1.91530715e-03 1.64499972e-05 9.99998166e-01 -1.39868740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701858064 meters 0.01789051130834223 Centerline is valid? [True, True] Translation: X:29.67, Y:-1.98, Z:-0.14 [[ 9.87614212e-01 1.56894173e-01 1.54486499e-03 2.96710462e+01] [-1.56893959e-01 9.87615420e-01 -2.59816289e-04 -1.98446304e+00] [-1.56649614e-03 1.42182755e-05 9.99998773e-01 -1.41261929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.731858064 meters 0.017354787322126714 Centerline is valid? [True, True] Translation: X:29.70, Y:-1.99, Z:-0.14 [[ 9.87596190e-01 1.57009396e-01 1.34736676e-03 2.97029063e+01] [-1.57009232e-01 9.87597109e-01 -2.26858716e-04 -1.98655633e+00] [-1.36627446e-03 1.24957834e-05 9.99999067e-01 -1.42850744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761858064 meters 0.017368726306916923 Centerline is valid? [True, True] Translation: X:29.74, Y:-1.99, Z:-0.14 [[ 9.87618489e-01 1.56868134e-01 1.45228892e-03 2.97353632e+01] [-1.56867944e-01 9.87619556e-01 -2.44947248e-04 -1.99075422e+00] [-1.47273336e-03 1.40968539e-05 9.99998915e-01 -1.43600325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.791858064 meters 0.0202400781570492 Centerline is valid? [True, True] Translation: X:29.77, Y:-2.00, Z:-0.14 [[ 9.87786292e-01 1.55811165e-01 1.05957385e-03 2.97656921e+01] [-1.55811063e-01 9.87786860e-01 -1.79226923e-04 -1.99531604e+00] [-1.07455868e-03 1.19445698e-05 9.99999423e-01 -1.44027890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821858064 meters 0.017441522176382708 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.00, Z:-0.14 [[ 9.87518641e-01 1.57483870e-01 2.40084841e-03 2.97975732e+01] [-1.57483346e-01 9.87521559e-01 -4.06995547e-04 -1.99924966e+00] [-2.43498480e-03 2.38220488e-05 9.99997035e-01 -1.41627522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.851858063999998 meters 0.01749870040505843 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.00, Z:-0.14 [[ 9.87528570e-01 1.57412770e-01 2.92272740e-03 2.98303054e+01] [-1.57411991e-01 9.87532895e-01 -4.96342660e-04 -2.00386024e+00] [-2.96442013e-03 3.00802189e-05 9.99995606e-01 -1.41662478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881858064 meters 0.01749211070673486 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.01, Z:-0.14 [[ 9.87521449e-01 1.57458478e-01 2.86627759e-03 2.98626642e+01] [-1.57457726e-01 9.87525608e-01 -4.87489630e-04 -2.00797892e+00] [-2.90728189e-03 3.00889158e-05 9.99995773e-01 -1.42234580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.911858064 meters 0.017138848135649067 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.01, Z:-0.14 [[ 9.87565168e-01 1.57180347e-01 3.06221509e-03 2.98957097e+01] [-1.57179485e-01 9.87569915e-01 -5.21679748e-04 -2.00891643e+00] [-3.10614930e-03 3.38753566e-05 9.99995175e-01 -1.42458335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941858063999998 meters 0.017148355020219642 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.01, Z:-0.14 [[ 9.87570109e-01 1.57157071e-01 2.63359208e-03 2.99278982e+01] [-1.57156431e-01 9.87573620e-01 -4.49176454e-04 -2.01313660e+00] [-2.67145732e-03 2.97073058e-05 9.99996431e-01 -1.42640532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.971858064 meters 0.016985657407260067 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.02, Z:-0.14 [[ 9.87556465e-01 1.57247644e-01 2.32519545e-03 2.99606400e+01] [-1.57247145e-01 9.87559202e-01 -3.97020632e-04 -2.01700238e+00] [-2.35869872e-03 2.64499450e-05 9.99997218e-01 -1.42535166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001858064 meters 0.017926711510870098 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.02, Z:-0.14 [[ 9.87588529e-01 1.57055253e-01 1.59494043e-03 2.99921060e+01] [-1.57055018e-01 9.87589817e-01 -2.72724038e-04 -2.02304496e+00] [-1.61797967e-03 1.88457340e-05 9.99998691e-01 -1.43833414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.031858063999998 meters 0.017789823985139876 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.03, Z:-0.14 [[ 9.87521562e-01 1.57474436e-01 1.72227614e-03 3.00244599e+01] [-1.57474162e-01 9.87523064e-01 -2.94613284e-04 -2.02707460e+00] [-1.74718147e-03 1.97229792e-05 9.99998473e-01 -1.43873283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061858064 meters 0.016681575396316074 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.03, Z:-0.14 [[ 9.87465557e-01 1.57823086e-01 1.90952065e-03 3.00581338e+01] [-1.57822749e-01 9.87467404e-01 -3.27124071e-04 -2.02703692e+00] [-1.93721713e-03 2.16579555e-05 9.99998123e-01 -1.42808061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.091858064 meters 0.016708490312770323 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.03, Z:-0.14 [[ 9.87414271e-01 1.58149548e-01 1.33344115e-03 3.00908303e+01] [-1.58149384e-01 9.87415171e-01 -2.28347704e-04 -2.03123479e+00] [-1.35277311e-03 1.45908845e-05 9.99999085e-01 -1.43454501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121858063999998 meters 0.016907410913796498 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.04, Z:-0.15 [[ 9.87490957e-01 1.57674222e-01 -6.70543878e-04 3.01213121e+01] [-1.57674179e-01 9.87491185e-01 1.16507076e-04 -2.03513433e+00] [ 6.80526331e-04 -9.32222847e-06 9.99999768e-01 -1.45377419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.151858064 meters 0.01913238346492137 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.04, Z:-0.15 [[ 9.87727160e-01 1.56168780e-01 -2.52371201e-03 3.01532123e+01] [-1.56168172e-01 9.87730384e-01 4.37623113e-04 -2.04033548e+00] [ 2.56109010e-03 -3.81287447e-05 9.99996720e-01 -1.46798229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181858064 meters 0.017048081451179687 Centerline is valid? [True, True] Translation: X:30.19, Y:-2.05, Z:-0.14 [[ 9.87812414e-01 1.55648363e-01 -4.70942186e-04 3.01851659e+01] [-1.55648341e-01 9.87812526e-01 8.30125520e-05 -2.04500630e+00] [ 4.78123358e-04 -8.69945956e-06 9.99999886e-01 -1.44686855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.211858063999998 meters 0.01704511613079306 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.05, Z:-0.14 [[ 9.87870962e-01 1.55275863e-01 -6.07625800e-04 3.02176818e+01] [-1.55275827e-01 9.87871149e-01 1.06960872e-04 -2.04987127e+00] [ 6.16864438e-04 -1.13139414e-05 9.99999810e-01 -1.44262765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241858064 meters 0.016984905649246852 Centerline is valid? [True, True] Translation: X:30.25, Y:-2.05, Z:-0.14 [[ 9.87897286e-01 1.55107632e-01 -7.57678776e-04 3.02500180e+01] [-1.55107576e-01 9.87897577e-01 1.33210831e-04 -2.05384974e+00] [ 7.69171043e-04 -1.40769005e-05 9.99999704e-01 -1.44521710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.271858064 meters 0.016869863752167903 Centerline is valid? [True, True] Translation: X:30.28, Y:-2.06, Z:-0.14 [[ 9.87765828e-01 1.55940710e-01 -1.07849518e-03 3.02829152e+01] [-1.55940596e-01 9.87766417e-01 1.89257951e-04 -2.05616322e+00] [ 1.09481434e-03 -1.87613551e-05 9.99999401e-01 -1.44181357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301858063999997 meters 0.016787281592197476 Centerline is valid? [True, True] Translation: X:30.32, Y:-2.06, Z:-0.14 [[ 9.87640464e-01 1.56729133e-01 -1.51438825e-03 3.03150909e+01] [-1.56728910e-01 9.87641624e-01 2.65532856e-04 -2.06111802e+00] [ 1.53728960e-03 -2.49025741e-05 9.99998818e-01 -1.44017328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.331858064 meters 0.01669213431425752 Centerline is valid? [True, True] Translation: X:30.35, Y:-2.07, Z:-0.14 [[ 9.87428813e-01 1.58040491e-01 -2.74621805e-03 3.03477938e+01] [-1.58039764e-01 9.87432631e-01 4.81004947e-04 -2.06655746e+00] [ 2.78772358e-03 -4.09464905e-05 9.99996113e-01 -1.43731965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361858064 meters 0.016704951971887632 Centerline is valid? [True, True] Translation: X:30.38, Y:-2.07, Z:-0.14 [[ 9.87180470e-01 1.59576002e-01 -3.19688182e-03 3.03799806e+01] [-1.59575024e-01 9.87185645e-01 5.60271819e-04 -2.07095604e+00] [ 3.24532178e-03 -4.29469050e-05 9.99994733e-01 -1.43529467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.391858064 meters 0.016287043845234273 Centerline is valid? [True, True] Translation: X:30.41, Y:-2.07, Z:-0.14 [[ 9.86635662e-01 1.62924287e-01 -2.39724899e-03 3.04112855e+01] [-1.62923747e-01 9.86638574e-01 4.20225247e-04 -2.07054148e+00] [ 2.43368322e-03 -2.40404268e-05 9.99997038e-01 -1.42927372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421858064 meters 0.017410311049746954 Centerline is valid? [True, True] Translation: X:30.44, Y:-2.07, Z:-0.14 [[ 9.86359075e-01 1.64575381e-01 -3.27392134e-03 3.04444400e+01] [-1.64574378e-01 9.86364508e-01 5.75320187e-04 -2.07333670e+00] [ 3.32396335e-03 -2.86687182e-05 9.99994475e-01 -1.43598324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.451858064 meters 0.015469392410955287 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.07, Z:-0.14 [[ 9.85532510e-01 1.69450403e-01 -3.49750858e-03 3.04771084e+01] [-1.69449286e-01 9.85538716e-01 6.15194188e-04 -2.07277492e+00] [ 3.55117501e-03 -1.36435392e-05 9.99993694e-01 -1.43495603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481858064 meters 0.01529059461323103 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.08, Z:-0.14 [[ 9.85146438e-01 1.71659265e-01 -4.42636266e-03 3.05099051e+01] [-1.71657494e-01 9.85156382e-01 7.79722938e-04 -2.07579124e+00] [ 4.49450609e-03 -8.32295204e-06 9.99989900e-01 -1.43671105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.511858064 meters 0.01529079003679394 Centerline is valid? [True, True] Translation: X:30.54, Y:-2.08, Z:-0.14 [[ 9.84837179e-01 1.73418543e-01 -4.66264814e-03 3.05423687e+01] [-1.73416592e-01 9.84848216e-01 8.22615221e-04 -2.07953965e+00] [ 4.73465744e-03 -1.56150260e-06 9.99988791e-01 -1.44403074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541858064 meters 0.015117903574494595 Centerline is valid? [True, True] Translation: X:30.57, Y:-2.08, Z:-0.14 [[ 9.84651336e-01 1.74462128e-01 -4.97121463e-03 3.05736445e+01] [-1.74459923e-01 9.84663885e-01 8.77240445e-04 -2.08388046e+00] [ 5.04802075e-03 3.50174420e-06 9.99987259e-01 -1.44890868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.571858064 meters 0.015112587641290481 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.09, Z:-0.14 [[ 9.84506252e-01 1.75282425e-01 -4.84894438e-03 3.06062989e+01] [-1.75280326e-01 9.84518193e-01 8.57744948e-04 -2.08796817e+00] [ 4.92422157e-03 5.46928965e-06 9.99987876e-01 -1.44054774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601858063999998 meters 0.014930623321911434 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.09, Z:-0.14 [[ 9.84474045e-01 1.75463112e-01 -4.85285887e-03 3.06381656e+01] [-1.75461010e-01 9.84486006e-01 8.58707564e-04 -2.09247211e+00] [ 4.92824315e-03 6.11221176e-06 9.99987856e-01 -1.44471892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.631858064 meters 0.014943182260155723 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.10, Z:-0.14 [[ 9.84399352e-01 1.75877776e-01 -4.99243695e-03 3.06703920e+01] [-1.75875547e-01 9.84412011e-01 8.85407359e-04 -2.09797201e+00] [ 5.07033838e-03 6.45315049e-06 9.99987146e-01 -1.44593191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661858064 meters 0.01497437491888462 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.10, Z:-0.14 [[ 9.84353346e-01 1.76121584e-01 -5.44781025e-03 3.07025412e+01] [-1.76118926e-01 9.84368421e-01 9.67605202e-04 -2.10480998e+00] [ 5.53306853e-03 6.99707216e-06 9.99984692e-01 -1.44299187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.691858063999998 meters 0.014798428847960942 Centerline is valid? [True, True] Translation: X:30.73, Y:-2.11, Z:-0.14 [[ 9.84113026e-01 1.77410167e-01 -6.86908807e-03 3.07337063e+01] [-1.77405965e-01 9.84136999e-01 1.22119054e-03 -2.11116863e+00] [ 6.97677533e-03 1.68276736e-05 9.99975662e-01 -1.44054714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721858064 meters 0.01486821588299051 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.12, Z:-0.15 [[ 9.83880726e-01 1.78693035e-01 -6.89315246e-03 3.07655468e+01] [-1.78688821e-01 9.83904873e-01 1.22743586e-03 -2.11596499e+00] [ 7.00154053e-03 2.40788079e-05 9.99975489e-01 -1.45061117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.751858064 meters 0.015059397792411873 Centerline is valid? [True, True] Translation: X:30.80, Y:-2.12, Z:-0.15 [[ 9.83516790e-01 1.80668788e-01 -7.31524267e-03 3.07963334e+01] [-1.80664087e-01 9.83543994e-01 1.30398195e-03 -2.12010524e+00] [ 7.43045183e-03 3.91134966e-05 9.99972393e-01 -1.46068963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781858063999998 meters 0.01520202371592447 Centerline is valid? [True, True] Translation: X:30.83, Y:-2.12, Z:-0.15 [[ 9.82724097e-01 1.84852789e-01 -9.09920453e-03 3.08285136e+01] [-1.84845674e-01 9.82766218e-01 1.62410718e-03 -2.12399695e+00] [ 9.24261156e-03 8.58993297e-05 9.99957282e-01 -1.47470391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.811858064 meters 0.015459768810193005 Centerline is valid? [True, True] Translation: X:30.86, Y:-2.13, Z:-0.15 [[ 9.82320439e-01 1.87013406e-01 -8.51711347e-03 3.08589630e+01] [-1.87007236e-01 9.82357357e-01 1.52218827e-03 -2.12871527e+00] [ 8.65151869e-03 9.74852035e-05 9.99962570e-01 -1.48214595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841858064 meters 0.015552628041981667 Centerline is valid? [True, True] Translation: X:30.89, Y:-2.13, Z:-0.15 [[ 9.81894726e-01 1.89215895e-01 -8.94938738e-03 3.08903742e+01] [-1.89209154e-01 9.81935502e-01 1.60174817e-03 -2.13498039e+00] [ 9.09079740e-03 1.20557927e-04 9.99958671e-01 -1.47478634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.871858063999998 meters 0.015851193275976335 Centerline is valid? [True, True] Translation: X:30.92, Y:-2.14, Z:-0.15 [[ 9.81538940e-01 1.91036707e-01 -9.28900336e-03 3.09217247e+01] [-1.91029504e-01 9.81582883e-01 1.66481743e-03 -2.14083709e+00] [ 9.43596794e-03 1.40390571e-04 9.99955470e-01 -1.47425875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901858064 meters 0.01656307886948975 Centerline is valid? [True, True] Translation: X:30.95, Y:-2.15, Z:-0.15 [[ 9.80775660e-01 1.94900864e-01 -9.63105920e-03 3.09525848e+01] [-1.94893287e-01 9.80822930e-01 1.72820485e-03 -2.14639790e+00] [ 9.78319232e-03 1.82047524e-04 9.99952127e-01 -1.47842953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.931858064 meters 0.017187138300585214 Centerline is valid? [True, True] Translation: X:30.98, Y:-2.15, Z:-0.15 [[ 9.80386616e-01 1.96836618e-01 -9.87056664e-03 3.09836571e+01] [-1.96828750e-01 9.80436282e-01 1.77190427e-03 -2.15123519e+00] [ 1.00262373e-02 2.05660063e-04 9.99949715e-01 -1.48571704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961858063999998 meters 0.017401409137799133 Centerline is valid? [True, True] Translation: X:31.02, Y:-2.16, Z:-0.15 [[ 9.80012100e-01 1.98694424e-01 -9.83922938e-03 3.10154812e+01] [-1.98686668e-01 9.80061466e-01 1.76937251e-03 -2.15718167e+00] [ 9.99461402e-03 2.20917234e-04 9.99950028e-01 -1.48321081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.991858064 meters 0.018441668376096166 Centerline is valid? [True, True] Translation: X:31.05, Y:-2.16, Z:-0.15 [[ 9.79414944e-01 2.01664699e-01 -8.81572000e-03 3.10457960e+01] [-2.01658575e-01 9.79454593e-01 1.58737413e-03 -2.16244890e+00] [ 8.95471477e-03 2.23067584e-04 9.99959881e-01 -1.48157308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021858064 meters 0.01901187305132702 Centerline is valid? [True, True] Translation: X:31.08, Y:-2.17, Z:-0.15 [[ 9.79148650e-01 2.02972676e-01 -8.36747970e-03 3.10766275e+01] [-2.02967190e-01 9.79184377e-01 1.50860626e-03 -2.16822682e+00] [ 8.49951125e-03 2.21174061e-04 9.99963854e-01 -1.47992744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.051858063999997 meters 0.018921574435858592 Centerline is valid? [True, True] Translation: X:31.11, Y:-2.18, Z:-0.15 [[ 9.78990240e-01 2.03769213e-01 -7.49784596e-03 3.11090971e+01] [-2.03764812e-01 9.79018931e-01 1.35435331e-03 -2.17515673e+00] [ 7.61650865e-03 2.01898503e-04 9.99970974e-01 -1.47384383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081858064 meters 0.01849642887259777 Centerline is valid? [True, True] Translation: X:31.14, Y:-2.18, Z:-0.15 [[ 9.78872801e-01 2.04348636e-01 -7.04797634e-03 3.11407267e+01] [-2.04344756e-01 9.78898155e-01 1.27388870e-03 -2.18265128e+00] [ 7.15956845e-03 1.93242006e-04 9.99974351e-01 -1.46669112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.111858064 meters 0.018377911801656575 Centerline is valid? [True, True] Translation: X:31.17, Y:-2.19, Z:-0.15 [[ 9.78847122e-01 2.04472141e-01 -7.03240059e-03 3.11720563e+01] [-2.04468264e-01 9.78872365e-01 1.27367593e-03 -2.19173914e+00] [ 7.14425385e-03 1.91168718e-04 9.99974461e-01 -1.47231794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141858064 meters 0.0184540628618096 Centerline is valid? [True, True] Translation: X:31.20, Y:-2.20, Z:-0.15 [[ 9.78832030e-01 2.04536642e-01 -7.25393682e-03 3.12045144e+01] [-2.04532503e-01 9.78858889e-01 1.31580782e-03 -2.19998600e+00] [ 7.36971144e-03 1.95711014e-04 9.99972824e-01 -1.46940698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.171858064 meters 0.019520998565778595 Centerline is valid? [True, True] Translation: X:31.24, Y:-2.21, Z:-0.15 [[ 9.78766833e-01 2.04846540e-01 -7.30628664e-03 3.12357194e+01] [-2.04842337e-01 9.78794082e-01 1.32712299e-03 -2.20658811e+00] [ 7.42320669e-03 1.97692857e-04 9.99972428e-01 -1.47224144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201858064 meters 0.019594493951454912 Centerline is valid? [True, True] Translation: X:31.27, Y:-2.22, Z:-0.15 [[ 9.78800592e-01 2.04733926e-01 -5.78100519e-03 3.12654726e+01] [-2.04731285e-01 9.78817652e-01 1.05140812e-03 -2.21570742e+00] [ 5.87380883e-03 1.54433731e-04 9.99982737e-01 -1.46565062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.231858064 meters 0.01799983878519789 Centerline is valid? [True, True] Translation: X:31.30, Y:-2.23, Z:-0.14 [[ 9.78736717e-01 2.05061670e-01 -4.91424191e-03 3.12970257e+01] [-2.05059756e-01 9.78749046e-01 8.95729612e-04 -2.22552705e+00] [ 4.99348939e-03 1.31029785e-04 9.99987524e-01 -1.44946894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261858064 meters 0.01799983878519789 Centerline is valid? [True, True] Translation: X:31.33, Y:-2.23, Z:-0.15 [[ 9.78679557e-01 2.05334305e-01 -4.91399218e-03 3.13289210e+01] [-2.05332388e-01 9.78691885e-01 8.97099835e-04 -2.23140880e+00] [ 4.99348964e-03 1.31028477e-04 9.99987524e-01 -1.45129175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.291858064 meters 0.019850432153391735 Centerline is valid? [True, True] Translation: X:31.36, Y:-2.23, Z:-0.15 [[ 9.78618988e-01 2.05641150e-01 -4.07346343e-03 3.13605116e+01] [-2.05639829e-01 9.78627460e-01 7.44905302e-04 -2.23498127e+00] [ 4.13958635e-03 1.08687851e-04 9.99991426e-01 -1.46551252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321858064 meters 0.018286886155295792 Centerline is valid? [True, True] Translation: X:31.39, Y:-2.25, Z:-0.15 [[ 9.78604439e-01 2.05702785e-01 -4.44032210e-03 3.13921682e+01] [-2.05701211e-01 9.78614505e-01 8.13213304e-04 -2.24514491e+00] [ 4.51264385e-03 1.17565485e-04 9.99989811e-01 -1.46315810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.351858063999998 meters 0.01803481209159196 Centerline is valid? [True, True] Translation: X:31.42, Y:-2.26, Z:-0.15 [[ 9.78901780e-01 2.04253277e-01 -5.64842430e-03 3.14223471e+01] [-2.04250702e-01 9.78918066e-01 1.03522809e-03 -2.25544208e+00] [ 5.74079332e-03 1.40308005e-04 9.99983512e-01 -1.47737815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381858064 meters 0.017766256189618846 Centerline is valid? [True, True] Translation: X:31.45, Y:-2.27, Z:-0.15 [[ 9.79174960e-01 2.02944514e-01 -5.47005860e-03 3.14537489e+01] [-2.02942080e-01 9.79190231e-01 1.00217666e-03 -2.26511027e+00] [ 5.55961419e-03 1.28798784e-04 9.99984537e-01 -1.47475217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.411858064 meters 0.0171532583372172 Centerline is valid? [True, True] Translation: X:31.48, Y:-2.27, Z:-0.15 [[ 9.79528192e-01 2.01231660e-01 -5.50822604e-03 3.14844531e+01] [-2.01229153e-01 9.79543672e-01 1.01136160e-03 -2.27497855e+00] [ 5.59906593e-03 1.17758454e-04 9.99984318e-01 -1.46862227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441858063999998 meters 0.014931160608757807 Centerline is valid? [True, True] Translation: X:31.51, Y:-2.29, Z:-0.15 [[ 9.80584476e-01 1.96031449e-01 -5.07518110e-03 3.15140678e+01] [-1.96029255e-01 9.80597606e-01 9.31007763e-04 -2.28857925e+00] [ 5.15921724e-03 8.19522105e-05 9.99986688e-01 -1.46149208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.471858064 meters 0.015156171171184006 Centerline is valid? [True, True] Translation: X:31.54, Y:-2.29, Z:-0.15 [[ 9.81081274e-01 1.93519048e-01 -5.46913148e-03 3.15445587e+01] [-1.93516454e-01 9.81096516e-01 1.00465639e-03 -2.29445068e+00] [ 5.56016599e-03 7.27173596e-05 9.99984540e-01 -1.48657015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501858064 meters 0.013766853233193677 Centerline is valid? [True, True] Translation: X:31.58, Y:-2.31, Z:-0.15 [[ 9.81998416e-01 1.88833383e-01 -4.58966208e-03 3.15754460e+01] [-1.88831504e-01 9.82009140e-01 8.43341328e-04 -2.30719486e+00] [ 4.66634111e-03 3.85129440e-05 9.99989112e-01 -1.47565823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.531858063999998 meters 0.013545075465102266 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.32, Z:-0.15 [[ 9.82367782e-01 1.86920341e-01 -3.78520699e-03 3.16060466e+01] [-1.86919041e-01 9.82375074e-01 6.97447376e-04 -2.31671283e+00] [ 3.84886010e-03 2.23774300e-05 9.99992593e-01 -1.46513835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561858064 meters 0.013398488785932644 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.33, Z:-0.15 [[ 9.82789115e-01 1.84710198e-01 -2.77465081e-03 3.16363580e+01] [-1.84709488e-01 9.82793031e-01 5.12150525e-04 -2.32613103e+00] [ 2.82150690e-03 9.16836915e-06 9.99996019e-01 -1.45121544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.591858064 meters 0.013306981655722298 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.34, Z:-0.14 [[ 9.83121187e-01 1.82941185e-01 -2.29243254e-03 3.16675748e+01] [-1.82940693e-01 9.83123859e-01 4.24058796e-04 -2.33501665e+00] [ 2.33132295e-03 2.47801239e-06 9.99997282e-01 -1.43945409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621858063999998 meters 0.013377662419431993 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.34, Z:-0.15 [[ 9.83545814e-01 1.80647438e-01 -2.03321667e-03 3.16983269e+01] [-1.80647045e-01 9.83547916e-01 3.76899574e-04 -2.34279330e+00] [ 2.06785196e-03 -3.40341580e-06 9.99997862e-01 -1.45052122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.651858064 meters 0.013365017143080546 Centerline is valid? [True, True] Translation: X:31.73, Y:-2.35, Z:-0.15 [[ 9.83630084e-01 1.80186664e-01 -2.15016415e-03 3.17304166e+01] [-1.80186221e-01 9.83632435e-01 3.99274152e-04 -2.34862840e+00] [ 2.18691508e-03 -5.30811348e-06 9.99997609e-01 -1.45306618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681858064 meters 0.013421925638982894 Centerline is valid? [True, True] Translation: X:31.76, Y:-2.35, Z:-0.15 [[ 9.83624492e-01 1.80217306e-01 -2.14055480e-03 3.17613459e+01] [-1.80216867e-01 9.83626821e-01 3.97970162e-04 -2.35447961e+00] [ 2.17722823e-03 -5.68911716e-06 9.99997630e-01 -1.47367977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.711858063999998 meters 0.013303517946110888 Centerline is valid? [True, True] Translation: X:31.79, Y:-2.36, Z:-0.15 [[ 9.83573462e-01 1.80490114e-01 -2.56183396e-03 3.17925929e+01] [-1.80489485e-01 9.83576799e-01 4.76567329e-04 -2.36256041e+00] [ 2.60577614e-03 -6.35488548e-06 9.99996605e-01 -1.47776094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741858064 meters 0.0132101048294874 Centerline is valid? [True, True] Translation: X:31.82, Y:-2.37, Z:-0.15 [[ 9.83428366e-01 1.81272479e-01 -2.98945119e-03 3.18249589e+01] [-1.81271624e-01 9.83432910e-01 5.56901252e-04 -2.37001241e+00] [ 3.04087555e-03 -5.76981649e-06 9.99995377e-01 -1.46712314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.771858064 meters 0.013238910276276963 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.38, Z:-0.15 [[ 9.83362604e-01 1.81623761e-01 -3.28624500e-03 3.18573353e+01] [-1.81622726e-01 9.83368095e-01 6.13016424e-04 -2.37735461e+00] [ 3.34292683e-03 -5.96065078e-06 9.99994412e-01 -1.46279121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801858063999997 meters 0.01317549932915898 Centerline is valid? [True, True] Translation: X:31.89, Y:-2.38, Z:-0.15 [[ 9.83232991e-01 1.82331769e-01 -2.83043811e-03 3.18891085e+01] [-1.82331004e-01 9.83237065e-01 5.28117123e-04 -2.38381017e+00] [ 2.87928419e-03 -3.18555655e-06 9.99995855e-01 -1.46809799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.831858064 meters 0.01311495158063271 Centerline is valid? [True, True] Translation: X:31.92, Y:-2.39, Z:-0.15 [[ 9.82938164e-01 1.83915386e-01 -2.77443583e-03 3.19216316e+01] [-1.83914653e-01 9.82942079e-01 5.19110904e-04 -2.38889498e+00] [ 2.82258220e-03 5.48386677e-09 9.99996017e-01 -1.48018842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861858064 meters 0.01310360531658703 Centerline is valid? [True, True] Translation: X:31.95, Y:-2.39, Z:-0.15 [[ 9.82679412e-01 1.85290781e-01 -2.91543215e-03 3.19527249e+01] [-1.85289976e-01 9.82683737e-01 5.46098624e-04 -2.39401321e+00] [ 2.96613480e-03 3.56047898e-06 9.99995601e-01 -1.49514985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.891858064 meters 0.013057703314630603 Centerline is valid? [True, True] Translation: X:31.99, Y:-2.40, Z:-0.15 [[ 9.82430191e-01 1.86604202e-01 -3.12905317e-03 3.19853957e+01] [-1.86603279e-01 9.82435174e-01 5.87036163e-04 -2.39980948e+00] [ 3.18363531e-03 7.16952991e-06 9.99994932e-01 -1.50074691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921858064 meters 0.013077903630255188 Centerline is valid? [True, True] Translation: X:32.02, Y:-2.41, Z:-0.15 [[ 9.82173782e-01 1.87946877e-01 -3.26075826e-03 3.20165755e+01] [-1.87945879e-01 9.82179195e-01 6.12436994e-04 -2.40568772e+00] [ 3.31775454e-03 1.13265188e-05 9.99994496e-01 -1.50757590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.951858064 meters 0.013167528873950153 Centerline is valid? [True, True] Translation: X:32.05, Y:-2.41, Z:-0.15 [[ 9.81832360e-01 1.89723673e-01 -3.18518891e-03 3.20482992e+01] [-1.89722727e-01 9.81837526e-01 5.99337006e-04 -2.41280051e+00] [ 3.24104641e-03 1.58542592e-05 9.99994748e-01 -1.50531358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981858064 meters 0.01334566453825153 Centerline is valid? [True, True] Translation: X:32.08, Y:-2.42, Z:-0.15 [[ 9.81646620e-01 1.90681669e-01 -3.22701754e-03 3.20793118e+01] [-1.90680704e-01 9.81651924e-01 6.07162732e-04 -2.41833354e+00] [ 3.28358278e-03 1.93107320e-05 9.99994609e-01 -1.51068522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.011858063999995 meters 0.01339942497703286 Centerline is valid? [True, True] Translation: X:32.11, Y:-2.42, Z:-0.15 [[ 9.81359332e-01 1.92168565e-01 -2.25914643e-03 3.21119565e+01] [-1.92168092e-01 9.81361932e-01 4.26576037e-04 -2.42415529e+00] [ 2.29901481e-03 1.55114847e-05 9.99997357e-01 -1.51166380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041858063999996 meters 0.013537042393675631 Centerline is valid? [True, True] Translation: X:32.14, Y:-2.43, Z:-0.15 [[ 9.81141575e-01 1.93283969e-01 -1.58658340e-03 3.21439779e+01] [-1.93283735e-01 9.81142858e-01 3.00494262e-04 -2.42954262e+00] [ 1.61474569e-03 1.18333517e-05 9.99998696e-01 -1.51850292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.071858064 meters 0.013650953586495491 Centerline is valid? [True, True] Translation: X:32.18, Y:-2.44, Z:-0.15 [[ 9.80856368e-01 1.94728288e-01 -1.29583097e-03 3.21768802e+01] [-1.94728133e-01 9.80857224e-01 2.46069066e-04 -2.43523782e+00] [ 1.31894178e-03 1.09763354e-05 9.99999130e-01 -1.51971130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101858064 meters 0.013788692845849701 Centerline is valid? [True, True] Translation: X:32.21, Y:-2.44, Z:-0.15 [[ 9.80634437e-01 1.95843502e-01 -1.19327992e-03 3.22093369e+01] [-1.95843371e-01 9.80635163e-01 2.27047653e-04 -2.44133948e+00] [ 1.21463806e-03 1.10452139e-05 9.99999262e-01 -1.52043331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13185806399999 meters 0.013954841810790625 Centerline is valid? [True, True] Translation: X:32.24, Y:-2.45, Z:-0.15 [[ 9.80271514e-01 1.97653349e-01 -9.55233144e-04 3.22410249e+01] [-1.97653265e-01 9.80271979e-01 1.82112809e-04 -2.44787640e+00] [ 9.72383492e-04 1.02849504e-05 9.99999527e-01 -1.51805674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16185806399999 meters 0.013926835818984271 Centerline is valid? [True, True] Translation: X:32.27, Y:-2.45, Z:-0.15 [[ 9.80064193e-01 1.98678683e-01 -9.79388589e-04 3.22737135e+01] [-1.98678595e-01 9.80064682e-01 1.87197795e-04 -2.45463128e+00] [ 9.97056377e-04 1.11176925e-05 9.99999503e-01 -1.51899054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.191858063999994 meters 0.013972270773464125 Centerline is valid? [True, True] Translation: X:32.31, Y:-2.46, Z:-0.15 [[ 9.79859561e-01 1.99680431e-01 -1.72217574e-03 3.23054556e+01] [-1.99680163e-01 9.79861074e-01 3.28207650e-04 -2.46114109e+00] [ 1.75302962e-03 2.22869279e-05 9.99998463e-01 -1.52642357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221858063999996 meters 0.014264976431570693 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.47, Z:-0.15 [[ 9.79767115e-01 2.00122963e-01 -2.68328468e-03 3.23372238e+01] [-2.00122313e-01 9.79770789e-01 5.11412110e-04 -2.46746295e+00] [ 2.73134925e-03 3.59203690e-05 9.99996269e-01 -1.53886085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.251858064 meters 0.01422088169868263 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.48, Z:-0.16 [[ 9.79644208e-01 2.00677161e-01 -5.08944760e-03 3.23681130e+01] [-2.00674831e-01 9.79657426e-01 9.69837397e-04 -2.47604983e+00] [ 5.18053935e-03 7.12284453e-05 9.99986578e-01 -1.55088236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281858064 meters 0.014615792494962173 Centerline is valid? [True, True] Translation: X:32.40, Y:-2.48, Z:-0.16 [[ 9.79614928e-01 2.00789162e-01 -6.18914375e-03 3.23996330e+01] [-2.00785708e-01 9.79634475e-01 1.18084904e-03 -2.48205068e+00] [ 6.30020028e-03 8.59142606e-05 9.99980150e-01 -1.57106012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.311858064 meters 0.014524613249680294 Centerline is valid? [True, True] Translation: X:32.43, Y:-2.49, Z:-0.16 [[ 9.79623626e-01 2.00721925e-01 -6.94702897e-03 3.24321275e+01] [-2.00717558e-01 9.79648253e-01 1.32725771e-03 -2.48922511e+00] [ 7.07205452e-03 9.41776790e-05 9.99974988e-01 -1.58249630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34185806399999 meters 0.01460317235645434 Centerline is valid? [True, True] Translation: X:32.46, Y:-2.50, Z:-0.16 [[ 9.79763818e-01 1.99994190e-01 -8.07367043e-03 3.24634376e+01] [-1.99988254e-01 9.79797078e-01 1.54423117e-03 -2.49797854e+00] [ 8.21939595e-03 1.01657427e-04 9.99966215e-01 -1.59579895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.371858063999994 meters 0.013955915127606246 Centerline is valid? [True, True] Translation: X:32.49, Y:-2.51, Z:-0.16 [[ 9.79994552e-01 1.98874878e-01 -7.71109304e-03 3.24949238e+01] [-1.98869430e-01 9.80024885e-01 1.47469638e-03 -2.50706460e+00] [ 7.85034313e-03 8.83062532e-05 9.99969182e-01 -1.58150732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401858063999995 meters 0.013669512689814025 Centerline is valid? [True, True] Translation: X:32.53, Y:-2.52, Z:-0.16 [[ 9.80233626e-01 1.97722238e-01 -6.92495775e-03 3.25257932e+01] [-1.97717797e-01 9.80258084e-01 1.32700261e-03 -2.51514758e+00] [ 7.05062375e-03 6.84148062e-05 9.99975142e-01 -1.57784262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.431858064 meters 0.013094337808070323 Centerline is valid? [True, True] Translation: X:32.56, Y:-2.53, Z:-0.16 [[ 9.81075193e-01 1.93532918e-01 -6.03954304e-03 3.25557192e+01] [-1.93529450e-01 9.81093782e-01 1.15898349e-03 -2.52673646e+00] [ 6.14965957e-03 3.17794964e-05 9.99981090e-01 -1.57018463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461858064 meters 0.012890108810932648 Centerline is valid? [True, True] Translation: X:32.59, Y:-2.54, Z:-0.16 [[ 9.81557303e-01 1.91098642e-01 -5.15461172e-03 3.25861773e+01] [-1.91096074e-01 9.81570837e-01 9.90657118e-04 -2.53612929e+00] [ 5.24892977e-03 1.26393355e-05 9.99986224e-01 -1.56017663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.491858064 meters 0.012776127939718327 Centerline is valid? [True, True] Translation: X:32.62, Y:-2.55, Z:-0.16 [[ 9.82024785e-01 1.88707289e-01 -4.10863635e-03 3.26168781e+01] [-1.88705632e-01 9.82033380e-01 7.90913371e-04 -2.54507416e+00] [ 4.18406916e-03 -1.37371333e-06 9.99991247e-01 -1.55124298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52185806399999 meters 0.013140759009007078 Centerline is valid? [True, True] Translation: X:32.65, Y:-2.56, Z:-0.15 [[ 9.82686685e-01 1.85255166e-01 -2.72083632e-03 3.26475540e+01] [-1.85254423e-01 9.82690451e-01 5.25024586e-04 -2.55562437e+00] [ 2.77100339e-03 -1.18877080e-05 9.99996161e-01 -1.54027135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.551858063999994 meters 0.013181451209336162 Centerline is valid? [True, True] Translation: X:32.68, Y:-2.56, Z:-0.15 [[ 9.82800524e-01 1.84652615e-01 -2.55773461e-03 3.26800816e+01] [-1.84651953e-01 9.82803852e-01 4.94519887e-04 -2.56305585e+00] [ 2.60506582e-03 -1.37237131e-05 9.99996607e-01 -1.52534376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581858063999995 meters 0.013296516342403664 Centerline is valid? [True, True] Translation: X:32.71, Y:-2.57, Z:-0.15 [[ 9.82829358e-01 1.84489555e-01 -3.17122138e-03 3.27115727e+01] [-1.84488536e-01 9.82834474e-01 6.13495578e-04 -2.57037897e+00] [ 3.22996922e-03 -1.79074768e-05 9.99994783e-01 -1.53035798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.611858063999996 meters 0.013349614637047863 Centerline is valid? [True, True] Translation: X:32.74, Y:-2.57, Z:-0.15 [[ 9.82485621e-01 1.86289279e-01 -4.27897193e-03 3.27438494e+01] [-1.86287436e-01 9.82494939e-01 8.28661590e-04 -2.57461274e+00] [ 4.35843903e-03 -1.70293860e-05 9.99990502e-01 -1.53941256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641858064 meters 0.013255436492612124 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.58, Z:-0.16 [[ 9.82180540e-01 1.87875617e-01 -4.91328812e-03 3.27768850e+01] [-1.87873202e-01 9.82192829e-01 9.52715923e-04 -2.57924599e+00] [ 5.00478844e-03 -1.26638704e-05 9.99987476e-01 -1.55357749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.671858064 meters 0.013264338923754304 Centerline is valid? [True, True] Translation: X:32.81, Y:-2.58, Z:-0.16 [[ 9.81819603e-01 1.89732707e-01 -5.63615143e-03 3.28089949e+01] [-1.89729552e-01 9.81835780e-01 1.09429702e-03 -2.58395039e+00] [ 5.74139907e-03 -5.05778409e-06 9.99983518e-01 -1.56062302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70185806399999 meters 0.013254037771860292 Centerline is valid? [True, True] Translation: X:32.84, Y:-2.59, Z:-0.16 [[ 9.81502612e-01 1.91348644e-01 -6.19026945e-03 3.28410729e+01] [-1.91344859e-01 9.81522132e-01 1.20356426e-03 -2.58908449e+00] [ 6.30618686e-03 3.17477422e-06 9.99980116e-01 -1.56260600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.731858063999994 meters 0.013180536544818319 Centerline is valid? [True, True] Translation: X:32.87, Y:-2.59, Z:-0.16 [[ 9.81015897e-01 1.93851328e-01 -5.42891514e-03 3.28742331e+01] [-1.93848446e-01 9.81030918e-01 1.05732734e-03 -2.59340782e+00] [ 5.53089791e-03 1.51318325e-05 9.99984704e-01 -1.55718404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761858063999995 meters 0.01321763309324205 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.60, Z:-0.16 [[ 9.80814615e-01 1.94885001e-01 -4.74626881e-03 3.29053392e+01] [-1.94882808e-01 9.80826099e-01 9.24834716e-04 -2.59857058e+00] [ 4.83550074e-03 1.78747851e-05 9.99988309e-01 -1.55387574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.791858063999996 meters 0.013195617866898756 Centerline is valid? [True, True] Translation: X:32.94, Y:-2.60, Z:-0.15 [[ 9.80518541e-01 1.96398420e-01 -3.32430735e-03 3.29379930e+01] [-1.96397346e-01 9.80524176e-01 6.49650529e-04 -2.60374112e+00] [ 3.38715406e-03 1.58907526e-05 9.99994263e-01 -1.53530040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821858064 meters 0.013330431134535232 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.61, Z:-0.15 [[ 9.80373713e-01 1.97124741e-01 -3.03638216e-03 3.29695149e+01] [-1.97123846e-01 9.80378415e-01 5.94239266e-04 -2.60892756e+00] [ 3.09394279e-03 1.59667748e-05 9.99995214e-01 -1.53413255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.851858064 meters 0.013430153710617582 Centerline is valid? [True, True] Translation: X:33.00, Y:-2.61, Z:-0.15 [[ 9.80209012e-01 1.97940978e-01 -3.10854456e-03 3.30021383e+01] [-1.97940041e-01 9.80213940e-01 6.09294830e-04 -2.61480453e+00] [ 3.16764313e-03 1.80691552e-05 9.99994983e-01 -1.53633436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88185806399999 meters 0.013362761748817275 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.62, Z:-0.15 [[ 9.80087302e-01 1.98539761e-01 -3.29305723e-03 3.30347371e+01] [-1.98538710e-01 9.80092834e-01 6.46304197e-04 -2.62091119e+00] [ 3.35581887e-03 2.03647984e-05 9.99994369e-01 -1.53775359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91185806399999 meters 0.013476714895706027 Centerline is valid? [True, True] Translation: X:33.07, Y:-2.63, Z:-0.15 [[ 9.80029944e-01 1.98825628e-01 -3.11090453e-03 3.30669819e+01] [-1.98824689e-01 9.80034882e-01 6.11531214e-04 -2.62725926e+00] [ 3.17038303e-03 1.92057248e-05 9.99994974e-01 -1.53007509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941858063999994 meters 0.013522645830170977 Centerline is valid? [True, True] Translation: X:33.10, Y:-2.63, Z:-0.15 [[ 9.79998234e-01 1.98996004e-01 -2.01279322e-03 3.30980356e+01] [-1.98995610e-01 9.80000301e-01 3.96548759e-04 -2.63325728e+00] [ 2.05144958e-03 1.19199305e-05 9.99997896e-01 -1.52305327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.971858063999996 meters 0.013457259477035506 Centerline is valid? [True, True] Translation: X:33.13, Y:-2.64, Z:-0.15 [[ 9.80086870e-01 1.98568775e-01 4.10741617e-04 3.31296769e+01] [-1.98568759e-01 9.80086956e-01 -7.93323729e-05 -2.63816674e+00] [-4.18315434e-04 -3.80783629e-06 9.99999912e-01 -1.50894981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001858064 meters 0.013416055486489836 Centerline is valid? [True, True] Translation: X:33.16, Y:-2.64, Z:-0.15 [[ 9.80044134e-01 1.98778605e-01 7.49583482e-04 3.31611156e+01] [-1.98778552e-01 9.80044420e-01 -1.46052654e-04 -2.64426837e+00] [-7.63657252e-04 -5.86307180e-06 9.99999708e-01 -1.50471909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.031858064 meters 0.013453899860864923 Centerline is valid? [True, True] Translation: X:33.19, Y:-2.65, Z:-0.15 [[ 9.79966549e-01 1.99161320e-01 5.76150077e-04 3.31934581e+01] [-1.99161288e-01 9.79966718e-01 -1.11986155e-04 -2.65064706e+00] [-5.86911211e-04 -5.00410547e-06 9.99999828e-01 -1.50403402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061858064 meters 0.0134895606046828 Centerline is valid? [True, True] Translation: X:33.23, Y:-2.66, Z:-0.15 [[ 9.79869272e-01 1.99639971e-01 3.02742786e-04 3.32255483e+01] [-1.99639963e-01 9.79869319e-01 -5.81506863e-05 -2.65672948e+00] [-3.08257569e-04 -3.45948793e-06 9.99999952e-01 -1.50466376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09185806399999 meters 0.013686214734472022 Centerline is valid? [True, True] Translation: X:33.26, Y:-2.66, Z:-0.15 [[ 9.79507871e-01 2.01403558e-01 -9.68705917e-04 3.32564862e+01] [-2.01403466e-01 9.79508349e-01 1.92791047e-04 -2.66106464e+00] [ 9.87684337e-04 6.26038138e-06 9.99999512e-01 -1.51412845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121858063999994 meters 0.013731312893120693 Centerline is valid? [True, True] Translation: X:33.29, Y:-2.67, Z:-0.15 [[ 9.79320987e-01 2.02305617e-01 -1.68561928e-03 3.32892323e+01] [-2.02305339e-01 9.79322438e-01 3.35329730e-04 -2.66706486e+00] [ 1.71860387e-03 1.26143382e-05 9.99998523e-01 -1.51989657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.151858063999995 meters 0.013731312893120693 Centerline is valid? [True, True] Translation: X:33.32, Y:-2.67, Z:-0.15 [[ 9.79263481e-01 2.02583795e-01 -1.68552445e-03 3.33210054e+01] [-2.02583517e-01 9.79264931e-01 3.35807235e-04 -2.67342217e+00] [ 1.71860409e-03 1.26157091e-05 9.99998523e-01 -1.52171874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181858064 meters 0.013864316918746903 Centerline is valid? [True, True] Translation: X:33.35, Y:-2.68, Z:-0.15 [[ 9.79213591e-01 2.02814549e-01 -2.64597830e-03 3.33513011e+01] [-2.02813869e-01 9.79217166e-01 5.25767451e-04 -2.67915771e+00] [ 2.69762066e-03 2.18024626e-05 9.99996361e-01 -1.52955436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.211858064 meters 0.014034107185498579 Centerline is valid? [True, True] Translation: X:33.38, Y:-2.69, Z:-0.15 [[ 9.79308337e-01 2.02344604e-01 -3.44126464e-03 3.33836969e+01] [-2.02343445e-01 9.79314383e-01 6.85389208e-04 -2.68584569e+00] [ 3.50876476e-03 2.51099761e-05 9.99993844e-01 -1.53632818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241858064 meters 0.01407907833556922 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.69, Z:-0.15 [[ 9.79416364e-01 2.01819736e-01 -3.51846364e-03 3.34146469e+01] [-2.01818518e-01 9.79422684e-01 7.01566065e-04 -2.69167398e+00] [ 3.58765298e-03 2.29658334e-05 9.99993564e-01 -1.54779093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27185806399999 meters 0.013917242822690728 Centerline is valid? [True, True] Translation: X:33.45, Y:-2.70, Z:-0.16 [[ 9.79672246e-01 2.00578185e-01 -3.26832394e-03 3.34464416e+01] [-2.00577124e-01 9.79677698e-01 6.52566696e-04 -2.69832427e+00] [ 3.33279471e-03 1.62495345e-05 9.99994446e-01 -1.55121204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301858063999994 meters 0.013942730378387544 Centerline is valid? [True, True] Translation: X:33.48, Y:-2.71, Z:-0.16 [[ 9.79932977e-01 1.99300913e-01 -3.24141591e-03 3.34783788e+01] [-1.99299858e-01 9.79938338e-01 6.48347857e-04 -2.70562365e+00] [ 3.30560404e-03 1.06762867e-05 9.99994536e-01 -1.55649589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.331858063999995 meters 0.013912930280799065 Centerline is valid? [True, True] Translation: X:33.51, Y:-2.72, Z:-0.15 [[ 9.80500164e-01 1.96503945e-01 -2.37238375e-03 3.35081452e+01] [-1.96503372e-01 9.80503034e-01 4.74482815e-04 -2.71565488e+00] [ 2.41936721e-03 9.50929309e-07 9.99997073e-01 -1.54820756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361858063999996 meters 0.013955729959742836 Centerline is valid? [True, True] Translation: X:33.54, Y:-2.72, Z:-0.15 [[ 9.80738047e-01 1.95320355e-01 -1.68584407e-03 3.35398471e+01] [-1.95320062e-01 9.80739496e-01 3.38720807e-04 -2.72361992e+00] [ 1.71953293e-03 -2.91721495e-06 9.99998522e-01 -1.53403806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.391858064 meters 0.014263480490460638 Centerline is valid? [True, True] Translation: X:33.57, Y:-2.73, Z:-0.15 [[ 9.81187014e-01 1.93059521e-01 2.53983907e-04 3.35711261e+01] [-1.93059515e-01 9.81187047e-01 -4.93571629e-05 -2.73101771e+00] [-2.58734590e-04 -6.05402518e-07 9.99999967e-01 -1.51762451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421858064 meters 0.014220214004669692 Centerline is valid? [True, True] Translation: X:33.60, Y:-2.74, Z:-0.15 [[ 9.81320267e-01 1.92379538e-01 8.03703988e-04 3.36023302e+01] [-1.92379472e-01 9.81320597e-01 -1.59667775e-04 -2.73774440e+00] [-8.19408090e-04 2.06907486e-06 9.99999664e-01 -1.51632156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45185806399999 meters 0.014316261007086899 Centerline is valid? [True, True] Translation: X:33.63, Y:-2.74, Z:-0.15 [[ 9.81411120e-01 1.91915687e-01 7.63784365e-04 3.36346056e+01] [-1.91915627e-01 9.81411417e-01 -1.51788075e-04 -2.74498474e+00] [-7.78717209e-04 2.38434924e-06 9.99999697e-01 -1.51234800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481858063999994 meters 0.01448237963680345 Centerline is valid? [True, True] Translation: X:33.67, Y:-2.75, Z:-0.15 [[ 9.81434971e-01 1.91794876e-01 3.51372508e-04 3.36665741e+01] [-1.91794864e-01 9.81435034e-01 -6.90842276e-05 -2.75226705e+00] [-3.58099290e-04 4.10234517e-07 9.99999936e-01 -1.50949463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.511858063999995 meters 0.014516194127170031 Centerline is valid? [True, True] Translation: X:33.70, Y:-2.76, Z:-0.15 [[ 9.81341990e-01 1.92270174e-01 -2.82208704e-04 3.36987958e+01] [-1.92270165e-01 9.81342030e-01 5.84093350e-05 -2.76039229e+00] [ 2.88173635e-04 -3.05921895e-06 9.99999958e-01 -1.49739007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541858063999996 meters 0.014554070292442397 Centerline is valid? [True, True] Translation: X:33.73, Y:-2.77, Z:-0.15 [[ 9.81242638e-01 1.92776686e-01 -1.85532283e-04 3.37305708e+01] [-1.92776682e-01 9.81242656e-01 3.89871648e-05 -2.76722341e+00] [ 1.89568007e-04 -2.48957052e-06 9.99999982e-01 -1.49722307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.571858064 meters 0.014581640012211948 Centerline is valid? [True, True] Translation: X:33.76, Y:-2.77, Z:-0.15 [[ 9.81070816e-01 1.93649090e-01 -2.88974457e-04 3.37627927e+01] [-1.93649081e-01 9.81070859e-01 5.99805228e-05 -2.77284408e+00] [ 2.95119592e-04 -2.88550249e-06 9.99999956e-01 -1.49813492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601858064 meters 0.014589643867840507 Centerline is valid? [True, True] Translation: X:33.79, Y:-2.78, Z:-0.15 [[ 9.80835877e-01 1.94835134e-01 -5.02384546e-04 3.37938286e+01] [-1.94835107e-01 9.80836006e-01 1.03099899e-04 -2.77794662e+00] [ 5.12844334e-04 -3.24193302e-06 9.99999868e-01 -1.51021536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63185806399999 meters 0.014632018407291598 Centerline is valid? [True, True] Translation: X:33.83, Y:-2.78, Z:-0.15 [[ 9.80579119e-01 1.96123557e-01 -3.75916108e-04 3.38265479e+01] [-1.96123542e-01 9.80579191e-01 7.77380940e-05 -2.78320574e+00] [ 3.83861785e-04 -2.50235327e-06 9.99999926e-01 -1.51605291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66185806399999 meters 0.014729020962195529 Centerline is valid? [True, True] Translation: X:33.86, Y:-2.79, Z:-0.15 [[ 9.80173654e-01 1.98140296e-01 1.76204054e-04 3.38582739e+01] [-1.98140293e-01 9.80173670e-01 -3.42417943e-05 -2.78871924e+00] [-1.79495253e-04 -1.35021827e-06 9.99999984e-01 -1.51576548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.691858063999994 meters 0.014805027695110043 Centerline is valid? [True, True] Translation: X:33.89, Y:-2.80, Z:-0.15 [[ 9.79968332e-01 1.99153279e-01 1.98502345e-04 3.38899180e+01] [-1.99153275e-01 9.79968352e-01 -3.93075251e-05 -2.79569192e+00] [-2.02354238e-04 -1.01226230e-06 9.99999980e-01 -1.51098792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721858063999996 meters 0.014871332165034511 Centerline is valid? [True, True] Translation: X:33.92, Y:-2.80, Z:-0.15 [[ 9.79513248e-01 2.01377914e-01 -8.55630921e-04 3.39205861e+01] [-2.01377838e-01 9.79513622e-01 1.74527703e-04 -2.80207330e+00] [ 8.73248168e-04 1.35290817e-06 9.99999619e-01 -1.50229395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.751858064 meters 0.014952714793968655 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.81, Z:-0.15 [[ 9.79125911e-01 2.03250059e-01 -1.36556364e-03 3.39533304e+01] [-2.03249867e-01 9.79126863e-01 2.79269524e-04 -2.80722757e+00] [ 1.39382159e-03 4.11060084e-06 9.99999029e-01 -1.49980315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781858064 meters 0.015141872201979847 Centerline is valid? [True, True] Translation: X:33.99, Y:-2.81, Z:-0.15 [[ 9.78754895e-01 2.05030082e-01 -1.23287613e-03 3.39860575e+01] [-2.05029927e-01 9.78755672e-01 2.52618974e-04 -2.81185886e+00] [ 1.25847899e-03 5.52444439e-06 9.99999208e-01 -1.49949930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.811858064 meters 0.01511339350823472 Centerline is valid? [True, True] Translation: X:34.02, Y:-2.82, Z:-0.15 [[ 9.78442473e-01 2.06517318e-01 -9.61616216e-04 3.40181218e+01] [-2.06517223e-01 9.78442945e-01 1.97738943e-04 -2.81735077e+00] [ 9.81723119e-04 5.11412986e-06 9.99999518e-01 -1.49294420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84185806399999 meters 0.015442533880419534 Centerline is valid? [True, True] Translation: X:34.05, Y:-2.82, Z:-0.15 [[ 9.78050110e-01 2.08367391e-01 -1.00632015e-03 3.40487549e+01] [-2.08367289e-01 9.78050628e-01 2.06778337e-04 -2.82154040e+00] [ 1.02731792e-03 7.44462713e-06 9.99999472e-01 -1.49118028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.871858063999994 meters 0.015591392004548368 Centerline is valid? [True, True] Translation: X:34.08, Y:-2.83, Z:-0.15 [[ 9.77950273e-01 2.08837477e-01 -4.13867428e-04 3.40805457e+01] [-2.08837459e-01 9.77950361e-01 8.60953084e-05 -2.82713661e+00] [ 4.22721728e-04 2.23409177e-06 9.99999911e-01 -1.48927596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901858063999995 meters 0.015429997880346505 Centerline is valid? [True, True] Translation: X:34.11, Y:-2.83, Z:-0.15 [[ 9.77964389e-01 2.08771768e-01 -4.93999575e-05 3.41122872e+01] [-2.08771768e-01 9.77964390e-01 1.17128597e-05 -2.83376604e+00] [ 5.07567138e-05 -1.14144322e-06 9.99999999e-01 -1.47969350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.931858064 meters 0.01537808760896623 Centerline is valid? [True, True] Translation: X:34.14, Y:-2.84, Z:-0.15 [[ 9.78086143e-01 2.08194781e-01 -1.55897812e-03 3.41448024e+01] [-2.08194533e-01 9.78087385e-01 3.21278385e-04 -2.84098812e+00] [ 1.59170532e-03 1.03327866e-05 9.99998733e-01 -1.47922163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961858064 meters 0.015276289216479767 Centerline is valid? [True, True] Translation: X:34.18, Y:-2.85, Z:-0.15 [[ 9.78224258e-01 2.07535984e-01 -2.47316572e-03 3.41774916e+01] [-2.07535360e-01 9.78227384e-01 5.09458973e-04 -2.84735237e+00] [ 2.52504950e-03 1.49042102e-05 9.99996812e-01 -1.48855301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.991858064 meters 0.015213936601160612 Centerline is valid? [True, True] Translation: X:34.21, Y:-2.85, Z:-0.15 [[ 9.78410891e-01 2.06646135e-01 -3.08274440e-03 3.42093435e+01] [-2.06645158e-01 9.78415747e-01 6.35558058e-04 -2.85379101e+00] [ 3.14754128e-03 1.51972778e-05 9.99995046e-01 -1.49928134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02185806399999 meters 0.015270172587958526 Centerline is valid? [True, True] Translation: X:34.24, Y:-2.86, Z:-0.15 [[ 9.78789221e-01 2.04827835e-01 -4.14950363e-03 3.42402032e+01] [-2.04826047e-01 9.78798017e-01 8.55960179e-04 -2.85997145e+00] [ 4.23685039e-03 1.21218287e-05 9.99991024e-01 -1.51013874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.051858063999994 meters 0.01522637439150759 Centerline is valid? [True, True] Translation: X:34.27, Y:-2.87, Z:-0.15 [[ 9.79001050e-01 2.03805060e-01 -4.52127954e-03 3.42723986e+01] [-2.03802920e-01 9.79011490e-01 9.33950394e-04 -2.86659788e+00] [ 4.61672843e-03 7.11155754e-06 9.99989343e-01 -1.51296483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081858063999995 meters 0.015234525313013845 Centerline is valid? [True, True] Translation: X:34.31, Y:-2.87, Z:-0.15 [[ 9.79164208e-01 2.03012818e-01 -4.82172834e-03 3.43050051e+01] [-2.03010368e-01 9.79176080e-01 9.97347611e-04 -2.87321547e+00] [ 4.92379540e-03 2.29376034e-06 9.99987878e-01 -1.51801118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.111858063999996 meters 0.015435276127507058 Centerline is valid? [True, True] Translation: X:34.34, Y:-2.88, Z:-0.15 [[ 9.79661141e-01 2.00561609e-01 -6.25221383e-03 3.43366407e+01] [-2.00557434e-01 9.79681091e-01 1.29416141e-03 -2.87945432e+00] [ 6.38473476e-03 -1.39116821e-05 9.99979617e-01 -1.52502309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141858064 meters 0.015475954506457184 Centerline is valid? [True, True] Translation: X:34.37, Y:-2.89, Z:-0.15 [[ 9.79843279e-01 1.99663238e-01 -6.46066329e-03 3.43686822e+01] [-1.99658747e-01 9.79864578e-01 1.33937809e-03 -2.88574381e+00] [ 6.59799967e-03 -2.24526796e-05 9.99978233e-01 -1.52812878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.171858064 meters 0.015616130642213118 Centerline is valid? [True, True] Translation: X:34.40, Y:-2.89, Z:-0.15 [[ 9.79943923e-01 1.99172661e-01 -6.33714529e-03 3.43998425e+01] [-1.99168318e-01 9.79964413e-01 1.31543489e-03 -2.89186494e+00] [ 6.47217553e-03 -2.68938547e-05 9.99979055e-01 -1.52945496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20185806399999 meters 0.015748633025172844 Centerline is valid? [True, True] Translation: X:34.43, Y:-2.90, Z:-0.15 [[ 9.80224679e-01 1.97818965e-01 -5.21872513e-03 3.44323661e+01] [-1.97815991e-01 9.80238571e-01 1.08516846e-03 -2.89730127e+00] [ 5.33026256e-03 -3.13616269e-05 9.99985794e-01 -1.52072613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231858063999994 meters 0.015758130795269207 Centerline is valid? [True, True] Translation: X:34.46, Y:-2.90, Z:-0.15 [[ 9.80250298e-01 1.97698064e-01 -4.98282297e-03 3.44634293e+01] [-1.97695350e-01 9.80262962e-01 1.03648327e-03 -2.90368759e+00] [ 5.08938754e-03 -3.09321065e-05 9.99987049e-01 -1.51354339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261858063999995 meters 0.015726416494647195 Centerline is valid? [True, True] Translation: X:34.50, Y:-2.91, Z:-0.15 [[ 9.80319002e-01 1.97378746e-01 -4.03549508e-03 3.44956619e+01] [-1.97376955e-01 9.80327307e-01 8.41373033e-04 -2.90979698e+00] [ 4.12217518e-03 -2.83002425e-05 9.99991503e-01 -1.50463954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.291858063999996 meters 0.01585718996062025 Centerline is valid? [True, True] Translation: X:34.53, Y:-2.91, Z:-0.15 [[ 9.80317314e-01 1.97397419e-01 -3.49606631e-03 3.45281811e+01] [-1.97396070e-01 9.80323548e-01 7.30120577e-04 -2.91301065e+00] [ 3.57140004e-03 -2.56400924e-05 9.99993622e-01 -1.49469433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321858064 meters 0.01579788593086118 Centerline is valid? [True, True] Translation: X:34.56, Y:-2.92, Z:-0.15 [[ 9.80200413e-01 1.97981276e-01 -3.25021817e-03 3.45609379e+01] [-1.97980110e-01 9.80205802e-01 6.79892406e-04 -2.91686612e+00] [ 3.32048867e-03 -2.29522675e-05 9.99994487e-01 -1.49671760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.351858064 meters 0.01566845351525024 Centerline is valid? [True, True] Translation: X:34.59, Y:-2.92, Z:-0.15 [[ 9.80003420e-01 1.98961943e-01 -2.72802831e-03 3.45923396e+01] [-1.98961123e-01 9.80007217e-01 5.71402750e-04 -2.92102463e+00] [ 2.78717484e-03 -1.72050728e-05 9.99996116e-01 -1.50600524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38185806399999 meters 0.01587111653976689 Centerline is valid? [True, True] Translation: X:34.62, Y:-2.92, Z:-0.15 [[ 9.79494061e-01 2.01444647e-01 -3.38208828e-03 3.46248527e+01] [-2.01443399e-01 9.79499900e-01 7.09074935e-04 -2.92381469e+00] [ 3.45559449e-03 -1.32353274e-05 9.99994029e-01 -1.51802516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41185806399999 meters 0.015933404175556037 Centerline is valid? [True, True] Translation: X:34.66, Y:-2.93, Z:-0.15 [[ 9.79158124e-01 2.03069714e-01 -3.47266324e-03 3.46579281e+01] [-2.03068406e-01 9.79164282e-01 7.29109853e-04 -2.92851364e+00] [ 3.54836794e-03 -8.72564808e-06 9.99993704e-01 -1.52304875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441858063999994 meters 0.015960629335821392 Centerline is valid? [True, True] Translation: X:34.69, Y:-2.93, Z:-0.15 [[ 9.78818473e-01 2.04700396e-01 -3.48482639e-03 3.46906080e+01] [-2.04699085e-01 9.78824677e-01 7.32661442e-04 -2.93279803e+00] [ 3.56101015e-03 -3.80178291e-06 9.99993660e-01 -1.52390900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.471858063999996 meters 0.016023068470178852 Centerline is valid? [True, True] Translation: X:34.72, Y:-2.94, Z:-0.15 [[ 9.78462109e-01 2.06396603e-01 -3.51331134e-03 3.47228802e+01] [-2.06395278e-01 9.78468417e-01 7.39619996e-04 -2.93692355e+00] [ 3.59031924e-03 1.44072896e-06 9.99993555e-01 -1.52660058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501858064 meters 0.01614119651071813 Centerline is valid? [True, True] Translation: X:34.76, Y:-2.94, Z:-0.15 [[ 9.77939697e-01 2.08861712e-01 -3.27619210e-03 3.47562904e+01] [-2.08860570e-01 9.77945185e-01 6.90811462e-04 -2.93817197e+00] [ 3.34822036e-03 8.69539666e-06 9.99994395e-01 -1.53230093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531858064 meters 0.016084106753655684 Centerline is valid? [True, True] Translation: X:34.79, Y:-2.94, Z:-0.15 [[ 9.77684967e-01 2.10053870e-01 -3.07857786e-03 3.47893797e+01] [-2.10052864e-01 9.77689814e-01 6.50118615e-04 -2.94237097e+00] [ 3.14645414e-03 1.10529004e-05 9.99995050e-01 -1.53857592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561858064 meters 0.01606890893787184 Centerline is valid? [True, True] Translation: X:34.82, Y:-2.95, Z:-0.15 [[ 9.77512794e-01 2.10862211e-01 -2.42195879e-03 3.48219704e+01] [-2.10861589e-01 9.77515794e-01 5.12505889e-04 -2.94700656e+00] [ 2.47557110e-03 9.71701502e-06 9.99996936e-01 -1.53916463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59185806399999 meters 0.016169128554075075 Centerline is valid? [True, True] Translation: X:34.85, Y:-2.95, Z:-0.15 [[ 9.77342658e-01 2.11651428e-01 -2.23638978e-03 3.48535729e+01] [-2.11650898e-01 9.77345217e-01 4.73855107e-04 -2.95195180e+00] [ 2.28601697e-03 1.02150966e-05 9.99997387e-01 -1.54210758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621858063999994 meters 0.016168251908646594 Centerline is valid? [True, True] Translation: X:34.89, Y:-2.96, Z:-0.15 [[ 9.77414290e-01 2.11315990e-01 -2.61881165e-03 3.48864415e+01] [-2.11315260e-01 9.77417798e-01 5.55536212e-04 -2.95658695e+00] [ 2.67706680e-03 1.04058315e-05 9.99996417e-01 -1.54851570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651858063999995 meters 0.016096851042961262 Centerline is valid? [True, True] Translation: X:34.92, Y:-2.96, Z:-0.16 [[ 9.77500306e-01 2.10913500e-01 -2.94048684e-03 3.49178598e+01] [-2.10912576e-01 9.77504729e-01 6.24269153e-04 -2.96177273e+00] [ 3.00600659e-03 9.96236724e-06 9.99995482e-01 -1.55659319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681858064 meters 0.016078689550796436 Centerline is valid? [True, True] Translation: X:34.95, Y:-2.97, Z:-0.16 [[ 9.77584858e-01 2.10521735e-01 -2.90614218e-03 3.49500085e+01] [-2.10520828e-01 9.77589177e-01 6.17944501e-04 -2.96751674e+00] [ 2.97110389e-03 7.71027004e-06 9.99995586e-01 -1.55959565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.711858064 meters 0.015997023654054362 Centerline is valid? [True, True] Translation: X:34.98, Y:-2.97, Z:-0.16 [[ 9.77758786e-01 2.09715870e-01 -2.64774886e-03 3.49820066e+01] [-2.09715112e-01 9.77762371e-01 5.63902077e-04 -2.97325824e+00] [ 2.70712842e-03 3.91273925e-06 9.99996336e-01 -1.56264675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741858064 meters 0.016003176892241698 Centerline is valid? [True, True] Translation: X:35.01, Y:-2.98, Z:-0.16 [[ 9.78175951e-01 2.07764711e-01 -2.37365365e-03 3.50137161e+01] [-2.07764095e-01 9.78178831e-01 5.06222330e-04 -2.97907665e+00] [ 2.42703289e-03 -2.01450715e-06 9.99997055e-01 -1.57044497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77185806399999 meters 0.01601443509563884 Centerline is valid? [True, True] Translation: X:35.05, Y:-2.99, Z:-0.16 [[ 9.78337658e-01 2.07001366e-01 -2.42105997e-03 3.50463411e+01] [-2.07000720e-01 9.78340654e-01 5.17158931e-04 -2.98545537e+00] [ 2.47567400e-03 -4.79490083e-06 9.99996936e-01 -1.56835651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801858063999994 meters 0.01601242744989367 Centerline is valid? [True, True] Translation: X:35.08, Y:-2.99, Z:-0.16 [[ 9.78461130e-01 2.06412078e-01 -2.80536193e-03 3.50786064e+01] [-2.06411207e-01 9.78465152e-01 5.99814343e-04 -2.99187765e+00] [ 2.86875781e-03 -7.83687846e-06 9.99995885e-01 -1.57241889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.831858063999995 meters 0.016193579623387522 Centerline is valid? [True, True] Translation: X:35.11, Y:-3.00, Z:-0.16 [[ 9.78678973e-01 2.05380180e-01 -2.53969763e-03 3.51111319e+01] [-2.05379460e-01 9.78682268e-01 5.43949419e-04 -2.99791318e+00] [ 2.59727347e-03 -1.07501311e-05 9.99996627e-01 -1.58111624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861858063999996 meters 0.01624820857429532 Centerline is valid? [True, True] Translation: X:35.14, Y:-3.00, Z:-0.16 [[ 9.78672292e-01 2.05415603e-01 -2.23032737e-03 3.51424038e+01] [-2.05415047e-01 9.78674834e-01 4.78398282e-04 -3.00459046e+00] [ 2.28103574e-03 -1.00523431e-05 9.99997398e-01 -1.58476004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.891858064 meters 0.01616768652336294 Centerline is valid? [True, True] Translation: X:35.17, Y:-3.01, Z:-0.16 [[ 9.78561827e-01 2.05936740e-01 -2.60972582e-03 3.51748205e+01] [-2.05935978e-01 9.78565306e-01 5.60357405e-04 -3.01048441e+00] [ 2.66918533e-03 -1.09079259e-05 9.99996438e-01 -1.58757953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921858064 meters 0.01617406694433516 Centerline is valid? [True, True] Translation: X:35.21, Y:-3.02, Z:-0.16 [[ 9.78432471e-01 2.06548993e-01 -2.72278759e-03 3.52067595e+01] [-2.06548164e-01 9.78436259e-01 5.85193303e-04 -3.01562695e+00] [ 2.78494519e-03 -1.01853513e-05 9.99996122e-01 -1.59701339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95185806399999 meters 0.01628050868182254 Centerline is valid? [True, True] Translation: X:35.24, Y:-3.02, Z:-0.16 [[ 9.78227211e-01 2.07519733e-01 -2.66147384e-03 3.52391149e+01] [-2.07518942e-01 9.78230832e-01 5.72934082e-04 -3.02046643e+00] [ 2.72243090e-03 -8.15347329e-06 9.99996294e-01 -1.60358501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981858063999994 meters 0.016213730865666152 Centerline is valid? [True, True] Translation: X:35.27, Y:-3.03, Z:-0.16 [[ 9.77975685e-01 2.08704301e-01 -2.46476196e-03 3.52719730e+01] [-2.08703625e-01 9.77978790e-01 5.31421122e-04 -3.02581683e+00] [ 2.52139480e-03 -5.31217969e-06 9.99996821e-01 -1.60739957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.011858063999995 meters 0.0162274893268958 Centerline is valid? [True, True] Translation: X:35.30, Y:-3.03, Z:-0.16 [[ 9.77709397e-01 2.09950288e-01 -2.28311729e-03 3.53044291e+01] [-2.09949709e-01 9.77712062e-01 4.93020917e-04 -3.03170537e+00] [ 2.33574120e-03 -2.69137248e-06 9.99997272e-01 -1.60775246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041858063999996 meters 0.016134443878746414 Centerline is valid? [True, True] Translation: X:35.34, Y:-3.04, Z:-0.16 [[ 9.77320165e-01 2.11759835e-01 -1.75140835e-03 3.53369805e+01] [-2.11759496e-01 9.77321734e-01 3.79141047e-04 -3.03691554e+00] [ 1.79197629e-03 3.35158546e-07 9.99998394e-01 -1.59695965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.071858064 meters 0.016134443878746414 Centerline is valid? [True, True] Translation: X:35.37, Y:-3.04, Z:-0.16 [[ 9.77259742e-01 2.12038510e-01 -1.75129968e-03 3.53686564e+01] [-2.12038170e-01 9.77261311e-01 3.79643781e-04 -3.04381000e+00] [ 1.79197652e-03 3.31795101e-07 9.99998394e-01 -1.59878174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101858064 meters 0.0161171667948079 Centerline is valid? [True, True] Translation: X:35.40, Y:-3.05, Z:-0.16 [[ 9.77052583e-01 2.12992198e-01 -1.60438742e-03 3.54000870e+01] [-2.12991913e-01 9.77053900e-01 3.48265538e-04 -3.04911777e+00] [ 1.64175083e-03 1.44780330e-06 9.99998652e-01 -1.60183169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13185806399999 meters 0.01621229272212473 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.06, Z:-0.16 [[ 9.76884611e-01 2.13763051e-01 -1.34700441e-03 3.54326236e+01] [-2.13762850e-01 9.76885540e-01 2.93053424e-04 -3.05525676e+00] [ 1.37851313e-03 1.66012181e-06 9.99999050e-01 -1.60561837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16185806399999 meters 0.016372094985772846 Centerline is valid? [True, True] Translation: X:35.47, Y:-3.06, Z:-0.16 [[ 9.76925368e-01 2.13575516e-01 -1.52465956e-03 3.54652922e+01] [-2.13575258e-01 9.76926558e-01 3.31993052e-04 -3.06028106e+00] [ 1.56038600e-03 1.29712470e-06 9.99998783e-01 -1.61210146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.191858063999994 meters 0.01637801012959578 Centerline is valid? [True, True] Translation: X:35.50, Y:-3.07, Z:-0.16 [[ 9.76995686e-01 2.13254103e-01 -1.45480266e-03 3.54964322e+01] [-2.13253868e-01 9.76996770e-01 3.16512405e-04 -3.06536958e+00] [ 1.48883507e-03 1.01103952e-06 9.99998892e-01 -1.62315451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221858063999996 meters 0.0163917868772109 Centerline is valid? [True, True] Translation: X:35.53, Y:-3.07, Z:-0.16 [[ 9.77214107e-01 2.12251286e-01 -1.40752815e-03 3.55287636e+01] [-2.12251063e-01 9.77215121e-01 3.07246510e-04 -3.07021999e+00] [ 1.44067126e-03 -1.49627692e-06 9.99998962e-01 -1.63609983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.251858064 meters 0.016334747647096966 Centerline is valid? [True, True] Translation: X:35.56, Y:-3.08, Z:-0.16 [[ 9.77300145e-01 2.11856899e-01 -1.03943159e-03 3.55609176e+01] [-2.11856777e-01 9.77300698e-01 2.27640025e-04 -3.07742684e+00] [ 1.06406433e-03 -2.26200237e-06 9.99999434e-01 -1.63474877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281858064 meters 0.0163174865198479 Centerline is valid? [True, True] Translation: X:35.59, Y:-3.08, Z:-0.16 [[ 9.77388170e-01 2.11450479e-01 -1.02946466e-03 3.55929842e+01] [-2.11450358e-01 9.77388712e-01 2.25827628e-04 -3.08476674e+00] [ 1.05393849e-03 -3.04058237e-06 9.99999445e-01 -1.63101708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31185806399999 meters 0.016505278754209034 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.09, Z:-0.16 [[ 9.77420732e-01 2.11300434e-01 -9.15637060e-04 3.56240965e+01] [-2.11300338e-01 9.77421161e-01 2.01182985e-04 -3.09148228e+00] [ 9.37473091e-04 -3.16599965e-06 9.99999561e-01 -1.63307295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34185806399999 meters 0.016397433749108792 Centerline is valid? [True, True] Translation: X:35.66, Y:-3.10, Z:-0.16 [[ 9.77524046e-01 2.10823581e-01 -3.96651453e-04 3.56565108e+01] [-2.10823563e-01 9.77524126e-01 8.82257163e-05 -3.09804440e+00] [ 4.06336427e-04 -2.61928675e-06 9.99999917e-01 -1.62894727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.371858063999994 meters 0.016430782800137798 Centerline is valid? [True, True] Translation: X:35.69, Y:-3.10, Z:-0.16 [[ 9.77548821e-01 2.10708986e-01 -1.57091075e-04 3.56880814e+01] [-2.10708983e-01 9.77548834e-01 3.58491322e-05 -3.10443198e+00] [ 1.61117931e-04 -1.94377624e-06 9.99999987e-01 -1.63226615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401858063999995 meters 0.016417885361341256 Centerline is valid? [True, True] Translation: X:35.72, Y:-3.11, Z:-0.16 [[ 9.77598886e-01 2.10476340e-01 -3.58090284e-04 3.57207834e+01] [-2.10476325e-01 9.77598952e-01 7.99848564e-05 -3.10988236e+00] [ 3.66903606e-04 -2.82357965e-06 9.99999933e-01 -1.64099907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.431858064 meters 0.016347759085709075 Centerline is valid? [True, True] Translation: X:35.75, Y:-3.12, Z:-0.16 [[ 9.77517128e-01 2.10855152e-01 -6.08024508e-04 3.57534747e+01] [-2.10855109e-01 9.77517317e-01 1.34900734e-04 -3.11598423e+00] [ 6.22799001e-04 -3.66270438e-06 9.99999806e-01 -1.64750513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461858064 meters 0.016281987227467272 Centerline is valid? [True, True] Translation: X:35.78, Y:-3.12, Z:-0.17 [[ 9.77410980e-01 2.11343590e-01 -1.28968411e-03 3.57846502e+01] [-2.11343399e-01 9.77411831e-01 2.84563854e-04 -3.12296404e+00] [ 1.32069326e-03 -5.56961219e-06 9.99999128e-01 -1.66708796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.491858064 meters 0.01619748251953359 Centerline is valid? [True, True] Translation: X:35.82, Y:-3.13, Z:-0.17 [[ 9.77341647e-01 2.11662045e-01 -1.57629968e-03 3.58171040e+01] [-2.11661759e-01 9.77342918e-01 3.48028619e-04 -3.12961581e+00] [ 1.61424978e-03 -6.50050035e-06 9.99998697e-01 -1.66137332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52185806399999 meters 0.01629981802238037 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.14, Z:-0.17 [[ 9.77221525e-01 2.12213790e-01 -1.84372951e-03 3.58482411e+01] [-2.12213399e-01 9.77223264e-01 4.07194645e-04 -3.13733853e+00] [ 1.88814769e-03 -6.65526442e-06 9.99998217e-01 -1.67634710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.551858063999994 meters 0.016080036664159674 Centerline is valid? [True, True] Translation: X:35.88, Y:-3.14, Z:-0.17 [[ 9.77122331e-01 2.12673497e-01 -1.39074690e-03 3.58805771e+01] [-2.12673274e-01 9.77123321e-01 3.08001286e-04 -3.14380321e+00] [ 1.42443494e-03 -5.18023761e-06 9.99998985e-01 -1.66316415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581858063999995 meters 0.016067359883773825 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.15, Z:-0.17 [[ 9.77015213e-01 2.13167366e-01 -9.73660371e-04 3.59129242e+01] [-2.13167256e-01 9.77015698e-01 2.16381653e-04 -3.15031600e+00] [ 9.97406974e-04 -3.85565687e-06 9.99999503e-01 -1.66457799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.611858063999996 meters 0.015854587023348927 Centerline is valid? [True, True] Translation: X:35.94, Y:-3.16, Z:-0.17 [[ 9.76741867e-01 2.14418366e-01 2.98202884e-04 3.59443299e+01] [-2.14418356e-01 9.76741913e-01 -6.44821344e-05 -3.15573071e+00] [-3.05093409e-04 -9.57771724e-07 9.99999953e-01 -1.66050528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641858064 meters 0.015765568415420757 Centerline is valid? [True, True] Translation: X:35.98, Y:-3.16, Z:-0.17 [[ 9.76393248e-01 2.15999285e-01 7.31510839e-04 3.59767288e+01] [-2.15999225e-01 9.76393522e-01 -1.60145835e-04 -3.16178035e+00] [-7.48833830e-04 -1.64046307e-06 9.99999720e-01 -1.65816139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.671858064 meters 0.01572917393689698 Centerline is valid? [True, True] Translation: X:36.01, Y:-3.17, Z:-0.17 [[ 9.75999081e-01 2.17771715e-01 1.12883471e-03 3.60086715e+01] [-2.17771573e-01 9.75999734e-01 -2.48346875e-04 -3.16754498e+00] [-1.15582530e-03 -3.44178826e-06 9.99999332e-01 -1.65960735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70185806399999 meters 0.01575666405681019 Centerline is valid? [True, True] Translation: X:36.04, Y:-3.17, Z:-0.17 [[ 9.75570420e-01 2.19684577e-01 1.02070636e-03 3.60396286e+01] [-2.19684462e-01 9.75570954e-01 -2.24803738e-04 -3.17316927e+00] [-1.04515740e-03 -4.92145096e-06 9.99999454e-01 -1.66615314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.731858063999994 meters 0.015940423615039355 Centerline is valid? [True, True] Translation: X:36.07, Y:-3.18, Z:-0.17 [[ 9.74812040e-01 2.23027994e-01 1.61115301e-06 3.60700734e+01] [-2.23027994e-01 9.74812040e-01 9.24758375e-07 -3.17746782e+00] [-1.36432435e-06 -1.26079782e-06 1.00000000e+00 -1.68445574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761858063999995 meters 0.015792508948184302 Centerline is valid? [True, True] Translation: X:36.10, Y:-3.18, Z:-0.17 [[ 9.74528331e-01 2.24263990e-01 -4.40878061e-04 3.61026332e+01] [-2.24263968e-01 9.74528431e-01 9.96402487e-05 -3.18463436e+00] [ 4.51993924e-04 1.77081815e-06 9.99999898e-01 -1.68908307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.791858063999996 meters 0.015836892606394294 Centerline is valid? [True, True] Translation: X:36.13, Y:-3.19, Z:-0.17 [[ 9.74158563e-01 2.25863451e-01 -8.91611502e-04 3.61338461e+01] [-2.25863362e-01 9.74158971e-01 1.99851982e-04 -3.19049307e+00] [ 9.13710602e-04 6.69485243e-06 9.99999583e-01 -1.69974241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821858064 meters 0.015780298210516033 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.20, Z:-0.17 [[ 9.73933713e-01 2.26829632e-01 -1.20017852e-03 3.61656142e+01] [-2.26829473e-01 9.73934453e-01 2.69088567e-04 -3.19712905e+00] [ 1.22993247e-03 1.01614327e-05 9.99999244e-01 -1.70696248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.851858064 meters 0.0157898769374794 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.21, Z:-0.17 [[ 9.73730715e-01 2.27702319e-01 -3.86013237e-04 3.61976213e+01] [-2.27702302e-01 9.73730791e-01 8.77578816e-05 -3.20519935e+00] [ 3.95855648e-04 2.44355791e-06 9.99999922e-01 -1.70151991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88185806399999 meters 0.015808547073131507 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.21, Z:-0.17 [[ 9.73679383e-01 2.27922041e-01 4.70514426e-05 3.62287699e+01] [-2.27922041e-01 9.73679384e-01 -9.50164564e-06 -3.21279172e+00] [-4.79786541e-05 -1.47250436e-06 9.99999999e-01 -1.70047297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91185806399999 meters 0.015627227329942817 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.22, Z:-0.17 [[ 9.73705325e-01 2.27810923e-01 3.50228609e-04 3.62605718e+01] [-2.27810910e-01 9.73705388e-01 -7.66789306e-05 -3.22140191e+00] [-3.58487782e-04 -5.12321493e-06 9.99999936e-01 -1.69396669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941858063999994 meters 0.015324170461755337 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.23, Z:-0.17 [[ 9.73942049e-01 2.26796974e-01 -1.34770177e-04 3.62910754e+01] [-2.26796972e-01 9.73942058e-01 3.15961523e-05 -3.23093191e+00] [ 1.38424255e-04 -2.07353323e-07 9.99999990e-01 -1.69506174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.971858063999996 meters 0.015119405224286266 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.24, Z:-0.17 [[ 9.74063279e-01 2.26275058e-01 -5.71841836e-04 3.63227607e+01] [-2.26275021e-01 9.74063447e-01 1.29829163e-04 -3.23959167e+00] [ 5.86387331e-04 2.93170291e-06 9.99999828e-01 -1.70215320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001858064 meters 0.014999116089625108 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.25, Z:-0.17 [[ 9.74346734e-01 2.25049592e-01 -1.05946037e-03 3.63542273e+01] [-2.25049465e-01 9.74347310e-01 2.39462615e-04 -3.24830023e+00] [ 1.08617333e-03 5.11137297e-06 9.99999410e-01 -1.70946227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.031858064 meters 0.015012761222948144 Centerline is valid? [True, True] Translation: X:36.38, Y:-3.26, Z:-0.17 [[ 9.74672134e-01 2.23635835e-01 -1.11542151e-03 3.63840205e+01] [-2.23635693e-01 9.74672773e-01 2.51973367e-04 -3.25622028e+00] [ 1.14352125e-03 3.85664205e-06 9.99999346e-01 -1.72443637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06185806399999 meters 0.014654338668874414 Centerline is valid? [True, True] Translation: X:36.41, Y:-3.27, Z:-0.17 [[ 9.75485536e-01 2.20063435e-01 2.31928860e-04 3.64138318e+01] [-2.20063430e-01 9.75485563e-01 -5.07802542e-05 -3.26829913e+00] [-2.37418132e-04 -1.50365692e-06 9.99999972e-01 -1.71248625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09185806399999 meters 0.014671880238136429 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.28, Z:-0.17 [[ 9.75780912e-01 2.18749405e-01 5.55698413e-04 3.64458635e+01] [-2.18749370e-01 9.75781071e-01 -1.23591890e-04 -3.27785635e+00] [-5.69275645e-04 -9.60071022e-07 9.99999838e-01 -1.70994772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121858063999994 meters 0.014772823380855154 Centerline is valid? [True, True] Translation: X:36.48, Y:-3.29, Z:-0.17 [[ 9.76019350e-01 2.17680714e-01 1.15574112e-03 3.64780770e+01] [-2.17680559e-01 9.76020034e-01 -2.59110434e-04 -3.28677162e+00] [-1.18442983e-03 1.31442343e-06 9.99999299e-01 -1.71031835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.151858063999995 meters 0.014739916138062418 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.30, Z:-0.17 [[ 9.76287976e-01 2.16468819e-01 1.74324513e-03 3.65086710e+01] [-2.16468464e-01 9.76289532e-01 -3.92209069e-04 -3.29604393e+00] [-1.78681301e-03 5.55140170e-06 9.99998404e-01 -1.71723478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181858064 meters 0.014758100879667741 Centerline is valid? [True, True] Translation: X:36.54, Y:-3.30, Z:-0.17 [[ 9.76316628e-01 2.16339438e-01 1.75741078e-03 3.65406324e+01] [-2.16339076e-01 9.76318210e-01 -3.95821791e-04 -3.30363425e+00] [-1.80142401e-03 6.25077148e-06 9.99998377e-01 -1.72504313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.211858064 meters 0.014923104136468641 Centerline is valid? [True, True] Translation: X:36.57, Y:-3.31, Z:-0.17 [[ 9.76329157e-01 2.16277912e-01 2.28958292e-03 3.65714301e+01] [-2.16277294e-01 9.76331842e-01 -5.16871752e-04 -3.31060374e+00] [-2.34718066e-03 9.45216209e-06 9.99997245e-01 -1.73326261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241858064 meters 0.014974690100231681 Centerline is valid? [True, True] Translation: X:36.60, Y:-3.32, Z:-0.17 [[ 9.76324377e-01 2.16282843e-01 3.52737158e-03 3.66037830e+01] [-2.16281372e-01 9.76330749e-01 -7.97974393e-04 -3.31806959e+00] [-3.61646951e-03 1.61770889e-05 9.99993460e-01 -1.73434719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27185806399999 meters 0.014968982917713002 Centerline is valid? [True, True] Translation: X:36.64, Y:-3.33, Z:-0.17 [[ 9.76249993e-01 2.16608107e-01 4.10848360e-03 3.66355171e+01] [-2.16606107e-01 9.76258638e-01 -9.30882899e-04 -3.32568683e+00] [-4.21257939e-03 1.88517826e-05 9.99991127e-01 -1.73176808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301858063999994 meters 0.01505144146370525 Centerline is valid? [True, True] Translation: X:36.67, Y:-3.33, Z:-0.17 [[ 9.76166080e-01 2.16974765e-01 4.66207567e-03 3.66662168e+01] [-2.16972186e-01 9.76177213e-01 -1.05799564e-03 -3.33304419e+00] [-4.78057039e-03 2.12387020e-05 9.99988573e-01 -1.72606575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.331858063999995 meters 0.014981341621170792 Centerline is valid? [True, True] Translation: X:36.70, Y:-3.34, Z:-0.17 [[ 9.75961107e-01 2.17892840e-01 4.75685212e-03 3.66969807e+01] [-2.17890162e-01 9.75972699e-01 -1.08039747e-03 -3.33979498e+00] [-4.87796868e-03 1.79546353e-05 9.99988102e-01 -1.72705391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361858063999996 meters 0.014869984317101301 Centerline is valid? [True, True] Translation: X:36.73, Y:-3.35, Z:-0.17 [[ 9.75401583e-01 2.20366431e-01 5.51255935e-03 3.67295927e+01] [-2.20362868e-01 9.75417160e-01 -1.25320294e-03 -3.34525459e+00] [-5.65320885e-03 7.61274605e-06 9.99984020e-01 -1.72807089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.391858064 meters 0.01481362722392849 Centerline is valid? [True, True] Translation: X:36.76, Y:-3.35, Z:-0.17 [[ 9.75020473e-01 2.22044868e-01 5.58149696e-03 3.67619766e+01] [-2.22041233e-01 9.75036449e-01 -1.27049765e-03 -3.35166725e+00] [-5.72427046e-03 -5.61243654e-07 9.99983616e-01 -1.73052810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421858064 meters 0.014932297579643488 Centerline is valid? [True, True] Translation: X:36.79, Y:-3.36, Z:-0.17 [[ 9.74620781e-01 2.23783311e-01 5.94662806e-03 3.67932583e+01] [-2.23779206e-01 9.74638923e-01 -1.35541785e-03 -3.35757083e+00] [-6.09913506e-03 -9.71330039e-06 9.99981400e-01 -1.73529627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45185806399999 meters 0.014887332710329909 Centerline is valid? [True, True] Translation: X:36.82, Y:-3.36, Z:-0.17 [[ 9.73876164e-01 2.27016376e-01 5.36492332e-03 3.68249918e+01] [-2.27013077e-01 9.73890941e-01 -1.22412480e-03 -3.36158836e+00] [-5.50274660e-03 -2.57617865e-05 9.99984859e-01 -1.74782348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481858063999994 meters 0.014997354152313083 Centerline is valid? [True, True] Translation: X:36.86, Y:-3.37, Z:-0.17 [[ 9.73548988e-01 2.28406081e-01 5.74720220e-03 3.68569499e+01] [-2.28402309e-01 9.73565951e-01 -1.31298802e-03 -3.36812433e+00] [-5.89517483e-03 -3.44161005e-05 9.99982623e-01 -1.74941153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511858063999995 meters 0.015074787576440178 Centerline is valid? [True, True] Translation: X:36.89, Y:-3.37, Z:-0.17 [[ 9.73314111e-01 2.29407400e-01 5.64680943e-03 3.68881772e+01] [-2.29403768e-01 9.73330490e-01 -1.29160043e-03 -3.37491598e+00] [-5.79251449e-03 -3.82664360e-05 9.99983223e-01 -1.74908704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541858063999996 meters 0.015147712906713287 Centerline is valid? [True, True] Translation: X:36.92, Y:-3.38, Z:-0.17 [[ 9.73176374e-01 2.29978127e-01 6.14869241e-03 3.69201288e+01] [-2.29973823e-01 9.73195797e-01 -1.40762975e-03 -3.38241674e+00] [-6.30760566e-03 -4.41662892e-05 9.99980106e-01 -1.74470687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571858064 meters 0.014743898819353441 Centerline is valid? [True, True] Translation: X:36.95, Y:-3.39, Z:-0.17 [[ 9.73211514e-01 2.29813528e-01 6.71492707e-03 3.69515907e+01] [-2.29808378e-01 9.73234679e-01 -1.53929108e-03 -3.39202588e+00] [-6.88894981e-03 -4.50906918e-05 9.99976270e-01 -1.74373038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601858064 meters 0.014877777923349395 Centerline is valid? [True, True] Translation: X:36.98, Y:-3.40, Z:-0.17 [[ 9.73307538e-01 2.29389042e-01 7.28721351e-03 3.69825213e+01] [-2.29382948e-01 9.73334817e-01 -1.67261098e-03 -3.39926484e+00] [-7.47657726e-03 -4.35976406e-05 9.99972049e-01 -1.73596977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63185806399999 meters 0.014817719894672222 Centerline is valid? [True, True] Translation: X:37.01, Y:-3.41, Z:-0.17 [[ 9.73398889e-01 2.28986226e-01 7.74016498e-03 3.70138499e+01] [-2.28979325e-01 9.73429662e-01 -1.77824188e-03 -3.40728866e+00] [-7.94169907e-03 -4.13990826e-05 9.99968463e-01 -1.73335215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66185806399999 meters 0.014695598589359937 Centerline is valid? [True, True] Translation: X:37.05, Y:-3.42, Z:-0.17 [[ 9.73485961e-01 2.28597843e-01 8.25288279e-03 3.70458446e+01] [-2.28589965e-01 9.73520942e-01 -1.89827005e-03 -3.41515792e+00] [-8.46829467e-03 -3.85869399e-05 9.99964143e-01 -1.73283715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.691858063999994 meters 0.014523090559257806 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.42, Z:-0.17 [[ 9.73723101e-01 2.27588758e-01 8.16572454e-03 3.70776036e+01] [-2.27580990e-01 9.73757340e-01 -1.88047847e-03 -3.42451949e+00] [-8.37940997e-03 -2.72983472e-05 9.99964892e-01 -1.74838919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721858063999996 meters 0.014549361036634291 Centerline is valid? [True, True] Translation: X:37.11, Y:-3.43, Z:-0.18 [[ 9.73709849e-01 2.27653326e-01 7.94309992e-03 3.71098745e+01] [-2.27645960e-01 9.73742247e-01 -1.83152831e-03 -3.43318477e+00] [-8.15148548e-03 -2.48374462e-05 9.99966776e-01 -1.75449116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.751858064 meters 0.014531571647310702 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.44, Z:-0.18 [[ 9.73500002e-01 2.28582738e-01 6.90495064e-03 3.71406150e+01] [-2.28577181e-01 9.73524489e-01 -1.59399516e-03 -3.44176056e+00] [-7.08649832e-03 -2.65598611e-05 9.99974890e-01 -1.75423505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781858064 meters 0.014628264646697033 Centerline is valid? [True, True] Translation: X:37.17, Y:-3.45, Z:-0.18 [[ 9.73182831e-01 2.29951353e-01 6.12805089e-03 3.71729368e+01] [-2.29946994e-01 9.73202124e-01 -1.41621510e-03 -3.44929619e+00] [-6.28949272e-03 -3.08906673e-05 9.99980220e-01 -1.75731126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81185806399999 meters 0.014753530689215191 Centerline is valid? [True, True] Translation: X:37.20, Y:-3.46, Z:-0.18 [[ 9.72927402e-01 2.31038267e-01 5.79572207e-03 3.72047633e+01] [-2.31034377e-01 9.72944663e-01 -1.34106158e-03 -3.45611531e+00] [-5.94875340e-03 -3.42554761e-05 9.99982305e-01 -1.76519020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84185806399999 meters 0.014841562637582593 Centerline is valid? [True, True] Translation: X:37.24, Y:-3.46, Z:-0.18 [[ 9.72691101e-01 2.32050028e-01 4.98056471e-03 3.72368520e+01] [-2.32047162e-01 9.72703852e-01 -1.15369829e-03 -3.46332116e+00] [-5.11233020e-03 -3.35338527e-05 9.99986931e-01 -1.77574207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.871858063999994 meters 0.015077366318091376 Centerline is valid? [True, True] Translation: X:37.27, Y:-3.47, Z:-0.18 [[ 9.72195274e-01 2.34143157e-01 3.65125647e-03 3.72676926e+01] [-2.34141629e-01 9.72202130e-01 -8.46503224e-04 -3.47043983e+00] [-3.74796226e-03 -3.19447067e-05 9.99992976e-01 -1.79100171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901858063999995 meters 0.01518625899128668 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.48, Z:-0.18 [[ 9.71998090e-01 2.34963984e-01 3.41171630e-03 3.72987028e+01] [-2.34962652e-01 9.72004077e-01 -7.91741217e-04 -3.47767951e+00] [-3.50223283e-03 -3.20549618e-05 9.99993867e-01 -1.79492608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.931858064 meters 0.015327427523448404 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.48, Z:-0.18 [[ 9.71830934e-01 2.35662279e-01 2.81551711e-03 3.73294899e+01] [-2.35661372e-01 9.71835012e-01 -6.54163830e-04 -3.48493168e+00] [-2.89037984e-03 -2.77719802e-05 9.99995822e-01 -1.79980560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961858064 meters 0.015327427523448404 Centerline is valid? [True, True] Translation: X:37.36, Y:-3.49, Z:-0.18 [[ 9.71765321e-01 2.35932690e-01 2.81546508e-03 3.73610505e+01] [-2.35931784e-01 9.71769399e-01 -6.54387889e-04 -3.49235353e+00] [-2.89037430e-03 -2.83462420e-05 9.99995822e-01 -1.80162572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.991858064 meters 0.015403823188578409 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.50, Z:-0.18 [[ 9.71500288e-01 2.37028898e-01 2.11958837e-03 3.73929183e+01] [-2.37028387e-01 9.71502599e-01 -4.92867429e-04 -3.49982126e+00] [-2.17600944e-03 -2.35817650e-05 9.99997632e-01 -1.81085780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02185806399999 meters 0.015421377258538253 Centerline is valid? [True, True] Translation: X:37.42, Y:-3.51, Z:-0.18 [[ 9.71422679e-01 2.37348545e-01 1.90988350e-03 3.74243655e+01] [-2.37348130e-01 9.71424556e-01 -4.44582074e-04 -3.50710843e+00] [-1.96082864e-03 -2.14301672e-05 9.99998077e-01 -1.81829885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.051858063999994 meters 0.015265600756487563 Centerline is valid? [True, True] Translation: X:37.46, Y:-3.52, Z:-0.18 [[ 9.71472676e-01 2.37146022e-01 1.61367643e-03 3.74555985e+01] [-2.37145725e-01 9.71474016e-01 -3.75761451e-04 -3.51601939e+00] [-1.65675505e-03 -1.76344838e-05 9.99998627e-01 -1.82277101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081858063999995 meters 0.015085478928307547 Centerline is valid? [True, True] Translation: X:37.49, Y:-3.53, Z:-0.18 [[ 9.71864534e-01 2.35534653e-01 1.65972382e-03 3.74857739e+01] [-2.35534336e-01 9.71865951e-01 -3.87164894e-04 -3.52718443e+00] [-1.70421982e-03 -1.46501185e-05 9.99998548e-01 -1.82055302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.111858063999996 meters 0.015004667759409993 Centerline is valid? [True, True] Translation: X:37.52, Y:-3.54, Z:-0.18 [[ 9.71927482e-01 2.35269341e-01 2.30355151e-03 3.75174376e+01] [-2.35268726e-01 9.71930212e-01 -5.38357104e-04 -3.53670592e+00] [-2.36555023e-03 -1.87095639e-05 9.99997202e-01 -1.81446546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141858064 meters 0.014975672763586863 Centerline is valid? [True, True] Translation: X:37.55, Y:-3.55, Z:-0.18 [[ 9.72020763e-01 2.34874462e-01 3.10228064e-03 3.75490227e+01] [-2.34873339e-01 9.72025713e-01 -7.26532406e-04 -3.54513714e+00] [-3.18614046e-03 -2.24384307e-05 9.99994924e-01 -1.80853850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171858064 meters 0.014998812642702133 Centerline is valid? [True, True] Translation: X:37.58, Y:-3.55, Z:-0.18 [[ 9.71900727e-01 2.35375083e-01 2.74711181e-03 3.75801446e+01] [-2.35374203e-01 9.71904609e-01 -6.43977811e-04 -3.55467801e+00] [-2.82150696e-03 -2.07167499e-05 9.99996019e-01 -1.81551591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20185806399999 meters 0.015057660196336763 Centerline is valid? [True, True] Translation: X:37.61, Y:-3.56, Z:-0.18 [[ 9.71642519e-01 2.36449642e-01 1.54306197e-03 3.76123272e+01] [-2.36449366e-01 9.71643745e-01 -3.61465717e-04 -3.56330159e+00] [-1.58477495e-03 -1.36405657e-05 9.99998744e-01 -1.82756106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.231858063999994 meters 0.01509218216829315 Centerline is valid? [True, True] Translation: X:37.64, Y:-3.57, Z:-0.18 [[ 9.71424503e-01 2.37348406e-01 4.11158623e-04 3.76442451e+01] [-2.37348387e-01 9.71424590e-01 -9.52323271e-05 -3.57194832e+00] [-4.22012838e-04 -5.07682019e-06 9.99999911e-01 -1.83934285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261858063999995 meters 0.015235565560936852 Centerline is valid? [True, True] Translation: X:37.67, Y:-3.58, Z:-0.18 [[ 9.71251354e-01 2.38055866e-01 4.60195553e-04 3.76742947e+01] [-2.38055842e-01 9.71251463e-01 -1.07033298e-04 -3.58226339e+00] [-4.72445509e-04 -5.59600446e-06 9.99999888e-01 -1.83847617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.291858063999996 meters 0.015236832800079715 Centerline is valid? [True, True] Translation: X:37.71, Y:-3.59, Z:-0.18 [[ 9.71161676e-01 2.38420268e-01 8.80486693e-04 3.77058201e+01] [-2.38420179e-01 9.71162075e-01 -2.06354609e-04 -3.59148783e+00] [-9.04294405e-04 -9.52210685e-06 9.99999591e-01 -1.83693410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321858064 meters 0.015264881608316861 Centerline is valid? [True, True] Translation: X:37.74, Y:-3.60, Z:-0.18 [[ 9.71164437e-01 2.38407059e-01 1.30811746e-03 3.77370023e+01] [-2.38406861e-01 9.71165318e-01 -3.07760116e-04 -3.60046812e+00] [-1.34377050e-03 -1.29784979e-05 9.99999097e-01 -1.83631723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351858064 meters 0.015171247393787864 Centerline is valid? [True, True] Translation: X:37.77, Y:-3.61, Z:-0.18 [[ 9.71251254e-01 2.38048693e-01 1.95471145e-03 3.77689347e+01] [-2.38048247e-01 9.71253221e-01 -4.61270653e-04 -3.60945288e+00] [-2.00832467e-03 -1.73059343e-05 9.99997983e-01 -1.83673386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38185806399999 meters 0.015015829525457656 Centerline is valid? [True, True] Translation: X:37.80, Y:-3.62, Z:-0.18 [[ 9.71637259e-01 2.36461534e-01 2.64195695e-03 3.77983246e+01] [-2.36460708e-01 9.71640851e-01 -6.25194019e-04 -3.62001222e+00] [-2.71486763e-03 -1.72572066e-05 9.99996315e-01 -1.84069968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41185806399999 meters 0.014944410497251943 Centerline is valid? [True, True] Translation: X:37.83, Y:-3.63, Z:-0.18 [[ 9.71726780e-01 2.36087688e-01 3.10929112e-03 3.78301341e+01] [-2.36086542e-01 9.71731755e-01 -7.36034268e-04 -3.62957972e+00] [-3.19516554e-03 -1.88375775e-05 9.99994895e-01 -1.84255039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441858063999994 meters 0.014879166145307392 Centerline is valid? [True, True] Translation: X:37.86, Y:-3.64, Z:-0.18 [[ 9.71825490e-01 2.35684625e-01 2.82392040e-03 3.78620302e+01] [-2.35683676e-01 9.71829593e-01 -6.69153782e-04 -3.63929788e+00] [-2.90207867e-03 -1.52512373e-05 9.99995789e-01 -1.84329885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471858063999996 meters 0.01483331099286239 Centerline is valid? [True, True] Translation: X:37.89, Y:-3.65, Z:-0.18 [[ 9.72155577e-01 2.34295744e-01 4.36322338e-03 3.78923908e+01] [-2.34293453e-01 9.72165369e-01 -1.03604944e-03 -3.65046250e+00] [-4.48451664e-03 -1.50734319e-05 9.99989944e-01 -1.84048165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501858064 meters 0.01482778749355953 Centerline is valid? [True, True] Translation: X:37.92, Y:-3.66, Z:-0.18 [[ 9.72107276e-01 2.34494419e-01 4.45110041e-03 3.79243016e+01] [-2.34492033e-01 9.72117466e-01 -1.05804949e-03 -3.65983147e+00] [-4.57509915e-03 -1.52099752e-05 9.99989534e-01 -1.84220552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.531858064 meters 0.014884597708756548 Centerline is valid? [True, True] Translation: X:37.95, Y:-3.67, Z:-0.18 [[ 9.72024006e-01 2.34847386e-01 4.00473946e-03 3.79545611e+01] [-2.34845453e-01 9.72032255e-01 -9.53018965e-04 -3.66840009e+00] [-4.11654994e-03 -1.41375391e-05 9.99991527e-01 -1.84279172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56185806399999 meters 0.014923866685695966 Centerline is valid? [True, True] Translation: X:37.99, Y:-3.68, Z:-0.18 [[ 9.71695136e-01 2.36214375e-01 3.36617218e-03 3.79858627e+01] [-2.36213015e-01 9.71700967e-01 -8.01718034e-04 -3.67844546e+00] [-3.46029009e-03 -1.61081644e-05 9.99994013e-01 -1.84866631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59185806399999 meters 0.014962890874274319 Centerline is valid? [True, True] Translation: X:38.02, Y:-3.69, Z:-0.18 [[ 9.71434298e-01 2.37282646e-01 3.51424361e-03 3.80180639e+01] [-2.37281167e-01 9.71440655e-01 -8.38104841e-04 -3.68682453e+00] [-3.61274685e-03 -1.97000375e-05 9.99993474e-01 -1.84959503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621858063999994 meters 0.015089586936878634 Centerline is valid? [True, True] Translation: X:38.05, Y:-3.69, Z:-0.19 [[ 9.71085014e-01 2.38709607e-01 3.40855001e-03 3.80502662e+01] [-2.38708221e-01 9.71090996e-01 -8.13865707e-04 -3.69488449e+00] [-3.50428979e-03 -2.33161165e-05 9.99993860e-01 -1.85552859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.651858063999995 meters 0.015480129751881962 Centerline is valid? [True, True] Translation: X:38.08, Y:-3.70, Z:-0.19 [[ 9.70507414e-01 2.41050013e-01 3.20170220e-03 3.80800442e+01] [-2.41048799e-01 9.70512695e-01 -7.65462990e-04 -3.70208779e+00] [-3.29180749e-03 -2.88789632e-05 9.99994582e-01 -1.86572338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681858064 meters 0.015521973529714149 Centerline is valid? [True, True] Translation: X:38.11, Y:-3.71, Z:-0.19 [[ 9.70088112e-01 2.42737438e-01 2.75516349e-03 3.81112472e+01] [-2.42736545e-01 9.70092024e-01 -6.59135518e-04 -3.70964619e+00] [-2.83275900e-03 -2.93593363e-05 9.99995987e-01 -1.87161899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.711858064 meters 0.015818770661226444 Centerline is valid? [True, True] Translation: X:38.14, Y:-3.72, Z:-0.19 [[ 9.69655016e-01 2.44466666e-01 2.27993688e-03 3.81421936e+01] [-2.44466059e-01 9.69657696e-01 -5.45792028e-04 -3.71694775e+00] [-2.34418630e-03 -2.81372043e-05 9.99997252e-01 -1.87561891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741858064 meters 0.01734538793589798 Centerline is valid? [True, True] Translation: X:38.17, Y:-3.72, Z:-0.19 [[ 9.68906668e-01 2.47420508e-01 1.72058366e-03 3.81729136e+01] [-2.47420167e-01 9.68908196e-01 -4.12062013e-04 -3.72186070e+00] [-1.76904020e-03 -2.64574637e-05 9.99998435e-01 -1.88846848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77185806399999 meters 0.016512127264888668 Centerline is valid? [True, True] Translation: X:38.20, Y:-3.73, Z:-0.19 [[ 9.68607863e-01 2.48586105e-01 1.93807978e-03 3.82033791e+01] [-2.48585672e-01 9.68609802e-01 -4.64696093e-04 -3.73268358e+00] [-1.99276007e-03 -3.16705763e-05 9.99998014e-01 -1.88139169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801858063999994 meters 0.01639065825452122 Centerline is valid? [True, True] Translation: X:38.24, Y:-3.74, Z:-0.19 [[ 9.68398884e-01 2.49396842e-01 2.19463485e-03 3.82350056e+01] [-2.49396288e-01 9.68401370e-01 -5.26817204e-04 -3.74226081e+00] [-2.25667394e-03 -3.71645928e-05 9.99997453e-01 -1.87263999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.831858063999995 meters 0.01650530678111934 Centerline is valid? [True, True] Translation: X:38.27, Y:-3.75, Z:-0.19 [[ 9.68356613e-01 2.49546243e-01 3.48463023e-03 3.82659441e+01] [-2.49544841e-01 9.68362881e-01 -8.38498045e-04 -3.75288568e+00] [-3.58363061e-03 -5.76063692e-05 9.99993577e-01 -1.85722204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861858063999996 meters 0.0164919103858886 Centerline is valid? [True, True] Translation: X:38.30, Y:-3.76, Z:-0.19 [[ 9.68353626e-01 2.49549893e-01 4.01334977e-03 3.82979574e+01] [-2.49548027e-01 9.68361940e-01 -9.67172235e-04 -3.76202024e+00] [-4.12773290e-03 -6.49587756e-05 9.99991479e-01 -1.85033215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891858064 meters 0.016479977295919122 Centerline is valid? [True, True] Translation: X:38.33, Y:-3.77, Z:-0.19 [[ 9.68339339e-01 2.49604621e-01 4.05692302e-03 3.83300114e+01] [-2.49602710e-01 9.68347835e-01 -9.78897102e-04 -3.77104828e+00] [-4.17284986e-03 -6.47144068e-05 9.99991292e-01 -1.85164465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921858064 meters 0.016525317305152745 Centerline is valid? [True, True] Translation: X:38.36, Y:-3.78, Z:-0.19 [[ 9.68369316e-01 2.49488508e-01 4.04374760e-03 3.83605677e+01] [-2.49486603e-01 9.68377757e-01 -9.76950922e-04 -3.77944724e+00] [-4.15961326e-03 -6.28115566e-05 9.99991347e-01 -1.85487604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95185806399999 meters 0.016446929875205935 Centerline is valid? [True, True] Translation: X:38.39, Y:-3.79, Z:-0.19 [[ 9.68460711e-01 2.49151848e-01 2.68463353e-03 3.83913868e+01] [-2.49151007e-01 9.68464431e-01 -6.48784192e-04 -3.79094870e+00] [-2.76161786e-03 -4.05571463e-05 9.99996186e-01 -1.86250194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981858063999994 meters 0.016143381899242328 Centerline is valid? [True, True] Translation: X:38.42, Y:-3.80, Z:-0.19 [[ 9.68515302e-01 2.48942891e-01 2.35508400e-03 3.84223932e+01] [-2.48942241e-01 9.68518165e-01 -5.69617171e-04 -3.80108033e+00] [-2.42274378e-03 -3.45969431e-05 9.99997065e-01 -1.87065480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.011858063999995 meters 0.016105210205965788 Centerline is valid? [True, True] Translation: X:38.45, Y:-3.81, Z:-0.19 [[ 9.68740945e-01 2.48069906e-01 1.51731045e-03 3.84525360e+01] [-2.48069636e-01 9.68742133e-01 -3.67019714e-04 -3.81068254e+00] [-1.56092911e-03 -2.08516256e-05 9.99998782e-01 -1.88209551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041858063999996 meters 0.016094990687320142 Centerline is valid? [True, True] Translation: X:38.48, Y:-3.82, Z:-0.19 [[ 9.68915750e-01 2.47384810e-01 1.73931050e-03 3.84825724e+01] [-2.47384452e-01 9.68917311e-01 -4.21475220e-04 -3.81922134e+00] [-1.78951462e-03 -2.19043957e-05 9.99998399e-01 -1.88724200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.071858064 meters 0.015830268107248142 Centerline is valid? [True, True] Translation: X:38.51, Y:-3.83, Z:-0.19 [[ 9.69073283e-01 2.46766179e-01 1.85084432e-03 3.85136237e+01] [-2.46765772e-01 9.69075050e-01 -4.48963210e-04 -3.82928490e+00] [-1.90439599e-03 -2.16467747e-05 9.99998186e-01 -1.88759202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101858064 meters 0.015452081565193216 Centerline is valid? [True, True] Translation: X:38.54, Y:-3.84, Z:-0.19 [[ 9.69699765e-01 2.44293797e-01 1.70499167e-03 3.85441698e+01] [-2.44293447e-01 9.69701264e-01 -4.13885360e-04 -3.84107987e+00] [-1.75444220e-03 -1.51737560e-05 9.99998461e-01 -1.89400110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13185806399999 meters 0.015258571972561955 Centerline is valid? [True, True] Translation: X:38.57, Y:-3.85, Z:-0.19 [[ 9.70058144e-01 2.42870398e-01 1.08050731e-03 3.85738901e+01] [-2.42870257e-01 9.70058745e-01 -2.62555410e-04 -3.85061724e+00] [-1.11192250e-03 -7.72907329e-06 9.99999382e-01 -1.90105189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16185806399999 meters 0.015150774444226776 Centerline is valid? [True, True] Translation: X:38.60, Y:-3.86, Z:-0.19 [[ 9.70477827e-01 2.41186932e-01 1.28529703e-03 3.86038048e+01] [-2.41186730e-01 9.70478678e-01 -3.12191805e-04 -3.86152149e+00] [-1.32264995e-03 -7.02136496e-06 9.99999125e-01 -1.90316358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.191858063999994 meters 0.015029484054466222 Centerline is valid? [True, True] Translation: X:38.63, Y:-3.87, Z:-0.19 [[ 9.71000136e-01 2.39075564e-01 1.26938971e-03 3.86336126e+01] [-2.39075364e-01 9.71000965e-01 -3.09114963e-04 -3.87227707e+00] [-1.30648047e-03 -3.32913713e-06 9.99999147e-01 -1.90102129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221858063999996 meters 0.015046679250880077 Centerline is valid? [True, True] Translation: X:38.66, Y:-3.88, Z:-0.19 [[ 9.71739370e-01 2.36050143e-01 1.71068508e-03 3.86649246e+01] [-2.36049776e-01 9.71740876e-01 -4.16539269e-04 -3.88438526e+00] [-1.76066677e-03 9.60777451e-07 9.99998450e-01 -1.90021059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.251858064 meters 0.0152716525845688 Centerline is valid? [True, True] Translation: X:38.70, Y:-3.89, Z:-0.19 [[ 9.71963442e-01 2.35124379e-01 1.89590556e-03 3.86961610e+01] [-2.35123924e-01 9.71965291e-01 -4.62383154e-04 -3.89332140e+00] [-1.95147195e-03 3.64676599e-06 9.99998096e-01 -1.90799266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281858064 meters 0.015281364009943187 Centerline is valid? [True, True] Translation: X:38.73, Y:-3.90, Z:-0.19 [[ 9.72320332e-01 2.33645540e-01 1.71285969e-03 3.87261352e+01] [-2.33645166e-01 9.72321841e-01 -4.18160268e-04 -3.90379296e+00] [-1.76315216e-03 6.38434494e-06 9.99998446e-01 -1.90958346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31185806399999 meters 0.015404574030650793 Centerline is valid? [True, True] Translation: X:38.76, Y:-3.91, Z:-0.19 [[ 9.72374309e-01 2.33420530e-01 1.74887481e-03 3.87579498e+01] [-2.33420139e-01 9.72375882e-01 -4.27411337e-04 -3.91252301e+00] [-1.80033027e-03 7.38120201e-06 9.99998379e-01 -1.91240068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34185806399999 meters 0.015364306787889106 Centerline is valid? [True, True] Translation: X:38.79, Y:-3.92, Z:-0.19 [[ 9.72290850e-01 2.33764158e-01 2.19594757e-03 3.87896248e+01] [-2.33763540e-01 9.72293329e-01 -5.37716451e-04 -3.92085805e+00] [-2.26080400e-03 9.48430783e-06 9.99997444e-01 -1.91304993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.371858063999994 meters 0.015293556768725665 Centerline is valid? [True, True] Translation: X:38.82, Y:-3.93, Z:-0.19 [[ 9.72002588e-01 2.34949484e-01 3.11578307e-03 3.88204881e+01] [-2.34948240e-01 9.72007582e-01 -7.64552323e-04 -3.92840936e+00] [-3.20819594e-03 1.10990895e-05 9.99994854e-01 -1.91160184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401858063999995 meters 0.01517466868613643 Centerline is valid? [True, True] Translation: X:38.85, Y:-3.94, Z:-0.19 [[ 9.71745714e-01 2.36008008e-01 3.23848007e-03 3.88528543e+01] [-2.36006668e-01 9.71751110e-01 -7.95547822e-04 -3.93564493e+00] [-3.33475226e-03 8.76729589e-06 9.99994440e-01 -1.91499806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.431858064 meters 0.015173209203658448 Centerline is valid? [True, True] Translation: X:38.89, Y:-3.94, Z:-0.19 [[ 9.71005377e-01 2.39044563e-01 2.50112752e-03 3.88850959e+01] [-2.39043773e-01 9.71008598e-01 -6.14743410e-04 -3.94037034e+00] [-2.57556739e-03 -9.59800360e-07 9.99996683e-01 -1.92455980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461858064 meters 0.015096348235402308 Centerline is valid? [True, True] Translation: X:38.92, Y:-3.95, Z:-0.19 [[ 9.70599863e-01 2.40691764e-01 1.83867316e-03 3.89179192e+01] [-2.40691340e-01 9.70601605e-01 -4.52036528e-04 -3.94659527e+00] [-1.89342059e-03 -3.80611311e-06 9.99998207e-01 -1.93478536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.491858064 meters 0.015174103010965567 Centerline is valid? [True, True] Translation: X:38.95, Y:-3.95, Z:-0.19 [[ 9.70174413e-01 2.42405214e-01 1.14879994e-03 3.89501436e+01] [-2.42405050e-01 9.70175094e-01 -2.82177795e-04 -3.95301589e+00] [-1.18293846e-03 -4.71322933e-06 9.99999300e-01 -1.94410446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52185806399999 meters 0.015185662174138463 Centerline is valid? [True, True] Translation: X:38.98, Y:-3.96, Z:-0.19 [[ 9.69874565e-01 2.43601671e-01 1.24682629e-03 3.89827175e+01] [-2.43601478e-01 9.69875366e-01 -3.06759860e-04 -3.95999414e+00] [-1.28399332e-03 -6.21014172e-06 9.99999176e-01 -1.94596065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.551858063999994 meters 0.015326899209355867 Centerline is valid? [True, True] Translation: X:39.01, Y:-3.97, Z:-0.19 [[ 9.69577516e-01 2.44783143e-01 8.08719600e-04 3.90143247e+01] [-2.44783062e-01 9.69577853e-01 -1.99158083e-04 -3.96682815e+00] [-8.32867155e-04 -4.86166018e-06 9.99999653e-01 -1.94900996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581858063999995 meters 0.015396495091349896 Centerline is valid? [True, True] Translation: X:39.05, Y:-3.97, Z:-0.19 [[ 9.69343649e-01 2.45705946e-01 1.21613078e-03 3.90458931e+01] [-2.45705763e-01 9.69344411e-01 -2.99728262e-04 -3.97472459e+00] [-1.25249459e-03 -8.27065443e-06 9.99999216e-01 -1.93699544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.611858063999996 meters 0.015482975667430341 Centerline is valid? [True, True] Translation: X:39.08, Y:-3.98, Z:-0.19 [[ 9.69355874e-01 2.45657234e-01 1.30901602e-03 3.90775050e+01] [-2.45657021e-01 9.69356758e-01 -3.23141302e-04 -3.98207760e+00] [-1.34828553e-03 -8.33005813e-06 9.99999091e-01 -1.94304265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641858064 meters 0.015485901406933036 Centerline is valid? [True, True] Translation: X:39.11, Y:-3.99, Z:-0.19 [[ 9.69351990e-01 2.45673945e-01 1.01587938e-03 3.91095692e+01] [-2.45673818e-01 9.69352522e-01 -2.50725062e-04 -3.98940608e+00] [-1.04634185e-03 -6.53412672e-06 9.99999453e-01 -1.94918211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.671858064 meters 0.01561498069752257 Centerline is valid? [True, True] Translation: X:39.14, Y:-4.00, Z:-0.20 [[ 9.69461421e-01 2.45235020e-01 2.08267959e-03 3.91416677e+01] [-2.45234476e-01 9.69463658e-01 -5.16277405e-04 -3.99679243e+00] [-2.14569147e-03 -1.02338119e-05 9.99997698e-01 -1.95379904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70185806399999 meters 0.015681142036611462 Centerline is valid? [True, True] Translation: X:39.17, Y:-4.01, Z:-0.20 [[ 9.69576886e-01 2.44775391e-01 2.38133532e-03 3.91738176e+01] [-2.44774677e-01 9.69579810e-01 -5.91224138e-04 -4.00516169e+00] [-2.45361176e-03 -9.65332459e-06 9.99996990e-01 -1.95686690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.731858063999994 meters 0.01564565128326308 Centerline is valid? [True, True] Translation: X:39.21, Y:-4.01, Z:-0.20 [[ 9.69713084e-01 2.44234393e-01 2.46910229e-03 3.92053086e+01] [-2.44233622e-01 9.69716227e-01 -6.13794271e-04 -4.01329474e+00] [-2.54423823e-03 -7.83346083e-06 9.99996763e-01 -1.95849465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761858063999995 meters 0.01565292054454565 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.02, Z:-0.20 [[ 9.70188814e-01 2.42340124e-01 2.22031639e-03 3.92367715e+01] [-2.42339494e-01 9.70191355e-01 -5.52408505e-04 -4.02112433e+00] [-2.28800251e-03 -2.12979899e-06 9.99997383e-01 -1.96688821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.791858063999996 meters 0.015646315130887323 Centerline is valid? [True, True] Translation: X:39.27, Y:-4.03, Z:-0.20 [[ 9.70387441e-01 2.41549989e-01 1.34780119e-03 3.92677441e+01] [-2.41549756e-01 9.70388377e-01 -3.35551875e-04 -4.02928100e+00] [-1.38894316e-03 5.42759936e-08 9.99999035e-01 -1.97608669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821858064 meters 0.015706088619981042 Centerline is valid? [True, True] Translation: X:39.30, Y:-4.04, Z:-0.20 [[ 9.70590309e-01 2.40736434e-01 6.48695692e-04 3.92997976e+01] [-2.40736380e-01 9.70590526e-01 -1.60617753e-04 -4.03824380e+00] [-6.68284439e-04 -2.70617678e-07 9.99999777e-01 -1.98607423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.851858064 meters 0.015988390491795765 Centerline is valid? [True, True] Translation: X:39.33, Y:-4.05, Z:-0.20 [[ 9.71207239e-01 2.38232385e-01 -1.35277974e-03 3.93298166e+01] [-2.38232143e-01 9.71208181e-01 3.39732208e-04 -4.04802327e+00] [ 1.39476596e-03 -7.67476359e-06 9.99999027e-01 -2.00279888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88185806399999 meters 0.015988390491795765 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.06, Z:-0.20 [[ 9.71144483e-01 2.38488078e-01 -1.35262620e-03 3.93612320e+01] [-2.38487835e-01 9.71145425e-01 3.40344820e-04 -4.05597788e+00] [ 1.39476493e-03 -7.93909864e-06 9.99999027e-01 -2.00461986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91185806399999 meters 0.016100538718844624 Centerline is valid? [True, True] Translation: X:39.39, Y:-4.06, Z:-0.20 [[ 9.71487941e-01 2.37081913e-01 -1.82938906e-03 3.93917915e+01] [-2.37081467e-01 9.71489663e-01 4.60075781e-04 -4.06417007e+00] [ 1.88630821e-03 -1.32438305e-05 9.99998221e-01 -2.00881467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941858063999994 meters 0.016484446047508792 Centerline is valid? [True, True] Translation: X:39.42, Y:-4.07, Z:-0.20 [[ 9.72055815e-01 2.34733774e-01 -2.74716346e-03 3.94224394e+01] [-2.34732759e-01 9.72059697e-01 6.90890443e-04 -4.07275855e+00] [ 2.83258220e-03 -2.67348149e-05 9.99995988e-01 -2.02404279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.971858063999996 meters 0.016916550779725748 Centerline is valid? [True, True] Translation: X:39.45, Y:-4.08, Z:-0.20 [[ 9.72337988e-01 2.33561715e-01 -2.78605840e-03 3.94528332e+01] [-2.33560665e-01 9.72341979e-01 7.01194757e-04 -4.08069758e+00] [ 2.87277379e-03 -3.10846477e-05 9.99995873e-01 -2.02831702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001858064 meters 0.017128975419978733 Centerline is valid? [True, True] Translation: X:39.48, Y:-4.09, Z:-0.20 [[ 9.72601729e-01 2.32467479e-01 -2.17908909e-03 3.94845201e+01] [-2.32466831e-01 9.72604169e-01 5.49599116e-04 -4.08872482e+00] [ 2.24715505e-03 -2.79751159e-05 9.99997475e-01 -2.02843696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.031858064 meters 0.018017337206947873 Centerline is valid? [True, True] Translation: X:39.51, Y:-4.10, Z:-0.20 [[ 9.73354475e-01 2.29294084e-01 -2.29977910e-03 3.95145450e+01] [-2.29293355e-01 9.73357191e-01 5.79413598e-04 -4.09853707e+00] [ 2.37136264e-03 -3.66507529e-05 9.99997188e-01 -2.02915282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06185806399999 meters 0.018522613040261326 Centerline is valid? [True, True] Translation: X:39.55, Y:-4.11, Z:-0.20 [[ 9.73747692e-01 2.27623912e-01 -1.66968312e-03 3.95453070e+01] [-2.27623523e-01 9.73749123e-01 4.21876986e-04 -4.10795592e+00] [ 1.72188176e-03 -3.07425868e-05 9.99998517e-01 -2.02495880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09185806399999 meters 0.018133252702403648 Centerline is valid? [True, True] Translation: X:39.58, Y:-4.12, Z:-0.20 [[ 9.74151604e-01 2.25893830e-01 -7.94262715e-04 3.95764703e+01] [-2.25893740e-01 9.74151927e-01 2.01657170e-04 -4.11512574e+00] [ 8.19285665e-04 -1.70256800e-05 9.99999664e-01 -2.01044174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121858063999994 meters 0.0186140045893196 Centerline is valid? [True, True] Translation: X:39.61, Y:-4.12, Z:-0.20 [[ 9.74505265e-01 2.24364598e-01 -1.25971057e-04 3.96073015e+01] [-2.24364595e-01 9.74505273e-01 3.31896971e-05 -4.12380968e+00] [ 1.30206052e-04 -4.08008946e-06 9.99999992e-01 -2.00388032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.151858063999995 meters 0.019057863723276287 Centerline is valid? [True, True] Translation: X:39.64, Y:-4.13, Z:-0.20 [[ 9.75134696e-01 2.21611570e-01 7.98262040e-04 3.96387519e+01] [-2.21611480e-01 9.75135022e-01 -2.00280205e-04 -4.13113492e+00] [-8.22797683e-04 1.83961446e-05 9.99999661e-01 -1.99972198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181858064 meters 0.019119893266949427 Centerline is valid? [True, True] Translation: X:39.67, Y:-4.14, Z:-0.20 [[ 9.75186193e-01 2.21383211e-01 1.16699449e-03 3.96713344e+01] [-2.21383018e-01 9.75186891e-01 -2.93576115e-04 -4.13811841e+00] [-1.20303055e-03 2.79386108e-05 9.99999276e-01 -2.00659449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.211858064 meters 0.01924638180279631 Centerline is valid? [True, True] Translation: X:39.70, Y:-4.14, Z:-0.20 [[ 9.75069952e-01 2.21894125e-01 1.25926208e-03 3.97018543e+01] [-2.21893899e-01 9.75070765e-01 -3.17922687e-04 -4.14477769e+00] [-1.29841482e-03 3.05742857e-05 9.99999157e-01 -2.01204899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241858064 meters 0.01916761928989849 Centerline is valid? [True, True] Translation: X:39.73, Y:-4.15, Z:-0.20 [[ 9.74637531e-01 2.23786635e-01 1.10638449e-03 3.97324054e+01] [-2.23786463e-01 9.74638159e-01 -2.78998109e-04 -4.14980767e+00] [-1.14076059e-03 2.43281557e-05 9.99999349e-01 -2.01857811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27185806399999 meters 0.019184308456741565 Centerline is valid? [True, True] Translation: X:39.76, Y:-4.16, Z:-0.20 [[ 9.74363523e-01 2.24977927e-01 8.11278408e-04 3.97635342e+01] [-2.24977835e-01 9.74363860e-01 -2.04358805e-04 -4.15604168e+00] [-8.36456582e-04 1.66001052e-05 9.99999650e-01 -2.02288345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301858063999994 meters 0.018652463539561254 Centerline is valid? [True, True] Translation: X:39.80, Y:-4.16, Z:-0.20 [[ 9.74090180e-01 2.26158928e-01 6.78882498e-04 3.97954163e+01] [-2.26158864e-01 9.74090416e-01 -1.70928339e-04 -4.16099268e+00] [-6.99949906e-04 1.29643226e-05 9.99999755e-01 -2.03018975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.331858063999995 meters 0.01964926506394241 Centerline is valid? [True, True] Translation: X:39.83, Y:-4.17, Z:-0.21 [[ 9.73670969e-01 2.27956692e-01 -7.68324920e-04 3.98279364e+01] [-2.27956609e-01 9.73671272e-01 1.95603522e-04 -4.16529879e+00] [ 7.92685034e-04 -1.53087275e-05 9.99999686e-01 -2.05847731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361858063999996 meters 0.019654526683604078 Centerline is valid? [True, True] Translation: X:39.86, Y:-4.17, Z:-0.21 [[ 9.73402468e-01 2.29099986e-01 -9.11812971e-04 3.98599225e+01] [-2.29099868e-01 9.73402895e-01 2.33162574e-04 -4.17151999e+00] [ 9.40978928e-04 -1.80647937e-05 9.99999557e-01 -2.06479586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.391858064 meters 0.018109234268257408 Centerline is valid? [True, True] Translation: X:39.89, Y:-4.18, Z:-0.21 [[ 9.73020413e-01 2.30718445e-01 -5.23930693e-04 3.98919027e+01] [-2.30718406e-01 9.73020554e-01 1.34709086e-04 -4.17706615e+00] [ 5.40875204e-04 -1.01942359e-05 9.99999854e-01 -2.05183189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421858064 meters 0.017829187744167235 Centerline is valid? [True, True] Translation: X:39.92, Y:-4.18, Z:-0.20 [[ 9.72539833e-01 2.32735370e-01 -7.21720589e-04 3.99245205e+01] [-2.32735298e-01 9.72540101e-01 1.84207589e-04 -4.18111404e+00] [ 7.44773836e-04 -1.11793620e-05 9.99999723e-01 -2.04780075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45185806399999 meters 0.018277126822645 Centerline is valid? [True, True] Translation: X:39.96, Y:-4.19, Z:-0.21 [[ 9.72239433e-01 2.33985921e-01 -1.03635583e-03 3.99560990e+01] [-2.33985770e-01 9.72239985e-01 2.65485797e-04 -4.18709666e+00] [ 1.06970651e-03 -1.56232437e-05 9.99999428e-01 -2.05579841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481858063999994 meters 0.017548799317824937 Centerline is valid? [True, True] Translation: X:39.99, Y:-4.19, Z:-0.21 [[ 9.71876657e-01 2.35489661e-01 -6.19213484e-04 3.99869969e+01] [-2.35489607e-01 9.71876854e-01 1.59238570e-04 -4.19311564e+00] [ 6.39298290e-04 -8.94190873e-06 9.99999796e-01 -2.05112032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.511858063999995 meters 0.0173041329328175 Centerline is valid? [True, True] Translation: X:40.02, Y:-4.20, Z:-0.20 [[ 9.71258956e-01 2.38025279e-01 -7.94551734e-05 4.00193570e+01] [-2.38025278e-01 9.71258960e-01 2.17045699e-05 -4.19663866e+00] [ 8.23377853e-05 -2.16841826e-06 9.99999997e-01 -2.04474241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541858063999996 meters 0.0172097691414549 Centerline is valid? [True, True] Translation: X:40.05, Y:-4.20, Z:-0.20 [[ 9.70867236e-01 2.39616639e-01 8.22375272e-04 4.00496823e+01] [-2.39616548e-01 9.70867584e-01 -2.09273095e-04 -4.20187348e+00] [-8.48562810e-04 6.12166765e-06 9.99999640e-01 -2.04761488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.571858064 meters 0.016988473451742894 Centerline is valid? [True, True] Translation: X:40.08, Y:-4.21, Z:-0.20 [[ 9.70351958e-01 2.41694148e-01 1.00852291e-03 4.00820585e+01] [-2.41694012e-01 9.70352482e-01 -2.56471402e-04 -4.20625654e+00] [-1.04061035e-03 5.11357865e-06 9.99999459e-01 -2.04868105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601858064 meters 0.016921602793685056 Centerline is valid? [True, True] Translation: X:40.11, Y:-4.21, Z:-0.21 [[ 9.69863672e-01 2.43642839e-01 1.62003872e-03 4.01126262e+01] [-2.43642488e-01 9.69865025e-01 -4.13345755e-04 -4.21143523e+00] [-1.67192763e-03 6.17876731e-06 9.99998602e-01 -2.05447555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63185806399999 meters 0.016835128922504987 Centerline is valid? [True, True] Translation: X:40.15, Y:-4.22, Z:-0.20 [[ 9.69312773e-01 2.45821827e-01 2.09235043e-03 4.01457376e+01] [-2.45821246e-01 9.69315031e-01 -5.34555538e-04 -4.21613978e+00] [-2.15955215e-03 3.80732054e-06 9.99997668e-01 -2.04613273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66185806399999 meters 0.01688585517168548 Centerline is valid? [True, True] Translation: X:40.18, Y:-4.22, Z:-0.20 [[ 9.69076865e-01 2.46750928e-01 2.00238373e-03 4.01779770e+01] [-2.46750397e-01 9.69078934e-01 -5.12083213e-04 -4.22299137e+00] [-2.06682490e-03 2.15901310e-06 9.99997864e-01 -2.04502669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.691858063999994 meters 0.01674684616392726 Centerline is valid? [True, True] Translation: X:40.21, Y:-4.23, Z:-0.21 [[ 9.68939489e-01 2.47296098e-01 9.51791640e-04 4.02092543e+01] [-2.47295979e-01 9.68939957e-01 -2.42927374e-04 -4.22790902e+00] [-9.82303942e-04 7.67987750e-09 9.99999518e-01 -2.05713704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721858063999996 meters 0.018928079746909566 Centerline is valid? [True, True] Translation: X:40.24, Y:-4.24, Z:-0.21 [[ 9.68963698e-01 2.47202039e-01 -7.09524429e-04 4.02409227e+01] [-2.47201970e-01 9.68963958e-01 1.84071721e-04 -4.23590780e+00] [ 7.33006504e-04 -2.96297836e-06 9.99999731e-01 -2.08372727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.751858064 meters 0.01675741015262751 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.24, Z:-0.21 [[ 9.68965440e-01 2.47194895e-01 -8.12595480e-04 4.02727537e+01] [-2.47194805e-01 9.68965781e-01 2.10813825e-04 -4.24254756e+00] [ 8.39489315e-04 -3.40192975e-06 9.99999648e-01 -2.07029621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781858064 meters 0.016904771696230884 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.25, Z:-0.21 [[ 9.69227422e-01 2.46160369e-01 -1.81021442e-03 4.03047888e+01] [-2.46159924e-01 9.69229113e-01 4.68193748e-04 -4.24974168e+00] [ 1.86976327e-03 -8.18397492e-06 9.99998252e-01 -2.08108187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81185806399999 meters 0.016905496792599242 Centerline is valid? [True, True] Translation: X:40.34, Y:-4.26, Z:-0.21 [[ 9.69404167e-01 2.45464674e-01 -1.62951770e-03 4.03368889e+01] [-2.45464311e-01 9.69405536e-01 4.22133306e-04 -4.25725550e+00] [ 1.68328230e-03 -9.22934588e-06 9.99998583e-01 -2.08342826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84185806399999 meters 0.017020534935601916 Centerline is valid? [True, True] Translation: X:40.37, Y:-4.27, Z:-0.21 [[ 9.69667558e-01 2.44425277e-01 -1.05354459e-03 4.03682496e+01] [-2.44425124e-01 9.69668131e-01 2.73691137e-04 -4.26541032e+00] [ 1.08848564e-03 -7.87665010e-06 9.99999408e-01 -2.08960360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.871858063999994 meters 0.01704373664362801 Centerline is valid? [True, True] Translation: X:40.40, Y:-4.27, Z:-0.21 [[ 9.70044913e-01 2.42924784e-01 -6.45383990e-04 4.03999767e+01] [-2.42924726e-01 9.70045127e-01 1.68556909e-04 -4.27312644e+00] [ 6.66998246e-04 -6.72804290e-06 9.99999778e-01 -2.08655108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901858063999995 meters 0.017424240739385755 Centerline is valid? [True, True] Translation: X:40.43, Y:-4.28, Z:-0.21 [[ 9.70983348e-01 2.39144744e-01 1.06269446e-03 4.04298646e+01] [-2.39144587e-01 9.70983929e-01 -2.74221510e-04 -4.28252752e+00] [-1.09743787e-03 1.21268928e-05 9.99999398e-01 -2.08191897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.931858064 meters 0.017633106972691152 Centerline is valid? [True, True] Translation: X:40.46, Y:-4.29, Z:-0.21 [[ 9.71386881e-01 2.37499452e-01 1.24021345e-03 4.04602784e+01] [-2.37499238e-01 9.71387672e-01 -3.19914703e-04 -4.29123974e+00] [-1.28070763e-03 1.62111959e-05 9.99999180e-01 -2.07375449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961858064 meters 0.018078452371492738 Centerline is valid? [True, True] Translation: X:40.49, Y:-4.30, Z:-0.21 [[ 9.72043879e-01 2.34796019e-01 1.23567914e-03 4.04909162e+01] [-2.34795804e-01 9.72044664e-01 -3.18966533e-04 -4.29993134e+00] [-1.27602739e-03 1.99171885e-05 9.99999186e-01 -2.07336746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.991858064 meters 0.01829752294387594 Centerline is valid? [True, True] Translation: X:40.52, Y:-4.31, Z:-0.21 [[ 9.72177573e-01 2.34243900e-01 7.49477781e-04 4.05215233e+01] [-2.34243821e-01 9.72177862e-01 -1.93198239e-04 -4.30723286e+00] [-7.73881216e-04 1.22624561e-05 9.99999700e-01 -2.08023713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02185806399999 meters 0.018234025921344158 Centerline is valid? [True, True] Translation: X:40.55, Y:-4.31, Z:-0.21 [[ 9.72190828e-01 2.34187675e-01 1.06184962e-03 4.05538694e+01] [-2.34187515e-01 9.72191407e-01 -2.74269718e-04 -4.31357954e+00] [-1.09655167e-03 1.79705791e-05 9.99999399e-01 -2.08656985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.051858063999994 meters 0.019649837508596595 Centerline is valid? [True, True] Translation: X:40.59, Y:-4.32, Z:-0.21 [[ 9.72179602e-01 2.34236022e-01 5.55207863e-04 4.05863129e+01] [-2.34235978e-01 9.72179760e-01 -1.42801784e-04 -4.32107310e+00] [-5.73211169e-04 8.77932471e-06 9.99999836e-01 -2.10470473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081858063999995 meters 0.0180127066449496 Centerline is valid? [True, True] Translation: X:40.62, Y:-4.33, Z:-0.21 [[ 9.71570670e-01 2.36749659e-01 1.82010582e-04 4.06179917e+01] [-2.36749655e-01 9.71570687e-01 -4.59919645e-05 -4.32556326e+00] [-1.87724728e-04 1.59350133e-06 9.99999982e-01 -2.08934507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.111858063999996 meters 0.019069758467910744 Centerline is valid? [True, True] Translation: X:40.65, Y:-4.33, Z:-0.21 [[ 9.71240074e-01 2.38101483e-01 -6.34341355e-04 4.06492417e+01] [-2.38101425e-01 9.71240281e-01 1.66711805e-04 -4.33232536e+00] [ 6.55792203e-04 -1.08796053e-05 9.99999785e-01 -2.10639160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141858064 meters 0.019910510932796718 Centerline is valid? [True, True] Translation: X:40.68, Y:-4.34, Z:-0.21 [[ 9.70883268e-01 2.39547421e-01 -1.64738735e-03 4.06799281e+01] [-2.39547035e-01 9.70884665e-01 4.30361903e-04 -4.33827431e+00] [ 1.70251520e-03 -2.32044139e-05 9.99998550e-01 -2.11836862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.171858064 meters 0.017692760801234865 Centerline is valid? [True, True] Translation: X:40.71, Y:-4.34, Z:-0.21 [[ 9.70255355e-01 2.42078120e-01 -1.65238068e-03 4.07112017e+01] [-2.42077735e-01 9.70256762e-01 4.32535440e-04 -4.34333165e+00] [ 1.70794089e-03 -1.96652554e-05 9.99998541e-01 -2.10531488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20185806399999 meters 0.01705540396763867 Centerline is valid? [True, True] Translation: X:40.74, Y:-4.35, Z:-0.21 [[ 9.69336109e-01 2.45726553e-01 -2.44337490e-03 4.07440301e+01] [-2.45725721e-01 9.69339188e-01 6.39757104e-04 -4.34562407e+00] [ 2.52566435e-03 -1.97396026e-05 9.99996810e-01 -2.09719613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.231858063999994 meters 0.016916057877938102 Centerline is valid? [True, True] Translation: X:40.78, Y:-4.35, Z:-0.21 [[ 9.68845953e-01 2.47652390e-01 -2.41110022e-03 4.07753274e+01] [-2.47651585e-01 9.68848953e-01 6.31952194e-04 -4.35101900e+00] [ 2.49249640e-03 -1.51515350e-05 9.99996894e-01 -2.10091048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261858063999995 meters 0.01672295884049448 Centerline is valid? [True, True] Translation: X:40.81, Y:-4.36, Z:-0.21 [[ 9.68424435e-01 2.49291382e-01 -2.81449302e-03 4.08074570e+01] [-2.49290288e-01 9.68428524e-01 7.38533603e-04 -4.35687319e+00] [ 2.90974538e-03 -1.35882111e-05 9.99995767e-01 -2.09619954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.291858063999996 meters 0.01668609677418661 Centerline is valid? [True, True] Translation: X:40.84, Y:-4.36, Z:-0.21 [[ 9.68295403e-01 2.49801570e-01 -1.78579894e-03 4.08391934e+01] [-2.49801129e-01 9.68297049e-01 4.69451429e-04 -4.36186799e+00] [ 1.84645355e-03 -8.47306904e-06 9.99998295e-01 -2.08537443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321858064 meters 0.017822821679036163 Centerline is valid? [True, True] Translation: X:40.87, Y:-4.37, Z:-0.21 [[ 9.68538962e-01 2.48859328e-01 -1.14595135e-03 4.08700561e+01] [-2.48859145e-01 9.68539640e-01 3.01561165e-04 -4.36946772e+00] [ 1.18494562e-03 -6.89326399e-06 9.99999298e-01 -2.09678640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.351858064 meters 0.016646141976333472 Centerline is valid? [True, True] Translation: X:40.90, Y:-4.38, Z:-0.21 [[ 9.69165662e-01 2.46409334e-01 5.99783810e-04 4.09021328e+01] [-2.46409285e-01 9.69165847e-01 -1.55870941e-04 -4.37658318e+00] [-6.19698039e-04 3.27246359e-06 9.99999808e-01 -2.07185001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38185806399999 meters 0.016753574983290075 Centerline is valid? [True, True] Translation: X:40.93, Y:-4.38, Z:-0.21 [[ 9.69504972e-01 2.45070998e-01 5.61371674e-04 4.09331264e+01] [-2.45070955e-01 9.69505135e-01 -1.46118123e-04 -4.38491976e+00] [-5.80062035e-04 4.08635456e-06 9.99999832e-01 -2.06668113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41185806399999 meters 0.016875319188307935 Centerline is valid? [True, True] Translation: X:40.96, Y:-4.39, Z:-0.21 [[ 9.69829559e-01 2.43782233e-01 9.21277429e-04 4.09629951e+01] [-2.43782114e-01 9.69829997e-01 -2.41048245e-04 -4.39370490e+00] [-9.52245765e-04 9.18475429e-06 9.99999547e-01 -2.05941236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441858063999994 meters 0.017121615264404987 Centerline is valid? [True, True] Translation: X:40.99, Y:-4.40, Z:-0.20 [[ 9.70222965e-01 2.42206683e-01 1.82238501e-03 4.09938232e+01] [-2.42206212e-01 9.70224676e-01 -4.78487374e-04 -4.40154460e+00] [-1.88401574e-03 2.28464698e-05 9.99998225e-01 -2.04903930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.471858063999996 meters 0.01702984915523982 Centerline is valid? [True, True] Translation: X:41.03, Y:-4.41, Z:-0.21 [[ 9.70173267e-01 2.42407481e-01 1.56380617e-03 4.10265792e+01] [-2.42407134e-01 9.70174527e-01 -4.10640810e-04 -4.40824270e+00] [-1.61670731e-03 1.93149658e-05 9.99998693e-01 -2.05085390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501858064 meters 0.01680299529073365 Centerline is valid? [True, True] Translation: X:41.06, Y:-4.41, Z:-0.21 [[ 9.69891921e-01 2.43531102e-01 1.50490468e-03 4.10579466e+01] [-2.43530781e-01 9.69893088e-01 -3.95709239e-04 -4.41392034e+00] [-1.55596416e-03 1.73045806e-05 9.99998789e-01 -2.05770657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.531858064 meters 0.01661835934112421 Centerline is valid? [True, True] Translation: X:41.09, Y:-4.42, Z:-0.21 [[ 9.69026363e-01 2.46955924e-01 8.24729809e-04 4.10904551e+01] [-2.46955830e-01 9.69026713e-01 -2.16438191e-04 -4.41756228e+00] [-8.52635910e-04 6.06247904e-06 9.99999636e-01 -2.07063630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56185806399999 meters 0.016429136646018118 Centerline is valid? [True, True] Translation: X:41.12, Y:-4.42, Z:-0.21 [[ 9.68459375e-01 2.49170827e-01 5.82295575e-04 4.11210509e+01] [-2.49170780e-01 9.68459550e-01 -1.52647573e-04 -4.42399242e+00] [-6.01965033e-04 2.74193061e-06 9.99999819e-01 -2.07653164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59185806399999 meters 0.016327205071281263 Centerline is valid? [True, True] Translation: X:41.15, Y:-4.43, Z:-0.21 [[ 9.68016302e-01 2.50887304e-01 -3.56293584e-06 4.11537293e+01] [-2.50887304e-01 9.68016302e-01 2.54990176e-06 -4.43105948e+00] [ 4.08871795e-06 -1.57445110e-06 1.00000000e+00 -2.07813179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621858063999994 meters 0.016235473327046196 Centerline is valid? [True, True] Translation: X:41.19, Y:-4.44, Z:-0.21 [[ 9.67570405e-01 2.52601311e-01 -2.99778816e-04 4.11857058e+01] [-2.52601298e-01 9.67570451e-01 8.11053451e-05 -4.43761460e+00] [ 3.10544441e-04 -2.75061348e-06 9.99999952e-01 -2.08131106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.651858063999995 meters 0.016227712786026534 Centerline is valid? [True, True] Translation: X:41.22, Y:-4.44, Z:-0.21 [[ 9.66937949e-01 2.55009824e-01 -9.96680023e-04 4.12177739e+01] [-2.55009685e-01 9.66938462e-01 2.65961056e-04 -4.44167243e+00] [ 1.03155093e-03 -3.00477965e-06 9.99999468e-01 -2.10545171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681858064 meters 0.01614137566704586 Centerline is valid? [True, True] Translation: X:41.25, Y:-4.45, Z:-0.21 [[ 9.66739592e-01 2.55758846e-01 -1.40500713e-03 4.12499700e+01] [-2.55758572e-01 9.66740613e-01 3.74791731e-04 -4.44813215e+00] [ 1.45413376e-03 -2.98338691e-06 9.99998943e-01 -2.11516910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.711858064 meters 0.01613496518869457 Centerline is valid? [True, True] Translation: X:41.28, Y:-4.46, Z:-0.21 [[ 9.66435277e-01 2.56904307e-01 -1.74160495e-03 4.12821729e+01] [-2.56903887e-01 9.66436846e-01 4.64714464e-04 -4.45509104e+00] [ 1.80253834e-03 -1.69136980e-06 9.99998375e-01 -2.12147642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741858064 meters 0.016098704427033945 Centerline is valid? [True, True] Translation: X:41.31, Y:-4.46, Z:-0.21 [[ 9.66270987e-01 2.57525340e-01 -1.03846663e-03 4.13135028e+01] [-2.57525190e-01 9.66271545e-01 2.78091537e-04 -4.46378027e+00] [ 1.07505637e-03 -1.28046907e-06 9.99999422e-01 -2.11081481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77185806399999 meters 0.016098704427033945 Centerline is valid? [True, True] Translation: X:41.34, Y:-4.47, Z:-0.21 [[ 9.66197570e-01 2.57800655e-01 -1.03838731e-03 4.13448202e+01] [-2.57800505e-01 9.66198128e-01 2.78388426e-04 -4.47218241e+00] [ 1.07505660e-03 -1.28144675e-06 9.99999422e-01 -2.11263691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801858063999994 meters 0.016101854233542698 Centerline is valid? [True, True] Translation: X:41.38, Y:-4.48, Z:-0.21 [[ 9.66017881e-01 2.58474002e-01 -8.02052267e-04 4.13757828e+01] [-2.58473912e-01 9.66018214e-01 2.15516885e-04 -4.48078406e+00] [ 8.30502610e-04 -8.83577546e-07 9.99999655e-01 -2.10573895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.831858063999995 meters 0.016099993230138752 Centerline is valid? [True, True] Translation: X:41.41, Y:-4.49, Z:-0.21 [[ 9.65572119e-01 2.60135419e-01 2.15566478e-04 4.14082631e+01] [-2.60135413e-01 9.65572143e-01 -5.59443943e-05 -4.48834112e+00] [-2.22698105e-04 -2.05812736e-06 9.99999975e-01 -2.09520261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861858063999996 meters 0.016161847277583807 Centerline is valid? [True, True] Translation: X:41.44, Y:-4.50, Z:-0.21 [[ 9.65187847e-01 2.61557674e-01 -5.19271452e-05 4.14400185e+01] [-2.61557674e-01 9.65187849e-01 1.55325999e-05 -4.49543991e+00] [ 5.41821202e-05 -1.40993335e-06 9.99999999e-01 -2.10003182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.891858064 meters 0.019151655958372846 Centerline is valid? [True, True] Translation: X:41.47, Y:-4.50, Z:-0.21 [[ 9.65052186e-01 2.62053582e-01 -1.48294278e-03 4.14702746e+01] [-2.62053281e-01 9.65053325e-01 3.97539871e-04 -4.50283578e+00] [ 1.53529561e-03 4.96329957e-06 9.99998821e-01 -2.13459033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921858064 meters 0.016341955927680205 Centerline is valid? [True, True] Translation: X:41.50, Y:-4.51, Z:-0.21 [[ 9.64272288e-01 2.64911031e-01 -1.04843235e-03 4.15021018e+01] [-2.64910881e-01 9.64272858e-01 2.82477571e-04 -4.51050024e+00] [ 1.08580628e-03 5.35584198e-06 9.99999410e-01 -2.11508245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95185806399999 meters 0.01651571598004204 Centerline is valid? [True, True] Translation: X:41.53, Y:-4.52, Z:-0.21 [[ 9.63307237e-01 2.68397306e-01 -1.43305173e-03 4.15319577e+01] [-2.68397029e-01 9.63308303e-01 3.85527838e-04 -4.51884278e+00] [ 1.48394527e-03 1.32450718e-05 9.99998899e-01 -2.11433358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981858063999994 meters 0.016597794551092924 Centerline is valid? [True, True] Translation: X:41.56, Y:-4.53, Z:-0.21 [[ 9.62797746e-01 2.70219199e-01 -1.44351210e-03 4.15624340e+01] [-2.70218920e-01 9.62798828e-01 3.88809670e-04 -4.52806811e+00] [ 1.49487560e-03 1.57192072e-05 9.99998883e-01 -2.10869555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.011858063999995 meters 0.016881384431153945 Centerline is valid? [True, True] Translation: X:41.59, Y:-4.54, Z:-0.21 [[ 9.62348061e-01 2.71814384e-01 -1.77462730e-03 4.15929272e+01] [-2.71813965e-01 9.62349697e-01 4.77993101e-04 -4.53645408e+00] [ 1.83773745e-03 2.23727481e-05 9.99998311e-01 -2.11108224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041858063999996 meters 0.017311506884061138 Centerline is valid? [True, True] Translation: X:41.62, Y:-4.54, Z:-0.21 [[ 9.61647630e-01 2.74280678e-01 -1.98615784e-03 4.16231405e+01] [-2.74280157e-01 9.61649681e-01 5.35282393e-04 -4.54465718e+00] [ 2.05680567e-03 3.00106398e-05 9.99997884e-01 -2.11923560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.071858064 meters 0.017347819771341182 Centerline is valid? [True, True] Translation: X:41.65, Y:-4.55, Z:-0.21 [[ 9.61334136e-01 2.75374312e-01 -2.38053579e-03 4.16540024e+01] [-2.75373566e-01 9.61337083e-01 6.42019919e-04 -4.55341262e+00] [ 2.46529312e-03 3.83409649e-05 9.99996960e-01 -2.12116557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101858064 meters 0.017706736979335058 Centerline is valid? [True, True] Translation: X:41.68, Y:-4.56, Z:-0.21 [[ 9.60970945e-01 2.76640664e-01 -2.18764460e-03 4.16845127e+01] [-2.76640036e-01 9.60973434e-01 5.90671440e-04 -4.56225800e+00] [ 2.26567209e-03 3.75719895e-05 9.99997433e-01 -2.12303810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13185806399999 meters 0.01726081663490414 Centerline is valid? [True, True] Translation: X:41.72, Y:-4.57, Z:-0.21 [[ 9.60726480e-01 2.77489989e-01 -1.98417078e-03 4.17157572e+01] [-2.77489472e-01 9.60728528e-01 5.36747985e-04 -4.57398581e+00] [ 2.05519167e-03 3.49185006e-05 9.99997887e-01 -2.11895445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16185806399999 meters 0.018814026762200266 Centerline is valid? [True, True] Translation: X:41.75, Y:-4.58, Z:-0.21 [[ 9.60511160e-01 2.78239375e-01 -1.07826026e-03 4.17462599e+01] [-2.78239222e-01 9.60511765e-01 2.92020850e-04 -4.58362029e+00] [ 1.11693337e-03 1.95250112e-05 9.99999376e-01 -2.11762256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.191858063999994 meters 0.017257334745912855 Centerline is valid? [True, True] Translation: X:41.78, Y:-4.60, Z:-0.21 [[ 9.60553900e-01 2.78093021e-01 -6.90109274e-04 4.17756928e+01] [-2.78092957e-01 9.60554148e-01 1.87883764e-04 -4.59779319e+00] [ 7.15136490e-04 1.14420469e-05 9.99999744e-01 -2.10101547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221858063999996 meters 0.01732982197785455 Centerline is valid? [True, True] Translation: X:41.81, Y:-4.61, Z:-0.21 [[ 9.60557250e-01 2.78082253e-01 -1.71370696e-04 4.18058152e+01] [-2.78082249e-01 9.60557266e-01 4.78989772e-05 -4.60781630e+00] [ 1.77931223e-04 1.64543866e-06 9.99999984e-01 -2.10107613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.251858064 meters 0.01722282911222053 Centerline is valid? [True, True] Translation: X:41.84, Y:-4.62, Z:-0.21 [[ 9.60628957e-01 2.77834486e-01 -7.72137619e-05 4.18363440e+01] [-2.77834485e-01 9.60628960e-01 2.23410330e-05 -4.61819043e+00] [ 8.03808851e-05 -8.79740973e-09 9.99999997e-01 -2.10130616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281858064 meters 0.01720812605668457 Centerline is valid? [True, True] Translation: X:41.87, Y:-4.63, Z:-0.21 [[ 9.60863196e-01 2.77023244e-01 2.04550684e-04 4.18654058e+01] [-2.77023239e-01 9.60863217e-01 -5.40947375e-05 -4.63138012e+00] [-2.11530728e-04 -4.68765057e-06 9.99999978e-01 -2.09842380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31185806399999 meters 0.016922365946316603 Centerline is valid? [True, True] Translation: X:41.90, Y:-4.64, Z:-0.21 [[ 9.61067006e-01 2.76315418e-01 1.58532335e-05 4.18956440e+01] [-2.76315418e-01 9.61067006e-01 -2.88264658e-06 -4.64314735e+00] [-1.60325394e-05 -1.61007633e-06 1.00000000e+00 -2.10173454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34185806399999 meters 0.016676876634485176 Centerline is valid? [True, True] Translation: X:41.93, Y:-4.66, Z:-0.21 [[ 9.61357691e-01 2.75301054e-01 -8.48750738e-04 4.19250397e+01] [-2.75300956e-01 9.61358065e-01 2.31825690e-04 -4.65652831e+00] [ 8.79775224e-04 1.07944797e-05 9.99999613e-01 -2.10793000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.371858063999994 meters 0.016268311143126726 Centerline is valid? [True, True] Translation: X:41.96, Y:-4.67, Z:-0.21 [[ 9.61572474e-01 2.74548965e-01 -1.11526364e-03 4.19551440e+01] [-2.74548797e-01 9.61573120e-01 3.04483617e-04 -4.66748295e+00] [ 1.15600320e-03 1.34112252e-05 9.99999332e-01 -2.11468281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401858063999995 meters 0.016288441628133997 Centerline is valid? [True, True] Translation: X:41.99, Y:-4.68, Z:-0.21 [[ 9.61731420e-01 2.73989819e-01 -1.50142853e-03 4.19866100e+01] [-2.73989513e-01 9.61732592e-01 4.10071788e-04 -4.67888682e+00] [ 1.55632825e-03 1.69967486e-05 9.99998789e-01 -2.12212548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.431858064 meters 0.016264898373637177 Centerline is valid? [True, True] Translation: X:42.02, Y:-4.69, Z:-0.21 [[ 9.62086213e-01 2.72725865e-01 -3.27426189e-03 4.20162246e+01] [-2.72724405e-01 9.62091784e-01 8.93143054e-04 -4.69286348e+00] [ 3.39372368e-03 3.36905071e-05 9.99994241e-01 -2.13513484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461858064 meters 0.016006370386874805 Centerline is valid? [True, True] Translation: X:42.05, Y:-4.70, Z:-0.21 [[ 9.62332525e-01 2.71853437e-01 -3.43796854e-03 4.20462957e+01] [-2.71851819e-01 9.62338666e-01 9.38522972e-04 -4.70429508e+00] [ 3.56363075e-03 3.14468196e-05 9.99993650e-01 -2.13700971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.491858064 meters 0.015911549780399693 Centerline is valid? [True, True] Translation: X:42.08, Y:-4.72, Z:-0.21 [[ 9.62539972e-01 2.71119412e-01 -3.32672712e-03 4.20766026e+01] [-2.71117890e-01 9.62545720e-01 9.09062799e-04 -4.71527520e+00] [ 3.44859153e-03 2.69259567e-05 9.99994053e-01 -2.13815332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52185806399999 meters 0.01566233335346202 Centerline is valid? [True, True] Translation: X:42.11, Y:-4.73, Z:-0.21 [[ 9.63071068e-01 2.69234428e-01 -2.63444024e-03 4.21058941e+01] [-2.69233463e-01 9.63074671e-01 7.20937396e-04 -4.72897395e+00] [ 2.73126384e-03 1.49655219e-05 9.99996270e-01 -2.12778603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.551858063999994 meters 0.015586515609900788 Centerline is valid? [True, True] Translation: X:42.14, Y:-4.74, Z:-0.21 [[ 9.63370894e-01 2.68161716e-01 -2.41127699e-03 4.21352668e+01] [-2.68160903e-01 9.63373912e-01 6.60475019e-04 -4.73953207e+00] [ 2.50007546e-03 1.03278053e-05 9.99996875e-01 -2.12965030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581858063999995 meters 0.01554077115074017 Centerline is valid? [True, True] Translation: X:42.17, Y:-4.75, Z:-0.21 [[ 9.63645740e-01 2.67176439e-01 -1.90758322e-03 4.21657542e+01] [-2.67175927e-01 9.63647628e-01 5.23376998e-04 -4.75100360e+00] [ 1.97807205e-03 5.31030161e-06 9.99998044e-01 -2.12657375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.611858063999996 meters 0.015480641229975523 Centerline is valid? [True, True] Translation: X:42.20, Y:-4.76, Z:-0.21 [[ 9.63889386e-01 2.66298492e-01 -1.53789214e-03 4.21954618e+01] [-2.66298157e-01 9.63890613e-01 4.22747153e-04 -4.76216212e+00] [ 1.59493672e-03 2.05634799e-06 9.99998728e-01 -2.12703731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641858064 meters 0.01549131730760125 Centerline is valid? [True, True] Translation: X:42.22, Y:-4.78, Z:-0.21 [[ 9.64242520e-01 2.65021070e-01 -4.40507790e-04 4.22244785e+01] [-2.65021042e-01 9.64242621e-01 1.21511160e-04 -4.77539999e+00] [ 4.56959403e-04 -4.22393749e-07 9.99999896e-01 -2.13246457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.671858064 meters 0.015453126247235032 Centerline is valid? [True, True] Translation: X:42.26, Y:-4.79, Z:-0.21 [[ 9.64193733e-01 2.65198793e-01 2.12986749e-04 4.22558671e+01] [-2.65198787e-01 9.64193757e-01 -5.68720329e-05 -4.78621505e+00] [-2.20442888e-04 -1.64816971e-06 9.99999976e-01 -2.12350430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70185806399999 meters 0.015398784447259502 Centerline is valid? [True, True] Translation: X:42.29, Y:-4.80, Z:-0.21 [[ 9.64009208e-01 2.65865280e-01 1.37867504e-03 4.22874100e+01] [-2.65865012e-01 9.64010193e-01 -3.77025688e-04 -4.79639061e+00] [-1.42929483e-03 -3.08522199e-06 9.99998979e-01 -2.11589977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.731858063999994 meters 0.015496237777198663 Centerline is valid? [True, True] Translation: X:42.32, Y:-4.81, Z:-0.21 [[ 9.63529874e-01 2.67593976e-01 1.90951519e-03 4.23184995e+01] [-2.67593464e-01 9.63531766e-01 -5.23348876e-04 -4.80628971e+00] [-1.97992355e-03 -6.71150784e-06 9.99998040e-01 -2.12013461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761858063999995 meters 0.015517592244354957 Centerline is valid? [True, True] Translation: X:42.35, Y:-4.82, Z:-0.21 [[ 9.63225851e-01 2.68688168e-01 1.62137201e-03 4.23498308e+01] [-2.68687800e-01 9.63227215e-01 -4.44630304e-04 -4.81591140e+00] [-1.68121655e-03 -7.36347761e-06 9.99998587e-01 -2.12628924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.791858063999996 meters 0.01560991931318536 Centerline is valid? [True, True] Translation: X:42.38, Y:-4.83, Z:-0.21 [[ 9.62980201e-01 2.69568640e-01 1.37163921e-03 4.23810549e+01] [-2.69568377e-01 9.62981178e-01 -3.76314862e-04 -4.82587513e+00] [-1.42230543e-03 -7.36679521e-06 9.99998988e-01 -2.13077396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821858064 meters 0.015733652157969166 Centerline is valid? [True, True] Translation: X:42.41, Y:-4.84, Z:-0.21 [[ 9.62576552e-01 2.71009725e-01 3.31968297e-04 4.24121796e+01] [-2.71009710e-01 9.62576609e-01 -8.99333359e-05 -4.83757543e+00] [-3.43917726e-04 -3.39891170e-06 9.99999941e-01 -2.14242539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.851858064 meters 0.015848470146587548 Centerline is valid? [True, True] Translation: X:42.44, Y:-4.85, Z:-0.22 [[ 9.62370434e-01 2.71740951e-01 5.73219570e-05 4.24438344e+01] [-2.71740951e-01 9.62370436e-01 -1.41757047e-05 -4.84724612e+00] [-5.90170763e-05 -1.93444403e-06 9.99999998e-01 -2.15149786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88185806399999 meters 0.015876115539833154 Centerline is valid? [True, True] Translation: X:42.47, Y:-4.86, Z:-0.22 [[ 9.62064658e-01 2.72821464e-01 -2.06608991e-04 4.24743641e+01] [-2.72821458e-01 9.62064680e-01 5.86544877e-05 -4.85601211e+00] [ 2.14773416e-04 -6.20433749e-08 9.99999977e-01 -2.16425968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91185806399999 meters 0.015960025528690823 Centerline is valid? [True, True] Translation: X:42.51, Y:-4.87, Z:-0.22 [[ 9.61830526e-01 2.73645264e-01 -5.55993501e-04 4.25056462e+01] [-2.73645220e-01 9.61830686e-01 1.55489593e-04 -4.86533238e+00] [ 5.77320602e-04 2.59032748e-06 9.99999833e-01 -2.17214977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941858063999994 meters 0.016041572848165497 Centerline is valid? [True, True] Translation: X:42.54, Y:-4.88, Z:-0.22 [[ 9.61321316e-01 2.75427534e-01 -1.00011768e-03 4.25353566e+01] [-2.75427395e-01 9.61321836e-01 2.77698050e-04 -4.87645225e+00] [ 1.03792066e-03 8.50275297e-06 9.99999461e-01 -2.17654283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.971858063999996 meters 0.016150380799729747 Centerline is valid? [True, True] Translation: X:42.57, Y:-4.89, Z:-0.22 [[ 9.61050618e-01 2.76371448e-01 -7.29360934e-04 4.25659302e+01] [-2.76371373e-01 9.61050895e-01 2.03677975e-04 -4.88620274e+00] [ 7.57243755e-04 5.82963821e-06 9.99999713e-01 -2.17612757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001858064 meters 0.016201417424357115 Centerline is valid? [True, True] Translation: X:42.60, Y:-4.90, Z:-0.22 [[ 9.60866496e-01 2.77011677e-01 -3.28007545e-04 4.25969170e+01] [-2.77011661e-01 9.60866552e-01 9.26514883e-05 -4.89648245e+00] [ 3.40837023e-04 1.83620407e-06 9.99999942e-01 -2.17273364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.031858064 meters 0.01631827598561721 Centerline is valid? [True, True] Translation: X:42.63, Y:-4.91, Z:-0.22 [[ 9.60580687e-01 2.78001314e-01 1.15749407e-04 4.26282809e+01] [-2.78001312e-01 9.60580694e-01 -3.05183851e-05 -4.90618638e+00] [-1.19670797e-04 -2.86311567e-06 9.99999993e-01 -2.17290001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06185806399999 meters 0.016505948608048087 Centerline is valid? [True, True] Translation: X:42.66, Y:-4.92, Z:-0.22 [[ 9.60084030e-01 2.79710984e-01 6.48340790e-04 4.26591569e+01] [-2.79710927e-01 9.60084249e-01 -1.78838894e-04 -4.91561104e+00] [-6.72484984e-04 -9.64763784e-06 9.99999774e-01 -2.17141748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09185806399999 meters 0.017392789601530772 Centerline is valid? [True, True] Translation: X:42.69, Y:-4.92, Z:-0.22 [[ 9.59691257e-01 2.81053583e-01 1.25524071e-03 4.26895739e+01] [-2.81053368e-01 9.59692077e-01 -3.47990678e-04 -4.92189774e+00] [-1.30244859e-03 -1.88260169e-05 9.99999152e-01 -2.18561560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121858063999994 meters 0.01686001749216852 Centerline is valid? [True, True] Translation: X:42.72, Y:-4.93, Z:-0.22 [[ 9.59417789e-01 2.81986193e-01 1.13674082e-03 4.27206331e+01] [-2.81986018e-01 9.59418463e-01 -3.15047128e-04 -4.93289455e+00] [-1.17944907e-03 -1.82831977e-05 9.99999304e-01 -2.18405229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.151858063999995 meters 0.017154702277103497 Centerline is valid? [True, True] Translation: X:42.75, Y:-4.94, Z:-0.22 [[ 9.59050970e-01 2.83231838e-01 9.81086932e-04 4.27500852e+01] [-2.83231707e-01 9.59051472e-01 -2.72674278e-04 -4.94266514e+00] [-1.01814290e-03 -1.63663957e-05 9.99999482e-01 -2.19174224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181858064 meters 0.017133689148296792 Centerline is valid? [True, True] Translation: X:42.78, Y:-4.95, Z:-0.22 [[ 9.58938276e-01 2.83610728e-01 1.52933550e-03 4.27813375e+01] [-2.83610410e-01 9.58939495e-01 -4.25097893e-04 -4.95267029e+00] [-1.58710254e-03 -2.60928299e-05 9.99998740e-01 -2.19423735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.211858064 meters 0.016765422058774817 Centerline is valid? [True, True] Translation: X:42.81, Y:-4.96, Z:-0.22 [[ 9.58944020e-01 2.83590402e-01 1.68829139e-03 4.28118959e+01] [-2.83590014e-01 9.58945506e-01 -4.69908142e-04 -4.96391734e+00] [-1.75224088e-03 -2.81669747e-05 9.99998464e-01 -2.19570943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24185806399999 meters 0.01690556409677581 Centerline is valid? [True, True] Translation: X:42.84, Y:-4.97, Z:-0.22 [[ 9.59302237e-01 2.82379989e-01 8.71511991e-04 4.28412142e+01] [-2.82379885e-01 9.59302633e-01 -2.42218526e-04 -4.97400007e+00] [-9.04441413e-04 -1.37366828e-05 9.99999591e-01 -2.21053423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27185806399999 meters 0.016467977313168507 Centerline is valid? [True, True] Translation: X:42.87, Y:-4.99, Z:-0.22 [[ 9.59397588e-01 2.82057190e-01 9.54139973e-05 4.28724522e+01] [-2.82057189e-01 9.59397593e-01 -2.50495413e-05 -4.98517066e+00] [-9.86053626e-05 -2.87973439e-06 9.99999995e-01 -2.22050248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301858063999994 meters 0.016338660279867693 Centerline is valid? [True, True] Translation: X:42.90, Y:-5.00, Z:-0.22 [[ 9.59467226e-01 2.81818770e-01 -9.06881709e-04 4.29038876e+01] [-2.81818655e-01 9.59467655e-01 2.55748733e-04 -4.99530427e+00] [ 9.42198460e-04 1.01936558e-05 9.99999556e-01 -2.23022835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.331858063999995 meters 0.016381261656883646 Centerline is valid? [True, True] Translation: X:42.94, Y:-5.01, Z:-0.22 [[ 9.59520128e-01 2.81634642e-01 -1.74706715e-03 4.29356468e+01] [-2.81634214e-01 9.59521718e-01 4.91679963e-04 -5.00571616e+00] [ 1.81482298e-03 2.02570604e-05 9.99998353e-01 -2.24077039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361858063999996 meters 0.01606923419712601 Centerline is valid? [True, True] Translation: X:42.97, Y:-5.02, Z:-0.22 [[ 9.60016502e-01 2.79935974e-01 -2.04127004e-03 4.29654669e+01] [-2.79935386e-01 9.60018672e-01 5.74539562e-04 -5.01757952e+00] [ 2.12049165e-03 1.98562565e-05 9.99997752e-01 -2.24721630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.391858064 meters 0.015986362270642825 Centerline is valid? [True, True] Translation: X:42.99, Y:-5.03, Z:-0.23 [[ 9.60341691e-01 2.78818398e-01 -2.03407537e-03 4.29948296e+01] [-2.78817810e-01 9.60343845e-01 5.72910163e-04 -5.02739639e+00] [ 2.11314966e-03 1.69469256e-05 9.99997767e-01 -2.25136667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421858064 meters 0.015799779878757993 Centerline is valid? [True, True] Translation: X:43.03, Y:-5.04, Z:-0.23 [[ 9.60761685e-01 2.77370744e-01 -1.56714856e-03 4.30255662e+01] [-2.77370391e-01 9.60762963e-01 4.42214689e-04 -5.03808959e+00] [ 1.62831571e-03 9.81768060e-06 9.99998674e-01 -2.25294600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45185806399999 meters 0.015569874062264498 Centerline is valid? [True, True] Translation: X:43.06, Y:-5.05, Z:-0.23 [[ 9.61297411e-01 2.75506454e-01 -1.86576978e-03 4.30560579e+01] [-2.75505951e-01 9.61299222e-01 5.26686031e-04 -5.04850297e+00] [ 1.93866844e-03 7.72875970e-06 9.99998121e-01 -2.25675726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481858063999994 meters 0.015428747996746595 Centerline is valid? [True, True] Translation: X:43.08, Y:-5.06, Z:-0.23 [[ 9.62346858e-01 2.71817375e-01 -1.95968099e-03 4.30845554e+01] [-2.71816812e-01 9.62348853e-01 5.53490038e-04 -5.06029275e+00] [ 2.03634497e-03 2.48410971e-08 9.99997927e-01 -2.26377505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.511858063999995 meters 0.01536034245216709 Centerline is valid? [True, True] Translation: X:43.12, Y:-5.07, Z:-0.23 [[ 9.62857860e-01 2.70003894e-01 -1.62418625e-03 4.31150636e+01] [-2.70003503e-01 9.62859230e-01 4.59597361e-04 -5.07081084e+00] [ 1.68795580e-03 -3.99095543e-06 9.99998575e-01 -2.26241713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541858063999996 meters 0.015415070770798215 Centerline is valid? [True, True] Translation: X:43.15, Y:-5.08, Z:-0.23 [[ 9.63261159e-01 2.68563244e-01 -1.31269929e-03 4.31458858e+01] [-2.68562986e-01 9.63262054e-01 3.72154858e-04 -5.08092573e+00] [ 1.36442053e-03 -5.93987700e-06 9.99999069e-01 -2.25305889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.571858064 meters 0.015682916877510694 Centerline is valid? [True, True] Translation: X:43.18, Y:-5.09, Z:-0.23 [[ 9.64102111e-01 2.65531445e-01 -4.12890161e-04 4.31757217e+01] [-2.65531419e-01 9.64102200e-01 1.18210107e-04 -5.09182061e+00] [ 4.29456813e-04 -4.33130385e-06 9.99999908e-01 -2.25671772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601858064 meters 0.0158146553263391 Centerline is valid? [True, True] Translation: X:43.21, Y:-5.10, Z:-0.23 [[ 9.64451010e-01 2.64261584e-01 -2.53476204e-04 4.32076347e+01] [-2.64261574e-01 9.64451043e-01 7.32643838e-05 -5.10089006e+00] [ 2.63826351e-04 -3.67588845e-06 9.99999965e-01 -2.26217904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63185806399999 meters 0.01600317343059026 Centerline is valid? [True, True] Translation: X:43.24, Y:-5.11, Z:-0.23 [[ 9.64807416e-01 2.62957464e-01 -1.51521864e-04 4.32381215e+01] [-2.62957461e-01 9.64807427e-01 4.42526114e-05 -5.10973272e+00] [ 1.57825975e-04 -2.85144300e-06 9.99999988e-01 -2.26850847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66185806399999 meters 0.016123996644637744 Centerline is valid? [True, True] Translation: X:43.27, Y:-5.12, Z:-0.23 [[ 9.65470458e-01 2.60512483e-01 -2.03660417e-04 4.32686312e+01] [-2.60512476e-01 9.65470479e-01 5.91336603e-05 -5.11821636e+00] [ 2.12033177e-04 -4.03572250e-06 9.99999978e-01 -2.27435623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691858063999994 meters 0.016123996644637744 Centerline is valid? [True, True] Translation: X:43.30, Y:-5.13, Z:-0.23 [[ 9.65398140e-01 2.60780347e-01 -2.03590862e-04 4.32997831e+01] [-2.60780341e-01 9.65398162e-01 5.93782537e-05 -5.12711970e+00] [ 2.12030926e-04 -4.23116131e-06 9.99999978e-01 -2.27617760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721858063999996 meters 0.01615286778771889 Centerline is valid? [True, True] Translation: X:43.33, Y:-5.14, Z:-0.23 [[ 9.65508461e-01 2.60370513e-01 -7.80141200e-04 4.33307020e+01] [-2.60370418e-01 9.65508776e-01 2.22978466e-04 -5.13552308e+00] [ 8.11290193e-04 -1.21619052e-05 9.99999671e-01 -2.28305920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.751858064 meters 0.016393029138060237 Centerline is valid? [True, True] Translation: X:43.36, Y:-5.14, Z:-0.23 [[ 9.65421657e-01 2.60690025e-01 -1.31735505e-03 4.33615350e+01] [-2.60689755e-01 9.65422555e-01 3.76005485e-04 -5.14438392e+00] [ 1.36982516e-03 -1.95828727e-05 9.99999062e-01 -2.29396928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781858064 meters 0.01623175001884797 Centerline is valid? [True, True] Translation: X:43.39, Y:-5.15, Z:-0.23 [[ 9.65226458e-01 2.61410167e-01 -1.61523721e-03 4.33934466e+01] [-2.61409761e-01 9.65227809e-01 4.61245821e-04 -5.15232214e+00] [ 1.67964622e-03 -2.29678972e-05 9.99998589e-01 -2.29625248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81185806399999 meters 0.015900666854144267 Centerline is valid? [True, True] Translation: X:43.43, Y:-5.16, Z:-0.23 [[ 9.64626504e-01 2.63609875e-01 -2.35417916e-03 4.34251132e+01] [-2.63609020e-01 9.64629376e-01 6.71925697e-04 -5.15822504e+00] [ 2.44803662e-03 -2.75744764e-05 9.99997003e-01 -2.29976362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84185806399999 meters 0.01566422387659864 Centerline is valid? [True, True] Translation: X:43.46, Y:-5.16, Z:-0.23 [[ 9.64315285e-01 2.64746620e-01 -2.29324823e-03 4.34563501e+01] [-2.64745810e-01 9.64318011e-01 6.55204339e-04 -5.16460125e+00] [ 2.38488371e-03 -2.46956987e-05 9.99997156e-01 -2.30287594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.871858063999994 meters 0.01563348146755713 Centerline is valid? [True, True] Translation: X:43.49, Y:-5.17, Z:-0.23 [[ 9.64051904e-01 2.65700949e-01 -2.63284648e-03 4.34876640e+01] [-2.65699884e-01 9.64055499e-01 7.52863473e-04 -5.17157475e+00] [ 2.73824666e-03 -2.62524622e-05 9.99996251e-01 -2.31119667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901858063999995 meters 0.015439296829373526 Centerline is valid? [True, True] Translation: X:43.52, Y:-5.18, Z:-0.23 [[ 9.63817674e-01 2.66554160e-01 -2.09080128e-03 4.35189248e+01] [-2.66553489e-01 9.63819941e-01 5.98626528e-04 -5.17823894e+00] [ 2.17472236e-03 -1.96564513e-05 9.99997635e-01 -2.31499638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.931858064 meters 0.015438651935841706 Centerline is valid? [True, True] Translation: X:43.55, Y:-5.19, Z:-0.23 [[ 9.63664730e-01 2.67108783e-01 -1.78508492e-03 4.35504735e+01] [-2.67108293e-01 9.63666383e-01 5.12040643e-04 -5.18715771e+00] [ 1.85699688e-03 -1.66245229e-05 9.99998276e-01 -2.30670119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961858064 meters 0.015347540715654216 Centerline is valid? [True, True] Translation: X:43.58, Y:-5.20, Z:-0.23 [[ 9.63444523e-01 2.67905246e-01 -1.19549357e-03 4.35815892e+01] [-2.67905026e-01 9.63445265e-01 3.43564244e-04 -5.19574164e+00] [ 1.24383528e-03 -1.07263533e-05 9.99999226e-01 -2.29720968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99185806399999 meters 0.015192401519056258 Centerline is valid? [True, True] Translation: X:43.61, Y:-5.20, Z:-0.23 [[ 9.63133245e-01 2.69023115e-01 9.57087927e-04 4.36133184e+01] [-2.69022977e-01 9.63133721e-01 -2.72739344e-04 -5.20237809e+00] [-9.95176844e-04 5.20568639e-06 9.99999505e-01 -2.27949326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02185806399999 meters 0.015139638721113813 Centerline is valid? [True, True] Translation: X:43.64, Y:-5.21, Z:-0.23 [[ 9.62843339e-01 2.70054189e-01 1.85478576e-03 4.36437364e+01] [-2.70053667e-01 9.62845125e-01 -5.30801973e-04 -5.20990606e+00] [-1.92921672e-03 1.01874476e-05 9.99998139e-01 -2.27798068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.051858063999994 meters 0.01512403799738306 Centerline is valid? [True, True] Translation: X:43.68, Y:-5.22, Z:-0.23 [[ 9.62558525e-01 2.71066431e-01 2.01910635e-03 4.36759297e+01] [-2.71065816e-01 9.62560642e-01 -5.77681377e-04 -5.21716991e+00] [-2.10010234e-03 8.74142411e-06 9.99997795e-01 -2.27901518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081858063999995 meters 0.01505156952619889 Centerline is valid? [True, True] Translation: X:43.71, Y:-5.22, Z:-0.23 [[ 9.61996599e-01 2.73056179e-01 1.69312498e-03 4.37077245e+01] [-2.73055749e-01 9.61998089e-01 -4.84746060e-04 -5.22263068e+00] [-1.76114590e-03 4.00655171e-06 9.99998449e-01 -2.30444220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.111858063999996 meters 0.014995742027503174 Centerline is valid? [True, True] Translation: X:43.74, Y:-5.23, Z:-0.23 [[ 9.61650519e-01 2.74273689e-01 1.49073848e-03 4.37399671e+01] [-2.74273356e-01 9.61651675e-01 -4.26978247e-04 -5.23042662e+00] [-1.55068005e-03 1.73400804e-06 9.99998798e-01 -2.31439486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141858064 meters 0.01502751309397487 Centerline is valid? [True, True] Translation: X:43.77, Y:-5.24, Z:-0.23 [[ 9.61325059e-01 2.75411485e-01 1.62621854e-03 4.37708835e+01] [-2.75411090e-01 9.61326435e-01 -4.66490272e-04 -5.23859506e+00] [-1.69180365e-03 5.70167461e-07 9.99998569e-01 -2.31746753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.171858064 meters 0.015097118120760832 Centerline is valid? [True, True] Translation: X:43.80, Y:-5.25, Z:-0.23 [[ 9.60946525e-01 2.76732380e-01 9.83011238e-04 4.38029089e+01] [-2.76732237e-01 9.60947028e-01 -2.81594404e-04 -5.24681084e+00] [-1.02254802e-03 -1.43373478e-06 9.99999477e-01 -2.31779645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20185806399999 meters 0.015050568076231145 Centerline is valid? [True, True] Translation: X:43.84, Y:-5.25, Z:-0.23 [[ 9.60817750e-01 2.77179352e-01 9.26551780e-04 4.38351455e+01] [-2.77179225e-01 9.60818197e-01 -2.65544944e-04 -5.25449005e+00] [-9.63851385e-04 -1.68060890e-06 9.99999535e-01 -2.31916524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.231858063999994 meters 0.01507730591760291 Centerline is valid? [True, True] Translation: X:43.87, Y:-5.26, Z:-0.23 [[ 9.60610101e-01 2.77898542e-01 7.96043041e-04 4.38675740e+01] [-2.77898448e-01 9.60610431e-01 -2.28160352e-04 -5.26202161e+00] [-8.28092678e-04 -2.04598687e-06 9.99999657e-01 -2.32832067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261858063999995 meters 0.01510464923306333 Centerline is valid? [True, True] Translation: X:43.90, Y:-5.27, Z:-0.23 [[ 9.60663278e-01 2.77714872e-01 7.18891237e-04 4.38996757e+01] [-2.77714795e-01 9.60663547e-01 -2.06075250e-04 -5.26977159e+00] [-7.47842767e-04 -1.67780745e-06 9.99999720e-01 -2.33499500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.291858063999996 meters 0.0150362568761973 Centerline is valid? [True, True] Translation: X:43.93, Y:-5.28, Z:-0.23 [[ 9.60987181e-01 2.76592648e-01 3.81172922e-04 4.39301392e+01] [-2.76592626e-01 9.60987257e-01 -1.08712400e-04 -5.27938222e+00] [-3.96371372e-04 -9.58396841e-07 9.99999921e-01 -2.34271308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321858064 meters 0.015009319110623497 Centerline is valid? [True, True] Translation: X:43.96, Y:-5.29, Z:-0.23 [[ 9.61302080e-01 2.75496451e-01 1.31108224e-04 4.39617934e+01] [-2.75496449e-01 9.61302089e-01 -3.62954146e-05 -5.28956616e+00] [-1.36033868e-04 -1.22899262e-06 9.99999991e-01 -2.34046913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.351858064 meters 0.015185281744468742 Centerline is valid? [True, True] Translation: X:43.99, Y:-5.30, Z:-0.23 [[ 9.61679594e-01 2.74175451e-01 4.25436842e-04 4.39923915e+01] [-2.74175424e-01 9.61679688e-01 -1.21767242e-04 -5.29990016e+00] [-4.42519558e-04 4.56744854e-07 9.99999902e-01 -2.34878497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38185806399999 meters 0.015346311530610024 Centerline is valid? [True, True] Translation: X:44.02, Y:-5.31, Z:-0.23 [[ 9.62522956e-01 2.71199204e-01 7.42050131e-04 4.40231778e+01] [-2.71199120e-01 9.62523242e-01 -2.13869992e-04 -5.30921312e+00] [-7.72241869e-04 4.61143467e-06 9.99999702e-01 -2.34378561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41185806399999 meters 0.01542479932982976 Centerline is valid? [True, True] Translation: X:44.05, Y:-5.32, Z:-0.23 [[ 9.62792191e-01 2.70240617e-01 1.09838626e-03 4.40544060e+01] [-2.70240430e-01 9.62792817e-01 -3.17393677e-04 -5.31905016e+00] [-1.14329106e-03 8.75577835e-06 9.99999346e-01 -2.34047775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441858063999994 meters 0.015489253917472535 Centerline is valid? [True, True] Translation: X:44.09, Y:-5.33, Z:-0.23 [[ 9.62931387e-01 2.69745536e-01 6.99405478e-04 4.40855235e+01] [-2.69745460e-01 9.62931641e-01 -2.01722468e-04 -5.32899358e+00] [-7.27893400e-04 5.58344394e-06 9.99999735e-01 -2.33807159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471858063999996 meters 0.015781013912147902 Centerline is valid? [True, True] Translation: X:44.12, Y:-5.34, Z:-0.23 [[ 9.63345287e-01 2.68263170e-01 8.54658273e-04 4.41153162e+01] [-2.68263056e-01 9.63345666e-01 -2.47845506e-04 -5.33931615e+00] [-8.89819164e-04 9.48756029e-06 9.99999604e-01 -2.33542721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501858064 meters 0.015824600896261875 Centerline is valid? [True, True] Translation: X:44.15, Y:-5.35, Z:-0.23 [[ 9.63341854e-01 2.68276291e-01 5.51182809e-04 4.41468540e+01] [-2.68276244e-01 9.63342012e-01 -1.58911599e-04 -5.34881272e+00] [-5.73609770e-04 5.21694115e-06 9.99999835e-01 -2.33549726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.531858064 meters 0.01589602259839202 Centerline is valid? [True, True] Translation: X:44.18, Y:-5.36, Z:-0.23 [[ 9.63259155e-01 2.68571923e-01 9.60157415e-04 4.41778872e+01] [-2.68571779e-01 9.63259634e-01 -2.78301243e-04 -5.35814555e+00] [-9.99624780e-04 1.02050355e-05 9.99999500e-01 -2.33848567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56185806399999 meters 0.015507786438243652 Centerline is valid? [True, True] Translation: X:44.21, Y:-5.36, Z:-0.23 [[ 9.62944887e-01 2.69696474e-01 9.78275840e-04 4.42094694e+01] [-2.69696324e-01 9.62945384e-01 -2.83980515e-04 -5.36456944e+00] [-1.01861475e-03 9.62018632e-06 9.99999481e-01 -2.33633758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59185806399999 meters 0.015456935887708566 Centerline is valid? [True, True] Translation: X:44.24, Y:-5.37, Z:-0.23 [[ 9.62714867e-01 2.70517265e-01 7.02664593e-04 4.42403982e+01] [-2.70517188e-01 9.62715124e-01 -2.03676075e-04 -5.37238395e+00] [-7.31563726e-04 5.99913577e-06 9.99999732e-01 -2.34639124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621858063999994 meters 0.015474672260004518 Centerline is valid? [True, True] Translation: X:44.27, Y:-5.38, Z:-0.24 [[ 9.62509247e-01 2.71248554e-01 4.14583959e-04 4.42719330e+01] [-2.71248528e-01 9.62509336e-01 -1.19576986e-04 -5.38064413e+00] [-4.31476016e-04 2.63866652e-06 9.99999907e-01 -2.35534448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.651858063999995 meters 0.015393393415973762 Centerline is valid? [True, True] Translation: X:44.30, Y:-5.39, Z:-0.24 [[ 9.62177499e-01 2.72422358e-01 -7.20071689e-04 4.43025525e+01] [-2.72422276e-01 9.62177769e-01 2.11662385e-04 -5.38994415e+00] [ 7.50498537e-04 -7.49321558e-06 9.99999718e-01 -2.36622755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681858064 meters 0.015358475515084772 Centerline is valid? [True, True] Translation: X:44.33, Y:-5.40, Z:-0.24 [[ 9.62023474e-01 2.72965594e-01 -7.87640392e-04 4.43343371e+01] [-2.72965495e-01 9.62023796e-01 2.32179361e-04 -5.39941966e+00] [ 8.21105777e-04 -8.36334626e-06 9.99999663e-01 -2.36863348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711858064 meters 0.015170855347809719 Centerline is valid? [True, True] Translation: X:44.37, Y:-5.41, Z:-0.24 [[ 9.61926525e-01 2.73307370e-01 -6.65236218e-04 4.43659977e+01] [-2.73307300e-01 9.61926755e-01 1.96596654e-04 -5.40751043e+00] [ 6.93639831e-04 -7.29762216e-06 9.99999759e-01 -2.36459191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74185806399999 meters 0.01499959566401204 Centerline is valid? [True, True] Translation: X:44.40, Y:-5.41, Z:-0.24 [[ 9.61570577e-01 2.74557852e-01 1.09654698e-04 4.43974272e+01] [-2.74557850e-01 9.61570583e-01 -3.07332386e-05 -5.41353435e+00] [-1.13878784e-04 -5.54380053e-07 9.99999994e-01 -2.35967411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77185806399999 meters 0.015013367302384957 Centerline is valid? [True, True] Translation: X:44.43, Y:-5.42, Z:-0.24 [[ 9.61182597e-01 2.75913037e-01 -1.02798969e-04 4.44281053e+01] [-2.75913035e-01 9.61182603e-01 3.17243627e-05 -5.42072115e+00] [ 1.07561745e-04 -2.12932987e-06 9.99999994e-01 -2.36858552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801858063999994 meters 0.014818322158501155 Centerline is valid? [True, True] Translation: X:44.46, Y:-5.43, Z:-0.24 [[ 9.60795142e-01 2.77258974e-01 -3.95830420e-04 4.44606307e+01] [-2.77258949e-01 9.60795223e-01 1.18016905e-04 -5.42742467e+00] [ 4.13033222e-04 -3.64254260e-06 9.99999915e-01 -2.37439469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.831858063999995 meters 0.014710441385392271 Centerline is valid? [True, True] Translation: X:44.49, Y:-5.43, Z:-0.24 [[ 9.60383489e-01 2.78681174e-01 -5.97665397e-04 4.44922547e+01] [-2.78681117e-01 9.60383675e-01 1.77537242e-04 -5.43496018e+00] [ 6.23464377e-04 -3.94577541e-06 9.99999806e-01 -2.38031164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861858063999996 meters 0.014678583318285131 Centerline is valid? [True, True] Translation: X:44.52, Y:-5.44, Z:-0.24 [[ 9.59755121e-01 2.80837950e-01 -3.92308426e-04 4.45242631e+01] [-2.80837926e-01 9.59755201e-01 1.17212569e-04 -5.44269486e+00] [ 4.09437790e-04 -2.32027885e-06 9.99999916e-01 -2.37303015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.891858064 meters 0.014776257287673721 Centerline is valid? [True, True] Translation: X:44.55, Y:-5.45, Z:-0.24 [[ 9.59519952e-01 2.81640656e-01 -6.03425139e-05 4.45545972e+01] [-2.81640655e-01 9.59519953e-01 1.93207287e-05 -5.45092754e+00] [ 6.33413488e-05 -1.54371947e-06 9.99999998e-01 -2.37148306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921858064 meters 0.014730423067028237 Centerline is valid? [True, True] Translation: X:44.59, Y:-5.46, Z:-0.24 [[ 9.59442157e-01 2.81905226e-01 4.37446272e-04 4.45861506e+01] [-2.81905198e-01 9.59442256e-01 -1.27491968e-04 -5.45919099e+00] [-4.55645091e-04 -9.97209125e-07 9.99999896e-01 -2.37162405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95185806399999 meters 0.014818655049162 Centerline is valid? [True, True] Translation: X:44.62, Y:-5.47, Z:-0.24 [[ 9.59279323e-01 2.82458922e-01 3.71303551e-04 4.46184762e+01] [-2.82458902e-01 9.59279395e-01 -1.08068196e-04 -5.46681949e+00] [-3.86708672e-04 -1.21040744e-06 9.99999925e-01 -2.37011484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981858063999994 meters 0.014774819656762887 Centerline is valid? [True, True] Translation: X:44.65, Y:-5.48, Z:-0.24 [[ 9.59132936e-01 2.82955260e-01 5.75421865e-04 4.46500736e+01] [-2.82955210e-01 9.59133109e-01 -1.68572333e-04 -5.47521636e+00] [-5.99604591e-04 -1.13533739e-06 9.99999820e-01 -2.36670038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.011858063999995 meters 0.014798969161130117 Centerline is valid? [True, True] Translation: X:44.68, Y:-5.48, Z:-0.24 [[ 9.59004594e-01 2.83388397e-01 1.09802880e-03 4.46823759e+01] [-2.83388213e-01 9.59005222e-01 -3.23490883e-04 -5.48361121e+00] [-1.14468891e-03 -9.39174252e-07 9.99999345e-01 -2.36407614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041858063999996 meters 0.014822704005089615 Centerline is valid? [True, True] Translation: X:44.71, Y:-5.49, Z:-0.24 [[ 9.58760524e-01 2.84212673e-01 1.18940872e-03 4.47132424e+01] [-2.84212456e-01 9.58761261e-01 -3.51000179e-04 -5.49024287e+00] [-1.24011771e-03 -1.51966000e-06 9.99999231e-01 -2.36071764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.071858064 meters 0.014833552598357856 Centerline is valid? [True, True] Translation: X:44.74, Y:-5.50, Z:-0.24 [[ 9.58622153e-01 2.84679772e-01 9.97918974e-04 4.47449186e+01] [-2.84679620e-01 9.58622672e-01 -2.94390179e-04 -5.49856750e+00] [-1.04043468e-03 -1.87824681e-06 9.99999459e-01 -2.35951673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101858064 meters 0.014728173127919894 Centerline is valid? [True, True] Translation: X:44.78, Y:-5.51, Z:-0.24 [[ 9.58563744e-01 2.84877584e-01 5.56496950e-04 4.47758271e+01] [-2.84877537e-01 9.58563906e-01 -1.64169742e-04 -5.50693653e+00] [-5.80206170e-04 -1.16631815e-06 9.99999832e-01 -2.36457056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13185806399999 meters 0.014765630355537728 Centerline is valid? [True, True] Translation: X:44.81, Y:-5.52, Z:-0.24 [[ 9.58469703e-01 2.85194272e-01 2.36151285e-04 4.48067241e+01] [-2.85194264e-01 9.58469732e-01 -6.86482049e-05 -5.51532478e+00] [-2.45921934e-04 -1.55176736e-06 9.99999970e-01 -2.37224088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16185806399999 meters 0.01478670592012606 Centerline is valid? [True, True] Translation: X:44.84, Y:-5.52, Z:-0.24 [[ 9.58470407e-01 2.85191878e-01 -2.65524268e-04 4.48384817e+01] [-2.85191867e-01 9.58470444e-01 8.05825433e-05 -5.52416355e+00] [ 2.77478650e-04 -1.51062142e-06 9.99999962e-01 -2.38020751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.191858063999994 meters 0.014881295127205905 Centerline is valid? [True, True] Translation: X:44.87, Y:-5.53, Z:-0.24 [[ 9.58495353e-01 2.85105569e-01 -1.21328551e-03 4.48695038e+01] [-2.85105338e-01 9.58496121e-01 3.62744775e-04 -5.53251348e+00] [ 1.26635001e-03 -1.77500586e-06 9.99999198e-01 -2.38887817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221858063999996 meters 0.014805100903934375 Centerline is valid? [True, True] Translation: X:44.90, Y:-5.54, Z:-0.24 [[ 9.58456913e-01 2.85233337e-01 -1.51300743e-03 4.49011203e+01] [-2.85232978e-01 9.58458107e-01 4.52493112e-04 -5.54163871e+00] [ 1.57922036e-03 -2.13553564e-06 9.99998753e-01 -2.39024564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.251858064 meters 0.014858426259290515 Centerline is valid? [True, True] Translation: X:44.93, Y:-5.55, Z:-0.24 [[ 9.58426128e-01 2.85337111e-01 -1.44586220e-03 4.49328753e+01] [-2.85336782e-01 9.58427219e-01 4.33003497e-04 -5.54971499e+00] [ 1.50930565e-03 -2.44419811e-06 9.99998861e-01 -2.38528882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281858064 meters 0.014854107237979499 Centerline is valid? [True, True] Translation: X:44.96, Y:-5.56, Z:-0.24 [[ 9.58431007e-01 2.85320597e-01 -1.47013285e-03 4.49649127e+01] [-2.85320256e-01 9.58432135e-01 4.40694441e-04 -5.55879839e+00] [ 1.53476177e-03 -2.91653399e-06 9.99998822e-01 -2.38757786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31185806399999 meters 0.014939595371746812 Centerline is valid? [True, True] Translation: X:45.00, Y:-5.57, Z:-0.24 [[ 9.58464028e-01 2.85210799e-01 -1.22770029e-03 4.49958329e+01] [-2.85210562e-01 9.58464814e-01 3.67904363e-04 -5.56807143e+00] [ 1.28163783e-03 -2.47000717e-06 9.99999179e-01 -2.39918849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34185806399999 meters 0.014781605394098079 Centerline is valid? [True, True] Translation: X:45.03, Y:-5.58, Z:-0.24 [[ 9.58548233e-01 2.84925781e-01 -1.60734894e-03 4.50276312e+01] [-2.84925373e-01 9.58549581e-01 4.82443252e-04 -5.57802946e+00] [ 1.67818418e-03 -4.47063106e-06 9.99998592e-01 -2.38664203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.371858063999994 meters 0.014784598910473047 Centerline is valid? [True, True] Translation: X:45.06, Y:-5.59, Z:-0.24 [[ 9.58620479e-01 2.84683173e-01 -1.50624632e-03 4.50587287e+01] [-2.84682813e-01 9.58621662e-01 4.52652573e-04 -5.58736204e+00] [ 1.57278292e-03 -5.11958552e-06 9.99998763e-01 -2.38663083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401858063999995 meters 0.014712339466828364 Centerline is valid? [True, True] Translation: X:45.09, Y:-5.60, Z:-0.24 [[ 9.58562764e-01 2.84876340e-01 -1.70217235e-03 4.50893329e+01] [-2.84875881e-01 9.58564276e-01 5.11686697e-04 -5.59595852e+00] [ 1.77740904e-03 -5.57596856e-06 9.99998420e-01 -2.39055327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.431858064 meters 0.014722158870037225 Centerline is valid? [True, True] Translation: X:45.12, Y:-5.60, Z:-0.24 [[ 9.58408307e-01 2.85390250e-01 -2.43368131e-03 4.51213002e+01] [-2.85389312e-01 9.58411397e-01 7.31767988e-04 -5.60425697e+00] [ 2.54130736e-03 -6.78588284e-06 9.99996771e-01 -2.40065494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461858064 meters 0.014776385023644348 Centerline is valid? [True, True] Translation: X:45.15, Y:-5.61, Z:-0.24 [[ 9.58246252e-01 2.85928398e-01 -3.01208003e-03 4.51528804e+01] [-2.85926962e-01 9.58250985e-01 9.06185002e-04 -5.61306633e+00] [ 3.14543268e-03 -7.11348870e-06 9.99995053e-01 -2.40867355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49185806399999 meters 0.014744321758302485 Centerline is valid? [True, True] Translation: X:45.18, Y:-5.62, Z:-0.24 [[ 9.58111580e-01 2.86373627e-01 -3.51370544e-03 4.51844098e+01] [-2.86371673e-01 9.58118023e-01 1.05792631e-03 -5.62187467e+00] [ 3.66950670e-03 -7.38574620e-06 9.99993267e-01 -2.41124644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52185806399999 meters 0.014824239965279163 Centerline is valid? [True, True] Translation: X:45.22, Y:-5.63, Z:-0.24 [[ 9.57992953e-01 2.86773136e-01 -3.26668870e-03 4.52164852e+01] [-2.86771446e-01 9.57998522e-01 9.84653997e-04 -5.63115974e+00] [ 3.41185526e-03 -6.49854728e-06 9.99994180e-01 -2.41651182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.551858063999994 meters 0.014814629890744278 Centerline is valid? [True, True] Translation: X:45.25, Y:-5.64, Z:-0.24 [[ 9.57941318e-01 2.86943550e-01 -3.43966751e-03 4.52481342e+01] [-2.86941673e-01 9.57947493e-01 1.03780253e-03 -5.64104147e+00] [ 3.59281161e-03 -7.16997352e-06 9.99993546e-01 -2.41138528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581858063999995 meters 0.014814629890744278 Centerline is valid? [True, True] Translation: X:45.28, Y:-5.65, Z:-0.24 [[ 9.57860210e-01 2.87214185e-01 -3.43937517e-03 4.52791486e+01] [-2.87212306e-01 9.57866385e-01 1.03877176e-03 -5.65045396e+00] [ 3.59281184e-03 -7.16726296e-06 9.99993546e-01 -2.41320740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.611858063999996 meters 0.014950031607245985 Centerline is valid? [True, True] Translation: X:45.31, Y:-5.66, Z:-0.24 [[ 9.57904914e-01 2.87070296e-01 -2.97013895e-03 4.53107636e+01] [-2.87068891e-01 9.57909518e-01 8.98176390e-04 -5.66061863e+00] [ 3.10296414e-03 -7.73308101e-06 9.99995186e-01 -2.41151190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641858064 meters 0.01489639016124123 Centerline is valid? [True, True] Translation: X:45.34, Y:-5.67, Z:-0.24 [[ 9.57941066e-01 2.86951841e-01 -2.74853143e-03 4.53421874e+01] [-2.86950634e-01 9.57945009e-01 8.32116561e-04 -5.67071424e+00] [ 2.87171935e-03 -8.42578701e-06 9.99995877e-01 -2.40601465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.671858064 meters 0.014999155494459042 Centerline is valid? [True, True] Translation: X:45.37, Y:-5.68, Z:-0.24 [[ 9.57941830e-01 2.86954680e-01 -2.11250197e-03 4.53735509e+01] [-2.86953965e-01 9.57944159e-01 6.40582472e-04 -5.68036281e+00] [ 2.20747706e-03 -7.44992774e-06 9.99997563e-01 -2.39914517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70185806399999 meters 0.015021446541155059 Centerline is valid? [True, True] Translation: X:45.40, Y:-5.69, Z:-0.24 [[ 9.57919171e-01 2.87028198e-01 -2.38238514e-03 4.54041759e+01] [-2.87027288e-01 9.57922133e-01 7.22774473e-04 -5.68936016e+00] [ 2.48959611e-03 -8.54997992e-06 9.99996901e-01 -2.40383658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.731858063999994 meters 0.015078838323952263 Centerline is valid? [True, True] Translation: X:45.44, Y:-5.70, Z:-0.24 [[ 9.57938925e-01 2.86960103e-01 -2.62953976e-03 4.54359206e+01] [-2.86958992e-01 9.57942534e-01 7.98561687e-04 -5.69909932e+00] [ 2.74810332e-03 -1.04032467e-05 9.99996224e-01 -2.40510981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761858063999995 meters 0.015095369913663443 Centerline is valid? [True, True] Translation: X:45.47, Y:-5.71, Z:-0.24 [[ 9.57912292e-01 2.87042926e-01 -3.22466744e-03 4.54674861e+01] [-2.87041254e-01 9.57917720e-01 9.79903769e-04 -5.70983196e+00] [ 3.37024053e-03 -1.30492809e-05 9.99994321e-01 -2.40782560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.791858063999996 meters 0.015183687072240208 Centerline is valid? [True, True] Translation: X:45.50, Y:-5.72, Z:-0.24 [[ 9.57916684e-01 2.87029403e-01 -3.12232326e-03 4.54990873e+01] [-2.87027832e-01 9.57921772e-01 9.49814652e-04 -5.71987863e+00] [ 3.26356616e-03 -1.36496248e-05 9.99994674e-01 -2.41004661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821858064 meters 0.015339631992298769 Centerline is valid? [True, True] Translation: X:45.53, Y:-5.73, Z:-0.24 [[ 9.57916780e-01 2.87026532e-01 -3.34839717e-03 4.55295288e+01] [-2.87024722e-01 9.57922632e-01 1.01931318e-03 -5.72959842e+00] [ 3.50007536e-03 -1.53444348e-05 9.99993875e-01 -2.41540164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.851858064 meters 0.015384985273517459 Centerline is valid? [True, True] Translation: X:45.56, Y:-5.74, Z:-0.24 [[ 9.57980752e-01 2.86809289e-01 -3.64833118e-03 4.55595117e+01] [-2.86807139e-01 9.57987699e-01 1.11064470e-03 -5.73990361e+00] [ 3.81359961e-03 -1.76088142e-05 9.99992728e-01 -2.42132130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88185806399999 meters 0.015369896390863405 Centerline is valid? [True, True] Translation: X:45.59, Y:-5.75, Z:-0.24 [[ 9.57863433e-01 2.87206110e-01 -3.20845627e-03 4.55910505e+01] [-2.87204444e-01 9.57868806e-01 9.78394452e-04 -5.74996095e+00] [ 3.35428104e-03 -1.56853708e-05 9.99994374e-01 -2.42623434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91185806399999 meters 0.015357973164139173 Centerline is valid? [True, True] Translation: X:45.62, Y:-5.76, Z:-0.24 [[ 9.57800164e-01 2.87417132e-01 -3.19985120e-03 4.56229428e+01] [-2.87415477e-01 9.57805509e-01 9.75312711e-04 -5.76009578e+00] [ 3.34515669e-03 -1.44679138e-05 9.99994405e-01 -2.42446635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941858063999994 meters 0.015393368101982906 Centerline is valid? [True, True] Translation: X:45.65, Y:-5.77, Z:-0.24 [[ 9.57775830e-01 2.87503009e-01 -2.73473266e-03 4.56527380e+01] [-2.87501797e-01 9.57779734e-01 8.35210349e-04 -5.77037737e+00] [ 2.85939701e-03 -1.37037321e-05 9.99995912e-01 -2.42447108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.971858063999996 meters 0.015595941561136582 Centerline is valid? [True, True] Translation: X:45.68, Y:-5.78, Z:-0.24 [[ 9.57741097e-01 2.87615952e-01 -3.00909497e-03 4.56828237e+01] [-2.87614483e-01 9.57745824e-01 9.19645677e-04 -5.78056769e+00] [ 3.14645291e-03 -1.53231656e-05 9.99995050e-01 -2.42838773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001858064 meters 0.015578844083411146 Centerline is valid? [True, True] Translation: X:45.71, Y:-5.79, Z:-0.24 [[ 9.57690449e-01 2.87782114e-01 -3.23398615e-03 4.57140726e+01] [-2.87780414e-01 9.57695909e-01 9.89298635e-04 -5.79086169e+00] [ 3.38187776e-03 -1.67639803e-05 9.99994281e-01 -2.43205852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.031858064 meters 0.015752014614049258 Centerline is valid? [True, True] Translation: X:45.74, Y:-5.80, Z:-0.24 [[ 9.57660455e-01 2.87871433e-01 -4.06082017e-03 4.57441406e+01] [-2.87868751e-01 9.57669065e-01 1.24282596e-03 -5.80184161e+00] [ 4.24669595e-03 -2.12220468e-05 9.99990983e-01 -2.44220352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06185806399999 meters 0.015643474065721478 Centerline is valid? [True, True] Translation: X:45.78, Y:-5.81, Z:-0.24 [[ 9.57542467e-01 2.88251190e-01 -4.86566481e-03 4.57752963e+01] [-2.88247337e-01 9.57554829e-01 1.49055166e-03 -5.81204920e+00] [ 5.08879413e-03 -2.47515928e-05 9.99987052e-01 -2.43171116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09185806399999 meters 0.01565674926058839 Centerline is valid? [True, True] Translation: X:45.81, Y:-5.82, Z:-0.24 [[ 9.57514514e-01 2.88328090e-01 -5.73300361e-03 4.58065896e+01] [-2.88322733e-01 9.57531677e-01 1.75772871e-03 -5.82274460e+00] [ 5.99633512e-03 -3.00954852e-05 9.99982021e-01 -2.43323201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121858063999994 meters 0.015895176602531345 Centerline is valid? [True, True] Translation: X:45.84, Y:-5.83, Z:-0.24 [[ 9.57647817e-01 2.87870085e-01 -6.43996909e-03 4.58354954e+01] [-2.87863309e-01 9.57669469e-01 1.97555486e-03 -5.83299493e+00] [ 6.73606493e-03 -3.80549886e-05 9.99977312e-01 -2.44743530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.151858063999995 meters 0.01593915331400671 Centerline is valid? [True, True] Translation: X:45.87, Y:-5.84, Z:-0.25 [[ 9.57688343e-01 2.87739589e-01 -6.24236797e-03 4.58664053e+01] [-2.87733205e-01 9.57708686e-01 1.91713806e-03 -5.84343687e+00] [ 6.53000654e-03 -3.98842270e-05 9.99978678e-01 -2.45052941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181858064 meters 0.015990569836378844 Centerline is valid? [True, True] Translation: X:45.90, Y:-5.85, Z:-0.24 [[ 9.57776507e-01 2.87444499e-01 -6.31048554e-03 4.58978792e+01] [-2.87437956e-01 9.57797295e-01 1.93995032e-03 -5.85439226e+00] [ 6.60179403e-03 -4.41657768e-05 9.99978207e-01 -2.44758889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.211858064 meters 0.016093902836200977 Centerline is valid? [True, True] Translation: X:45.93, Y:-5.87, Z:-0.24 [[ 9.58038621e-01 2.86572940e-01 -6.16041704e-03 4.59268160e+01] [-2.86566676e-01 9.58058426e-01 1.89547301e-03 -5.86729368e+00] [ 6.44523073e-03 -5.05661088e-05 9.99979228e-01 -2.43504587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24185806399999 meters 0.01612303346257794 Centerline is valid? [True, True] Translation: X:45.96, Y:-5.88, Z:-0.24 [[ 9.58133578e-01 2.86272920e-01 -5.27848303e-03 4.59569937e+01] [-2.86268307e-01 9.58148117e-01 1.62577327e-03 -5.87800876e+00] [ 5.52298344e-03 -4.66455612e-05 9.99984747e-01 -2.42867323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27185806399999 meters 0.016062719329969086 Centerline is valid? [True, True] Translation: X:45.99, Y:-5.89, Z:-0.24 [[ 9.58103046e-01 2.86384212e-01 -4.75785270e-03 4.59881635e+01] [-2.86380457e-01 9.58114858e-01 1.46711269e-03 -5.88763885e+00] [ 4.97872728e-03 -4.30891048e-05 9.99987605e-01 -2.41956443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301858063999994 meters 0.016048237089236476 Centerline is valid? [True, True] Translation: X:46.02, Y:-5.90, Z:-0.24 [[ 9.57984590e-01 2.86793149e-01 -3.90070310e-03 4.60185759e+01] [-2.86790624e-01 9.57992531e-01 1.20389866e-03 -5.89648107e+00] [ 4.08211432e-03 -3.46312886e-05 9.99991668e-01 -2.41790884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.331858063999995 meters 0.01567734165234106 Centerline is valid? [True, True] Translation: X:46.05, Y:-5.90, Z:-0.24 [[ 9.57665740e-01 2.87855656e-01 -3.93077039e-03 4.60501354e+01] [-2.87853095e-01 9.57673807e-01 1.21466329e-03 -5.90424648e+00] [ 4.11404354e-03 -3.17570036e-05 9.99991537e-01 -2.41088141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361858063999996 meters 0.015780849492935484 Centerline is valid? [True, True] Translation: X:46.08, Y:-5.91, Z:-0.24 [[ 9.56700325e-01 2.91034541e-01 -4.83582348e-03 4.60809000e+01] [-2.91030708e-01 9.56712546e-01 1.49384116e-03 -5.91142915e+00] [ 5.06125237e-03 -2.17851969e-05 9.99987192e-01 -2.43147943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.391858064 meters 0.015527458151921376 Centerline is valid? [True, True] Translation: X:46.11, Y:-5.92, Z:-0.24 [[ 9.56142021e-01 2.92852100e-01 -5.48479490e-03 4.61123741e+01] [-2.92847185e-01 9.56157752e-01 1.69674551e-03 -5.91959619e+00] [ 5.74122466e-03 -1.61229371e-05 9.99983519e-01 -2.42737307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421858064 meters 0.01548247167516442 Centerline is valid? [True, True] Translation: X:46.14, Y:-5.93, Z:-0.24 [[ 9.55146719e-01 2.96055212e-01 -6.78645474e-03 4.61426483e+01] [-2.96047761e-01 9.55170829e-01 2.10039976e-03 -5.92713018e+00] [ 7.10405789e-03 2.92479284e-06 9.99974766e-01 -2.43510741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45185806399999 meters 0.015420989643898974 Centerline is valid? [True, True] Translation: X:46.17, Y:-5.94, Z:-0.24 [[ 9.54759536e-01 2.97301082e-01 -6.80399425e-03 4.61729469e+01] [-2.97293611e-01 9.54783780e-01 2.10773570e-03 -5.93550919e+00] [ 7.12297545e-03 1.04032631e-05 9.99974631e-01 -2.44110315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481858063999994 meters 0.015500788626052758 Centerline is valid? [True, True] Translation: X:46.20, Y:-5.94, Z:-0.24 [[ 9.54292991e-01 2.98793499e-01 -6.87987612e-03 4.62042024e+01] [-2.98785882e-01 9.54317790e-01 2.13351283e-03 -5.94420276e+00] [ 7.20306794e-03 1.96135172e-05 9.99974057e-01 -2.44629141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.511858063999995 meters 0.015621494180806038 Centerline is valid? [True, True] Translation: X:46.24, Y:-5.95, Z:-0.25 [[ 9.53969253e-01 2.99818614e-01 -7.17378468e-03 4.62353442e+01] [-2.99810348e-01 9.53996225e-01 2.22650715e-03 -5.95304595e+00] [ 7.51131179e-03 2.67555231e-05 9.99971789e-01 -2.46005531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541858063999996 meters 0.015758136193267547 Centerline is valid? [True, True] Translation: X:46.27, Y:-5.96, Z:-0.25 [[ 9.53483371e-01 3.01349705e-01 -7.60375382e-03 4.62663565e+01] [-3.01340453e-01 9.53513688e-01 2.36175403e-03 -5.96195013e+00] [ 7.96199723e-03 3.94254226e-05 9.99968302e-01 -2.46578960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.571858064 meters 0.01571693324094446 Centerline is valid? [True, True] Translation: X:46.30, Y:-5.97, Z:-0.25 [[ 9.53354088e-01 3.01759686e-01 -7.55482925e-03 4.62969791e+01] [-3.01750548e-01 9.53384020e-01 2.34877581e-03 -5.97132907e+00] [ 7.91141934e-03 4.04588483e-05 9.99968703e-01 -2.47123008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601858064 meters 0.01578615632015449 Centerline is valid? [True, True] Translation: X:46.33, Y:-5.98, Z:-0.25 [[ 9.53220514e-01 3.02183188e-01 -7.48143488e-03 4.63269195e+01] [-3.02174223e-01 9.53249872e-01 2.32802385e-03 -5.98116812e+00] [ 7.83516651e-03 4.15766871e-05 9.99969304e-01 -2.47783567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63185806399999 meters 0.015674930423243884 Centerline is valid? [True, True] Translation: X:46.36, Y:-5.99, Z:-0.25 [[ 9.53022002e-01 3.02806413e-01 -7.57224000e-03 4.63580609e+01] [-3.02797230e-01 9.53052084e-01 2.35872542e-03 -5.99162310e+00] [ 7.93097630e-03 4.49360781e-05 9.99968548e-01 -2.46982674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66185806399999 meters 0.015695517451683773 Centerline is valid? [True, True] Translation: X:46.39, Y:-6.00, Z:-0.25 [[ 9.52887054e-01 3.03232220e-01 -7.51553503e-03 4.63892921e+01] [-3.03223169e-01 9.52916690e-01 2.34335386e-03 -6.00161364e+00] [ 7.87225916e-03 4.59327949e-05 9.99969012e-01 -2.47230884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.691858063999994 meters 0.01559994760018781 Centerline is valid? [True, True] Translation: X:46.42, Y:-6.01, Z:-0.25 [[ 9.52666411e-01 3.03944623e-01 -6.66146085e-03 4.64204020e+01] [-3.03937514e-01 9.52689700e-01 2.07933484e-03 -6.01193701e+00] [ 6.97830778e-03 4.37553862e-05 9.99975650e-01 -2.46252490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721858063999996 meters 0.01565834817385729 Centerline is valid? [True, True] Translation: X:46.45, Y:-6.02, Z:-0.25 [[ 9.52486765e-01 3.04517615e-01 -6.16312767e-03 4.64518346e+01] [-3.04511529e-01 9.52506703e-01 1.92580536e-03 -6.02227417e+00] [ 6.45686208e-03 4.24393115e-05 9.99979153e-01 -2.46046444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.751858064 meters 0.015631959774747333 Centerline is valid? [True, True] Translation: X:46.48, Y:-6.03, Z:-0.25 [[ 9.52445368e-01 3.04659242e-01 -5.52869844e-03 4.64829908e+01] [-3.04654335e-01 9.52461414e-01 1.72944191e-03 -6.03287822e+00] [ 5.79276239e-03 3.71430056e-05 9.99983221e-01 -2.45807819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781858064 meters 0.015515607653689605 Centerline is valid? [True, True] Translation: X:46.51, Y:-6.04, Z:-0.25 [[ 9.52401213e-01 3.04804612e-01 -5.10658533e-03 4.65138591e+01] [-3.04800419e-01 9.52414903e-01 1.59908583e-03 -6.04368987e+00] [ 5.35099671e-03 3.35180646e-05 9.99985683e-01 -2.45478091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81185806399999 meters 0.015512456937327787 Centerline is valid? [True, True] Translation: X:46.55, Y:-6.05, Z:-0.25 [[ 9.52394381e-01 3.04836195e-01 -4.45402073e-03 4.65450101e+01] [-3.04832998e-01 9.52404795e-01 1.39631111e-03 -6.05463553e+00] [ 4.66767687e-03 2.78936399e-05 9.99989106e-01 -2.46114957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84185806399999 meters 0.015428559710009969 Centerline is valid? [True, True] Translation: X:46.58, Y:-6.06, Z:-0.25 [[ 9.52380290e-01 3.04881899e-01 -4.33706740e-03 4.65761829e+01] [-3.04878862e-01 9.52390165e-01 1.36101030e-03 -6.06478281e+00] [ 4.54552774e-03 2.60807950e-05 9.99989669e-01 -2.46757555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.871858063999994 meters 0.015404559708990248 Centerline is valid? [True, True] Translation: X:46.61, Y:-6.08, Z:-0.25 [[ 9.52235443e-01 3.05337265e-01 -4.10082504e-03 4.66073909e+01] [-3.05334548e-01 9.52244272e-01 1.28819256e-03 -6.07526546e+00] [ 4.29832035e-03 2.54609435e-05 9.99990762e-01 -2.47292860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901858063999995 meters 0.015405742225077564 Centerline is valid? [True, True] Translation: X:46.64, Y:-6.09, Z:-0.25 [[ 9.52221801e-01 3.05374410e-01 -4.48455571e-03 4.66372858e+01] [-3.05371158e-01 9.52232361e-01 1.40973793e-03 -6.08677194e+00] [ 4.70083696e-03 2.70707815e-05 9.99988951e-01 -2.47772705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.931858064 meters 0.015292170879323677 Centerline is valid? [True, True] Translation: X:46.67, Y:-6.10, Z:-0.25 [[ 9.52307045e-01 3.05100929e-01 -4.97142668e-03 4.66680133e+01] [-3.05096920e-01 9.52320021e-01 1.56428411e-03 -6.09783290e+00] [ 5.21165369e-03 2.70881826e-05 9.99986419e-01 -2.47341358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961858064 meters 0.015447494240906573 Centerline is valid? [True, True] Translation: X:46.70, Y:-6.11, Z:-0.25 [[ 9.52300819e-01 3.05109041e-01 -5.62338390e-03 4.66980678e+01] [-3.05103905e-01 9.52317422e-01 1.77070048e-03 -6.10779299e+00] [ 5.89550318e-03 2.94768712e-05 9.99982621e-01 -2.48741284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99185806399999 meters 0.015388446623409737 Centerline is valid? [True, True] Translation: X:46.73, Y:-6.12, Z:-0.25 [[ 9.52420855e-01 3.04725822e-01 -6.05713848e-03 4.67285931e+01] [-3.04719843e-01 9.52440115e-01 1.90906911e-03 -6.11970205e+00] [ 6.35080432e-03 2.74930572e-05 9.99979833e-01 -2.48717210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02185806399999 meters 0.015446017695416585 Centerline is valid? [True, True] Translation: X:46.76, Y:-6.13, Z:-0.25 [[ 9.52495926e-01 3.04479559e-01 -6.61124059e-03 4.67588251e+01] [-3.04472420e-01 9.52518870e-01 2.08529016e-03 -6.13021996e+00] [ 6.93225964e-03 2.67100366e-05 9.99975971e-01 -2.49916870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.051858063999994 meters 0.01535625718689249 Centerline is valid? [True, True] Translation: X:46.79, Y:-6.14, Z:-0.25 [[ 9.52634315e-01 3.04052296e-01 -6.32949942e-03 4.67893856e+01] [-3.04045728e-01 9.52655342e-01 1.99850548e-03 -6.14118823e+00] [ 6.63748161e-03 2.06123635e-05 9.99977971e-01 -2.49546023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081858063999995 meters 0.015290785716666947 Centerline is valid? [True, True] Translation: X:46.82, Y:-6.15, Z:-0.25 [[ 9.53143940e-01 3.02455297e-01 -6.11751392e-03 4.68196608e+01] [-3.02449116e-01 9.53163571e-01 1.93356897e-03 -6.15307453e+00] [ 6.41580959e-03 7.26713402e-06 9.99979418e-01 -2.48900845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.111858063999996 meters 0.015280362957190296 Centerline is valid? [True, True] Translation: X:46.85, Y:-6.16, Z:-0.25 [[ 9.53498615e-01 3.01333359e-01 -6.21275347e-03 4.68495621e+01] [-3.01326950e-01 9.53518855e-01 1.96530403e-03 -6.16415577e+00] [ 6.51618925e-03 -1.84461536e-06 9.99978769e-01 -2.49215973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141858064 meters 0.015370492936166574 Centerline is valid? [True, True] Translation: X:46.88, Y:-6.18, Z:-0.25 [[ 9.53950102e-01 2.99905390e-01 -5.99671472e-03 4.68802543e+01] [-2.99899378e-01 9.53968950e-01 1.89895878e-03 -6.17590961e+00] [ 6.29018761e-03 -1.31009070e-05 9.99980216e-01 -2.49090441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.171858064 meters 0.015700642282286674 Centerline is valid? [True, True] Translation: X:46.91, Y:-6.19, Z:-0.25 [[ 9.55072309e-01 2.96326500e-01 -5.24306422e-03 4.69099243e+01] [-2.96321842e-01 9.55086700e-01 1.66188454e-03 -6.18930940e+00] [ 5.50004133e-03 -3.35854570e-05 9.99984874e-01 -2.48744938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20185806399999 meters 0.015965543053588056 Centerline is valid? [True, True] Translation: X:46.94, Y:-6.20, Z:-0.25 [[ 9.55508679e-01 2.94923926e-01 -4.80018499e-03 4.69401375e+01] [-2.94919996e-01 9.55520736e-01 1.52296331e-03 -6.20117131e+00] [ 5.03583461e-03 -3.95341255e-05 9.99987319e-01 -2.48833305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.231858063999994 meters 0.01618264004888779 Centerline is valid? [True, True] Translation: X:46.97, Y:-6.21, Z:-0.25 [[ 9.55883396e-01 2.93703463e-01 -5.02092099e-03 4.69698365e+01] [-2.93699141e-01 9.55896581e-01 1.59412879e-03 -6.21242519e+00] [ 5.26768235e-03 -4.91610582e-05 9.99986124e-01 -2.48772542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261858063999995 meters 0.016631907318013256 Centerline is valid? [True, True] Translation: X:47.00, Y:-6.22, Z:-0.25 [[ 9.56356204e-01 2.92154695e-01 -5.33344927e-03 4.69983029e+01] [-2.92149788e-01 9.56371073e-01 1.69443811e-03 -6.22405568e+00] [ 5.59579465e-03 -6.23203247e-05 9.99984341e-01 -2.49229063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.291858063999996 meters 0.016883658704448117 Centerline is valid? [True, True] Translation: X:47.03, Y:-6.23, Z:-0.25 [[ 9.56336755e-01 2.92208942e-01 -5.82625792e-03 4.70293172e+01] [-2.92203075e-01 9.56354500e-01 1.85286031e-03 -6.23434150e+00] [ 6.11339033e-03 -6.95079386e-05 9.99981311e-01 -2.49862405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321858064 meters 0.016913994442438088 Centerline is valid? [True, True] Translation: X:47.06, Y:-6.24, Z:-0.25 [[ 9.56344455e-01 2.92176526e-01 -6.17742996e-03 4.70609467e+01] [-2.92169920e-01 9.56364403e-01 1.96623376e-03 -6.24389281e+00] [ 6.48236146e-03 -7.55375453e-05 9.99978986e-01 -2.50536801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.351858064 meters 0.016960914320967524 Centerline is valid? [True, True] Translation: X:47.09, Y:-6.25, Z:-0.25 [[ 9.56166321e-01 2.92756008e-01 -6.31564664e-03 4.70926341e+01] [-2.92749103e-01 9.56187175e-01 2.01200136e-03 -6.25344338e+00] [ 6.62796581e-03 -7.49080436e-05 9.99978032e-01 -2.51066721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38185806399999 meters 0.016875126079370886 Centerline is valid? [True, True] Translation: X:47.12, Y:-6.26, Z:-0.25 [[ 9.55902394e-01 2.93628338e-01 -5.74563206e-03 4.71226397e+01] [-2.93622632e-01 9.55919659e-01 1.83158902e-03 -6.26231262e+00] [ 6.03016908e-03 -6.37727209e-05 9.99981816e-01 -2.50562559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41185806399999 meters 0.01637458292958386 Centerline is valid? [True, True] Translation: X:47.15, Y:-6.27, Z:-0.25 [[ 9.55673295e-01 2.94378501e-01 -5.46373101e-03 4.71545453e+01] [-2.94373341e-01 9.55688911e-01 1.74383957e-03 -6.27098105e+00] [ 5.73497601e-03 -5.81641530e-05 9.99983553e-01 -2.48526590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441858063999994 meters 0.01636660157612321 Centerline is valid? [True, True] Translation: X:47.19, Y:-6.28, Z:-0.25 [[ 9.55433745e-01 2.95168504e-01 -4.68120368e-03 4.71855794e+01] [-2.95164720e-01 9.55445211e-01 1.49534164e-03 -6.28030765e+00] [ 4.91401139e-03 -4.69736869e-05 9.99987925e-01 -2.47991973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.471858063999996 meters 0.01635624791188271 Centerline is valid? [True, True] Translation: X:47.22, Y:-6.29, Z:-0.25 [[ 9.54988542e-01 2.96621352e-01 -3.55778480e-03 4.72156229e+01] [-2.96619172e-01 9.54995169e-01 1.13757834e-03 -6.28770251e+00] [ 3.73509732e-03 -3.10670938e-05 9.99993024e-01 -2.47133777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501858064 meters 0.01635624791188271 Centerline is valid? [True, True] Translation: X:47.25, Y:-6.30, Z:-0.25 [[ 9.54907813e-01 2.96881146e-01 -3.55738914e-03 4.72464710e+01] [-2.96878963e-01 9.54914438e-01 1.13881606e-03 -6.29763725e+00] [ 3.73509527e-03 -3.13503513e-05 9.99993024e-01 -2.47315877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.531858064 meters 0.016278195000979028 Centerline is valid? [True, True] Translation: X:47.28, Y:-6.31, Z:-0.25 [[ 9.54605770e-01 2.97855705e-01 -3.13105375e-03 4.72776628e+01] [-2.97854017e-01 9.54610904e-01 1.00313382e-03 -6.30606563e+00] [ 3.28772718e-03 -2.50003951e-05 9.99994595e-01 -2.47492033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56185806399999 meters 0.016351723815216265 Centerline is valid? [True, True] Translation: X:47.31, Y:-6.31, Z:-0.25 [[ 9.54374456e-01 2.98597606e-01 -2.97774328e-03 4.73089669e+01] [-2.98596079e-01 9.54379102e-01 9.55002883e-04 -6.31439560e+00] [ 3.12705753e-03 -2.22878883e-05 9.99995110e-01 -2.47840311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59185806399999 meters 0.01633464306838695 Centerline is valid? [True, True] Translation: X:47.34, Y:-6.32, Z:-0.25 [[ 9.54119521e-01 2.99412573e-01 -2.83727725e-03 4.73405178e+01] [-2.99411188e-01 9.54123740e-01 9.10946643e-04 -6.32274785e+00] [ 2.97986246e-03 -1.96394223e-05 9.99995560e-01 -2.48032989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621858063999994 meters 0.016196385685968397 Centerline is valid? [True, True] Translation: X:47.37, Y:-6.33, Z:-0.25 [[ 9.53765036e-01 3.00543147e-01 -2.46414551e-03 4.73704012e+01] [-3.00542105e-01 9.53768219e-01 7.91634444e-04 -6.32997832e+00] [ 2.58814398e-03 -1.44537765e-05 9.99996651e-01 -2.48025495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.651858063999995 meters 0.016216689256162566 Centerline is valid? [True, True] Translation: X:47.40, Y:-6.34, Z:-0.25 [[ 9.53629351e-01 3.00969371e-01 -2.91507964e-03 4.74018570e+01] [-3.00967912e-01 9.53633807e-01 9.37390391e-04 -6.33953288e+00] [ 3.06204429e-03 -1.65775590e-05 9.99995312e-01 -2.48475946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681858064 meters 0.016081187593330853 Centerline is valid? [True, True] Translation: X:47.43, Y:-6.35, Z:-0.25 [[ 9.53475340e-01 3.01447691e-01 -3.75049478e-03 4.74339694e+01] [-3.01445276e-01 9.53482716e-01 1.20684680e-03 -6.34857186e+00] [ 3.93983314e-03 -2.01297323e-05 9.99992239e-01 -2.47916379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.711858064 meters 0.016126046758693075 Centerline is valid? [True, True] Translation: X:47.46, Y:-6.36, Z:-0.25 [[ 9.53354645e-01 3.01798464e-01 -5.71031492e-03 4.74642881e+01] [-3.01792870e-01 9.53371746e-01 1.83772177e-03 -6.35650637e+00] [ 5.99867452e-03 -2.86682604e-05 9.99982007e-01 -2.50108939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74185806399999 meters 0.016147900650098232 Centerline is valid? [True, True] Translation: X:47.50, Y:-6.37, Z:-0.25 [[ 9.53403810e-01 3.01634032e-01 -6.17136993e-03 4.74958125e+01] [-3.01627482e-01 9.53423783e-01 1.98817646e-03 -6.36584695e+00] [ 6.48363255e-03 -3.40802438e-05 9.99978980e-01 -2.51106859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77185806399999 meters 0.016585790177694765 Centerline is valid? [True, True] Translation: X:47.53, Y:-6.38, Z:-0.25 [[ 9.53581719e-01 3.01056249e-01 -6.85856940e-03 4.75250080e+01] [-3.01048135e-01 9.53606383e-01 2.21075429e-03 -6.37576879e+00] [ 7.20593695e-03 -4.33753471e-05 9.99974036e-01 -2.53790892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801858063999994 meters 0.01643394366723695 Centerline is valid? [True, True] Translation: X:47.56, Y:-6.38, Z:-0.25 [[ 9.54232773e-01 2.98954786e-01 -8.11481354e-03 4.75552546e+01] [-2.98943336e-01 9.54267274e-01 2.61746179e-03 -6.38482264e+00] [ 8.52620373e-03 -7.17983903e-05 9.99963649e-01 -2.52663840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.831858063999995 meters 0.01653041502044856 Centerline is valid? [True, True] Translation: X:47.58, Y:-6.40, Z:-0.25 [[ 9.54666334e-01 2.97550576e-01 -8.70891882e-03 4.75849196e+01] [-2.97537324e-01 9.54706052e-01 2.80971857e-03 -6.39576087e+00] [ 9.15049089e-03 -9.11153256e-05 9.99958129e-01 -2.52789466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861858063999996 meters 0.01667880881805012 Centerline is valid? [True, True] Translation: X:47.62, Y:-6.41, Z:-0.25 [[ 9.55158216e-01 2.95937150e-01 -9.69464607e-03 4.76153363e+01] [-2.95920612e-01 9.55207406e-01 3.13091127e-03 -6.40712402e+00] [ 1.01869507e-02 -1.21670021e-04 9.99948104e-01 -2.52692912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.891858064 meters 0.01702800462049386 Centerline is valid? [True, True] Translation: X:47.64, Y:-6.42, Z:-0.25 [[ 9.55865816e-01 2.93636510e-01 -9.90667912e-03 4.76447328e+01] [-2.93619093e-01 9.55917139e-01 3.20172532e-03 -6.41897221e+00] [ 1.04101078e-02 -1.51629642e-04 9.99945802e-01 -2.51334967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921858064 meters 0.017208471822085375 Centerline is valid? [True, True] Translation: X:47.68, Y:-6.43, Z:-0.25 [[ 9.56030642e-01 2.93120085e-01 -9.27507214e-03 4.76757484e+01] [-2.93104763e-01 9.56075621e-01 3.00080562e-03 -6.42889113e+00] [ 9.74726676e-03 -1.50294306e-04 9.99952483e-01 -2.51074087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95185806399999 meters 0.017303849867564048 Centerline is valid? [True, True] Translation: X:47.71, Y:-6.44, Z:-0.25 [[ 9.56039600e-01 2.93098278e-01 -9.03784330e-03 4.77071948e+01] [-2.93083702e-01 9.56082307e-01 2.92683239e-03 -6.43868974e+00] [ 9.49877160e-03 -1.49323095e-04 9.99954875e-01 -2.51137962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981858063999994 meters 0.01681898103536024 Centerline is valid? [True, True] Translation: X:47.74, Y:-6.45, Z:-0.25 [[ 9.56159016e-01 2.92732614e-01 -8.21902024e-03 4.77389998e+01] [-2.92720522e-01 9.56194330e-01 2.66445216e-03 -6.44643032e+00] [ 8.63895259e-03 -1.41764062e-04 9.99962674e-01 -2.49237817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.011858063999995 meters 0.019513559932521272 Centerline is valid? [True, True] Translation: X:47.77, Y:-6.46, Z:-0.25 [[ 9.56096266e-01 2.92950371e-01 -7.74661485e-03 4.77674173e+01] [-2.92939618e-01 9.56127639e-01 2.51356052e-03 -6.46117685e+00] [ 8.14310105e-03 -1.33915428e-04 9.99966835e-01 -2.52943755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041858063999996 meters 0.017391000124197163 Centerline is valid? [True, True] Translation: X:47.80, Y:-6.47, Z:-0.25 [[ 9.55993432e-01 2.93290089e-01 -7.58162790e-03 4.78001921e+01] [-2.93279781e-01 9.56023487e-01 2.46237166e-03 -6.46767263e+00] [ 7.97040354e-03 -1.30472963e-04 9.99968227e-01 -2.48871067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.071858064 meters 0.017365977960258357 Centerline is valid? [True, True] Translation: X:47.83, Y:-6.48, Z:-0.25 [[ 9.55766377e-01 2.94018302e-01 -7.99195267e-03 4.78319797e+01] [-2.94006854e-01 9.55799781e-01 2.59793398e-03 -6.47736466e+00] [ 8.40254674e-03 -1.33329087e-04 9.99964689e-01 -2.48210480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101858064 meters 0.017477509603319775 Centerline is valid? [True, True] Translation: X:47.86, Y:-6.49, Z:-0.25 [[ 9.55539415e-01 2.94747824e-01 -8.25509889e-03 4.78623500e+01] [-2.94735619e-01 9.55575064e-01 2.68560791e-03 -6.48696794e+00] [ 8.67994374e-03 -1.33132531e-04 9.99962320e-01 -2.48589796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13185806399999 meters 0.01659462761460933 Centerline is valid? [True, True] Translation: X:47.89, Y:-6.49, Z:-0.25 [[ 9.55319980e-01 2.95443281e-01 -8.77513292e-03 4.78947186e+01] [-2.95429493e-01 9.55360272e-01 2.85762553e-03 -6.49471576e+00] [ 9.22767963e-03 -1.37513698e-04 9.99957415e-01 -2.46651477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16185806399999 meters 0.01655622976142114 Centerline is valid? [True, True] Translation: X:47.93, Y:-6.50, Z:-0.25 [[ 9.55087334e-01 2.96181671e-01 -9.19799914e-03 4.79259152e+01] [-2.96166529e-01 9.55131613e-01 2.99811054e-03 -6.50392293e+00] [ 9.67328515e-03 -1.39317926e-04 9.99953203e-01 -2.46609055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.191858063999994 meters 0.016262850666667116 Centerline is valid? [True, True] Translation: X:47.96, Y:-6.51, Z:-0.25 [[ 9.54490893e-01 2.98110906e-01 -8.77630868e-03 4.79569157e+01] [-2.98097182e-01 9.54531233e-01 2.86288880e-03 -6.51064772e+00] [ 9.23071912e-03 -1.16408407e-04 9.99957389e-01 -2.46395663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221858063999996 meters 0.01596349824487105 Centerline is valid? [True, True] Translation: X:47.99, Y:-6.52, Z:-0.25 [[ 9.54068632e-01 2.99466972e-01 -8.51929849e-03 4.79883682e+01] [-2.99454073e-01 9.54106662e-01 2.78142071e-03 -6.51849656e+00] [ 8.96126308e-03 -1.02527619e-04 9.99959842e-01 -2.45956943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.251858064 meters 0.01579053955332017 Centerline is valid? [True, True] Translation: X:48.02, Y:-6.53, Z:-0.25 [[ 9.53570396e-01 3.01035104e-01 -9.02029837e-03 4.80199926e+01] [-3.01020685e-01 9.53613054e-01 2.94794143e-03 -6.52694651e+00] [ 9.48930813e-03 -9.57732812e-05 9.99954971e-01 -2.45701657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281858064 meters 0.015517830402881466 Centerline is valid? [True, True] Translation: X:48.05, Y:-6.53, Z:-0.25 [[ 9.52488621e-01 3.04398267e-01 -1.03499699e-02 4.80512987e+01] [-3.04379469e-01 9.52544849e-01 3.38363200e-03 -6.53380241e+00] [ 1.08887822e-02 -7.25526449e-05 9.99940713e-01 -2.46088680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31185806399999 meters 0.015287920283215208 Centerline is valid? [True, True] Translation: X:48.08, Y:-6.54, Z:-0.25 [[ 9.51843942e-01 3.06370468e-01 -1.14125713e-02 4.80830781e+01] [-3.06347705e-01 9.51912356e-01 3.73509257e-03 -6.54209236e+00] [ 1.20080897e-02 -5.90102225e-05 9.99927899e-01 -2.45773097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34185806399999 meters 0.015280915813070731 Centerline is valid? [True, True] Translation: X:48.11, Y:-6.55, Z:-0.25 [[ 9.51271811e-01 3.08135338e-01 -1.15997933e-02 4.81137526e+01] [-3.08111934e-01 9.51342531e-01 3.79795557e-03 -6.55015985e+00] [ 1.22056610e-02 -3.88533444e-05 9.99925507e-01 -2.45922076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.371858063999994 meters 0.015304312061710927 Centerline is valid? [True, True] Translation: X:48.14, Y:-6.56, Z:-0.25 [[ 9.50730376e-01 3.09810911e-01 -1.13556495e-02 4.81436561e+01] [-3.09788583e-01 9.50798190e-01 3.71952334e-03 -6.55795816e+00] [ 1.19492799e-02 -1.84132446e-05 9.99928605e-01 -2.46716249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401858063999995 meters 0.014989299752854587 Centerline is valid? [True, True] Translation: X:48.18, Y:-6.56, Z:-0.24 [[ 9.49650114e-01 3.13124710e-01 -1.08433205e-02 4.81763612e+01] [-3.13104518e-01 9.49712017e-01 3.55595408e-03 -6.56444066e+00] [ 1.14114889e-02 1.81804599e-05 9.99934887e-01 -2.43238869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.431858064 meters 0.014912174362067768 Centerline is valid? [True, True] Translation: X:48.21, Y:-6.57, Z:-0.24 [[ 9.49266099e-01 3.14295420e-01 -1.05954307e-02 4.82069987e+01] [-3.14276180e-01 9.49325228e-01 3.47764444e-03 -6.57257923e+00] [ 1.11515174e-02 2.86815190e-05 9.99937819e-01 -2.43557083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461858064 meters 0.014889332616318036 Centerline is valid? [True, True] Translation: X:48.24, Y:-6.58, Z:-0.24 [[ 9.48896220e-01 3.15405185e-01 -1.07486005e-02 4.82386657e+01] [-3.15385417e-01 9.48957095e-01 3.53137176e-03 -6.58186938e+00] [ 1.13137737e-02 3.90465360e-05 9.99935996e-01 -2.42849764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49185806399999 meters 0.01489815856020561 Centerline is valid? [True, True] Translation: X:48.27, Y:-6.59, Z:-0.24 [[ 9.48721075e-01 3.15918697e-01 -1.11219833e-02 4.82696303e+01] [-3.15897532e-01 9.48786264e-01 3.65711790e-03 -6.59122775e+00] [ 1.17077370e-02 4.38222598e-05 9.99931461e-01 -2.43251275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52185806399999 meters 0.014840522244826697 Centerline is valid? [True, True] Translation: X:48.30, Y:-6.60, Z:-0.24 [[ 9.48418972e-01 3.16774190e-01 -1.24726148e-02 4.82997337e+01] [-3.16747609e-01 9.48500980e-01 4.10404899e-03 -6.60084134e+00] [ 1.31303441e-02 5.83129851e-05 9.99913792e-01 -2.41844491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.551858063999994 meters 0.014894571474412487 Centerline is valid? [True, True] Translation: X:48.33, Y:-6.61, Z:-0.24 [[ 9.48409335e-01 3.16793511e-01 -1.27123838e-02 4.83297699e+01] [-3.16765847e-01 9.48494527e-01 4.18684801e-03 -6.61038504e+00] [ 1.33839927e-02 5.60032821e-05 9.99910429e-01 -2.42516399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581858063999995 meters 0.014753603422767093 Centerline is valid? [True, True] Translation: X:48.36, Y:-6.62, Z:-0.24 [[ 9.48566469e-01 3.16282552e-01 -1.36748282e-02 4.83604191e+01] [-3.16250436e-01 9.48665033e-01 4.50740801e-03 -6.62054006e+00] [ 1.43984458e-02 4.90942798e-05 9.99896336e-01 -2.41434531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.611858063999996 meters 0.014827888061769864 Centerline is valid? [True, True] Translation: X:48.39, Y:-6.63, Z:-0.24 [[ 9.48628587e-01 3.16087606e-01 -1.38719003e-02 4.83904300e+01] [-3.16054476e-01 9.48730006e-01 4.57653009e-03 -6.63088891e+00] [ 1.46072725e-02 4.28489104e-05 9.99893307e-01 -2.41340374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641858064 meters 0.014749636275920205 Centerline is valid? [True, True] Translation: X:48.42, Y:-6.64, Z:-0.24 [[ 9.48793965e-01 3.15599630e-01 -1.36706149e-02 4.84213713e+01] [-3.15567340e-01 9.48892445e-01 4.51453716e-03 -6.64192450e+00] [ 1.43967295e-02 3.06339794e-05 9.99896361e-01 -2.40323679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.671858064 meters 0.014878397543675594 Centerline is valid? [True, True] Translation: X:48.45, Y:-6.65, Z:-0.24 [[ 9.48942507e-01 3.15135549e-01 -1.40607472e-02 4.84514038e+01] [-3.15101309e-01 9.49046672e-01 4.64543369e-03 -6.65294267e+00] [ 1.48082466e-02 2.23103426e-05 9.99890352e-01 -2.40183622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70185806399999 meters 0.014709217225765295 Centerline is valid? [True, True] Translation: X:48.48, Y:-6.66, Z:-0.24 [[ 9.49095604e-01 3.14670400e-01 -1.41447722e-02 4.84826201e+01] [-3.14635622e-01 9.49201000e-01 4.67827546e-03 -6.66484230e+00] [ 1.48983467e-02 1.03185273e-05 9.99889013e-01 -2.39059739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.731858063999994 meters 0.01470757537681269 Centerline is valid? [True, True] Translation: X:48.51, Y:-6.68, Z:-0.24 [[ 9.49415003e-01 3.13718850e-01 -1.38432772e-02 4.85129473e+01] [-3.13685373e-01 9.49515920e-01 4.58293818e-03 -6.67643557e+00] [ 1.45821662e-02 -8.67667863e-06 9.99893675e-01 -2.38142179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761858063999995 meters 0.014695434878361188 Centerline is valid? [True, True] Translation: X:48.54, Y:-6.69, Z:-0.24 [[ 9.49476255e-01 3.13543577e-01 -1.36112931e-02 4.85444504e+01] [-3.13511134e-01 9.49573812e-01 4.51040299e-03 -6.68701984e+00] [ 1.43391354e-02 -1.52285960e-05 9.99897189e-01 -2.37953857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.791858063999996 meters 0.014668520401067892 Centerline is valid? [True, True] Translation: X:48.58, Y:-6.70, Z:-0.24 [[ 9.49483782e-01 3.13522960e-01 -1.35610149e-02 4.85759281e+01] [-3.13490695e-01 9.49580620e-01 4.49794210e-03 -6.69730903e+00] [ 1.42874851e-02 -1.94711004e-05 9.99897928e-01 -2.38040962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821858064 meters 0.014694668972795089 Centerline is valid? [True, True] Translation: X:48.61, Y:-6.71, Z:-0.24 [[ 9.49508728e-01 3.13433515e-01 -1.38783326e-02 4.86066564e+01] [-3.13399648e-01 9.49610147e-01 4.60754173e-03 -6.70802025e+00] [ 1.46231635e-02 -2.54365231e-05 9.99893076e-01 -2.37228579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.851858064 meters 0.014999010366765658 Centerline is valid? [True, True] Translation: X:48.64, Y:-6.72, Z:-0.24 [[ 9.49539190e-01 3.13310141e-01 -1.45630739e-02 4.86362267e+01] [-3.13272785e-01 9.49650859e-01 4.83815480e-03 -6.71891956e+00] [ 1.53456786e-02 -3.18028553e-05 9.99882248e-01 -2.38595044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88185806399999 meters 0.014956248269802953 Centerline is valid? [True, True] Translation: X:48.67, Y:-6.73, Z:-0.24 [[ 9.49628595e-01 3.13041129e-01 -1.45183647e-02 4.86672706e+01] [-3.13003898e-01 9.49739569e-01 4.82806777e-03 -6.73023164e+00] [ 1.53000492e-02 -4.05664728e-05 9.99882947e-01 -2.38068203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91185806399999 meters 0.014871151135087217 Centerline is valid? [True, True] Translation: X:48.70, Y:-6.74, Z:-0.24 [[ 9.49769135e-01 3.12574849e-01 -1.53477634e-02 4.86966704e+01] [-3.12533159e-01 9.49893131e-01 5.10524553e-03 -6.74211031e+00] [ 1.61745064e-02 -5.21196520e-05 9.99869183e-01 -2.37700652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941858063999994 meters 0.015137819941664665 Centerline is valid? [True, True] Translation: X:48.73, Y:-6.75, Z:-0.24 [[ 9.49734546e-01 3.12668293e-01 -1.55830250e-02 4.87261962e+01] [-3.12625241e-01 9.49862377e-01 5.18876705e-03 -6.75293606e+00] [ 1.64240922e-02 -5.63043598e-05 9.99865114e-01 -2.38896970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.971858063999996 meters 0.015265676279604339 Centerline is valid? [True, True] Translation: X:48.76, Y:-6.76, Z:-0.24 [[ 9.49663376e-01 3.12882937e-01 -1.56121655e-02 4.87570917e+01] [-3.12839673e-01 9.49791695e-01 5.20327512e-03 -6.76398239e+00] [ 1.64563211e-02 -5.72550652e-05 9.99864584e-01 -2.39557867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001858064 meters 0.015191658276270248 Centerline is valid? [True, True] Translation: X:48.79, Y:-6.77, Z:-0.24 [[ 9.49609051e-01 3.13045636e-01 -1.56550352e-02 4.87881065e+01] [-3.13002079e-01 9.49738083e-01 5.22230021e-03 -6.77482583e+00] [ 1.65030014e-02 -5.90849721e-05 9.99863814e-01 -2.40286294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.031858064 meters 0.015303425007756949 Centerline is valid? [True, True] Translation: X:48.82, Y:-6.79, Z:-0.24 [[ 9.49357394e-01 3.13855523e-01 -1.46714017e-02 4.88169338e+01] [-3.13817312e-01 9.49470752e-01 4.89754999e-03 -6.78539706e+00] [ 1.54671899e-02 -4.53854446e-05 9.99880375e-01 -2.40746088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06185806399999 meters 0.01525165942933187 Centerline is valid? [True, True] Translation: X:48.85, Y:-6.80, Z:-0.24 [[ 9.49239868e-01 3.14233465e-01 -1.41775373e-02 4.88472649e+01] [-3.14197769e-01 9.49345737e-01 4.73650848e-03 -6.79655668e+00] [ 1.49477540e-02 -4.15320960e-05 9.99888275e-01 -2.40507752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09185806399999 meters 0.015011548160405227 Centerline is valid? [True, True] Translation: X:48.88, Y:-6.81, Z:-0.24 [[ 9.49213649e-01 3.14359833e-01 -1.30898172e-02 4.88772647e+01] [-3.14329367e-01 9.49303899e-01 4.37669222e-03 -6.80735052e+00] [ 1.38020708e-02 -3.99020232e-05 9.99904746e-01 -2.40265579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121858063999994 meters 0.014839285673608317 Centerline is valid? [True, True] Translation: X:48.91, Y:-6.82, Z:-0.24 [[ 9.49226201e-01 3.14341577e-01 -1.26092031e-02 4.89086458e+01] [-3.14313248e-01 9.49309945e-01 4.22031189e-03 -6.81861799e+00] [ 1.32966614e-02 -4.27910245e-05 9.99911595e-01 -2.38724117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.151858063999995 meters 0.015407887156049408 Centerline is valid? [True, True] Translation: X:48.94, Y:-6.83, Z:-0.24 [[ 9.49567178e-01 3.13363231e-01 -1.12098518e-02 4.89370092e+01] [-3.13340740e-01 9.49633341e-01 3.75465988e-03 -6.83137185e+00] [ 1.18218214e-02 -5.27985167e-05 9.99930118e-01 -2.41831541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181858064 meters 0.015175511355546885 Centerline is valid? [True, True] Translation: X:48.97, Y:-6.84, Z:-0.24 [[ 9.49931558e-01 3.12305806e-01 -9.75290744e-03 4.89674067e+01] [-3.12288697e-01 9.49981621e-01 3.26957906e-03 -6.84287539e+00] [ 1.02861913e-02 -6.01535724e-05 9.99947094e-01 -2.40106584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.211858064 meters 0.015187994430781088 Centerline is valid? [True, True] Translation: X:49.00, Y:-6.86, Z:-0.24 [[ 9.50229781e-01 3.11421435e-01 -8.94728650e-03 4.89975875e+01] [-3.11406966e-01 9.50271901e-01 3.00272432e-03 -6.85535559e+00] [ 9.43746766e-03 -6.70307366e-05 9.99955464e-01 -2.39150244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24185806399999 meters 0.015577439214105445 Centerline is valid? [True, True] Translation: X:49.03, Y:-6.87, Z:-0.24 [[ 9.51066784e-01 3.08911258e-01 -6.76809102e-03 4.90273153e+01] [-3.08902897e-01 9.51090863e-01 2.27394466e-03 -6.86968522e+00] [ 7.13951664e-03 -7.19903083e-05 9.99974511e-01 -2.39411307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27185806399999 meters 0.015863513737497826 Centerline is valid? [True, True] Translation: X:49.06, Y:-6.88, Z:-0.24 [[ 9.51255829e-01 3.08337721e-01 -6.34012761e-03 4.90573271e+01] [-3.08330359e-01 9.51276955e-01 2.13202238e-03 -6.88171377e+00] [ 6.68860021e-03 -7.32448991e-05 9.99977628e-01 -2.40494380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301858063999994 meters 0.01623946513435918 Centerline is valid? [True, True] Translation: X:49.09, Y:-6.89, Z:-0.24 [[ 9.51473546e-01 3.07681131e-01 -5.51483559e-03 4.90870870e+01] [-3.07675539e-01 9.51489525e-01 1.85629128e-03 -6.89355364e+00] [ 5.81845410e-03 -6.94320364e-05 9.99983070e-01 -2.41709630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.331858063999995 meters 0.016284548379284957 Centerline is valid? [True, True] Translation: X:49.12, Y:-6.91, Z:-0.24 [[ 9.51801981e-01 3.06688154e-01 -3.91992795e-03 4.91175936e+01] [-3.06685313e-01 9.51810051e-01 1.32120562e-03 -6.90591883e+00] [ 4.13622494e-03 -5.53417918e-05 9.99991444e-01 -2.43118357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361858063999996 meters 0.016338150373094298 Centerline is valid? [True, True] Translation: X:49.15, Y:-6.92, Z:-0.24 [[ 9.51859746e-01 3.06513289e-01 -3.55364303e-03 4.91489297e+01] [-3.06510948e-01 9.51866378e-01 1.19903061e-03 -6.91747044e+00] [ 3.75011213e-03 -5.20784783e-05 9.99992967e-01 -2.43301547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.391858064 meters 0.016338150373094298 Centerline is valid? [True, True] Translation: X:49.18, Y:-6.93, Z:-0.24 [[ 9.51773596e-01 3.06780696e-01 -3.55330636e-03 4.91796207e+01] [-3.06778353e-01 9.51780228e-01 1.20002863e-03 -6.92788134e+00] [ 3.75011236e-03 -5.20780943e-05 9.99992967e-01 -2.43483774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421858064 meters 0.016789229918109792 Centerline is valid? [True, True] Translation: X:49.21, Y:-6.94, Z:-0.24 [[ 9.51977734e-01 3.06154382e-01 -2.80853617e-03 4.92088549e+01] [-3.06152913e-01 9.51981876e-01 9.49554485e-04 -6.93955405e+00] [ 2.96438580e-03 -4.41131987e-05 9.99995605e-01 -2.43917219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45185806399999 meters 0.016828111182786647 Centerline is valid? [True, True] Translation: X:49.24, Y:-6.95, Z:-0.24 [[ 9.52170260e-01 3.05560541e-01 -2.13362310e-03 4.92395116e+01] [-3.05559689e-01 9.52172649e-01 7.22527070e-04 -6.95114443e+00] [ 2.25235333e-03 -3.60195754e-05 9.99997463e-01 -2.43883419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481858063999994 meters 0.01735553286447652 Centerline is valid? [True, True] Translation: X:49.27, Y:-6.96, Z:-0.25 [[ 9.52701077e-01 3.03906257e-01 -1.28242966e-03 4.92679382e+01] [-3.03905947e-01 9.52701940e-01 4.34943481e-04 -6.96379451e+00] [ 1.35395527e-03 -2.46331211e-05 9.99999083e-01 -2.45503108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.511858063999995 meters 0.01759673604215768 Centerline is valid? [True, True] Translation: X:49.30, Y:-6.97, Z:-0.25 [[ 9.52956065e-01 3.03106723e-01 -1.02626959e-03 4.92979417e+01] [-3.03106523e-01 9.52956617e-01 3.48702456e-04 -6.97498484e+00] [ 1.08368445e-03 -2.12291148e-05 9.99999413e-01 -2.46361846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541858063999996 meters 0.0178361559363548 Centerline is valid? [True, True] Translation: X:49.33, Y:-6.99, Z:-0.25 [[ 9.53194378e-01 3.02357301e-01 -7.35179119e-04 4.93279796e+01] [-3.02357197e-01 9.53194661e-01 2.50401149e-04 -6.98636323e+00] [ 7.76479427e-04 -1.63942690e-05 9.99999698e-01 -2.47321893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.571858064 meters 0.018267210417203184 Centerline is valid? [True, True] Translation: X:49.36, Y:-7.00, Z:-0.25 [[ 9.53623623e-01 3.01001637e-01 -1.89660423e-05 4.93576325e+01] [-3.01001637e-01 9.53623623e-01 7.85234774e-06 -6.99961796e+00] [ 2.04500355e-05 -1.77937451e-06 1.00000000e+00 -2.47812249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601858064 meters 0.019095547645587387 Centerline is valid? [True, True] Translation: X:49.39, Y:-7.01, Z:-0.25 [[ 9.53859716e-01 3.00252166e-01 5.28403658e-04 4.93867141e+01] [-3.00252114e-01 9.53859862e-01 -1.77903123e-04 -7.01208228e+00] [-5.57438838e-04 1.10403067e-05 9.99999845e-01 -2.48437158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63185806399999 meters 0.01846208420827457 Centerline is valid? [True, True] Translation: X:49.42, Y:-7.02, Z:-0.25 [[ 9.54061270e-01 2.99606500e-01 1.74307402e-03 4.94170113e+01] [-2.99605921e-01 9.54062862e-01 -5.90293165e-04 -7.02115021e+00] [-1.83985785e-03 4.09405510e-05 9.99998307e-01 -2.47987118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66185806399999 meters 0.01860019861147001 Centerline is valid? [True, True] Translation: X:49.45, Y:-7.03, Z:-0.25 [[ 9.54167172e-01 2.99251896e-01 3.64828574e-03 4.94480652e+01] [-2.99249349e-01 9.54174143e-01 -1.23778509e-03 -7.03139635e+00] [-3.85150945e-03 8.93067644e-05 9.99992579e-01 -2.47890787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.691858063999994 meters 0.019651834300879648 Centerline is valid? [True, True] Translation: X:49.48, Y:-7.04, Z:-0.25 [[ 9.54029112e-01 2.99684351e-01 4.21228546e-03 4.94776906e+01] [-2.99680953e-01 9.54038406e-01 -1.43072182e-03 -7.04316692e+00] [-4.44744704e-03 1.02608541e-04 9.99990105e-01 -2.48528283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721858063999996 meters 0.018505605540212553 Centerline is valid? [True, True] Translation: X:49.51, Y:-7.05, Z:-0.25 [[ 9.53852131e-01 3.00240392e-01 4.67099468e-03 4.95103040e+01] [-3.00236213e-01 9.53863562e-01 -1.58802515e-03 -7.05066545e+00] [-4.93228092e-03 1.12339419e-04 9.99987830e-01 -2.48926952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.751858064 meters 0.018596430066665476 Centerline is valid? [True, True] Translation: X:49.54, Y:-7.06, Z:-0.25 [[ 9.53463891e-01 3.01458180e-01 5.43826771e-03 4.95401341e+01] [-3.01452525e-01 9.53479391e-01 -1.85083250e-03 -7.05980664e+00] [-5.74322479e-03 1.25322424e-04 9.99983500e-01 -2.49597613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781858064 meters 0.01823710734016232 Centerline is valid? [True, True] Translation: X:49.57, Y:-7.07, Z:-0.25 [[ 9.53199344e-01 3.02289583e-01 5.65845980e-03 4.95710887e+01] [-3.02283466e-01 9.53216131e-01 -1.92724982e-03 -7.06913080e+00] [-5.97632270e-03 1.26594421e-04 9.99982134e-01 -2.49601908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81185806399999 meters 0.01806061497509833 Centerline is valid? [True, True] Translation: X:49.60, Y:-7.08, Z:-0.25 [[ 9.53047540e-01 3.02760278e-01 6.04986719e-03 4.96024686e+01] [-3.02753284e-01 9.53066732e-01 -2.06221520e-03 -7.07817154e+00] [-6.39028400e-03 1.33771965e-04 9.99979573e-01 -2.49534657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84185806399999 meters 0.01818326990259274 Centerline is valid? [True, True] Translation: X:49.63, Y:-7.09, Z:-0.25 [[ 9.52667400e-01 3.03922868e-01 7.46424692e-03 4.96330859e+01] [-3.03912245e-01 9.52696628e-01 -2.54585808e-03 -7.08519907e+00] [-7.88490737e-03 1.56879959e-04 9.99968901e-01 -2.50470792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.871858063999994 meters 0.017910722423425066 Centerline is valid? [True, True] Translation: X:49.66, Y:-7.09, Z:-0.25 [[ 9.52315580e-01 3.05020280e-01 7.59375102e-03 4.96638429e+01] [-3.05009305e-01 9.52345843e-01 -2.59202242e-03 -7.09336085e+00] [-8.02249662e-03 1.52258621e-04 9.99967808e-01 -2.51050518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901858063999995 meters 0.01803830099354117 Centerline is valid? [True, True] Translation: X:49.69, Y:-7.10, Z:-0.25 [[ 9.51907137e-01 3.06296303e-01 7.44162701e-03 4.96940576e+01] [-3.06285786e-01 9.51936214e-01 -2.54210523e-03 -7.10259327e+00] [-7.86259168e-03 1.40583534e-04 9.99969079e-01 -2.51652359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.931858064 meters 0.017756069328778466 Centerline is valid? [True, True] Translation: X:49.73, Y:-7.11, Z:-0.25 [[ 9.51489357e-01 3.07581724e-01 7.84134865e-03 4.97253277e+01] [-3.07570072e-01 9.51521657e-01 -2.68086727e-03 -7.11149539e+00] [-8.28579883e-03 1.39052506e-04 9.99965663e-01 -2.51783057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961858064 meters 0.01742913608913792 Centerline is valid? [True, True] Translation: X:49.76, Y:-7.12, Z:-0.25 [[ 9.50574529e-01 3.10379493e-01 8.52264441e-03 4.97570524e+01] [-3.10365819e-01 9.50612726e-01 -2.91624844e-03 -7.11912513e+00] [-9.00687795e-03 1.26973975e-04 9.99959429e-01 -2.51975161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99185806399999 meters 0.01741475963402083 Centerline is valid? [True, True] Translation: X:49.79, Y:-7.13, Z:-0.25 [[ 9.50038224e-01 3.12002682e-01 9.03878098e-03 4.97868373e+01] [-3.11987351e-01 9.50081213e-01 -3.09534436e-03 -7.12734349e+00] [-9.55333175e-03 1.20710120e-04 9.99954359e-01 -2.52300089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02185806399999 meters 0.01734237467457277 Centerline is valid? [True, True] Translation: X:49.82, Y:-7.13, Z:-0.25 [[ 9.49448719e-01 3.13785391e-01 9.26601384e-03 4.98168910e+01] [-3.13769341e-01 9.49493927e-01 -3.17552450e-03 -7.13497426e+00] [-9.79445706e-03 1.07606616e-04 9.99952027e-01 -2.52617373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.051858063999994 meters 0.017151794389722395 Centerline is valid? [True, True] Translation: X:49.85, Y:-7.14, Z:-0.25 [[ 9.48844692e-01 3.15594729e-01 9.68076399e-03 4.98485672e+01] [-3.15577278e-01 9.48894071e-01 -3.32024019e-03 -7.14283185e+00] [-1.02338699e-02 9.53631391e-05 9.99947628e-01 -2.52941429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081858063999995 meters 0.017108060541477933 Centerline is valid? [True, True] Translation: X:49.88, Y:-7.15, Z:-0.25 [[ 9.47759641e-01 3.18804956e-01 1.07267384e-02 4.98802771e+01] [-3.18783699e-01 9.47820339e-01 -3.68205756e-03 -7.14934961e+00] [-1.13408790e-02 7.01961971e-05 9.99935688e-01 -2.52140542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.111858063999996 meters 0.017113267926343063 Centerline is valid? [True, True] Translation: X:49.91, Y:-7.16, Z:-0.25 [[ 9.47087017e-01 3.20788183e-01 1.10056249e-02 4.99118316e+01] [-3.20765903e-01 9.47150959e-01 -3.78103751e-03 -7.15853046e+00] [-1.16369003e-02 5.07423374e-05 9.99932288e-01 -2.52067898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141858064 meters 0.01719990116464357 Centerline is valid? [True, True] Translation: X:49.94, Y:-7.17, Z:-0.25 [[ 9.46110814e-01 3.23657077e-01 1.09737918e-02 4.99439027e+01] [-3.23635079e-01 9.46174453e-01 -3.77355664e-03 -7.16609522e+00] [-1.16044597e-02 1.86987795e-05 9.99932666e-01 -2.52046532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.171858064 meters 0.01725598198260212 Centerline is valid? [True, True] Translation: X:49.97, Y:-7.18, Z:-0.25 [[ 9.45526840e-01 3.25368389e-01 1.06960709e-02 4.99749398e+01] [-3.25347563e-01 9.45587337e-01 -3.68130917e-03 -7.17501167e+00] [-1.13118508e-02 8.36027790e-07 9.99936019e-01 -2.52076352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20185806399999 meters 0.017272368887915435 Centerline is valid? [True, True] Translation: X:50.01, Y:-7.18, Z:-0.25 [[ 9.44921377e-01 3.27135640e-01 1.02889953e-02 5.00055671e+01] [-3.27116441e-01 9.44977393e-01 -3.54416497e-03 -7.18338523e+00] [-1.08822906e-02 -1.67422792e-05 9.99940786e-01 -2.52753592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.231858063999994 meters 0.017315345811010446 Centerline is valid? [True, True] Translation: X:50.04, Y:-7.19, Z:-0.25 [[ 9.44421375e-01 3.28591895e-01 9.77921250e-03 5.00363050e+01] [-3.28574605e-01 9.44472004e-01 -3.37088259e-03 -7.19159746e+00] [-1.03438371e-02 -2.96673121e-05 9.99946501e-01 -2.53726099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261858063999995 meters 0.01751537276694996 Centerline is valid? [True, True] Translation: X:50.07, Y:-7.20, Z:-0.26 [[ 9.43385400e-01 3.31583135e-01 8.75277133e-03 5.00680876e+01] [-3.31569395e-01 9.43426002e-01 -3.01902599e-03 -7.19895888e+00] [-9.25865016e-03 -5.40460541e-05 9.99957136e-01 -2.55808239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.291858063999996 meters 0.01752907513378928 Centerline is valid? [True, True] Translation: X:50.10, Y:-7.21, Z:-0.26 [[ 9.42934439e-01 3.32863550e-01 8.74651575e-03 5.00994678e+01] [-3.32849860e-01 9.42975001e-01 -3.01957223e-03 -7.20998444e+00] [-9.25285123e-03 -6.40178960e-05 9.99957189e-01 -2.56551931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321858064 meters 0.01752741386124847 Centerline is valid? [True, True] Translation: X:50.13, Y:-7.22, Z:-0.26 [[ 9.42568529e-01 3.33911333e-01 8.23347127e-03 5.01309765e+01] [-3.33899220e-01 9.42604486e-01 -2.84496881e-03 -7.22072595e+00] [-8.71087428e-03 -6.75715663e-05 9.99962057e-01 -2.56314786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.351858064 meters 0.017619080931474074 Centerline is valid? [True, True] Translation: X:50.16, Y:-7.23, Z:-0.26 [[ 9.42250764e-01 3.34795480e-01 8.68813095e-03 5.01617388e+01] [-3.34782004e-01 9.42290815e-01 -3.00490708e-03 -7.23118110e+00] [-9.19277531e-03 -7.72538996e-05 9.99957743e-01 -2.56670856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38185806399999 meters 0.01790029795180813 Centerline is valid? [True, True] Translation: X:50.19, Y:-7.24, Z:-0.26 [[ 9.41693860e-01 3.36378476e-01 7.88640974e-03 5.01924847e+01] [-3.36367408e-01 9.41726879e-01 -2.72995254e-03 -7.24168171e+00] [-8.34514131e-03 -8.19516592e-05 9.99965175e-01 -2.57221414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41185806399999 meters 0.017846245774654747 Centerline is valid? [True, True] Translation: X:50.22, Y:-7.25, Z:-0.26 [[ 9.41549329e-01 3.36792713e-01 7.45180501e-03 5.02236095e+01] [-3.36782826e-01 9.41578814e-01 -2.58176891e-03 -7.25274147e+00] [-7.88598268e-03 -7.87771668e-05 9.99968902e-01 -2.57874412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441858063999994 meters 0.019670511017846722 Centerline is valid? [True, True] Translation: X:50.25, Y:-7.27, Z:-0.26 [[ 9.41516821e-01 3.36884645e-01 7.40353631e-03 5.02542692e+01] [-3.36874870e-01 9.41545926e-01 -2.56739123e-03 -7.26515765e+00] [-7.83568413e-03 -7.68233055e-05 9.99969298e-01 -2.60294799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.471858063999996 meters 0.01787738471054416 Centerline is valid? [True, True] Translation: X:50.28, Y:-7.28, Z:-0.26 [[ 9.41454452e-01 3.37061261e-01 7.29527083e-03 5.02847460e+01] [-3.37051758e-01 9.41482714e-01 -2.53217764e-03 -7.27764718e+00] [-7.72187037e-03 -7.49539460e-05 9.99970183e-01 -2.59462377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501858064 meters 0.01789363534338883 Centerline is valid? [True, True] Translation: X:50.32, Y:-7.29, Z:-0.26 [[ 9.41625785e-01 3.36585176e-01 7.16238430e-03 5.03156549e+01] [-3.36575985e-01 9.41653022e-01 -2.48833678e-03 -7.29032183e+00] [-7.58201810e-03 -6.76044779e-05 9.99971254e-01 -2.59872025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.531858064 meters 0.017994166812400465 Centerline is valid? [True, True] Translation: X:50.34, Y:-7.30, Z:-0.26 [[ 9.41944898e-01 3.35685421e-01 7.42344555e-03 5.03448345e+01] [-3.35675501e-01 9.41974147e-01 -2.58139177e-03 -7.30251915e+00] [-7.85922938e-03 -6.03399964e-05 9.99969114e-01 -2.60911953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56185806399999 meters 0.01799320758615993 Centerline is valid? [True, True] Translation: X:50.37, Y:-7.32, Z:-0.26 [[ 9.42134662e-01 3.35154735e-01 7.32001355e-03 5.03749265e+01] [-3.35145057e-01 9.42163097e-01 -2.54751754e-03 -7.31555655e+00] [-7.75045920e-03 -5.31617861e-05 9.99969963e-01 -2.61457928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59185806399999 meters 0.01783777181209463 Centerline is valid? [True, True] Translation: X:50.40, Y:-7.33, Z:-0.26 [[ 9.42668517e-01 3.33660819e-01 6.82086780e-03 5.04033275e+01] [-3.33652363e-01 9.42693193e-01 -2.37578186e-03 -7.33131699e+00] [-7.22269097e-03 -3.62238938e-05 9.99973915e-01 -2.61833062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621858063999994 meters 0.01784432745183299 Centerline is valid? [True, True] Translation: X:50.43, Y:-7.34, Z:-0.26 [[ 9.42656238e-01 3.33695657e-01 6.81362267e-03 5.04334417e+01] [-3.33687205e-01 9.42680862e-01 -2.37520071e-03 -7.34426453e+00] [-7.21566585e-03 -3.46209381e-05 9.99973966e-01 -2.61767829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.651858063999995 meters 0.017831057766607938 Centerline is valid? [True, True] Translation: X:50.46, Y:-7.36, Z:-0.26 [[ 9.42407922e-01 3.34403057e-01 6.47332457e-03 5.04636925e+01] [-3.34395432e-01 9.42430153e-01 -2.25853259e-03 -7.35663540e+00] [-6.85591647e-03 -3.61911621e-05 9.99976497e-01 -2.61917663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681858064 meters 0.017895171620709305 Centerline is valid? [True, True] Translation: X:50.49, Y:-7.37, Z:-0.26 [[ 9.41895020e-01 3.35853740e-01 6.00299264e-03 5.04937261e+01] [-3.35847201e-01 9.41914149e-01 -2.09618380e-03 -7.36876242e+00] [-6.35831487e-03 -4.17031921e-05 9.99979785e-01 -2.62381622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.711858064 meters 0.01790231542191912 Centerline is valid? [True, True] Translation: X:50.52, Y:-7.38, Z:-0.26 [[ 9.41442143e-01 3.37134896e-01 5.17237507e-03 5.05245593e+01] [-3.37130054e-01 9.41456351e-01 -1.80743989e-03 -7.37999297e+00] [-5.47891642e-03 -4.21630013e-05 9.99984990e-01 -2.63170770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74185806399999 meters 0.01801247796039386 Centerline is valid? [True, True] Translation: X:50.56, Y:-7.39, Z:-0.26 [[ 9.41086730e-01 3.38132682e-01 4.69630611e-03 5.05553650e+01] [-3.38128696e-01 9.41098447e-01 -1.64237624e-03 -7.39115826e+00] [-4.97502748e-03 -4.23373728e-05 9.99987624e-01 -2.64062910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77185806399999 meters 0.01798559329494604 Centerline is valid? [True, True] Translation: X:50.59, Y:-7.40, Z:-0.26 [[ 9.40565536e-01 3.39589632e-01 3.91844024e-03 5.05856726e+01] [-3.39586866e-01 9.40573697e-01 -1.37127237e-03 -7.40424828e+00] [-4.15125170e-03 -4.08793060e-05 9.99991383e-01 -2.64751927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801858063999994 meters 0.018027910670282997 Centerline is valid? [True, True] Translation: X:50.62, Y:-7.42, Z:-0.27 [[ 9.40374561e-01 3.40123132e-01 3.45556298e-03 5.06159203e+01] [-3.40120981e-01 9.40380909e-01 -1.21021494e-03 -7.41567542e+00] [-3.66116755e-03 -3.72541294e-05 9.99993297e-01 -2.65078477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.831858063999995 meters 0.018853195882360126 Centerline is valid? [True, True] Translation: X:50.65, Y:-7.43, Z:-0.27 [[ 9.40558750e-01 3.39619665e-01 2.77875204e-03 5.06458807e+01] [-3.39618271e-01 9.40562854e-01 -9.73675265e-04 -7.42817931e+00] [-2.94427021e-03 -2.79161711e-05 9.99995665e-01 -2.65848572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861858063999996 meters 0.017688783567894825 Centerline is valid? [True, True] Translation: X:50.67, Y:-7.44, Z:-0.26 [[ 9.40999266e-01 3.38398483e-01 2.61684725e-03 5.06748179e+01] [-3.38397239e-01 9.41002905e-01 -9.17742179e-04 -7.44168432e+00] [-2.77302342e-03 -2.19391664e-05 9.99996155e-01 -2.64693847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.891858064 meters 0.017364899892251585 Centerline is valid? [True, True] Translation: X:50.70, Y:-7.45, Z:-0.26 [[ 9.41542245e-01 3.36879234e-01 3.25315362e-03 5.07045470e+01] [-3.36877298e-01 9.41547865e-01 -1.14205944e-03 -7.45431203e+00] [-3.44773595e-03 -2.06163898e-05 9.99994056e-01 -2.64152630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921858064 meters 0.017108956085691296 Centerline is valid? [True, True] Translation: X:50.74, Y:-7.47, Z:-0.26 [[ 9.41954493e-01 3.35722438e-01 3.48958452e-03 5.07350135e+01] [-3.35720200e-01 9.41960957e-01 -1.22601481e-03 -7.46654916e+00] [-3.69865305e-03 -1.66738485e-05 9.99993160e-01 -2.63458136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95185806399999 meters 0.016914371725709913 Centerline is valid? [True, True] Translation: X:50.76, Y:-7.48, Z:-0.26 [[ 9.43189743e-01 3.32222727e-01 4.60094293e-03 5.07647148e+01] [-3.32218784e-01 9.43200965e-01 -1.61846560e-03 -7.47989579e+00] [-4.87730487e-03 -1.99951595e-06 9.99988106e-01 -2.62547480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981858063999994 meters 0.01687336268659102 Centerline is valid? [True, True] Translation: X:50.79, Y:-7.49, Z:-0.26 [[ 9.43798902e-01 3.30475708e-01 5.42567929e-03 5.07945598e+01] [-3.30470187e-01 9.43814498e-01 -1.91037453e-03 -7.49241673e+00] [-5.75216715e-03 9.98413646e-06 9.99983456e-01 -2.61911798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.011858063999995 meters 0.01678422320543136 Centerline is valid? [True, True] Translation: X:50.82, Y:-7.51, Z:-0.26 [[ 9.44419498e-01 3.28689090e-01 5.94095580e-03 5.08240734e+01] [-3.28682426e-01 9.44438183e-01 -2.09315879e-03 -7.50508805e+00] [-6.29886396e-03 2.41322088e-05 9.99980162e-01 -2.61424832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041858063999996 meters 0.016810774425171215 Centerline is valid? [True, True] Translation: X:50.85, Y:-7.52, Z:-0.26 [[ 9.45175411e-01 3.26519940e-01 5.30758482e-03 5.08533825e+01] [-3.26514579e-01 9.45190313e-01 -1.87140753e-03 -7.51745819e+00] [-5.62772963e-03 3.58045534e-05 9.99984164e-01 -2.61726399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.071858064 meters 0.016871137825927484 Centerline is valid? [True, True] Translation: X:50.88, Y:-7.53, Z:-0.26 [[ 9.45412193e-01 3.25844592e-01 4.59212400e-03 5.08847138e+01] [-3.25840566e-01 9.45423345e-01 -1.62017620e-03 -7.52819164e+00] [-4.86942688e-03 3.54340558e-05 9.99988144e-01 -2.62902053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101858064 meters 0.01696705441283167 Centerline is valid? [True, True] Translation: X:50.92, Y:-7.54, Z:-0.26 [[ 9.45494239e-01 3.25611070e-01 4.25150217e-03 5.09151855e+01] [-3.25607611e-01 9.45503797e-01 -1.50123924e-03 -7.53853817e+00] [-4.50863156e-03 3.50915852e-05 9.99989835e-01 -2.63979612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13185806399999 meters 0.01686821615883746 Centerline is valid? [True, True] Translation: X:50.95, Y:-7.55, Z:-0.26 [[ 9.45224876e-01 3.26395143e-01 4.01794318e-03 5.09470929e+01] [-3.26392056e-01 9.45233416e-01 -1.41983879e-03 -7.54810180e+00] [-4.26132264e-03 3.06422082e-05 9.99990920e-01 -2.64961996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16185806399999 meters 0.016680131729858747 Centerline is valid? [True, True] Translation: X:50.98, Y:-7.56, Z:-0.27 [[ 9.44245839e-01 3.29215266e-01 4.13559622e-03 5.09775163e+01] [-3.29212017e-01 9.44254896e-01 -1.46282147e-03 -7.55622875e+00] [-4.38664014e-03 1.97751112e-05 9.99990378e-01 -2.65613943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.191858063999994 meters 0.016544767130271285 Centerline is valid? [True, True] Translation: X:51.01, Y:-7.57, Z:-0.27 [[ 9.43507991e-01 3.31330164e-01 3.60464710e-03 5.10090911e+01] [-3.31327709e-01 9.43514876e-01 -1.27564247e-03 -7.56601561e+00] [-3.82369700e-03 9.25939938e-06 9.99992690e-01 -2.65623976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221858063999996 meters 0.016555919899163538 Centerline is valid? [True, True] Translation: X:51.04, Y:-7.58, Z:-0.27 [[ 9.42665797e-01 3.33720115e-01 3.47566782e-03 5.10396408e+01] [-3.33717844e-01 9.42672204e-01 -1.23107801e-03 -7.57533032e+00] [-3.68725094e-03 6.02764430e-07 9.99993202e-01 -2.65830162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.251858064 meters 0.01649494882088872 Centerline is valid? [True, True] Translation: X:51.07, Y:-7.58, Z:-0.27 [[ 9.41914273e-01 3.35839981e-01 3.00154536e-03 5.10716017e+01] [-3.35838296e-01 9.41919056e-01 -1.06378043e-03 -7.58460791e+00] [-3.18447277e-03 -6.04391168e-06 9.99994930e-01 -2.66246578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281858064 meters 0.016510993675049622 Centerline is valid? [True, True] Translation: X:51.10, Y:-7.59, Z:-0.27 [[ 9.40534116e-01 3.39689368e-01 2.59033990e-03 5.11035702e+01] [-3.39688126e-01 9.40537683e-01 -9.18716011e-04 -7.59168845e+00] [-2.74839035e-03 -1.58239529e-05 9.99996223e-01 -2.67111910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31185806399999 meters 0.016510993675049622 Centerline is valid? [True, True] Translation: X:51.13, Y:-7.60, Z:-0.27 [[ 9.40438879e-01 3.39952947e-01 2.59014777e-03 5.11340838e+01] [-3.39951705e-01 9.40442445e-01 -9.19257201e-04 -7.60260211e+00] [-2.74838910e-03 -1.60199385e-05 9.99996223e-01 -2.67294036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34185806399999 meters 0.01667030956573581 Centerline is valid? [True, True] Translation: X:51.17, Y:-7.61, Z:-0.27 [[ 9.39885039e-01 3.41479617e-01 2.79019349e-03 5.11658894e+01] [-3.41478179e-01 9.39889180e-01 -9.91265584e-04 -7.61195619e+00] [-2.96096966e-03 -2.11144986e-05 9.99995616e-01 -2.67526173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.371858063999994 meters 0.016773579662451625 Centerline is valid? [True, True] Translation: X:51.20, Y:-7.62, Z:-0.27 [[ 9.39238515e-01 3.43256291e-01 2.47586959e-03 5.11968988e+01] [-3.43255163e-01 9.39241778e-01 -8.80299166e-04 -7.62149141e+00] [-2.62760838e-03 -2.30441366e-05 9.99996548e-01 -2.67439823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401858063999995 meters 0.016837933856695356 Centerline is valid? [True, True] Translation: X:51.23, Y:-7.63, Z:-0.27 [[ 9.38357088e-01 3.45658688e-01 2.45890952e-03 5.12277488e+01] [-3.45657582e-01 9.38360309e-01 -8.74930004e-04 -7.63115726e+00] [-2.60977026e-03 -2.89439495e-05 9.99996594e-01 -2.67027313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.431858064 meters 0.016963428458047568 Centerline is valid? [True, True] Translation: X:51.26, Y:-7.64, Z:-0.27 [[ 9.38070807e-01 3.46434293e-01 2.53811747e-03 5.12578015e+01] [-3.46433115e-01 9.38074240e-01 -9.03819814e-04 -7.64130193e+00] [-2.69405680e-03 -3.14409603e-05 9.99996371e-01 -2.66679374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461858064 meters 0.016987999961711155 Centerline is valid? [True, True] Translation: X:51.29, Y:-7.65, Z:-0.27 [[ 9.37932455e-01 3.46803902e-01 3.12465010e-03 5.12884972e+01] [-3.46802116e-01 9.37937659e-01 -1.11393719e-03 -7.65245797e+00] [-3.31704476e-03 -3.88374227e-05 9.99994498e-01 -2.66469139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49185806399999 meters 0.016853279337620264 Centerline is valid? [True, True] Translation: X:51.32, Y:-7.66, Z:-0.27 [[ 9.37806627e-01 3.47142008e-01 3.34005497e-03 5.13196663e+01] [-3.47139964e-01 9.37812574e-01 -1.19187485e-03 -7.66363658e+00] [-3.54609537e-03 -4.17184293e-05 9.99993712e-01 -2.66455335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52185806399999 meters 0.016874080484230048 Centerline is valid? [True, True] Translation: X:51.35, Y:-7.67, Z:-0.27 [[ 9.37730970e-01 3.47332993e-01 4.51896791e-03 5.13514372e+01] [-3.47329244e-01 9.37741856e-01 -1.61457774e-03 -7.67302100e+00] [-4.79842148e-03 -5.55301617e-05 9.99988486e-01 -2.66732895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.551858063999994 meters 0.01691786908733718 Centerline is valid? [True, True] Translation: X:51.38, Y:-7.68, Z:-0.27 [[ 9.37541240e-01 3.47838734e-01 4.96364175e-03 5.13827888e+01] [-3.47834210e-01 9.37554378e-01 -1.77516997e-03 -7.68383465e+00] [-5.27115693e-03 -6.22293542e-05 9.99986105e-01 -2.66582540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581858063999995 meters 0.0169969671486145 Centerline is valid? [True, True] Translation: X:51.41, Y:-7.70, Z:-0.27 [[ 9.37275795e-01 3.48547779e-01 5.34129709e-03 5.14137883e+01] [-3.48542541e-01 9.37291012e-01 -1.91203446e-03 -7.69521839e+00] [-5.67278512e-03 -6.95656457e-05 9.99983907e-01 -2.65805143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.611858063999996 meters 0.01713765956053674 Centerline is valid? [True, True] Translation: X:51.44, Y:-7.71, Z:-0.27 [[ 9.37052834e-01 3.49162301e-01 4.20400821e-03 5.14437492e+01] [-3.49159058e-01 9.37062263e-01 -1.50590913e-03 -7.70666654e+00] [-4.46522414e-03 -5.67511290e-05 9.99990029e-01 -2.65614630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641858064 meters 0.017086948619628978 Centerline is valid? [True, True] Translation: X:51.47, Y:-7.72, Z:-0.27 [[ 9.37045701e-01 3.49191883e-01 3.22223874e-03 5.14744361e+01] [-3.49189976e-01 9.37051240e-01 -1.15478762e-03 -7.71851227e+00] [-3.42264528e-03 -4.30846959e-05 9.99994142e-01 -2.65828876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67185806399999 meters 0.01699032781562673 Centerline is valid? [True, True] Translation: X:51.50, Y:-7.73, Z:-0.27 [[ 9.37291064e-01 3.48539019e-01 2.45214945e-03 5.15044944e+01] [-3.48537912e-01 9.37294271e-01 -8.79279464e-04 -7.73004755e+00] [-2.60484883e-03 -3.05262615e-05 9.99996607e-01 -2.66947266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70185806399999 meters 0.016349125993387757 Centerline is valid? [True, True] Translation: X:51.53, Y:-7.74, Z:-0.27 [[ 9.38377962e-01 3.45610763e-01 -3.64409950e-05 5.15344315e+01] [-3.45610763e-01 9.38377963e-01 1.45070020e-05 -7.74244362e+00] [ 3.92092027e-05 -1.01865086e-06 9.99999999e-01 -2.69784074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.731858063999994 meters 0.016209745753016203 Centerline is valid? [True, True] Translation: X:51.56, Y:-7.75, Z:-0.27 [[ 9.38952071e-01 3.44047825e-01 -3.18846195e-04 5.15637761e+01] [-3.44047806e-01 9.38952125e-01 1.15972922e-04 -7.75365933e+00] [ 3.39281544e-04 8.05318286e-07 9.99999942e-01 -2.71972565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761858063999995 meters 0.015821913384688878 Centerline is valid? [True, True] Translation: X:51.59, Y:-7.77, Z:-0.27 [[ 9.39742120e-01 3.41882314e-01 -1.10942209e-03 5.15935168e+01] [-3.41882079e-01 9.39742775e-01 4.00979545e-04 -7.76685699e+00] [ 1.17965921e-03 2.47416327e-06 9.99999304e-01 -2.72480367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.791858063999996 meters 0.01568680693206677 Centerline is valid? [True, True] Translation: X:51.62, Y:-7.78, Z:-0.27 [[ 9.41570910e-01 3.36813139e-01 -1.06293550e-03 5.16218372e+01] [-3.36812920e-01 9.41571510e-01 3.84438862e-04 -7.78250046e+00] [ 1.13031384e-03 -3.96604068e-06 9.99999361e-01 -2.72815712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821858064 meters 0.01582519054991155 Centerline is valid? [True, True] Translation: X:51.65, Y:-7.80, Z:-0.27 [[ 9.42498774e-01 3.34206707e-01 -1.39226791e-03 5.16506026e+01] [-3.34206329e-01 9.42499802e-01 5.03160290e-04 -7.79583528e+00] [ 1.48037177e-03 -8.92321072e-06 9.99998904e-01 -2.72527696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.851858064 meters 0.01600263849579985 Centerline is valid? [True, True] Translation: X:51.68, Y:-7.81, Z:-0.27 [[ 9.43393836e-01 3.31673289e-01 -9.48307408e-04 5.16804700e+01] [-3.31673112e-01 9.43394313e-01 3.43493436e-04 -7.80878999e+00] [ 1.00855541e-03 -9.52152156e-06 9.99999491e-01 -2.71823930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88185806399999 meters 0.016354733217317625 Centerline is valid? [True, True] Translation: X:51.71, Y:-7.82, Z:-0.27 [[ 9.45041797e-01 3.26949529e-01 -8.22206652e-05 5.17099876e+01] [-3.26949528e-01 9.45041801e-01 3.11443828e-05 -7.82181764e+00] [ 8.78846068e-05 -2.55073585e-06 9.99999996e-01 -2.70375239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91185806399999 meters 0.01667990216451008 Centerline is valid? [True, True] Translation: X:51.74, Y:-7.83, Z:-0.27 [[ 9.45667246e-01 3.25136027e-01 1.55101981e-04 5.17394956e+01] [-3.25136022e-01 9.45667259e-01 -5.45841306e-05 -7.83358545e+00] [-1.64422133e-04 1.18918335e-06 9.99999986e-01 -2.70371229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941858063999994 meters 0.01702409120906662 Centerline is valid? [True, True] Translation: X:51.77, Y:-7.84, Z:-0.27 [[ 9.46087230e-01 3.23911944e-01 7.08809990e-05 5.17685539e+01] [-3.23911943e-01 9.46087233e-01 -2.42875602e-05 -7.84475799e+00] [-7.49266391e-05 1.89484710e-08 9.99999997e-01 -2.70796461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.971858063999996 meters 0.017433405882998295 Centerline is valid? [True, True] Translation: X:51.80, Y:-7.85, Z:-0.27 [[ 9.46638164e-01 3.22298021e-01 4.15622653e-04 5.17979402e+01] [-3.22297987e-01 9.46638255e-01 -1.49042423e-04 -7.85487978e+00] [-4.41480381e-04 7.13490091e-06 9.99999903e-01 -2.71266038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001858064 meters 0.017614156061605293 Centerline is valid? [True, True] Translation: X:51.83, Y:-7.87, Z:-0.27 [[ 9.46794838e-01 3.21837180e-01 6.04337003e-04 5.18280314e+01] [-3.21837106e-01 9.46795030e-01 -2.17404341e-04 -7.86526709e+00] [-6.42152071e-04 1.13392354e-05 9.99999794e-01 -2.71706298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.031858064 meters 0.017536229845635663 Centerline is valid? [True, True] Translation: X:51.86, Y:-7.88, Z:-0.27 [[ 9.46858434e-01 3.21650474e-01 2.79239336e-04 5.18596328e+01] [-3.21650459e-01 9.46858475e-01 -9.95632621e-05 -7.87538787e+00] [-2.96424702e-04 4.45485398e-06 9.99999956e-01 -2.71519361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06185806399999 meters 0.016999343545886985 Centerline is valid? [True, True] Translation: X:51.89, Y:-7.88, Z:-0.27 [[ 9.46660521e-01 3.22232614e-01 2.65064939e-05 5.18910451e+01] [-3.22232613e-01 9.46660521e-01 -7.93344851e-06 -7.88411438e+00] [-2.76490672e-05 -1.03097430e-06 1.00000000e+00 -2.71500963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09185806399999 meters 0.01678502008422715 Centerline is valid? [True, True] Translation: X:51.92, Y:-7.89, Z:-0.27 [[ 9.46187343e-01 3.23619388e-01 6.01674751e-05 5.19222388e+01] [-3.23619387e-01 9.46187345e-01 -2.03798213e-05 -7.89198351e+00] [-6.35250088e-05 -1.88232486e-07 9.99999998e-01 -2.72114250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121858063999994 meters 0.017383545031790966 Centerline is valid? [True, True] Translation: X:51.95, Y:-7.90, Z:-0.27 [[ 9.45756218e-01 3.24876663e-01 -5.73927248e-04 5.19510652e+01] [-3.24876596e-01 9.45756392e-01 2.09822635e-04 -7.90268799e+00] [ 6.10961841e-04 -1.19855313e-05 9.99999813e-01 -2.73147580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.151858063999995 meters 0.01633218629808438 Centerline is valid? [True, True] Translation: X:51.98, Y:-7.91, Z:-0.27 [[ 9.45298302e-01 3.26204827e-01 -1.23739767e-03 5.19828709e+01] [-3.26204516e-01 9.45299112e-01 4.51279664e-04 -7.90988469e+00] [ 1.31692053e-03 -2.29491909e-05 9.99999133e-01 -2.72760531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181858064 meters 0.01593558369292738 Centerline is valid? [True, True] Translation: X:52.01, Y:-7.92, Z:-0.27 [[ 9.44466467e-01 3.28607798e-01 -8.34361861e-05 5.20143926e+01] [-3.28607797e-01 9.44466471e-01 3.18027491e-05 -7.91696903e+00] [ 8.92533115e-05 -2.61884881e-06 9.99999996e-01 -2.72421000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.211858064 meters 0.015732297817627635 Centerline is valid? [True, True] Translation: X:52.05, Y:-7.93, Z:-0.27 [[ 9.43995768e-01 3.29957244e-01 4.55083878e-04 5.20451265e+01] [-3.29957203e-01 9.43995878e-01 -1.64226902e-04 -7.92532955e+00] [-4.83785161e-04 4.87129751e-06 9.99999883e-01 -2.72218570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24185806399999 meters 0.015514033107813246 Centerline is valid? [True, True] Translation: X:52.08, Y:-7.93, Z:-0.27 [[ 9.43477805e-01 3.31434537e-01 8.82676492e-04 5.20756565e+01] [-3.31434382e-01 9.43478218e-01 -3.20155432e-04 -7.93392098e+00] [-9.38896611e-04 9.51020627e-06 9.99999559e-01 -2.72115224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27185806399999 meters 0.015320800626005892 Centerline is valid? [True, True] Translation: X:52.11, Y:-7.94, Z:-0.27 [[ 9.42861708e-01 3.33181914e-01 1.26946167e-03 5.21070174e+01] [-3.33181595e-01 9.42862563e-01 -4.61432114e-04 -7.94258145e+00] [-1.35066872e-03 1.21054063e-05 9.99999088e-01 -2.71995251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301858063999994 meters 0.014847482456925956 Centerline is valid? [True, True] Translation: X:52.14, Y:-7.95, Z:-0.27 [[ 9.41592406e-01 3.36751010e-01 1.58043979e-03 5.21390441e+01] [-3.36750519e-01 9.41593732e-01 -5.75243529e-04 -7.94868739e+00] [-1.68184604e-03 9.43101936e-06 9.99998586e-01 -2.71839279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.331858063999995 meters 0.014717087394736709 Centerline is valid? [True, True] Translation: X:52.17, Y:-7.96, Z:-0.27 [[ 9.40965349e-01 3.38500502e-01 1.27384487e-03 5.21695190e+01] [-3.38500185e-01 9.40966211e-01 -4.63648198e-04 -7.95733957e+00] [-1.35559013e-03 5.08016404e-06 9.99999081e-01 -2.72352155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361858063999996 meters 0.014547780945712487 Centerline is valid? [True, True] Translation: X:52.20, Y:-7.97, Z:-0.27 [[ 9.40429120e-01 3.39986980e-01 1.38696345e-03 5.22011044e+01] [-3.39986603e-01 9.40430143e-01 -5.06144044e-04 -7.96600502e+00] [-1.47642462e-03 4.44360501e-06 9.99998910e-01 -2.72991710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.391858064 meters 0.014347228312302819 Centerline is valid? [True, True] Translation: X:52.23, Y:-7.97, Z:-0.27 [[ 9.39640276e-01 3.42158587e-01 1.91104024e-03 5.22335871e+01] [-3.42157877e-01 9.39642220e-01 -6.97050629e-04 -7.97244436e+00] [-2.03419595e-03 1.09937440e-06 9.99997931e-01 -2.72969981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42185806399999 meters 0.014299596726281063 Centerline is valid? [True, True] Translation: X:52.26, Y:-7.98, Z:-0.27 [[ 9.39361121e-01 3.42922163e-01 2.25269050e-03 5.22638195e+01] [-3.42921176e-01 9.39363822e-01 -8.22718264e-04 -7.98190989e+00] [-2.39822429e-03 3.34275859e-07 9.99997124e-01 -2.73800249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45185806399999 meters 0.014202349341948537 Centerline is valid? [True, True] Translation: X:52.30, Y:-7.99, Z:-0.27 [[ 9.39110040e-01 3.43611236e-01 1.91099282e-03 5.22955354e+01] [-3.43610526e-01 9.39111984e-01 -6.98152370e-04 -7.99242745e+00] [-2.03452925e-03 -9.95347343e-07 9.99997930e-01 -2.72865882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481858063999994 meters 0.014190457536612478 Centerline is valid? [True, True] Translation: X:52.33, Y:-8.00, Z:-0.27 [[ 9.38942929e-01 3.44070782e-01 1.21380261e-03 5.23257936e+01] [-3.44070496e-01 9.38943713e-01 -4.43309002e-04 -8.00305430e+00] [-1.29222201e-03 -1.39181494e-06 9.99999165e-01 -2.72882051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.511858063999995 meters 0.014077696057282593 Centerline is valid? [True, True] Translation: X:52.36, Y:-8.01, Z:-0.27 [[ 9.38902710e-01 3.44181439e-01 9.15258985e-04 5.23575079e+01] [-3.44181276e-01 9.38903157e-01 -3.34064181e-04 -8.01307969e+00] [-9.74318241e-04 -1.36124070e-06 9.99999525e-01 -2.72729101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541858063999996 meters 0.014063677126971038 Centerline is valid? [True, True] Translation: X:52.39, Y:-8.02, Z:-0.27 [[ 9.38788439e-01 3.44494184e-01 1.55181763e-04 5.23880445e+01] [-3.44494179e-01 9.38788452e-01 -5.54108861e-05 -8.02297347e+00] [-1.64771575e-04 -1.44011478e-06 9.99999986e-01 -2.73230855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.571858064 meters 0.01403895172930696 Centerline is valid? [True, True] Translation: X:52.42, Y:-8.03, Z:-0.27 [[ 9.38695772e-01 3.44746624e-01 1.10636301e-04 5.24197031e+01] [-3.44746621e-01 9.38695779e-01 -3.89886402e-05 -8.03323477e+00] [-1.17295030e-04 -1.54301909e-06 9.99999993e-01 -2.74501736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601858064 meters 0.01401050891859394 Centerline is valid? [True, True] Translation: X:52.45, Y:-8.04, Z:-0.28 [[ 9.38576937e-01 3.45069232e-01 -7.47802467e-04 5.24502679e+01] [-3.45069121e-01 9.38577235e-01 2.76538739e-04 -8.04196714e+00] [ 7.97295381e-04 -1.50934289e-06 9.99999682e-01 -2.75731504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63185806399999 meters 0.01394233371173403 Centerline is valid? [True, True] Translation: X:52.48, Y:-8.05, Z:-0.28 [[ 9.38620916e-01 3.44950115e-01 -4.41755939e-04 5.24810099e+01] [-3.44950076e-01 9.38621019e-01 1.64249338e-04 -8.05286174e+00] [ 4.71299238e-04 -1.78411892e-06 9.99999889e-01 -2.75657583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66185806399999 meters 0.013995030029068142 Centerline is valid? [True, True] Translation: X:52.51, Y:-8.06, Z:-0.28 [[ 9.38729516e-01 3.44654359e-01 -5.18032706e-04 5.25118406e+01] [-3.44654305e-01 9.38729659e-01 1.92482012e-04 -8.06417268e+00] [ 5.52632430e-04 -2.14634322e-06 9.99999847e-01 -2.76311958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.691858063999994 meters 0.013901689863280801 Centerline is valid? [True, True] Translation: X:52.54, Y:-8.08, Z:-0.28 [[ 9.38972416e-01 3.43990546e-01 -1.14300245e-03 5.25422804e+01] [-3.43990286e-01 9.38973112e-01 4.23047294e-04 -8.07586498e+00] [ 1.21877284e-03 -4.04800056e-06 9.99999257e-01 -2.76713771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721858063999996 meters 0.014037242579478682 Centerline is valid? [True, True] Translation: X:52.57, Y:-8.09, Z:-0.28 [[ 9.39740499e-01 3.41883447e-01 -1.87146356e-03 5.25716819e+01] [-3.41882747e-01 9.39742363e-01 6.91918345e-04 -8.08853778e+00] [ 1.99524902e-03 -1.04025859e-05 9.99998009e-01 -2.77297632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.751858064 meters 0.014114308296064961 Centerline is valid? [True, True] Translation: X:52.60, Y:-8.10, Z:-0.28 [[ 9.40111994e-01 3.40860636e-01 -1.86146376e-03 5.26024432e+01] [-3.40859940e-01 9.40113837e-01 6.89079117e-04 -8.10044922e+00] [ 1.98486778e-03 -1.33131195e-05 9.99998030e-01 -2.76986715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781858064 meters 0.01427573148542068 Centerline is valid? [True, True] Translation: X:52.63, Y:-8.11, Z:-0.28 [[ 9.40514837e-01 3.39744853e-01 -2.29702363e-03 5.26319680e+01] [-3.39743790e-01 9.40517642e-01 8.50340245e-04 -8.11198330e+00] [ 2.44928997e-03 -1.93581030e-05 9.99997000e-01 -2.77074449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81185806399999 meters 0.0143954846111192 Centerline is valid? [True, True] Translation: X:52.66, Y:-8.12, Z:-0.28 [[ 9.41482413e-01 3.37050124e-01 -2.84240427e-03 5.26615454e+01] [-3.37048481e-01 9.41486704e-01 1.05269333e-03 -8.12396540e+00] [ 3.03089625e-03 -3.30642178e-05 9.99995406e-01 -2.77101163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84185806399999 meters 0.014589579708014977 Centerline is valid? [True, True] Translation: X:52.69, Y:-8.14, Z:-0.28 [[ 9.41925503e-01 3.35812949e-01 -2.45154546e-03 5.26902137e+01] [-3.35811721e-01 9.41928693e-01 9.08658311e-04 -8.13586571e+00] [ 2.61432023e-03 -3.26307380e-05 9.99996582e-01 -2.77107342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.871858063999994 meters 0.014926545497238174 Centerline is valid? [True, True] Translation: X:52.72, Y:-8.15, Z:-0.28 [[ 9.42309338e-01 3.34735381e-01 -2.31006299e-03 5.27186320e+01] [-3.34734286e-01 9.42312169e-01 8.56879410e-04 -8.14808817e+00] [ 2.46362832e-03 -3.41881823e-05 9.99996965e-01 -2.77162690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901858063999995 meters 0.01563604511124867 Centerline is valid? [True, True] Translation: X:52.75, Y:-8.16, Z:-0.28 [[ 9.43007704e-01 3.32764562e-01 -2.05333014e-03 5.27475723e+01] [-3.32763691e-01 9.43009939e-01 7.62307037e-04 -8.16075221e+00] [ 2.18997950e-03 -3.55876924e-05 9.99997601e-01 -2.77547091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.931858064 meters 0.015570300124822923 Centerline is valid? [True, True] Translation: X:52.78, Y:-8.17, Z:-0.28 [[ 9.43270880e-01 3.32017655e-01 -2.07916443e-03 5.27775403e+01] [-3.32016759e-01 9.43273171e-01 7.72544209e-04 -8.17193735e+00] [ 2.21771834e-03 -3.84010209e-05 9.99997540e-01 -2.77516867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961858064 meters 0.015621821841564177 Centerline is valid? [True, True] Translation: X:52.81, Y:-8.18, Z:-0.28 [[ 9.43442042e-01 3.31530659e-01 -2.12965270e-03 5.28069896e+01] [-3.31529716e-01 9.43444445e-01 7.91840153e-04 -8.18365506e+00] [ 2.27172830e-03 -4.10121358e-05 9.99997419e-01 -2.77684844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99185806399999 meters 0.01589213930485067 Centerline is valid? [True, True] Translation: X:52.84, Y:-8.20, Z:-0.28 [[ 9.43524054e-01 3.31299327e-01 -1.76517778e-03 5.28367240e+01] [-3.31298677e-01 9.43525704e-01 6.57169401e-04 -8.19562652e+00] [ 1.88321039e-03 -3.52540728e-05 9.99998226e-01 -2.77402014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02185806399999 meters 0.015827092571562403 Centerline is valid? [True, True] Translation: X:52.87, Y:-8.21, Z:-0.28 [[ 9.43349743e-01 3.31798540e-01 -9.95770641e-04 5.28668091e+01] [-3.31798333e-01 9.43350268e-01 3.71534348e-04 -8.20657036e+00] [ 1.06263506e-03 -2.00917923e-05 9.99999435e-01 -2.77246977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.051858063999994 meters 0.015803684566798513 Centerline is valid? [True, True] Translation: X:52.90, Y:-8.22, Z:-0.28 [[ 9.43095266e-01 3.32522657e-01 -5.16711088e-05 5.28973020e+01] [-3.32522656e-01 9.43095267e-01 2.06156738e-05 -8.21753024e+00] [ 5.55859568e-05 -2.26072997e-06 9.99999998e-01 -2.77136426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081858063999995 meters 0.01560822992555621 Centerline is valid? [True, True] Translation: X:52.93, Y:-8.23, Z:-0.28 [[ 9.42689011e-01 3.33671247e-01 9.63398507e-04 5.29267775e+01] [-3.33671056e-01 9.42689503e-01 -3.57302293e-04 -8.22799371e+00] [-1.02740716e-03 1.53667479e-05 9.99999472e-01 -2.76778922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.111858063999996 meters 0.015623647636179221 Centerline is valid? [True, True] Translation: X:52.96, Y:-8.24, Z:-0.28 [[ 9.42427982e-01 3.34407984e-01 8.94473143e-04 5.29571785e+01] [-3.34407819e-01 9.42428406e-01 -3.31800807e-04 -8.23939228e+00] [-9.53933737e-04 1.35795517e-05 9.99999545e-01 -2.76824792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141858064 meters 0.015604435230003367 Centerline is valid? [True, True] Translation: X:52.99, Y:-8.25, Z:-0.28 [[ 9.42291442e-01 3.34789653e-01 1.65125573e-03 5.29878650e+01] [-3.34789091e-01 9.42292888e-01 -6.13985128e-04 -8.25114499e+00] [-1.76152240e-03 2.57305265e-05 9.99998448e-01 -2.76546197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17185806399999 meters 0.014756071133138975 Centerline is valid? [True, True] Translation: X:53.02, Y:-8.26, Z:-0.28 [[ 9.42003452e-01 3.35594427e-01 2.42415437e-03 5.30184034e+01] [-3.35593214e-01 9.42006571e-01 -9.02877507e-04 -8.25998429e+00] [-2.58657000e-03 3.69839720e-05 9.99996654e-01 -2.75404715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20185806399999 meters 0.014756071133138975 Centerline is valid? [True, True] Translation: X:53.05, Y:-8.27, Z:-0.28 [[ 9.41910483e-01 3.35855277e-01 2.42397294e-03 5.30487533e+01] [-3.35854064e-01 9.41913601e-01 -9.03364195e-04 -8.27138252e+00] [-2.58657271e-03 3.67870439e-05 9.99996654e-01 -2.75586864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.231858063999994 meters 0.014426842921804822 Centerline is valid? [True, True] Translation: X:53.08, Y:-8.28, Z:-0.28 [[ 9.41572867e-01 3.36796710e-01 2.91754333e-03 5.30793489e+01] [-3.36794954e-01 9.41577386e-01 -1.08865187e-03 -8.28154115e+00] [-3.11374719e-03 4.24311882e-05 9.99995151e-01 -2.75707901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261858063999995 meters 0.014201619561326328 Centerline is valid? [True, True] Translation: X:53.11, Y:-8.29, Z:-0.28 [[ 9.41120860e-01 3.38057170e-01 2.97931195e-03 5.31095922e+01] [-3.38055342e-01 9.41125575e-01 -1.11254753e-03 -8.29117735e+00] [-3.18001134e-03 3.98693729e-05 9.99994943e-01 -2.75810684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.291858063999996 meters 0.014981543098920842 Centerline is valid? [True, True] Translation: X:53.14, Y:-8.30, Z:-0.28 [[ 9.40733671e-01 3.39129922e-01 3.32497248e-03 5.31381322e+01] [-3.39127648e-01 9.40739546e-01 -1.24278661e-03 -8.30441741e+00] [-3.54939923e-03 4.15411156e-05 9.99993700e-01 -2.76697033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321858064 meters 0.013904192095438707 Centerline is valid? [True, True] Translation: X:53.17, Y:-8.31, Z:-0.28 [[ 9.40253907e-01 3.40457826e-01 3.32558047e-03 5.31693076e+01] [-3.40455556e-01 9.40259787e-01 -1.24384746e-03 -8.31315333e+00] [-3.55038719e-03 3.73200898e-05 9.99993697e-01 -2.76340947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351858064 meters 0.013598760298766334 Centerline is valid? [True, True] Translation: X:53.20, Y:-8.32, Z:-0.28 [[ 9.39295176e-01 3.43097610e-01 2.93290002e-03 5.32000162e+01] [-3.43095855e-01 9.39299755e-01 -1.09763204e-03 -8.32378166e+00] [-3.13146720e-03 2.47346402e-05 9.99995097e-01 -2.76810578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38185806399999 meters 0.013454383005934508 Centerline is valid? [True, True] Translation: X:53.23, Y:-8.33, Z:-0.28 [[ 9.38747588e-01 3.44589781e-01 3.29385407e-03 5.32301332e+01] [-3.44587573e-01 9.38753366e-01 -1.23382759e-03 -8.33400484e+00] [-3.51728097e-03 2.32314998e-05 9.99993814e-01 -2.77480690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41185806399999 meters 0.013225959045384053 Centerline is valid? [True, True] Translation: X:53.26, Y:-8.34, Z:-0.28 [[ 9.37545258e-01 3.47847793e-01 3.28668025e-03 5.32603862e+01] [-3.47845611e-01 9.37551019e-01 -1.23206177e-03 -8.34389018e+00] [-3.51000038e-03 1.18563737e-05 9.99993840e-01 -2.77751957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441858063999994 meters 0.013149049580704739 Centerline is valid? [True, True] Translation: X:53.29, Y:-8.36, Z:-0.28 [[ 9.36912843e-01 3.49545831e-01 3.46942264e-03 5.32913113e+01] [-3.49543408e-01 9.36919266e-01 -1.30154016e-03 -8.35527206e+00] [-3.70551685e-03 6.71587513e-06 9.99993135e-01 -2.77748505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.471858063999996 meters 0.013024388427761832 Centerline is valid? [True, True] Translation: X:53.32, Y:-8.37, Z:-0.28 [[ 9.36348396e-01 3.51056890e-01 3.27741220e-03 5.33224765e+01] [-3.51054734e-01 9.36354132e-01 -1.23044852e-03 -8.36678317e+00] [-3.50077588e-03 1.57742803e-06 9.99993872e-01 -2.77635248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501858064 meters 0.013048641252903805 Centerline is valid? [True, True] Translation: X:53.35, Y:-8.38, Z:-0.28 [[ 9.35717004e-01 3.52734886e-01 3.43332454e-03 5.33531731e+01] [-3.52732527e-01 9.35723303e-01 -1.29017672e-03 -8.37856255e+00] [-3.66773212e-03 -3.80494788e-06 9.99993274e-01 -2.77497032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.531858064 meters 0.013015211834812183 Centerline is valid? [True, True] Translation: X:53.38, Y:-8.39, Z:-0.28 [[ 9.34863648e-01 3.54986255e-01 3.83656754e-03 5.33838455e+01] [-3.54983322e-01 9.34871520e-01 -1.44317457e-03 -8.39025826e+00] [-4.09900487e-03 -1.27460465e-05 9.99991599e-01 -2.77095437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56185806399999 meters 0.01307251417840926 Centerline is valid? [True, True] Translation: X:53.41, Y:-8.40, Z:-0.28 [[ 9.34605757e-01 3.55661840e-01 4.09079980e-03 5.34136754e+01] [-3.55658505e-01 9.34614709e-01 -1.54030317e-03 -8.40132343e+00] [-4.37114873e-03 -1.53515314e-05 9.99990446e-01 -2.77597540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59185806399999 meters 0.01297108372792478 Centerline is valid? [True, True] Translation: X:53.44, Y:-8.41, Z:-0.28 [[ 9.34392249e-01 3.56224354e-01 3.91602713e-03 5.34445283e+01] [-3.56221298e-01 9.34400455e-01 -1.47561269e-03 -8.41343832e+00] [-4.18478670e-03 -1.61712050e-05 9.99991244e-01 -2.78048816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621858063999994 meters 0.013086580073067471 Centerline is valid? [True, True] Translation: X:53.47, Y:-8.43, Z:-0.28 [[ 9.34308840e-01 3.56438011e-01 4.35147488e-03 5.34745273e+01] [-3.56434232e-01 9.34318973e-01 -1.64140600e-03 -8.42528525e+00] [-4.65072503e-03 -1.74344696e-05 9.99989185e-01 -2.78765210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.651858063999995 meters 0.013010354019318231 Centerline is valid? [True, True] Translation: X:53.50, Y:-8.44, Z:-0.28 [[ 9.34150782e-01 3.56847231e-01 4.72968391e-03 5.35048499e+01] [-3.56842767e-01 9.34162755e-01 -1.78505317e-03 -8.43882459e+00] [-5.05528583e-03 -2.02446845e-05 9.99987222e-01 -2.79014642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681858064 meters 0.01293161079154895 Centerline is valid? [True, True] Translation: X:53.53, Y:-8.45, Z:-0.28 [[ 9.34220052e-01 3.56662919e-01 4.94531246e-03 5.35349452e+01] [-3.56658027e-01 9.34233141e-01 -1.86810077e-03 -8.45107236e+00] [-5.28635707e-03 -1.85681834e-05 9.99986027e-01 -2.78952481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.711858064 meters 0.012862777763756128 Centerline is valid? [True, True] Translation: X:53.57, Y:-8.46, Z:-0.28 [[ 9.34252852e-01 3.56567043e-01 5.61712961e-03 5.35650775e+01] [-3.56560718e-01 9.34269738e-01 -2.12390534e-03 -8.46314441e+00] [-6.00522886e-03 -1.85831504e-05 9.99981968e-01 -2.79017021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74185806399999 meters 0.012881650073961718 Centerline is valid? [True, True] Translation: X:53.59, Y:-8.48, Z:-0.28 [[ 9.34348626e-01 3.56307424e-01 6.13713971e-03 5.35948947e+01] [-3.56299854e-01 9.34368781e-01 -2.32264179e-03 -8.47606822e+00] [-6.56192627e-03 -1.65048117e-05 9.99978470e-01 -2.78797161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77185806399999 meters 0.012920657757764712 Centerline is valid? [True, True] Translation: X:53.62, Y:-8.49, Z:-0.28 [[ 9.34248891e-01 3.56562447e-01 6.49852476e-03 5.36246219e+01] [-3.56553951e-01 9.34271492e-01 -2.46155413e-03 -8.48819421e+00] [-6.94908419e-03 -1.73704677e-05 9.99975855e-01 -2.78619269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801858063999994 meters 0.012873955904227493 Centerline is valid? [True, True] Translation: X:53.66, Y:-8.50, Z:-0.28 [[ 9.34022329e-01 3.57159107e-01 6.29762804e-03 5.36554272e+01] [-3.57151129e-01 9.34043560e-01 -2.38730363e-03 -8.50082190e+00] [-6.73490615e-03 -1.94100630e-05 9.99977320e-01 -2.78548992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.831858063999995 meters 0.012869253848339705 Centerline is valid? [True, True] Translation: X:53.69, Y:-8.51, Z:-0.28 [[ 9.33754384e-01 3.57861948e-01 6.12996687e-03 5.36863406e+01] [-3.57854392e-01 9.33774505e-01 -2.32567399e-03 -8.51334269e+00] [-6.55627700e-03 -2.20272842e-05 9.99978507e-01 -2.78851551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861858063999996 meters 0.012991308291721888 Centerline is valid? [True, True] Translation: X:53.72, Y:-8.52, Z:-0.28 [[ 9.33284413e-01 3.59096569e-01 5.46435243e-03 5.37162592e+01] [-3.59090576e-01 9.33300409e-01 -2.07470648e-03 -8.52463216e+00] [-5.84490234e-03 -2.59062502e-05 9.99982918e-01 -2.80460771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.891858064 meters 0.012881088866662322 Centerline is valid? [True, True] Translation: X:53.75, Y:-8.54, Z:-0.28 [[ 9.33013957e-01 3.59797652e-01 5.53219191e-03 5.37471692e+01] [-3.59791512e-01 9.33030358e-01 -2.10214109e-03 -8.53663255e+00] [-5.91804843e-03 -2.91087115e-05 9.99982488e-01 -2.81533302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92185806399999 meters 0.012922011624965646 Centerline is valid? [True, True] Translation: X:53.78, Y:-8.55, Z:-0.28 [[ 9.32708910e-01 3.60588990e-01 5.44691516e-03 5.37783390e+01] [-3.60583041e-01 9.32724814e-01 -2.07146818e-03 -8.54853104e+00] [-5.82742155e-03 -3.19884069e-05 9.99983020e-01 -2.82585196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95185806399999 meters 0.012970883588966104 Centerline is valid? [True, True] Translation: X:53.81, Y:-8.56, Z:-0.28 [[ 9.32540983e-01 3.61022446e-01 5.48711566e-03 5.38077114e+01] [-3.61016407e-01 9.32557125e-01 -2.08852706e-03 -8.56278573e+00] [-5.87105395e-03 -3.33017005e-05 9.99982765e-01 -2.83302079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981858063999994 meters 0.012913707272232263 Centerline is valid? [True, True] Translation: X:53.84, Y:-8.58, Z:-0.28 [[ 9.32591558e-01 3.60887794e-01 5.74341495e-03 5.38374849e+01] [-3.60881162e-01 9.32609243e-01 -2.18799929e-03 -8.57656147e+00] [-6.14598410e-03 -3.21805963e-05 9.99981113e-01 -2.83381281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.011858063999995 meters 0.012860392591957108 Centerline is valid? [True, True] Translation: X:53.87, Y:-8.59, Z:-0.28 [[ 9.32659732e-01 3.60709859e-01 5.85003922e-03 5.38677423e+01] [-3.60702963e-01 9.32678078e-01 -2.23053131e-03 -8.59068092e+00] [-6.26077797e-03 -2.97997502e-05 9.99980401e-01 -2.83128106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041858063999996 meters 0.012788307972784095 Centerline is valid? [True, True] Translation: X:53.90, Y:-8.61, Z:-0.28 [[ 9.32888094e-01 3.60105949e-01 6.59626214e-03 5.38971317e+01] [-3.60097150e-01 9.32911413e-01 -2.51741552e-03 -8.60583916e+00] [-7.06026454e-03 -2.68282361e-05 9.99975076e-01 -2.83112727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.071858064 meters 0.012711520352929004 Centerline is valid? [True, True] Translation: X:53.93, Y:-8.62, Z:-0.28 [[ 9.33020312e-01 3.59764095e-01 6.54929246e-03 5.39263122e+01] [-3.59755399e-01 9.33043298e-01 -2.50143780e-03 -8.61862337e+00] [-7.01070094e-03 -2.22510509e-05 9.99975424e-01 -2.83075950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101858064 meters 0.012705931155003321 Centerline is valid? [True, True] Translation: X:53.96, Y:-8.63, Z:-0.28 [[ 9.33035780e-01 3.59719214e-01 6.80591772e-03 5.39564223e+01] [-3.59709811e-01 9.33060602e-01 -2.60105447e-03 -8.63177456e+00] [-7.28598295e-03 -2.12784924e-05 9.99973457e-01 -2.83444818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13185806399999 meters 0.012614125507971724 Centerline is valid? [True, True] Translation: X:53.99, Y:-8.65, Z:-0.28 [[ 9.33065363e-01 3.59648788e-01 6.46363625e-03 5.39859012e+01] [-3.59640291e-01 9.33087750e-01 -2.47223604e-03 -8.64597992e+00] [-6.92027650e-03 -1.78262104e-05 9.99976054e-01 -2.84967183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16185806399999 meters 0.012636920122518519 Centerline is valid? [True, True] Translation: X:54.02, Y:-8.66, Z:-0.29 [[ 9.32905778e-01 3.60066154e-01 6.25894855e-03 5.40158064e+01] [-3.60058183e-01 9.32926773e-01 -2.39590489e-03 -8.65909738e+00] [-6.70182493e-03 -1.84321243e-05 9.99977542e-01 -2.85791066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.191858063999994 meters 0.012755412951212873 Centerline is valid? [True, True] Translation: X:54.05, Y:-8.67, Z:-0.29 [[ 9.32714127e-01 3.60563658e-01 6.18111622e-03 5.40458105e+01] [-3.60555882e-01 9.32734608e-01 -2.36810115e-03 -8.67207084e+00] [-6.61919222e-03 -1.98764092e-05 9.99978093e-01 -2.86478102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221858063999996 meters 0.012702831167577854 Centerline is valid? [True, True] Translation: X:54.08, Y:-8.68, Z:-0.29 [[ 9.32633123e-01 3.60778602e-01 5.85312504e-03 5.40756764e+01] [-3.60771622e-01 9.32651489e-01 -2.24424597e-03 -8.68484654e+00] [-6.26860170e-03 -1.85832891e-05 9.99980352e-01 -2.87124240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.251858064 meters 0.012727726208531945 Centerline is valid? [True, True] Translation: X:54.11, Y:-8.70, Z:-0.29 [[ 9.32782770e-01 3.60400755e-01 5.25355461e-03 5.41056674e+01] [-3.60395117e-01 9.32797564e-01 -2.01588152e-03 -8.69942652e+00] [-5.62702816e-03 -1.29758859e-05 9.99984168e-01 -2.88794692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281858064 meters 0.012549366811173699 Centerline is valid? [True, True] Translation: X:54.14, Y:-8.71, Z:-0.29 [[ 9.32962367e-01 3.59936745e-01 5.17308339e-03 5.41352584e+01] [-3.59931262e-01 9.32976709e-01 -1.98664077e-03 -8.71277470e+00] [-5.54143133e-03 -8.49336279e-06 9.99984646e-01 -2.89485653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31185806399999 meters 0.012535723022705572 Centerline is valid? [True, True] Translation: X:54.17, Y:-8.73, Z:-0.29 [[ 9.33168152e-01 3.59403415e-01 5.13668527e-03 5.41651097e+01] [-3.59397992e-01 9.33182290e-01 -1.97430069e-03 -8.72624803e+00] [-5.50303413e-03 -3.75984010e-06 9.99984858e-01 -2.90180517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34185806399999 meters 0.012660458620339488 Centerline is valid? [True, True] Translation: X:54.19, Y:-8.74, Z:-0.29 [[ 9.33697852e-01 3.58029499e-01 4.81650684e-03 5.41940021e+01] [-3.58024705e-01 9.33710275e-01 -1.85268943e-03 -8.74191666e+00] [-5.16053940e-03 5.42370332e-06 9.99986684e-01 -2.91806284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.371858063999994 meters 0.012599842556154412 Centerline is valid? [True, True] Translation: X:54.22, Y:-8.76, Z:-0.29 [[ 9.33946955e-01 3.57380903e-01 4.68770630e-03 5.42236527e+01] [-3.57376347e-01 9.33958720e-01 -1.80463926e-03 -8.75593528e+00] [-5.02306778e-03 1.01619867e-05 9.99987384e-01 -2.92494952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401858063999995 meters 0.01276708539286455 Centerline is valid? [True, True] Translation: X:54.25, Y:-8.77, Z:-0.29 [[ 9.34362151e-01 3.56295424e-01 4.57629202e-03 5.42535444e+01] [-3.56291062e-01 9.34373357e-01 -1.76319008e-03 -8.77024233e+00] [-4.90418190e-03 1.69661376e-05 9.99987974e-01 -2.92940876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.431858064 meters 0.013001703328463054 Centerline is valid? [True, True] Translation: X:54.28, Y:-8.79, Z:-0.29 [[ 9.35394129e-01 3.53577797e-01 4.53474601e-03 5.42808949e+01] [-3.53573474e-01 9.35405121e-01 -1.74869053e-03 -8.78633902e+00] [-4.86012279e-03 3.23489552e-05 9.99988189e-01 -2.94063888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461858064 meters 0.013347340659315888 Centerline is valid? [True, True] Translation: X:54.31, Y:-8.80, Z:-0.29 [[ 9.35807909e-01 3.52483306e-01 4.36778129e-03 5.43108637e+01] [-3.52479278e-01 9.35818101e-01 -1.68535315e-03 -8.80053139e+00] [-4.68150764e-03 3.76144104e-05 9.99989041e-01 -2.94937058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49185806399999 meters 0.013495953629667903 Centerline is valid? [True, True] Translation: X:54.34, Y:-8.81, Z:-0.30 [[ 9.36246967e-01 3.51314411e-01 4.44981473e-03 5.43402311e+01] [-3.51310211e-01 9.36257541e-01 -1.71848778e-03 -8.81450763e+00] [-4.76990212e-03 4.56636236e-05 9.99988623e-01 -2.95122257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52185806399999 meters 0.013727017352880578 Centerline is valid? [True, True] Translation: X:54.37, Y:-8.83, Z:-0.29 [[ 9.36524375e-01 3.50578434e-01 4.10574532e-03 5.43701128e+01] [-3.50574846e-01 9.36533374e-01 -1.58659938e-03 -8.82868470e+00] [-4.40139505e-03 4.65179574e-05 9.99990313e-01 -2.94965330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.551858063999994 meters 0.013835431623389452 Centerline is valid? [True, True] Translation: X:54.40, Y:-8.84, Z:-0.30 [[ 9.36938807e-01 3.49476842e-01 3.40722229e-03 5.43978820e+01] [-3.49474361e-01 9.36945001e-01 -1.31754441e-03 -8.84469662e+00] [-3.65283115e-03 4.37216551e-05 9.99993327e-01 -2.95188065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581858063999995 meters 0.013996150815822993 Centerline is valid? [True, True] Translation: X:54.43, Y:-8.86, Z:-0.30 [[ 9.36979369e-01 3.49372057e-01 2.97128364e-03 5.44272998e+01] [-3.49370168e-01 9.36984079e-01 -1.14958426e-03 -8.85811817e+00] [-3.18567808e-03 3.90588727e-05 9.99994925e-01 -2.95712726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.611858063999996 meters 0.014059571944201127 Centerline is valid? [True, True] Translation: X:54.46, Y:-8.87, Z:-0.30 [[ 9.36854157e-01 3.49711344e-01 2.50290453e-03 5.44572748e+01] [-3.49710003e-01 9.36857500e-01 -9.68827637e-04 -8.87092794e+00] [-2.68367490e-03 3.23594480e-05 9.99996398e-01 -2.96544130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641858064 meters 0.014023886599812626 Centerline is valid? [True, True] Translation: X:54.49, Y:-8.88, Z:-0.30 [[ 9.36765331e-01 3.49947962e-01 2.67195931e-03 5.44876009e+01] [-3.49946432e-01 9.36769141e-01 -1.03523433e-03 -8.88358848e+00] [-2.86528716e-03 3.47290008e-05 9.99995894e-01 -2.98386029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67185806399999 meters 0.014108620998309236 Centerline is valid? [True, True] Translation: X:54.52, Y:-8.90, Z:-0.30 [[ 9.36603327e-01 3.50382020e-01 2.57819385e-03 5.45171750e+01] [-3.50380595e-01 9.36606875e-01 -9.99747489e-04 -8.89644919e+00] [-2.76504763e-03 3.30177305e-05 9.99996177e-01 -2.98741453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70185806399999 meters 0.01403193243345914 Centerline is valid? [True, True] Translation: X:54.55, Y:-8.91, Z:-0.30 [[ 9.36215084e-01 3.51419328e-01 2.40262839e-03 5.45461677e+01] [-3.51418092e-01 9.36218166e-01 -9.32347417e-04 -8.90947456e+00] [-2.57702925e-03 2.85506298e-05 9.99996679e-01 -2.98329219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.731858063999994 meters 0.013818924391747263 Centerline is valid? [True, True] Translation: X:54.57, Y:-8.92, Z:-0.30 [[ 9.35313993e-01 3.53812262e-01 2.14872994e-03 5.45739788e+01] [-3.53811279e-01 9.35316461e-01 -8.34339441e-04 -8.92301775e+00] [-2.30494201e-03 2.01244669e-05 9.99997343e-01 -2.97310475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761858063999995 meters 0.013666426755175392 Centerline is valid? [True, True] Translation: X:54.60, Y:-8.93, Z:-0.30 [[ 9.34576629e-01 3.55754873e-01 2.23493882e-03 5.46036853e+01] [-3.55753813e-01 9.34579301e-01 -8.68394820e-04 -8.93452926e+00] [-2.39766325e-03 1.64934948e-05 9.99997125e-01 -2.97083402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.791858063999996 meters 0.013607427609580195 Centerline is valid? [True, True] Translation: X:54.63, Y:-8.95, Z:-0.30 [[ 9.33853160e-01 3.57649928e-01 2.19186266e-03 5.46335353e+01] [-3.57648913e-01 9.33855732e-01 -8.52232369e-04 -8.94531269e+00] [-2.35168435e-03 1.19425950e-05 9.99997235e-01 -2.97365827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821858064 meters 0.013515050564406977 Centerline is valid? [True, True] Translation: X:54.66, Y:-8.96, Z:-0.30 [[ 9.33178021e-01 3.59407183e-01 2.29297952e-03 5.46635956e+01] [-3.59406074e-01 9.33180838e-01 -8.92796323e-04 -8.95645683e+00] [-2.46064196e-03 9.02713803e-06 9.99996973e-01 -2.97707148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.851858064 meters 0.013532341467463734 Centerline is valid? [True, True] Translation: X:54.69, Y:-8.97, Z:-0.30 [[ 9.31896286e-01 3.62714892e-01 2.68686912e-03 5.46942961e+01] [-3.62713384e-01 9.31900159e-01 -1.04596030e-03 -8.96692942e+00] [-2.88327914e-03 1.63124231e-07 9.99995843e-01 -2.98032826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88185806399999 meters 0.01341540682728093 Centerline is valid? [True, True] Translation: X:54.72, Y:-8.98, Z:-0.30 [[ 9.31409252e-01 3.63963290e-01 2.74374643e-03 5.47249212e+01] [-3.63961720e-01 9.31413294e-01 -1.06903781e-03 -8.97851890e+00] [-2.94465241e-03 -2.90695737e-06 9.99995664e-01 -2.98156751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91185806399999 meters 0.013442368322811893 Centerline is valid? [True, True] Translation: X:54.75, Y:-8.99, Z:-0.30 [[ 9.31013912e-01 3.64967077e-01 3.48269656e-03 5.47548174e+01] [-3.64964549e-01 9.31020425e-01 -1.35854512e-03 -8.99034879e+00] [-3.73828587e-03 -6.23637497e-06 9.99993013e-01 -2.97690581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941858063999994 meters 0.013341295620879585 Centerline is valid? [True, True] Translation: X:54.79, Y:-9.00, Z:-0.30 [[ 9.30556385e-01 3.66133997e-01 3.27280482e-03 5.47855545e+01] [-3.66131768e-01 9.30562140e-01 -1.27749813e-03 -9.00280559e+00] [-3.51328375e-03 -9.49377474e-06 9.99993828e-01 -2.96811128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.971858063999996 meters 0.013307817905071535 Centerline is valid? [True, True] Translation: X:54.82, Y:-9.02, Z:-0.30 [[ 9.30513828e-01 3.66243138e-01 3.15913898e-03 5.48165575e+01] [-3.66241059e-01 9.30519190e-01 -1.23409438e-03 -9.01501054e+00] [-3.39161805e-03 -8.66452296e-06 9.99994248e-01 -2.97176994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001858064 meters 0.013409273265228906 Centerline is valid? [True, True] Translation: X:54.85, Y:-9.03, Z:-0.30 [[ 9.30396010e-01 3.66544382e-01 2.91217229e-03 5.48462054e+01] [-3.66542613e-01 9.30400568e-01 -1.13870857e-03 -9.02648560e+00] [-3.12687398e-03 -7.98533570e-06 9.99995111e-01 -2.97778333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.031858064 meters 0.013428533195987129 Centerline is valid? [True, True] Translation: X:54.88, Y:-9.04, Z:-0.30 [[ 9.30466058e-01 3.66366867e-01 2.86935549e-03 5.48770080e+01] [-3.66365148e-01 9.30470483e-01 -1.12225074e-03 -9.03885843e+00] [-3.08100608e-03 -7.01562767e-06 9.99995254e-01 -2.98570717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06185806399999 meters 0.013365258546298083 Centerline is valid? [True, True] Translation: X:54.91, Y:-9.05, Z:-0.30 [[ 9.30814493e-01 3.65483676e-01 2.46232207e-03 5.49065780e+01] [-3.65482405e-01 9.30817750e-01 -9.63660478e-04 -9.05146578e+00] [-2.64417526e-03 -2.94625287e-06 9.99996504e-01 -2.98361785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09185806399999 meters 0.013402685263925166 Centerline is valid? [True, True] Translation: X:54.94, Y:-9.06, Z:-0.30 [[ 9.31091839e-01 3.64778568e-01 2.14072780e-03 5.49372787e+01] [-3.64777605e-01 9.31094300e-01 -8.38179489e-04 -9.06427920e+00] [-2.29896937e-03 -4.67478286e-07 9.99997357e-01 -2.98778627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121858063999994 meters 0.013402685263925166 Centerline is valid? [True, True] Translation: X:54.97, Y:-9.08, Z:-0.30 [[ 9.30992801e-01 3.65031262e-01 2.14049860e-03 5.49674119e+01] [-3.65030298e-01 9.30995262e-01 -8.38764074e-04 -9.07618955e+00] [-2.29896916e-03 -4.63526616e-07 9.99997357e-01 -2.98960831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.151858063999995 meters 0.013273321624309744 Centerline is valid? [True, True] Translation: X:55.00, Y:-9.09, Z:-0.30 [[ 9.31348070e-01 3.64125132e-01 1.91351807e-03 5.49979405e+01] [-3.64124359e-01 9.31350035e-01 -7.50221179e-04 -9.08884159e+00] [-2.05532951e-03 1.95850622e-06 9.99997888e-01 -2.98619326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181858064 meters 0.013610449721624939 Centerline is valid? [True, True] Translation: X:55.03, Y:-9.10, Z:-0.30 [[ 9.32047084e-01 3.62335622e-01 1.06328622e-03 5.50267335e+01] [-3.62335383e-01 9.32047690e-01 -4.16566796e-04 -9.10149858e+00] [-1.14197045e-03 2.99365003e-06 9.99999348e-01 -2.98862095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.211858064 meters 0.013643824649780966 Centerline is valid? [True, True] Translation: X:55.06, Y:-9.11, Z:-0.30 [[ 9.32355300e-01 3.61541783e-01 1.06485534e-03 5.50572809e+01] [-3.61541542e-01 9.32355908e-01 -4.17435998e-04 -9.11412748e+00] [-1.14374472e-03 4.20922331e-06 9.99999346e-01 -2.99123558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24185806399999 meters 0.013903399955257524 Centerline is valid? [True, True] Translation: X:55.09, Y:-9.13, Z:-0.30 [[ 9.32875696e-01 3.60198001e-01 5.80370706e-04 5.50860131e+01] [-3.60197929e-01 9.32875876e-01 -2.27232075e-04 -9.12654082e+00] [-6.23262370e-04 2.93095364e-06 9.99999806e-01 -2.99953399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27185806399999 meters 0.014071480905755525 Centerline is valid? [True, True] Translation: X:55.12, Y:-9.14, Z:-0.30 [[ 9.33496710e-01 3.58585700e-01 4.35045636e-04 5.51151888e+01] [-3.58585659e-01 9.33496811e-01 -1.70017155e-04 -9.13885871e+00] [-4.67079435e-04 2.70932852e-06 9.99999891e-01 -2.99954609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301858063999994 meters 0.014486869468450146 Centerline is valid? [True, True] Translation: X:55.14, Y:-9.15, Z:-0.30 [[ 9.34767717e-01 3.55258775e-01 7.20353509e-04 5.51446969e+01] [-3.55258663e-01 9.34767994e-01 -2.82599320e-04 -9.15143134e+00] [-7.73759293e-04 8.25289658e-06 9.99999701e-01 -2.99617524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.331858063999995 meters 0.015391141998157899 Centerline is valid? [True, True] Translation: X:55.17, Y:-9.17, Z:-0.30 [[ 9.35346377e-01 3.53732709e-01 5.70545790e-04 5.51730738e+01] [-3.53732638e-01 9.35346551e-01 -2.23790721e-04 -9.16507934e+00] [-6.12820135e-04 7.50117282e-06 9.99999812e-01 -3.00575119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361858063999996 meters 0.015046753536131267 Centerline is valid? [True, True] Translation: X:55.20, Y:-9.18, Z:-0.30 [[ 9.35708104e-01 3.52774518e-01 6.94852820e-04 5.52030513e+01] [-3.52774413e-01 9.35708362e-01 -2.72950569e-04 -9.17543312e+00] [-7.46469600e-04 1.02757637e-05 9.99999721e-01 -3.00256767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.391858064 meters 0.0151330493199516 Centerline is valid? [True, True] Translation: X:55.23, Y:-9.19, Z:-0.30 [[ 9.36076033e-01 3.51797346e-01 5.36172557e-04 5.52332715e+01] [-3.51797283e-01 9.36076187e-01 -2.10427179e-04 -9.18717512e+00] [-5.75926086e-04 8.35178997e-06 9.99999834e-01 -3.00472319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42185806399999 meters 0.015383183869993633 Centerline is valid? [True, True] Translation: X:55.26, Y:-9.20, Z:-0.30 [[ 9.36672759e-01 3.50201887e-01 1.66757457e-03 5.52634225e+01] [-3.50201270e-01 9.36674243e-01 -6.57996948e-04 -9.19819121e+00] [-1.79240592e-03 3.23410852e-05 9.99998393e-01 -2.99328878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45185806399999 meters 0.01543536133557213 Centerline is valid? [True, True] Translation: X:55.29, Y:-9.21, Z:-0.30 [[ 9.36916240e-01 3.49546813e-01 2.23274871e-03 5.52930102e+01] [-3.49545702e-01 9.36918899e-01 -8.82126437e-04 -9.20945251e+00] [-2.40024895e-03 4.60308679e-05 9.99997118e-01 -2.98752647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481858063999994 meters 0.01633923885945973 Centerline is valid? [True, True] Translation: X:55.32, Y:-9.22, Z:-0.30 [[ 9.36975769e-01 3.49386505e-01 2.34059562e-03 5.53223657e+01] [-3.49385283e-01 9.36978691e-01 -9.25414207e-04 -9.22243933e+00] [-2.51641546e-03 4.93210240e-05 9.99996833e-01 -2.98862696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.511858063999995 meters 0.015661079452899376 Centerline is valid? [True, True] Translation: X:55.35, Y:-9.23, Z:-0.30 [[ 9.36854109e-01 3.49715225e-01 1.90766065e-03 5.53541736e+01] [-3.49714412e-01 9.36856051e-01 -7.55195655e-04 -9.23074178e+00] [-2.05130684e-03 4.03717314e-05 9.99997895e-01 -2.99487805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541858063999996 meters 0.015526668211740882 Centerline is valid? [True, True] Translation: X:55.38, Y:-9.24, Z:-0.30 [[ 9.36513552e-01 3.50626521e-01 1.84637546e-03 5.53848345e+01] [-3.50625762e-01 9.36515372e-01 -7.30502185e-04 -9.24092682e+00] [-1.98529244e-03 3.67383936e-05 9.99998029e-01 -3.00176691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.571858064 meters 0.015558808964416247 Centerline is valid? [True, True] Translation: X:55.42, Y:-9.25, Z:-0.30 [[ 9.36174572e-01 3.51532701e-01 1.38953466e-03 5.54152459e+01] [-3.51532272e-01 9.36175603e-01 -5.49792898e-04 -9.25132569e+00] [-1.49411863e-03 2.62358539e-05 9.99998883e-01 -3.00843074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601858064 meters 0.015069881740706665 Centerline is valid? [True, True] Translation: X:55.45, Y:-9.26, Z:-0.30 [[ 9.35710237e-01 3.52769073e-01 5.78400375e-04 5.54461874e+01] [-3.52768999e-01 9.35710415e-01 -2.28148293e-04 -9.26121709e+00] [-6.21698917e-04 9.43897218e-06 9.99999807e-01 -3.01251180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63185806399999 meters 0.014921210610521143 Centerline is valid? [True, True] Translation: X:55.48, Y:-9.27, Z:-0.30 [[ 9.35042304e-01 3.54536156e-01 -6.91682468e-05 5.54764095e+01] [-3.54536154e-01 9.35042306e-01 2.88269085e-05 -9.26977308e+00] [ 7.48954183e-05 -2.43173472e-06 9.99999997e-01 -3.02316787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66185806399999 meters 0.015208109533925457 Centerline is valid? [True, True] Translation: X:55.51, Y:-9.28, Z:-0.30 [[ 9.34749909e-01 3.55306330e-01 1.42002776e-04 5.55051671e+01] [-3.55306326e-01 9.34749919e-01 -5.51121544e-05 -9.28064954e+00] [-1.52318780e-04 1.06159686e-06 9.99999988e-01 -3.02801641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.691858063999994 meters 0.014450414963816122 Centerline is valid? [True, True] Translation: X:55.54, Y:-9.29, Z:-0.30 [[ 9.34588297e-01 3.55730945e-01 4.57351757e-04 5.55371620e+01] [-3.55730900e-01 9.34588409e-01 -1.80219600e-04 -9.29014952e+00] [-4.91545339e-04 5.73697740e-06 9.99999879e-01 -3.02352708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721858063999996 meters 0.014401966532985365 Centerline is valid? [True, True] Translation: X:55.57, Y:-9.30, Z:-0.30 [[ 9.34375884e-01 3.56287844e-01 8.25058624e-04 5.55661611e+01] [-3.56287693e-01 9.34376248e-01 -3.27517553e-04 -9.30047242e+00] [-8.87605704e-04 1.20662691e-05 9.99999606e-01 -3.02308406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.751858064 meters 0.014482295758599833 Centerline is valid? [True, True] Translation: X:55.60, Y:-9.31, Z:-0.30 [[ 9.34318001e-01 3.56436026e-01 1.79790452e-03 5.55975524e+01] [-3.56435311e-01 9.34319730e-01 -7.14441138e-04 -9.31000002e+00] [-1.93447022e-03 2.66785600e-05 9.99998129e-01 -3.02368615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781858064 meters 0.014527490770182672 Centerline is valid? [True, True] Translation: X:55.63, Y:-9.32, Z:-0.30 [[ 9.34310135e-01 3.56454277e-01 2.21829296e-03 5.56281589e+01] [-3.56453185e-01 9.34312768e-01 -8.82616997e-04 -9.32154663e+00] [-2.38719204e-03 3.39204127e-05 9.99997150e-01 -3.02205179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81185806399999 meters 0.014549601737444903 Centerline is valid? [True, True] Translation: X:55.66, Y:-9.33, Z:-0.30 [[ 9.34499737e-01 3.55954789e-01 2.53575128e-03 5.56591046e+01] [-3.55953358e-01 9.34503176e-01 -1.00998663e-03 -9.33344603e+00] [-2.72917720e-03 4.12230608e-05 9.99996275e-01 -3.01606742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84185806399999 meters 0.015148567106229015 Centerline is valid? [True, True] Translation: X:55.69, Y:-9.35, Z:-0.30 [[ 9.35083860e-01 3.54408688e-01 3.55752847e-03 5.56877243e+01] [-3.54405854e-01 9.35090625e-01 -1.41893752e-03 -9.34558497e+00] [-3.82949531e-03 6.60166619e-05 9.99992665e-01 -3.00098147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.871858063999994 meters 0.01530124528160417 Centerline is valid? [True, True] Translation: X:55.72, Y:-9.36, Z:-0.30 [[ 9.35268404e-01 3.53920558e-01 3.64012561e-03 5.57178581e+01] [-3.53917583e-01 9.35275485e-01 -1.45286000e-03 -9.35663476e+00] [-3.91871727e-03 7.05095953e-05 9.99992319e-01 -2.99900802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901858063999995 meters 0.015631650442249057 Centerline is valid? [True, True] Translation: X:55.75, Y:-9.37, Z:-0.30 [[ 9.35464783e-01 3.53396417e-01 4.07569719e-03 5.57472737e+01] [-3.53392676e-01 9.35473658e-01 -1.62818673e-03 -9.36745178e+00] [-4.38810271e-03 8.27898118e-05 9.99990369e-01 -3.00440814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.931858064 meters 0.016148265243802667 Centerline is valid? [True, True] Translation: X:55.78, Y:-9.38, Z:-0.30 [[ 9.35632161e-01 3.52953719e-01 4.01642685e-03 5.57758996e+01] [-3.52950080e-01 9.35640778e-01 -1.60499763e-03 -9.37835622e+00] [-4.32442263e-03 8.40892213e-05 9.99990646e-01 -3.00886954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961858064 meters 0.016017689941498527 Centerline is valid? [True, True] Translation: X:55.81, Y:-9.39, Z:-0.30 [[ 9.36115999e-01 3.51662482e-01 4.50946384e-03 5.58065873e+01] [-3.51657873e-01 9.36126855e-01 -1.80333443e-03 -9.38736667e+00] [-4.85559526e-03 1.02341750e-04 9.99988206e-01 -3.02029585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99185806399999 meters 0.01695163777294378 Centerline is valid? [True, True] Translation: X:55.84, Y:-9.40, Z:-0.30 [[ 9.36336722e-01 3.51077257e-01 4.27814977e-03 5.58354136e+01] [-3.51073097e-01 9.36346490e-01 -1.71199355e-03 -9.39881803e+00] [-4.60687252e-03 1.01059139e-04 9.99989383e-01 -3.02852046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02185806399999 meters 0.016862079239541257 Centerline is valid? [True, True] Translation: X:55.87, Y:-9.41, Z:-0.30 [[ 9.36466921e-01 3.50734652e-01 3.86136284e-03 5.58655980e+01] [-3.50731257e-01 9.36474877e-01 -1.54606353e-03 -9.41063510e+00] [-4.15832734e-03 9.35367144e-05 9.99991350e-01 -3.02686396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.051858063999994 meters 0.017177710119892244 Centerline is valid? [True, True] Translation: X:55.90, Y:-9.42, Z:-0.30 [[ 9.37123938e-01 3.48978745e-01 3.54405091e-03 5.58953348e+01] [-3.48975870e-01 9.37130635e-01 -1.41988035e-03 -9.42174818e+00] [-3.81674674e-03 9.38156193e-05 9.99992712e-01 -3.03164750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081858063999995 meters 0.017643531491265137 Centerline is valid? [True, True] Translation: X:55.93, Y:-9.43, Z:-0.30 [[ 9.37256061e-01 3.48626703e-01 3.24008148e-03 5.59251496e+01] [-3.48624294e-01 9.37261657e-01 -1.29889229e-03 -9.43357639e+00] [-3.48963267e-03 8.78235586e-05 9.99993907e-01 -3.03408973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.111858063999996 meters 0.017859707722244142 Centerline is valid? [True, True] Translation: X:55.96, Y:-9.44, Z:-0.30 [[ 9.37414441e-01 3.48202118e-01 3.07435487e-03 5.59550532e+01] [-3.48199944e-01 9.37419478e-01 -1.23324230e-03 -9.44457316e+00] [-3.31137772e-03 8.55689479e-05 9.99994514e-01 -3.03916094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141858064 meters 0.017690232695757546 Centerline is valid? [True, True] Translation: X:55.99, Y:-9.45, Z:-0.30 [[ 9.37858818e-01 3.47009408e-01 2.30411605e-03 5.59866002e+01] [-3.47008183e-01 9.37861646e-01 -9.24531457e-04 -9.45307919e+00] [-2.48176318e-03 6.75328569e-05 9.99996918e-01 -3.04751880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17185806399999 meters 0.018323847662333085 Centerline is valid? [True, True] Translation: X:56.02, Y:-9.46, Z:-0.31 [[ 9.38072053e-01 3.46434101e-01 2.05849295e-03 5.60160919e+01] [-3.46433121e-01 9.38074309e-01 -8.26474080e-04 -9.46426246e+00] [-2.21733815e-03 6.21621018e-05 9.99997540e-01 -3.05709511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20185806399999 meters 0.018124398766549976 Centerline is valid? [True, True] Translation: X:56.05, Y:-9.47, Z:-0.31 [[ 9.38222343e-01 3.46027662e-01 1.92146897e-03 5.60462776e+01] [-3.46026807e-01 9.38224309e-01 -7.71799464e-04 -9.47424857e+00] [-2.06983286e-03 5.92397281e-05 9.99997856e-01 -3.06293249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.231858063999994 meters 0.018042759388043225 Centerline is valid? [True, True] Translation: X:56.08, Y:-9.48, Z:-0.31 [[ 9.38504566e-01 3.45263737e-01 1.45981377e-03 5.60763636e+01] [-3.45263242e-01 9.38505700e-01 -5.86410815e-04 -9.48467049e+00] [-1.57250994e-03 4.63291917e-05 9.99998763e-01 -3.06773296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261858063999995 meters 0.019734727845093593 Centerline is valid? [True, True] Translation: X:56.10, Y:-9.50, Z:-0.31 [[ 9.38847013e-01 3.44326317e-01 2.38209779e-03 5.61047466e+01] [-3.44324992e-01 9.38850031e-01 -9.58598718e-04 -9.49663762e+00] [-2.56650335e-03 7.97617418e-05 9.99996703e-01 -3.07222144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.291858063999996 meters 0.019123937560911672 Centerline is valid? [True, True] Translation: X:56.14, Y:-9.51, Z:-0.31 [[ 9.38932400e-01 3.44087559e-01 3.11451139e-03 5.61357928e+01] [-3.44085288e-01 9.38937560e-01 -1.25455774e-03 -9.50597132e+00] [-3.35600943e-03 1.06287360e-04 9.99994363e-01 -3.07222352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321858064 meters 0.019208815409717857 Centerline is valid? [True, True] Translation: X:56.17, Y:-9.52, Z:-0.31 [[ 9.38966521e-01 3.43987157e-01 3.83522722e-03 5.61670138e+01] [-3.43983708e-01 9.38974344e-01 -1.54623857e-03 -9.51633069e+00] [-4.13306617e-03 1.32610574e-04 9.99991450e-01 -3.07403146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.351858064 meters 0.02051961570494721 Centerline is valid? [True, True] Translation: X:56.20, Y:-9.53, Z:-0.31 [[ 9.38868555e-01 3.44248651e-01 4.32461623e-03 5.61965529e+01] [-3.44244260e-01 9.38878503e-01 -1.74518345e-03 -9.52853046e+00] [-4.66106626e-03 1.49773549e-04 9.99989126e-01 -3.07495594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38185806399999 meters 0.01981635349111259 Centerline is valid? [True, True] Translation: X:56.23, Y:-9.54, Z:-0.31 [[ 9.38719879e-01 3.44650155e-01 4.61074870e-03 5.62284289e+01] [-3.44645161e-01 9.38731189e-01 -1.86214274e-03 -9.53681819e+00] [-4.97004140e-03 1.58958177e-04 9.99987637e-01 -3.07580301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41185806399999 meters 0.019384701460881993 Centerline is valid? [True, True] Translation: X:56.26, Y:-9.55, Z:-0.31 [[ 9.38457698e-01 3.45359275e-01 4.91116060e-03 5.62585112e+01] [-3.45353610e-01 9.38470534e-01 -1.98514920e-03 -9.54682949e+00] [-5.29456920e-03 1.66891510e-04 9.99985970e-01 -3.07298201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441858063999994 meters 0.01979250405737956 Centerline is valid? [True, True] Translation: X:56.29, Y:-9.56, Z:-0.31 [[ 9.38126779e-01 3.46257527e-01 4.88585672e-03 5.62875775e+01] [-3.46251925e-01 9.38139488e-01 -1.97628848e-03 -9.55745757e+00] [-5.26791988e-03 1.62271847e-04 9.99986111e-01 -3.07293309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.471858063999996 meters 0.01882309048681172 Centerline is valid? [True, True] Translation: X:56.32, Y:-9.56, Z:-0.31 [[ 9.37196520e-01 3.48762199e-01 5.25466126e-03 5.63194907e+01] [-3.48755750e-01 9.37211237e-01 -2.12692744e-03 -9.56340154e+00] [-5.66651947e-03 1.60755669e-04 9.99983932e-01 -3.07899611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501858064 meters 0.019254645715964757 Centerline is valid? [True, True] Translation: X:56.35, Y:-9.57, Z:-0.31 [[ 9.36579130e-01 3.50412612e-01 5.52573261e-03 5.63488115e+01] [-3.50405500e-01 9.36595417e-01 -2.23825068e-03 -9.57357215e+00] [-5.95968711e-03 1.60051777e-04 9.99982228e-01 -3.08484026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.531858064 meters 0.017968743345436133 Centerline is valid? [True, True] Translation: X:56.38, Y:-9.58, Z:-0.31 [[ 9.35962401e-01 3.52063913e-01 5.03832207e-03 5.63800892e+01] [-3.52058018e-01 9.35975952e-01 -2.04198984e-03 -9.58128984e+00] [-5.43465923e-03 1.37444034e-04 9.99985223e-01 -3.09449167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56185806399999 meters 0.016824956046179708 Centerline is valid? [True, True] Translation: X:56.41, Y:-9.59, Z:-0.31 [[ 9.34917461e-01 3.54829817e-01 5.01409183e-03 5.64123043e+01] [-3.54824011e-01 9.34930899e-01 -2.03359530e-03 -9.58836119e+00] [-5.40940963e-03 1.22123585e-04 9.99985362e-01 -3.09969180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59185806399999 meters 0.016617650796314665 Centerline is valid? [True, True] Translation: X:56.44, Y:-9.60, Z:-0.31 [[ 9.34441686e-01 3.56079559e-01 5.10716074e-03 5.64429660e+01] [-3.56073551e-01 9.34455635e-01 -2.07185891e-03 -9.59857107e+00] [-5.51016174e-03 1.17506471e-04 9.99984812e-01 -3.10008838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621858063999994 meters 0.016458968306650862 Centerline is valid? [True, True] Translation: X:56.47, Y:-9.61, Z:-0.31 [[ 9.34097446e-01 3.56970542e-01 5.83046730e-03 5.64729943e+01] [-3.56962717e-01 9.34115633e-01 -2.36716084e-03 -9.60893510e+00] [-6.29133734e-03 1.29899443e-04 9.99980201e-01 -3.09876578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.651858063999995 meters 0.016531285403819474 Centerline is valid? [True, True] Translation: X:56.50, Y:-9.62, Z:-0.31 [[ 9.33814347e-01 3.57704068e-01 6.21006420e-03 5.65019181e+01] [-3.57695196e-01 9.33834986e-01 -2.52300323e-03 -9.61949940e+00] [-6.70166373e-03 1.34706483e-04 9.99977535e-01 -3.09583739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681858064 meters 0.016411011254502176 Centerline is valid? [True, True] Translation: X:56.53, Y:-9.63, Z:-0.31 [[ 9.33626674e-01 3.58171398e-01 7.38124110e-03 5.65332037e+01] [-3.58158865e-01 9.33655838e-01 -3.00050700e-03 -9.62956022e+00] [-7.96623463e-03 1.57696438e-04 9.99968257e-01 -3.08816296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.711858064 meters 0.016175069247453634 Centerline is valid? [True, True] Translation: X:56.56, Y:-9.64, Z:-0.31 [[ 9.33594161e-01 3.58242799e-01 8.00249747e-03 5.65642889e+01] [-3.58228046e-01 9.33628442e-01 -3.25575665e-03 -9.64025586e+00] [-8.63771061e-03 1.72836360e-04 9.99962679e-01 -3.08851378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74185806399999 meters 0.01614824566390778 Centerline is valid? [True, True] Translation: X:56.60, Y:-9.65, Z:-0.31 [[ 9.33459739e-01 3.58583531e-01 8.41233678e-03 5.65957937e+01] [-3.58567217e-01 9.33497626e-01 -3.42530689e-03 -9.65145189e+00] [-9.08115506e-03 1.80997885e-04 9.99958749e-01 -3.08650975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77185806399999 meters 0.01669056137699535 Centerline is valid? [True, True] Translation: X:56.63, Y:-9.66, Z:-0.31 [[ 9.33245166e-01 3.59130534e-01 8.87243456e-03 5.66257613e+01] [-3.59112383e-01 9.33287322e-01 -3.61553109e-03 -9.66379190e+00] [-9.57897830e-03 1.87975801e-04 9.99954103e-01 -3.08506125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801858063999994 meters 0.016589675057935988 Centerline is valid? [True, True] Translation: X:56.66, Y:-9.67, Z:-0.31 [[ 9.32831739e-01 3.60178547e-01 9.81630259e-03 5.66558740e+01] [-3.60156357e-01 9.32883366e-01 -4.00305411e-03 -9.67320795e+00] [-1.05992796e-02 1.98772152e-04 9.99943806e-01 -3.08237237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.831858063999995 meters 0.015943064987990144 Centerline is valid? [True, True] Translation: X:56.69, Y:-9.68, Z:-0.31 [[ 9.32532072e-01 3.60960129e-01 9.57709028e-03 5.66871283e+01] [-3.60939022e-01 9.32581230e-01 -3.90800630e-03 -9.68278602e+00] [-1.03420491e-02 1.87595609e-04 9.99946502e-01 -3.09049057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861858063999996 meters 0.016566103228014887 Centerline is valid? [True, True] Translation: X:56.72, Y:-9.69, Z:-0.31 [[ 9.32309941e-01 3.61540100e-01 9.32364078e-03 5.67158089e+01] [-3.61520103e-01 9.32356544e-01 -3.80664684e-03 -9.69462237e+00] [-1.00692130e-02 1.78291112e-04 9.99949288e-01 -3.09221602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.891858064 meters 0.015230284038536658 Centerline is valid? [True, True] Translation: X:56.75, Y:-9.70, Z:-0.31 [[ 9.31782119e-01 3.62893023e-01 9.52555056e-03 5.67475266e+01] [-3.62872200e-01 9.31830792e-01 -3.89116331e-03 -9.70129567e+00] [-1.02882773e-02 1.69158906e-04 9.99947060e-01 -3.11032889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92185806399999 meters 0.015496537409978839 Centerline is valid? [True, True] Translation: X:56.78, Y:-9.71, Z:-0.31 [[ 9.31302045e-01 3.64127262e-01 9.37222544e-03 5.67762324e+01] [-3.64107140e-01 9.31349190e-01 -3.83111055e-03 -9.71286902e+00] [-1.01238264e-02 1.55426884e-04 9.99948741e-01 -3.11235319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95185806399999 meters 0.01590858214919139 Centerline is valid? [True, True] Translation: X:56.81, Y:-9.72, Z:-0.31 [[ 9.30894422e-01 3.65176754e-01 9.02848160e-03 5.68050127e+01] [-3.65158112e-01 9.30938193e-01 -3.69252191e-03 -9.72442265e+00] [-9.75338150e-03 1.40524751e-04 9.99952425e-01 -3.11344071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981858063999994 meters 0.01475542607288257 Centerline is valid? [True, True] Translation: X:56.84, Y:-9.73, Z:-0.31 [[ 9.30376124e-01 3.66485011e-01 9.43418755e-03 5.68361096e+01] [-3.66464702e-01 9.30423946e-01 -3.86052354e-03 -9.73213646e+00] [-1.01926180e-02 1.34442202e-04 9.99948045e-01 -3.12941958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.011858063999995 meters 0.01475542607288257 Centerline is valid? [True, True] Translation: X:56.87, Y:-9.74, Z:-0.31 [[ 9.30271951e-01 3.66749388e-01 9.43316689e-03 5.68660941e+01] [-3.66729067e-01 9.30319767e-01 -3.86301631e-03 -9.74447763e+00] [-1.01926205e-02 1.34239229e-04 9.99948045e-01 -3.13124110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041858063999996 meters 0.014543231042868669 Centerline is valid? [True, True] Translation: X:56.90, Y:-9.75, Z:-0.31 [[ 9.29502666e-01 3.68677648e-01 1.00789569e-02 5.68961947e+01] [-3.68654528e-01 9.29557301e-01 -4.13072648e-03 -9.75452293e+00] [-1.08918745e-02 1.23868167e-04 9.99940674e-01 -3.13893855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.071858064 meters 0.014549347089415687 Centerline is valid? [True, True] Translation: X:56.93, Y:-9.77, Z:-0.31 [[ 9.29172524e-01 3.69507454e-01 1.01322181e-02 5.69266961e+01] [-3.69484104e-01 9.29227759e-01 -4.15569120e-03 -9.76653265e+00] [-1.09506972e-02 1.17660561e-04 9.99940032e-01 -3.14070906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101858064 meters 0.014483462279004745 Centerline is valid? [True, True] Translation: X:56.96, Y:-9.78, Z:-0.31 [[ 9.28840740e-01 3.70345307e-01 9.96158330e-03 5.69562208e+01] [-3.70322751e-01 9.28894150e-01 -4.08885501e-03 -9.77885819e+00] [-1.07675447e-02 1.08894182e-04 9.99942022e-01 -3.14261085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13185806399999 meters 0.015075580222560633 Centerline is valid? [True, True] Translation: X:56.99, Y:-9.79, Z:-0.31 [[ 9.28459031e-01 3.71304430e-01 9.84115733e-03 5.69853737e+01] [-3.71282436e-01 9.28511180e-01 -4.04249927e-03 -9.79325774e+00] [-1.06386225e-02 9.94460862e-05 9.99943403e-01 -3.13590331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16185806399999 meters 0.014495059462677214 Centerline is valid? [True, True] Translation: X:57.02, Y:-9.80, Z:-0.32 [[ 9.28058791e-01 3.72301992e-01 9.90489486e-03 5.70169498e+01] [-3.72279736e-01 9.28111641e-01 -4.07190680e-03 -9.80416471e+00] [-1.07088272e-02 9.15772634e-05 9.99942655e-01 -3.15254991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.191858063999994 meters 0.014425220480357262 Centerline is valid? [True, True] Translation: X:57.05, Y:-9.82, Z:-0.32 [[ 9.27775635e-01 3.73007679e-01 9.88146761e-03 5.70477357e+01] [-3.72985533e-01 9.27828251e-01 -4.06551869e-03 -9.81685559e+00] [-1.06847745e-02 8.62447239e-05 9.99942912e-01 -3.16146151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221858063999996 meters 0.014413336325088975 Centerline is valid? [True, True] Translation: X:57.08, Y:-9.83, Z:-0.32 [[ 9.27177583e-01 3.74484377e-01 1.01578386e-02 5.70760791e+01] [-3.74461029e-01 9.27233221e-01 -4.18231099e-03 -9.82865527e+00] [-1.09848956e-02 7.40302800e-05 9.99939661e-01 -3.16747187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.251858064 meters 0.01436649167773492 Centerline is valid? [True, True] Translation: X:57.11, Y:-9.84, Z:-0.32 [[ 9.26835554e-01 3.75323295e-01 1.04057669e-02 5.71064433e+01] [-3.75298810e-01 9.26893964e-01 -4.28754534e-03 -9.84056278e+00] [-1.12542582e-02 6.85775033e-05 9.99936666e-01 -3.17312281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281858064 meters 0.014290163020582584 Centerline is valid? [True, True] Translation: X:57.14, Y:-9.85, Z:-0.32 [[ 9.26381815e-01 3.76435686e-01 1.06257580e-02 5.71359517e+01] [-3.76410189e-01 9.26442751e-01 -4.38164216e-03 -9.85261998e+00] [-1.14935630e-02 5.94300311e-05 9.99933945e-01 -3.17531024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31185806399999 meters 0.014255190935509985 Centerline is valid? [True, True] Translation: X:57.17, Y:-9.87, Z:-0.32 [[ 9.25854755e-01 3.77726358e-01 1.07596766e-02 5.71665219e+01] [-3.77700261e-01 9.25917273e-01 -4.44034031e-03 -9.86560778e+00] [-1.16398040e-02 4.71775502e-05 9.99932254e-01 -3.17538761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34185806399999 meters 0.01427898582152813 Centerline is valid? [True, True] Translation: X:57.20, Y:-9.88, Z:-0.32 [[ 9.25484770e-01 3.78626471e-01 1.09515102e-02 5.71955368e+01] [-3.78599464e-01 9.25549563e-01 -4.52244058e-03 -9.87838282e+00] [-1.18484812e-02 3.92140153e-05 9.99929804e-01 -3.17428932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.371858063999994 meters 0.01521921055771521 Centerline is valid? [True, True] Translation: X:57.22, Y:-9.89, Z:-0.32 [[ 9.24734749e-01 3.80459651e-01 1.07748828e-02 5.72243511e+01] [-3.80433600e-01 9.24797520e-01 -4.45226105e-03 -9.89193033e+00] [-1.16584906e-02 1.80330537e-05 9.99932037e-01 -3.18482554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401858063999995 meters 0.014333059591036649 Centerline is valid? [True, True] Translation: X:57.25, Y:-9.90, Z:-0.32 [[ 9.24393487e-01 3.81281246e-01 1.10133343e-02 5.72542007e+01] [-3.81254045e-01 9.24459091e-01 -4.55430693e-03 -9.90463955e+00] [-1.19178489e-02 1.10933962e-05 9.99928980e-01 -3.18186468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.431858064 meters 0.014240176474375347 Centerline is valid? [True, True] Translation: X:57.28, Y:-9.92, Z:-0.32 [[ 9.23967987e-01 3.82312375e-01 1.09730515e-02 5.72841621e+01] [-3.82285403e-01 9.24033142e-01 -4.54120131e-03 -9.91755579e+00] [-1.18756207e-02 1.08720921e-06 9.99929482e-01 -3.18993695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461858064 meters 0.014201349494946456 Centerline is valid? [True, True] Translation: X:57.31, Y:-9.93, Z:-0.32 [[ 9.23719023e-01 3.82922817e-01 1.06434548e-02 5.73144909e+01] [-3.82897442e-01 9.23780340e-01 -4.40824658e-03 -9.93068324e+00] [-1.15202325e-02 -3.37038310e-06 9.99933640e-01 -3.20509179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49185806399999 meters 0.01422966915896285 Centerline is valid? [True, True] Translation: X:57.34, Y:-9.95, Z:-0.32 [[ 9.23490090e-01 3.83500298e-01 9.67339154e-03 5.73433204e+01] [-3.83479338e-01 9.23540752e-01 -4.00943971e-03 -9.94532178e+00] [-1.04713926e-02 -6.86794957e-06 9.99945173e-01 -3.21579228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52185806399999 meters 0.014151294912683262 Centerline is valid? [True, True] Translation: X:57.37, Y:-9.96, Z:-0.32 [[ 9.23348778e-01 3.83833541e-01 9.94216315e-03 5.73721378e+01] [-3.83811386e-01 9.23402303e-01 -4.12395767e-03 -9.95926668e+00] [-1.07635296e-02 -8.06414682e-06 9.99942072e-01 -3.21600225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.551858063999994 meters 0.014268411614040204 Centerline is valid? [True, True] Translation: X:57.40, Y:-9.97, Z:-0.32 [[ 9.23184140e-01 3.84233482e-01 9.78139259e-03 5.74013431e+01] [-3.84212028e-01 9.23235956e-01 -4.06033218e-03 -9.97477888e+00] [-1.05906489e-02 -9.69441685e-06 9.99943917e-01 -3.21713061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581858063999995 meters 0.014241882469684662 Centerline is valid? [True, True] Translation: X:57.43, Y:-9.99, Z:-0.32 [[ 9.23129793e-01 3.84368426e-01 9.60725169e-03 5.74316728e+01] [-3.84347704e-01 9.23179784e-01 -3.99113276e-03 -9.98885006e+00] [-1.04032860e-02 -8.19157294e-06 9.99945884e-01 -3.22553288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611858063999996 meters 0.014302103655724378 Centerline is valid? [True, True] Translation: X:57.46, Y:-10.00, Z:-0.32 [[ 9.23089005e-01 3.84476595e-01 9.18892414e-03 5.74606897e+01] [-3.84457616e-01 9.23134740e-01 -3.82015900e-03 -1.00026550e+01] [-9.95137682e-03 -6.40509514e-06 9.99950484e-01 -3.23382260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641858064 meters 0.01429833632569932 Centerline is valid? [True, True] Translation: X:57.49, Y:-10.02, Z:-0.32 [[ 9.23060171e-01 3.84562166e-01 8.47706746e-03 5.74900613e+01] [-3.84545994e-01 9.23099096e-01 -3.52670318e-03 -1.00170023e+01] [-9.18140992e-03 -4.46309099e-06 9.99957850e-01 -3.24670782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67185806399999 meters 0.014218007270708835 Centerline is valid? [True, True] Translation: X:57.52, Y:-10.03, Z:-0.33 [[ 9.23563013e-01 3.83379350e-01 7.18578856e-03 5.75181144e+01] [-3.83367678e-01 9.23590967e-01 -2.99154185e-03 -1.00339812e+01] [-7.78362478e-03 8.07832448e-06 9.99969707e-01 -3.26214621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70185806399999 meters 0.01424037715592375 Centerline is valid? [True, True] Translation: X:57.55, Y:-10.05, Z:-0.33 [[ 9.24029581e-01 3.82265386e-01 6.51981242e-03 5.75472561e+01] [-3.82255735e-01 9.24052582e-01 -2.71625831e-03 -1.00490135e+01] [-7.06298103e-03 1.76673345e-05 9.99975057e-01 -3.26997337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.731858063999994 meters 0.014378331014853609 Centerline is valid? [True, True] Translation: X:57.58, Y:-10.06, Z:-0.33 [[ 9.24560859e-01 3.80983243e-01 6.24396504e-03 5.75766887e+01] [-3.80974349e-01 9.24581942e-01 -2.60333123e-03 -1.00642075e+01] [-6.76488290e-03 2.81476375e-05 9.99977118e-01 -3.27739761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761858063999995 meters 0.014607525742769766 Centerline is valid? [True, True] Translation: X:57.60, Y:-10.08, Z:-0.33 [[ 9.25035448e-01 3.79826419e-01 6.42740649e-03 5.76046909e+01] [-3.79816953e-01 9.25057776e-01 -2.68195340e-03 -1.00790245e+01] [-6.96439911e-03 3.96640189e-05 9.99975747e-01 -3.28214710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.791858063999996 meters 0.014960679329625816 Centerline is valid? [True, True] Translation: X:57.63, Y:-10.10, Z:-0.33 [[ 9.26279850e-01 3.76782281e-01 6.38379938e-03 5.76330742e+01] [-3.76772856e-01 9.26301845e-01 -2.66567399e-03 -1.00952272e+01] [-6.91770387e-03 6.39177785e-05 9.99976070e-01 -3.29003989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821858064 meters 0.015255619235433776 Centerline is valid? [True, True] Translation: X:57.66, Y:-10.11, Z:-0.33 [[ 9.26798843e-01 3.75501593e-01 6.51596801e-03 5.76619117e+01] [-3.75491729e-01 9.26821746e-01 -2.72273195e-03 -1.01096089e+01] [-7.06153103e-03 7.67327210e-05 9.99975064e-01 -3.29301106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.851858064 meters 0.015492695140912663 Centerline is valid? [True, True] Translation: X:57.69, Y:-10.12, Z:-0.33 [[ 9.27307804e-01 3.74246741e-01 6.29398536e-03 5.76898620e+01] [-3.74237497e-01 9.27329159e-01 -2.63167687e-03 -1.01240686e+01] [-6.82149264e-03 8.49291689e-05 9.99976730e-01 -3.29506436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88185806399999 meters 0.015834564269410045 Centerline is valid? [True, True] Translation: X:57.72, Y:-10.14, Z:-0.33 [[ 9.28308951e-01 3.71766298e-01 5.68423210e-03 5.77178693e+01] [-3.71758704e-01 9.28326349e-01 -2.37808560e-03 -1.01400690e+01] [-6.16091451e-03 9.44353846e-05 9.99981017e-01 -3.30291237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91185806399999 meters 0.016297807456491734 Centerline is valid? [True, True] Translation: X:57.75, Y:-10.15, Z:-0.33 [[ 9.28795616e-01 3.70551407e-01 5.50976405e-03 5.77470496e+01] [-3.70544242e-01 9.28811953e-01 -2.30662611e-03 -1.01542425e+01] [-5.97225826e-03 1.00772884e-04 9.99982161e-01 -3.30969598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941858063999994 meters 0.016641215479175582 Centerline is valid? [True, True] Translation: X:57.78, Y:-10.17, Z:-0.33 [[ 9.29183673e-01 3.69585252e-01 4.94408964e-03 5.77764376e+01] [-3.69579462e-01 9.29196821e-01 -2.07106981e-03 -1.01681301e+01] [-5.35946923e-03 9.71702656e-05 9.99985633e-01 -3.31758069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.971858063999996 meters 0.017061309633998042 Centerline is valid? [True, True] Translation: X:57.81, Y:-10.18, Z:-0.33 [[ 9.29567624e-01 3.68618106e-01 4.97234368e-03 5.78051174e+01] [-3.68612228e-01 9.29580917e-01 -2.08432547e-03 -1.01814675e+01] [-5.39051591e-03 1.04654788e-04 9.99985466e-01 -3.32516627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001858064 meters 0.017144330929592406 Centerline is valid? [True, True] Translation: X:57.83, Y:-10.20, Z:-0.33 [[ 9.29977822e-01 3.67583238e-01 4.87990362e-03 5.78337933e+01] [-3.67577556e-01 9.29990619e-01 -2.04682096e-03 -1.01951143e+01] [-5.29064167e-03 1.09755051e-04 9.99985998e-01 -3.33131473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.031858064 meters 0.017542070077980434 Centerline is valid? [True, True] Translation: X:57.86, Y:-10.21, Z:-0.33 [[ 9.30091556e-01 3.67295450e-01 4.87334873e-03 5.78616613e+01] [-3.67289771e-01 9.30104317e-01 -2.04550018e-03 -1.02090569e+01] [-5.28402559e-03 1.12571308e-04 9.99986033e-01 -3.33354401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06185806399999 meters 0.01775881635490307 Centerline is valid? [True, True] Translation: X:57.89, Y:-10.22, Z:-0.33 [[ 9.30038453e-01 3.67435222e-01 4.45352268e-03 5.78903443e+01] [-3.67430479e-01 9.30049110e-01 -1.86988550e-03 -1.02230815e+01] [-4.82905660e-03 1.02705447e-04 9.99988335e-01 -3.33467226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09185806399999 meters 0.0173834769731875 Centerline is valid? [True, True] Translation: X:57.92, Y:-10.24, Z:-0.33 [[ 9.29930374e-01 3.67711156e-01 4.24338602e-03 5.79203859e+01] [-3.67706849e-01 9.29940050e-01 -1.78234030e-03 -1.02356669e+01] [-4.60148102e-03 9.71302732e-05 9.99989408e-01 -3.33645557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121858063999994 meters 0.017316528639251018 Centerline is valid? [True, True] Translation: X:57.95, Y:-10.25, Z:-0.33 [[ 9.29299398e-01 3.69302398e-01 4.28584960e-03 5.79493388e+01] [-3.69298015e-01 9.29309276e-01 -1.80163309e-03 -1.02473383e+01] [-4.64822721e-03 9.15008014e-05 9.99989193e-01 -3.34065058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.151858063999995 meters 0.017009450548373686 Centerline is valid? [True, True] Translation: X:57.98, Y:-10.26, Z:-0.33 [[ 9.28645163e-01 3.70947527e-01 4.01157076e-03 5.79794090e+01] [-3.70943698e-01 9.28653825e-01 -1.68727093e-03 -1.02591553e+01] [-4.35124951e-03 7.88090956e-05 9.99990530e-01 -3.34695860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181858064 meters 0.01684355540497375 Centerline is valid? [True, True] Translation: X:58.01, Y:-10.27, Z:-0.33 [[ 9.28045090e-01 3.72438974e-01 4.63919495e-03 5.80097984e+01] [-3.72433864e-01 9.28056681e-01 -1.95286975e-03 -1.02710752e+01] [-5.03276067e-03 8.45578790e-05 9.99987332e-01 -3.34603295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.211858064 meters 0.01646283897959987 Centerline is valid? [True, True] Translation: X:58.04, Y:-10.28, Z:-0.33 [[ 9.26906987e-01 3.75253433e-01 5.31951812e-03 5.80391604e+01] [-3.75246757e-01 9.26922248e-01 -2.23988301e-03 -1.02823826e+01] [-5.77130348e-03 8.00312902e-05 9.99983343e-01 -3.33915608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24185806399999 meters 0.01581277868596621 Centerline is valid? [True, True] Translation: X:58.07, Y:-10.29, Z:-0.33 [[ 9.26380442e-01 3.76546040e-01 5.68825169e-03 5.80692179e+01] [-3.76538420e-01 9.26397902e-01 -2.39671879e-03 -1.02932289e+01] [-6.17205940e-03 7.84281081e-05 9.99980950e-01 -3.33821852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27185806399999 meters 0.015614590943065906 Centerline is valid? [True, True] Translation: X:58.10, Y:-10.31, Z:-0.33 [[ 9.26006482e-01 3.77460952e-01 5.93504149e-03 5.80994606e+01] [-3.77452664e-01 9.26025498e-01 -2.50250199e-03 -1.03058347e+01] [-6.44059654e-03 7.71358395e-05 9.99979256e-01 -3.33764255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301858063999994 meters 0.015623407626164357 Centerline is valid? [True, True] Translation: X:58.13, Y:-10.32, Z:-0.33 [[ 9.25415644e-01 3.78896768e-01 6.56705368e-03 5.81289444e+01] [-3.78886641e-01 9.25438941e-01 -2.77127528e-03 -1.03181503e+01] [-7.12743445e-03 7.64125931e-05 9.99974597e-01 -3.33424767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.331858063999995 meters 0.015579093305539035 Centerline is valid? [True, True] Translation: X:58.16, Y:-10.33, Z:-0.33 [[ 9.25237539e-01 3.79335361e-01 6.33873075e-03 5.81593233e+01] [-3.79325924e-01 9.25259249e-01 -2.67674685e-03 -1.03311716e+01] [-6.88035399e-03 7.21817727e-05 9.99976327e-01 -3.33576126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361858063999996 meters 0.0154377171563135 Centerline is valid? [True, True] Translation: X:58.19, Y:-10.34, Z:-0.33 [[ 9.24969415e-01 3.79993562e-01 6.03939911e-03 5.81897032e+01] [-3.79984997e-01 9.24989129e-01 -2.55226022e-03 -1.03436812e+01] [-6.55622098e-03 6.58815943e-05 9.99978506e-01 -3.33847670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.391858064 meters 0.01559540598306058 Centerline is valid? [True, True] Translation: X:58.22, Y:-10.36, Z:-0.33 [[ 9.24762013e-01 3.80501611e-01 5.80890451e-03 5.82185459e+01] [-3.80493685e-01 9.24780255e-01 -2.45672402e-03 -1.03566487e+01] [-6.30674765e-03 6.16335696e-05 9.99980110e-01 -3.34513716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42185806399999 meters 0.015443535472862802 Centerline is valid? [True, True] Translation: X:58.25, Y:-10.37, Z:-0.33 [[ 9.24758940e-01 3.80509034e-01 5.81188854e-03 5.82481496e+01] [-3.80501088e-01 9.24777201e-01 -2.45981951e-03 -1.03698704e+01] [-6.31068557e-03 6.33101678e-05 9.99980085e-01 -3.34720926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45185806399999 meters 0.015484810869544919 Centerline is valid? [True, True] Translation: X:58.28, Y:-10.38, Z:-0.33 [[ 9.24777340e-01 3.80463424e-01 5.86974441e-03 5.82777864e+01] [-3.80455306e-01 9.24795966e-01 -2.48629520e-03 -1.03838080e+01] [-6.37426033e-03 6.60940528e-05 9.99979682e-01 -3.34970433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481858063999994 meters 0.015605060863151572 Centerline is valid? [True, True] Translation: X:58.31, Y:-10.40, Z:-0.34 [[ 9.24794958e-01 3.80425879e-01 5.51691245e-03 5.83063456e+01] [-3.80418696e-01 9.24811411e-01 -2.33857456e-03 -1.03975686e+01] [-5.99175787e-03 6.39653241e-05 9.99982047e-01 -3.35163936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.511858063999995 meters 0.015577460965200842 Centerline is valid? [True, True] Translation: X:58.34, Y:-10.41, Z:-0.34 [[ 9.24903901e-01 3.80158998e-01 5.64891258e-03 5.83364753e+01] [-3.80151452e-01 9.24921149e-01 -2.39633345e-03 -1.04109186e+01] [-6.13578644e-03 6.89358352e-05 9.99981174e-01 -3.35996019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541858063999996 meters 0.015801206149252862 Centerline is valid? [True, True] Translation: X:58.37, Y:-10.43, Z:-0.34 [[ 9.25002291e-01 3.79930490e-01 4.85640155e-03 5.83651356e+01] [-3.79924902e-01 9.25015037e-01 -2.06152805e-03 -1.04255532e+01] [-5.27548182e-03 6.18502798e-05 9.99986083e-01 -3.37107871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.571858064 meters 0.01576637644212847 Centerline is valid? [True, True] Translation: X:58.39, Y:-10.44, Z:-0.34 [[ 9.24834975e-01 3.80344422e-01 4.28823107e-03 5.83946464e+01] [-3.80340064e-01 9.24844916e-01 -1.82147060e-03 -1.04395146e+01] [-4.65873488e-03 5.35736358e-05 9.99989147e-01 -3.37209019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60185806399999 meters 0.015931204602984524 Centerline is valid? [True, True] Translation: X:58.42, Y:-10.45, Z:-0.34 [[ 9.24724421e-01 3.80617582e-01 3.87310083e-03 5.84236026e+01] [-3.80614024e-01 9.24732531e-01 -1.64628154e-03 -1.04541795e+01] [-4.20818603e-03 4.82002543e-05 9.99991144e-01 -3.37518479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63185806399999 meters 0.015828964659870746 Centerline is valid? [True, True] Translation: X:58.45, Y:-10.47, Z:-0.34 [[ 9.24493609e-01 3.81180720e-01 3.58135260e-03 5.84532719e+01] [-3.81177679e-01 9.24500544e-01 -1.52322115e-03 -1.04672451e+01] [-3.89158496e-03 4.30765447e-05 9.99992427e-01 -3.37772629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66185806399999 meters 0.015945724009175138 Centerline is valid? [True, True] Translation: X:58.48, Y:-10.48, Z:-0.34 [[ 9.24030276e-01 3.82292015e-01 4.56774551e-03 5.84811154e+01] [-3.82287072e-01 9.24041564e-01 -1.94475220e-03 -1.04810985e+01] [-4.96424995e-03 5.08198543e-05 9.99987677e-01 -3.37645581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.691858063999994 meters 0.015800937927264388 Centerline is valid? [True, True] Translation: X:58.51, Y:-10.49, Z:-0.34 [[ 9.23642230e-01 3.83222186e-01 5.07813414e-03 5.85108296e+01] [-3.83216083e-01 9.23656188e-01 -2.16354037e-03 -1.04942957e+01] [-5.51956669e-03 5.23145803e-05 9.99984766e-01 -3.37542398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721858063999996 meters 0.01559077870746032 Centerline is valid? [True, True] Translation: X:58.54, Y:-10.51, Z:-0.34 [[ 9.23261959e-01 3.84138648e-01 4.98544492e-03 5.85412354e+01] [-3.84132770e-01 9.23275418e-01 -2.12561688e-03 -1.05074583e+01] [-5.41947033e-03 4.74284364e-05 9.99985313e-01 -3.37516723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.751858064 meters 0.015612746429824189 Centerline is valid? [True, True] Translation: X:58.57, Y:-10.52, Z:-0.34 [[ 9.22779284e-01 3.85303210e-01 4.45297396e-03 5.85714576e+01] [-3.85298528e-01 9.22790027e-01 -1.89989150e-03 -1.05212799e+01] [-4.84119425e-03 3.74562047e-05 9.99988281e-01 -3.38124703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781858064 meters 0.015559582781059362 Centerline is valid? [True, True] Translation: X:58.60, Y:-10.54, Z:-0.34 [[ 9.22241307e-01 3.86588012e-01 4.54756993e-03 5.86012644e+01] [-3.86583137e-01 9.22252518e-01 -1.94180539e-03 -1.05351919e+01] [-4.94468651e-03 3.27992959e-05 9.99987774e-01 -3.38843466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81185806399999 meters 0.015505963062721484 Centerline is valid? [True, True] Translation: X:58.63, Y:-10.55, Z:-0.34 [[ 9.21494281e-01 3.88372195e-01 3.91524294e-03 5.86284419e+01] [-3.88368592e-01 9.21502598e-01 -1.67294027e-03 -1.05495709e+01] [-4.25763002e-03 2.10475015e-05 9.99990936e-01 -3.39138980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84185806399999 meters 0.015519474065574652 Centerline is valid? [True, True] Translation: X:58.66, Y:-10.56, Z:-0.34 [[ 9.21048212e-01 3.89428804e-01 3.92410777e-03 5.86578644e+01] [-3.89425191e-01 9.21056571e-01 -1.67770960e-03 -1.05635604e+01] [-4.26767369e-03 1.71050092e-05 9.99990893e-01 -3.39189773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.871858063999994 meters 0.015480101357473191 Centerline is valid? [True, True] Translation: X:58.69, Y:-10.58, Z:-0.34 [[ 9.20659454e-01 3.90350407e-01 3.56775188e-03 5.86865382e+01] [-3.90347423e-01 9.20666367e-01 -1.52639719e-03 -1.05770291e+01] [-3.88053893e-03 1.26292479e-05 9.99992471e-01 -3.39492906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901858063999995 meters 0.015507066249061603 Centerline is valid? [True, True] Translation: X:58.72, Y:-10.59, Z:-0.34 [[ 9.20301550e-01 3.91194304e-01 3.47467211e-03 5.87163835e+01] [-3.91191476e-01 9.20308109e-01 -1.48755459e-03 -1.05912271e+01] [-3.77969180e-03 9.73668303e-06 9.99992857e-01 -3.39688848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.931858064 meters 0.015507066249061603 Centerline is valid? [True, True] Translation: X:58.75, Y:-10.60, Z:-0.34 [[ 9.20195093e-01 3.91444659e-01 3.47426696e-03 5.87461405e+01] [-3.91441829e-01 9.20201651e-01 -1.48850007e-03 -1.06040668e+01] [-3.77969160e-03 9.73704534e-06 9.99992857e-01 -3.39871050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961858064 meters 0.015510769704536485 Centerline is valid? [True, True] Translation: X:58.78, Y:-10.62, Z:-0.34 [[ 9.19882746e-01 3.92175654e-01 3.74028188e-03 5.87759009e+01] [-3.92172375e-01 9.19890350e-01 -1.60394370e-03 -1.06195026e+01] [-4.06967687e-03 8.60490997e-06 9.99991719e-01 -3.39577309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99185806399999 meters 0.015438765110099714 Centerline is valid? [True, True] Translation: X:58.81, Y:-10.63, Z:-0.34 [[ 9.19779559e-01 3.92418514e-01 3.64310509e-03 5.88057011e+01] [-3.92415401e-01 9.19786774e-01 -1.56288608e-03 -1.06341771e+01] [-3.96418531e-03 7.90012056e-06 9.99992143e-01 -3.39590832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02185806399999 meters 0.015529330576189179 Centerline is valid? [True, True] Translation: X:58.84, Y:-10.65, Z:-0.34 [[ 9.19753749e-01 3.92479845e-01 3.55140805e-03 5.88352253e+01] [-3.92476884e-01 9.19760605e-01 -1.52467146e-03 -1.06491726e+01] [-3.86484803e-03 8.47673370e-06 9.99992531e-01 -3.39583853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.051858063999994 meters 0.015551235558795288 Centerline is valid? [True, True] Translation: X:58.86, Y:-10.66, Z:-0.34 [[ 9.19847648e-01 3.92263939e-01 3.05084615e-03 5.88639935e+01] [-3.92261749e-01 9.19852707e-01 -1.31055357e-03 -1.06644646e+01] [-3.32041199e-03 8.77937059e-06 9.99994487e-01 -3.39801021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081858063999995 meters 0.01572822851871345 Centerline is valid? [True, True] Translation: X:58.89, Y:-10.68, Z:-0.34 [[ 9.20597262e-01 3.90500343e-01 3.18799345e-03 5.88911600e+01] [-3.90497938e-01 9.20602782e-01 -1.37064530e-03 -1.06813697e+01] [-3.47011310e-03 1.69074355e-05 9.99993979e-01 -3.40882648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.111858063999996 meters 0.015844942107284838 Centerline is valid? [True, True] Translation: X:58.92, Y:-10.70, Z:-0.34 [[ 9.20966738e-01 3.89631167e-01 2.79665176e-03 5.89203840e+01] [-3.89629310e-01 9.20970984e-01 -1.20300932e-03 -1.06958882e+01] [-3.04436505e-03 1.82740747e-05 9.99995366e-01 -3.41314041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141858064 meters 0.016057449549119144 Centerline is valid? [True, True] Translation: X:58.95, Y:-10.71, Z:-0.34 [[ 9.21807472e-01 3.87638759e-01 2.67896931e-03 5.89476650e+01] [-3.87637044e-01 9.21811365e-01 -1.15335886e-03 -1.07117941e+01] [-2.91659095e-03 2.47070714e-05 9.99995746e-01 -3.42064446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17185806399999 meters 0.01625654504065875 Centerline is valid? [True, True] Translation: X:58.98, Y:-10.73, Z:-0.34 [[ 9.22102061e-01 3.86938850e-01 2.47284911e-03 5.89772969e+01] [-3.86937385e-01 9.22105377e-01 -1.06501511e-03 -1.07267693e+01] [-2.69232319e-03 2.52148561e-05 9.99996375e-01 -3.42068780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20185806399999 meters 0.01638158101592845 Centerline is valid? [True, True] Translation: X:59.01, Y:-10.74, Z:-0.34 [[ 9.22287102e-01 3.86496418e-01 2.64955837e-03 5.90057721e+01] [-3.86494732e-01 9.22290907e-01 -1.14215184e-03 -1.07405213e+01] [-2.88510119e-03 2.93515555e-05 9.99995838e-01 -3.41752526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.231858063999994 meters 0.016302541508181584 Centerline is valid? [True, True] Translation: X:59.04, Y:-10.75, Z:-0.34 [[ 9.22348750e-01 3.86345394e-01 3.16544412e-03 5.90357561e+01] [-3.86342982e-01 9.22354181e-01 -1.36572814e-03 -1.07534211e+01] [-3.44730339e-03 3.67305240e-05 9.99994057e-01 -3.40820763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261858063999995 meters 0.01653326777884048 Centerline is valid? [True, True] Translation: X:59.06, Y:-10.77, Z:-0.34 [[ 9.22495969e-01 3.85986057e-01 3.99381043e-03 5.90644835e+01] [-3.85982205e-01 9.22504613e-01 -1.72492959e-03 -1.07674475e+01] [-4.35010731e-03 4.97008411e-05 9.99990537e-01 -3.40135904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.291858063999996 meters 0.016744890709463618 Centerline is valid? [True, True] Translation: X:59.09, Y:-10.78, Z:-0.34 [[ 9.22656899e-01 3.85601110e-01 4.00389092e-03 5.90934287e+01] [-3.85597231e-01 9.22665584e-01 -1.73053806e-03 -1.07809180e+01] [-4.36154976e-03 5.28036310e-05 9.99990487e-01 -3.40753012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321858064 meters 0.017017475335549082 Centerline is valid? [True, True] Translation: X:59.12, Y:-10.79, Z:-0.34 [[ 9.22697707e-01 3.85505553e-01 3.79594422e-03 5.91227291e+01] [-3.85502061e-01 9.22705514e-01 -1.64174023e-03 -1.07936767e+01] [-4.13543864e-03 5.14856295e-05 9.99991448e-01 -3.41298494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35185806399999 meters 0.016568911624531606 Centerline is valid? [True, True] Translation: X:59.15, Y:-10.81, Z:-0.34 [[ 9.22724697e-01 3.85443841e-01 3.48967771e-03 5.91537020e+01] [-3.85440886e-01 9.22731295e-01 -1.51011793e-03 -1.08054990e+01] [-3.80210048e-03 4.83586387e-05 9.99992771e-01 -3.41872297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38185806399999 meters 0.01673167865820233 Centerline is valid? [True, True] Translation: X:59.18, Y:-10.82, Z:-0.34 [[ 9.22681825e-01 3.85554140e-01 2.50107230e-03 5.91824519e+01] [-3.85552622e-01 9.22685214e-01 -1.08271441e-03 -1.08193982e+01] [-2.72514745e-03 3.47059223e-05 9.99996286e-01 -3.42644511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41185806399999 meters 0.016661884190552863 Centerline is valid? [True, True] Translation: X:59.21, Y:-10.83, Z:-0.34 [[ 9.22371450e-01 3.86300098e-01 1.77249339e-03 5.92128337e+01] [-3.86299337e-01 9.22373153e-01 -7.67343904e-04 -1.08321719e+01] [-1.93132534e-03 2.30630896e-05 9.99998135e-01 -3.43385321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441858063999994 meters 0.01664374848732743 Centerline is valid? [True, True] Translation: X:59.24, Y:-10.84, Z:-0.34 [[ 9.22006611e-01 3.87172841e-01 1.00007922e-03 5.92423844e+01] [-3.87172600e-01 9.22007153e-01 -4.32645267e-04 -1.08443249e+01] [-1.08958869e-03 1.16985244e-05 9.99999406e-01 -3.44161377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.471858063999996 meters 0.016242070011055293 Centerline is valid? [True, True] Translation: X:59.27, Y:-10.85, Z:-0.35 [[ 9.21126140e-01 3.89264187e-01 1.62422499e-04 5.92727632e+01] [-3.89264181e-01 9.21126154e-01 -6.91218867e-05 -1.08544023e+01] [-1.76518287e-04 4.44715676e-07 9.99999984e-01 -3.45255116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501858064 meters 0.01606480370535408 Centerline is valid? [True, True] Translation: X:59.30, Y:-10.87, Z:-0.35 [[ 9.20526513e-01 3.90680089e-01 8.63519515e-05 5.93026861e+01] [-3.90680087e-01 9.20526517e-01 -3.60916041e-05 -1.08660176e+01] [-9.35895322e-05 -5.12709491e-07 9.99999996e-01 -3.45577254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.531858064 meters 0.015857353769282014 Centerline is valid? [True, True] Translation: X:59.33, Y:-10.88, Z:-0.35 [[ 9.19907059e-01 3.92136430e-01 1.51955809e-04 5.93322140e+01] [-3.92136425e-01 9.19907071e-01 -6.46230204e-05 -1.08773843e+01] [-1.65126264e-04 -1.40235177e-07 9.99999986e-01 -3.45619497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56185806399999 meters 0.015753074741919785 Centerline is valid? [True, True] Translation: X:59.36, Y:-10.89, Z:-0.35 [[ 9.19256856e-01 3.93657780e-01 6.20277587e-04 5.93606456e+01] [-3.93657689e-01 9.19257065e-01 -2.68622633e-04 -1.08887910e+01] [-6.75939944e-04 2.75615613e-06 9.99999772e-01 -3.45816255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59185806399999 meters 0.01551680624318172 Centerline is valid? [True, True] Translation: X:59.39, Y:-10.90, Z:-0.35 [[ 9.17994761e-01 3.96592426e-01 2.57984361e-04 5.93910023e+01] [-3.96592411e-01 9.17994797e-01 -1.10925173e-04 -1.09000101e+01] [-2.80820385e-04 -4.85911969e-07 9.99999961e-01 -3.46011241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621858063999994 meters 0.01555770062976717 Centerline is valid? [True, True] Translation: X:59.42, Y:-10.91, Z:-0.35 [[ 9.17435829e-01 3.97883716e-01 2.17225303e-04 5.94219669e+01] [-3.97883705e-01 9.17435855e-01 -9.29905426e-05 -1.09124199e+01] [-2.36289704e-04 -1.11755288e-06 9.99999972e-01 -3.46052396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.651858063999995 meters 0.015417643627538226 Centerline is valid? [True, True] Translation: X:59.45, Y:-10.92, Z:-0.35 [[ 9.16991784e-01 3.98906009e-01 2.52561342e-04 5.94515088e+01] [-3.98905994e-01 9.16991819e-01 -1.08587121e-04 -1.09246831e+01] [-2.74912740e-04 -1.17473505e-06 9.99999962e-01 -3.46549013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681858064 meters 0.015383979848823962 Centerline is valid? [True, True] Translation: X:59.48, Y:-10.94, Z:-0.35 [[ 9.16558715e-01 3.99900104e-01 1.67861780e-04 5.94815984e+01] [-3.99900098e-01 9.16558731e-01 -7.15457386e-05 -1.09373149e+01] [-1.82466329e-04 -1.55207218e-06 9.99999983e-01 -3.45891813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.711858064 meters 0.015358574139845052 Centerline is valid? [True, True] Translation: X:59.51, Y:-10.95, Z:-0.35 [[ 9.16091601e-01 4.00968996e-01 2.08776206e-04 5.95111684e+01] [-4.00968986e-01 9.16091624e-01 -8.95945902e-05 -1.09483063e+01] [-2.27182786e-04 -1.63593191e-06 9.99999974e-01 -3.46713713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74185806399999 meters 0.015324546155354902 Centerline is valid? [True, True] Translation: X:59.54, Y:-10.96, Z:-0.35 [[ 9.15943441e-01 4.01307247e-01 3.27261254e-04 5.95408908e+01] [-4.01307222e-01 9.15943499e-01 -1.41989959e-04 -1.09607252e+01] [-3.56734417e-04 -1.27753309e-06 9.99999936e-01 -3.47104288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77185806399999 meters 0.015204627958756435 Centerline is valid? [True, True] Translation: X:59.57, Y:-10.97, Z:-0.35 [[ 9.15876659e-01 4.01459017e-01 7.75907655e-04 5.95708636e+01] [-4.01458875e-01 9.15876988e-01 -3.37647150e-04 -1.09741594e+01] [-8.46187459e-04 -2.25187068e-06 9.99999642e-01 -3.46592299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801858063999994 meters 0.015225953371607124 Centerline is valid? [True, True] Translation: X:59.60, Y:-10.99, Z:-0.35 [[ 9.16005888e-01 4.01163679e-01 9.57330210e-04 5.95994544e+01] [-4.01163462e-01 9.16006388e-01 -4.17414959e-04 -1.09872098e+01] [-1.04437231e-03 -1.69134103e-06 9.99999455e-01 -3.47122286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.831858063999995 meters 0.0151253952262778 Centerline is valid? [True, True] Translation: X:59.63, Y:-11.00, Z:-0.35 [[ 9.16135450e-01 4.00867813e-01 9.13584310e-04 5.96294806e+01] [-4.00867615e-01 9.16135905e-01 -3.98452997e-04 -1.10010582e+01] [-9.96694370e-04 -1.18944728e-06 9.99999503e-01 -3.47113741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861858063999996 meters 0.015089125696367391 Centerline is valid? [True, True] Translation: X:59.66, Y:-11.01, Z:-0.35 [[ 9.16396898e-01 4.00270513e-01 4.91799377e-04 5.96589449e+01] [-4.00270456e-01 9.16397030e-01 -2.13878412e-04 -1.10149073e+01] [-5.36292710e-04 -8.55247441e-07 9.99999856e-01 -3.47562702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.891858064 meters 0.01504993357954519 Centerline is valid? [True, True] Translation: X:59.69, Y:-11.03, Z:-0.35 [[ 9.16804440e-01 3.99336461e-01 -9.77297849e-05 5.96889062e+01] [-3.99336459e-01 9.16804445e-01 4.45587503e-05 -1.10293033e+01] [ 1.07393035e-04 -1.82459389e-06 9.99999994e-01 -3.48007254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92185806399999 meters 0.015330706022300945 Centerline is valid? [True, True] Translation: X:59.72, Y:-11.05, Z:-0.35 [[ 9.18047487e-01 3.96470106e-01 -5.17319616e-04 5.97154363e+01] [-3.96470040e-01 9.18047632e-01 2.28197621e-04 -1.10450622e+01] [ 5.65397583e-04 -4.39452381e-06 9.99999840e-01 -3.48722667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95185806399999 meters 0.015442928096389617 Centerline is valid? [True, True] Translation: X:59.74, Y:-11.06, Z:-0.35 [[ 9.18788232e-01 3.94748763e-01 -1.26486809e-03 5.97435448e+01] [-3.94748370e-01 9.18789102e-01 5.56927912e-04 -1.10599618e+01] [ 1.38199362e-03 -1.23941968e-05 9.99999045e-01 -3.49119275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981858063999994 meters 0.015853839636431978 Centerline is valid? [True, True] Translation: X:59.77, Y:-11.07, Z:-0.35 [[ 9.19495498e-01 3.93097655e-01 -1.50412837e-03 5.97721133e+01] [-3.93097097e-01 9.19496728e-01 6.62414462e-04 -1.10747533e+01] [ 1.64343469e-03 -1.78186208e-05 9.99998649e-01 -3.49804397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.011858063999995 meters 0.016308596404097774 Centerline is valid? [True, True] Translation: X:59.80, Y:-11.09, Z:-0.35 [[ 9.20471687e-01 3.90803710e-01 -2.08158342e-03 5.97994545e+01] [-3.90802636e-01 9.20474041e-01 9.16598235e-04 -1.10893975e+01] [ 2.27425349e-03 -3.02144371e-05 9.99997413e-01 -3.50923498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041858063999996 meters 0.016453284220637684 Centerline is valid? [True, True] Translation: X:59.83, Y:-11.10, Z:-0.35 [[ 9.20632181e-01 3.90425173e-01 -2.13827419e-03 5.98290383e+01] [-3.90424037e-01 9.20634663e-01 9.42479498e-04 -1.11027981e+01] [ 2.33653706e-03 -3.28433123e-05 9.99997270e-01 -3.51529202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.071858064 meters 0.016566515739480616 Centerline is valid? [True, True] Translation: X:59.86, Y:-11.12, Z:-0.35 [[ 9.20653335e-01 3.90375818e-01 -2.03910899e-03 5.98592704e+01] [-3.90374783e-01 9.20655592e-01 8.99467688e-04 -1.11163342e+01] [ 2.22844753e-03 -3.20811988e-05 9.99997516e-01 -3.51826943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10185806399999 meters 0.016720732400536564 Centerline is valid? [True, True] Translation: X:59.89, Y:-11.13, Z:-0.35 [[ 9.20763773e-01 3.90114916e-01 -2.10407508e-03 5.98891207e+01] [-3.90113812e-01 9.20766176e-01 9.28721250e-04 -1.11296439e+01] [ 2.29966918e-03 -3.43041318e-05 9.99997355e-01 -3.52588041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13185806399999 meters 0.016556829598236643 Centerline is valid? [True, True] Translation: X:59.92, Y:-11.14, Z:-0.35 [[ 9.21213375e-01 3.89048673e-01 -2.65478581e-03 5.99185875e+01] [-3.89046911e-01 9.21217199e-01 1.17199853e-03 -1.11415737e+01] [ 2.90159882e-03 -4.68245058e-05 9.99995789e-01 -3.52202617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16185806399999 meters 0.01670471511888319 Centerline is valid? [True, True] Translation: X:59.95, Y:-11.15, Z:-0.35 [[ 9.21426303e-01 3.88544371e-01 -2.61522368e-03 5.99464283e+01] [-3.88542657e-01 9.21430013e-01 1.15512391e-03 -1.11547451e+01] [ 2.85856248e-03 -4.82355987e-05 9.99995913e-01 -3.52478415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.191858063999994 meters 0.016986300080571337 Centerline is valid? [True, True] Translation: X:59.98, Y:-11.17, Z:-0.35 [[ 9.21683751e-01 3.87934012e-01 -2.50321926e-03 5.99755953e+01] [-3.87932437e-01 9.21687148e-01 1.10650004e-03 -1.11682158e+01] [ 2.73643402e-03 -4.87631591e-05 9.99996255e-01 -3.52506842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221858063999996 meters 0.017137295789992138 Centerline is valid? [True, True] Translation: X:60.01, Y:-11.18, Z:-0.35 [[ 9.21766628e-01 3.87741352e-01 -1.71093158e-03 6.00052502e+01] [-3.87740614e-01 9.21768215e-01 7.57473331e-04 -1.11820307e+01] [ 1.87078608e-03 -3.48159780e-05 9.99998249e-01 -3.52259098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.251858064 meters 0.01627719419662017 Centerline is valid? [True, True] Translation: X:60.04, Y:-11.19, Z:-0.35 [[ 9.21471208e-01 3.88446261e-01 -5.61017078e-04 6.00353966e+01] [-3.88446181e-01 9.21471379e-01 2.49502267e-04 -1.11923115e+01] [ 6.13879403e-04 -1.19842136e-05 9.99999812e-01 -3.50183223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281858064 meters 0.016903898746939372 Centerline is valid? [True, True] Translation: X:60.06, Y:-11.21, Z:-0.35 [[ 9.21119820e-01 3.89278706e-01 -6.05876452e-04 6.00636745e+01] [-3.89278613e-01 9.21120019e-01 2.69377439e-04 -1.12056494e+01] [ 6.62947829e-04 -1.22741528e-05 9.99999780e-01 -3.50658145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31185806399999 meters 0.016657700122801596 Centerline is valid? [True, True] Translation: X:60.09, Y:-11.22, Z:-0.35 [[ 9.20518819e-01 3.90698143e-01 -2.53649562e-04 6.00941602e+01] [-3.90698127e-01 9.20518854e-01 1.12719948e-04 -1.12174139e+01] [ 2.77528678e-04 -4.66042466e-06 9.99999961e-01 -3.50750349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34185806399999 meters 0.016293331228682775 Centerline is valid? [True, True] Translation: X:60.12, Y:-11.23, Z:-0.35 [[ 9.19852101e-01 3.92265219e-01 -3.31833051e-04 6.01230303e+01] [-3.92265191e-01 9.19852161e-01 1.48185390e-04 -1.12281628e+01] [ 3.63365324e-04 -6.14208748e-06 9.99999934e-01 -3.50938038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.371858063999994 meters 0.015719923214695224 Centerline is valid? [True, True] Translation: X:60.15, Y:-11.24, Z:-0.35 [[ 9.18551902e-01 3.95300381e-01 1.09745629e-04 6.01531606e+01] [-3.95300378e-01 9.18551909e-01 -4.72416989e-05 -1.12380490e+01] [-1.19481718e-04 1.14638828e-08 9.99999993e-01 -3.50825760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401858063999995 meters 0.015426259603550064 Centerline is valid? [True, True] Translation: X:60.18, Y:-11.25, Z:-0.35 [[ 9.18068318e-01 3.96421832e-01 5.43027734e-04 6.01828484e+01] [-3.96421759e-01 9.18068479e-01 -2.39313393e-04 -1.12495292e+01] [-5.93405699e-04 4.43803418e-06 9.99999824e-01 -3.50327089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.431858064 meters 0.014907511548108135 Centerline is valid? [True, True] Translation: X:60.21, Y:-11.26, Z:-0.35 [[ 9.17626695e-01 3.97442718e-01 7.30974289e-04 6.02136441e+01] [-3.97442587e-01 9.17626986e-01 -3.22701258e-04 -1.12599153e+01] [-7.99016998e-04 5.59897594e-06 9.99999681e-01 -3.49262580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461858064 meters 0.015016845241066223 Centerline is valid? [True, True] Translation: X:60.24, Y:-11.27, Z:-0.35 [[ 9.17531898e-01 3.97661186e-01 8.93439336e-04 6.02430342e+01] [-3.97660990e-01 9.17532332e-01 -3.94935948e-04 -1.12719381e+01] [-9.76810175e-04 7.08035865e-06 9.99999523e-01 -3.49755954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49185806399999 meters 0.015013367636486974 Centerline is valid? [True, True] Translation: X:60.27, Y:-11.28, Z:-0.35 [[ 9.17710142e-01 3.97247316e-01 1.63271719e-03 6.02727310e+01] [-3.97246658e-01 9.17711594e-01 -7.23569278e-04 -1.12840635e+01] [-1.78579945e-03 1.54354192e-05 9.99998405e-01 -3.50118137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52185806399999 meters 0.015156859964792543 Centerline is valid? [True, True] Translation: X:60.30, Y:-11.30, Z:-0.35 [[ 9.17847366e-01 3.96929511e-01 1.78189832e-03 6.03028731e+01] [-3.96928725e-01 9.17849096e-01 -7.90312081e-04 -1.12977617e+01] [-1.94921195e-03 1.80992354e-05 9.99998100e-01 -3.50319381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.551858063999994 meters 0.015233553186725429 Centerline is valid? [True, True] Translation: X:60.33, Y:-11.31, Z:-0.35 [[ 9.18015266e-01 3.96538875e-01 2.21184402e-03 6.03326940e+01] [-3.96537659e-01 9.18017930e-01 -9.82121103e-04 -1.13115296e+01] [-2.41996166e-03 2.45227160e-05 9.99997072e-01 -3.50157822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581858063999995 meters 0.01564775045438104 Centerline is valid? [True, True] Translation: X:60.36, Y:-11.32, Z:-0.35 [[ 9.18607271e-01 3.95165917e-01 2.14020624e-03 6.03611101e+01] [-3.95164773e-01 9.18609763e-01 -9.51130761e-04 -1.13245142e+01] [-2.34186881e-03 2.79815179e-05 9.99997257e-01 -3.50775228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.611858063999996 meters 0.015747180283735545 Centerline is valid? [True, True] Translation: X:60.39, Y:-11.34, Z:-0.35 [[ 9.18868450e-01 3.94558534e-01 2.08178642e-03 6.03906327e+01] [-3.94557450e-01 9.18870808e-01 -9.25606303e-04 -1.13372829e+01] [-2.27809864e-03 2.91260879e-05 9.99997405e-01 -3.50822007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641858064 meters 0.01595919057059912 Centerline is valid? [True, True] Translation: X:60.42, Y:-11.35, Z:-0.35 [[ 9.19091519e-01 3.94038386e-01 2.12840848e-03 6.04206542e+01] [-3.94037250e-01 9.19093983e-01 -9.46843084e-04 -1.13506882e+01] [-2.32929995e-03 3.15632252e-05 9.99997287e-01 -3.51111678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67185806399999 meters 0.015663377533704247 Centerline is valid? [True, True] Translation: X:60.45, Y:-11.36, Z:-0.35 [[ 9.19331614e-01 3.93480016e-01 1.69114459e-03 6.04506143e+01] [-3.93479297e-01 9.19333170e-01 -7.52630856e-04 -1.13627433e+01] [-1.85087052e-03 2.64869561e-05 9.99998287e-01 -3.51079080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70185806399999 meters 0.016329765440893686 Centerline is valid? [True, True] Translation: X:60.48, Y:-11.37, Z:-0.35 [[ 9.19828308e-01 3.92319612e-01 1.09813081e-03 6.04789551e+01] [-3.92319308e-01 9.19828963e-01 -4.88603457e-04 -1.13748853e+01] [-1.20178124e-03 1.86133734e-05 9.99999278e-01 -3.53195289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.731858063999994 meters 0.016177834101437152 Centerline is valid? [True, True] Translation: X:60.51, Y:-11.39, Z:-0.35 [[ 9.19952908e-01 3.92027858e-01 8.97761113e-04 6.05090115e+01] [-3.92027655e-01 9.19953346e-01 -3.99264308e-04 -1.13870876e+01] [-9.82421071e-04 1.53571776e-05 9.99999517e-01 -3.53658995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761858063999995 meters 0.01627003921902773 Centerline is valid? [True, True] Translation: X:60.54, Y:-11.40, Z:-0.35 [[ 9.19850461e-01 3.92268411e-01 7.89535928e-04 6.05387251e+01] [-3.92268254e-01 9.19850800e-01 -3.51104443e-04 -1.14001405e+01] [-8.63982436e-04 1.32537035e-05 9.99999627e-01 -3.54338227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.791858063999996 meters 0.016477725262803555 Centerline is valid? [True, True] Translation: X:60.57, Y:-11.41, Z:-0.35 [[ 9.19789925e-01 3.92410765e-01 5.33551988e-04 6.05678428e+01] [-3.92410693e-01 9.19790080e-01 -2.37005054e-04 -1.14133213e+01] [-5.83759160e-04 8.62335529e-06 9.99999830e-01 -3.54851900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821858064 meters 0.016477725262803555 Centerline is valid? [True, True] Translation: X:60.60, Y:-11.43, Z:-0.36 [[ 9.19683913e-01 3.92659161e-01 5.33525299e-04 6.05974001e+01] [-3.92659089e-01 9.19684067e-01 -2.37065193e-04 -1.14266241e+01] [-5.83760536e-04 8.53148624e-06 9.99999830e-01 -3.55034092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85185806399999 meters 0.016503960219378225 Centerline is valid? [True, True] Translation: X:60.63, Y:-11.44, Z:-0.36 [[ 9.19271252e-01 3.93624434e-01 -4.13282279e-04 6.06267204e+01] [-3.93624389e-01 9.19271345e-01 1.86588927e-04 -1.14391997e+01] [ 4.53364517e-04 -8.84785142e-06 9.99999897e-01 -3.55501704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88185806399999 meters 0.016382935428596007 Centerline is valid? [True, True] Translation: X:60.66, Y:-11.45, Z:-0.36 [[ 9.18882376e-01 3.94531204e-01 -5.54560915e-04 6.06564919e+01] [-3.94531125e-01 9.18882544e-01 2.49887969e-04 -1.14511709e+01] [ 6.08164946e-04 -1.08261086e-05 9.99999815e-01 -3.55823077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91185806399999 meters 0.016144662151045888 Centerline is valid? [True, True] Translation: X:60.69, Y:-11.46, Z:-0.36 [[ 9.18420692e-01 3.95604591e-01 -6.63401771e-04 6.06862427e+01] [-3.95604478e-01 9.18420932e-01 2.98853146e-04 -1.14625441e+01] [ 7.27509749e-04 -1.20282019e-05 9.99999735e-01 -3.56246020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941858063999994 meters 0.015777760374476334 Centerline is valid? [True, True] Translation: X:60.72, Y:-11.47, Z:-0.36 [[ 9.17352744e-01 3.98075296e-01 -4.93514954e-05 6.07168018e+01] [-3.98075295e-01 9.17352745e-01 2.35798771e-05 -1.14732910e+01] [ 5.46592963e-05 -1.98545381e-06 9.99999999e-01 -3.56024247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.971858063999996 meters 0.015383655654123059 Centerline is valid? [True, True] Translation: X:60.75, Y:-11.48, Z:-0.36 [[ 9.16746564e-01 3.99468357e-01 8.76430902e-04 6.07467647e+01] [-3.99468165e-01 9.16746983e-01 -3.91921923e-04 -1.14846812e+01] [-9.60025792e-04 9.18683197e-06 9.99999539e-01 -3.55392769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001858064 meters 0.015250449694819989 Centerline is valid? [True, True] Translation: X:60.78, Y:-11.50, Z:-0.36 [[ 9.16177465e-01 4.00770758e-01 1.28496895e-03 6.07764784e+01] [-4.00770345e-01 9.16178366e-01 -5.75685185e-04 -1.14967210e+01] [-1.40797855e-03 1.24523421e-05 9.99999009e-01 -3.55330610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.031858064 meters 0.015220377300544121 Centerline is valid? [True, True] Translation: X:60.81, Y:-11.51, Z:-0.36 [[ 9.15565038e-01 4.02167054e-01 1.52394659e-03 6.08052109e+01] [-4.02166473e-01 9.15566306e-01 -6.83926027e-04 -1.15093157e+01] [-1.67032666e-03 1.32985353e-05 9.99998605e-01 -3.56085629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06185806399999 meters 0.014976440307896998 Centerline is valid? [True, True] Translation: X:60.84, Y:-11.52, Z:-0.36 [[ 9.14594765e-01 4.04370931e-01 7.52065989e-04 6.08350057e+01] [-4.04370791e-01 9.14595075e-01 -3.36689350e-04 -1.15203393e+01] [-8.23983235e-04 3.82079896e-06 9.99999661e-01 -3.56896337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09185806399999 meters 0.014868485236996524 Centerline is valid? [True, True] Translation: X:60.87, Y:-11.53, Z:-0.36 [[ 9.14004110e-01 4.05704800e-01 3.19705521e-04 6.08654038e+01] [-4.05704776e-01 9.14004166e-01 -1.42193191e-04 -1.15330153e+01] [-3.49900639e-04 2.59104641e-07 9.99999939e-01 -3.57409843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121858063999994 meters 0.015566001724377347 Centerline is valid? [True, True] Translation: X:60.90, Y:-11.55, Z:-0.36 [[ 9.13633080e-01 4.06539621e-01 3.61654918e-04 6.08958112e+01] [-4.06539589e-01 9.13633152e-01 -1.61135259e-04 -1.15455172e+01] [-3.95927790e-04 1.91461575e-07 9.99999922e-01 -3.58296258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.151858063999995 meters 0.014709948710627108 Centerline is valid? [True, True] Translation: X:60.93, Y:-11.56, Z:-0.36 [[ 9.13084041e-01 4.07770169e-01 1.01201762e-03 6.09264622e+01] [-4.07769916e-01 9.13084601e-01 -4.54322388e-04 -1.15582839e+01] [-1.10931682e-03 2.16418155e-06 9.99999385e-01 -3.57113410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181858064 meters 0.014670743820748157 Centerline is valid? [True, True] Translation: X:60.96, Y:-11.57, Z:-0.36 [[ 9.13031566e-01 4.07885407e-01 1.68944161e-03 6.09566769e+01] [-4.07884699e-01 9.13033129e-01 -7.60136299e-04 -1.15722085e+01] [-1.85256466e-03 4.93105502e-06 9.99998284e-01 -3.56951450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.211858064 meters 0.014651055980952642 Centerline is valid? [True, True] Translation: X:60.99, Y:-11.59, Z:-0.36 [[ 9.12898721e-01 4.08182630e-01 1.69276862e-03 6.09868427e+01] [-4.08181919e-01 9.12900290e-01 -7.62217710e-04 -1.15865260e+01] [-1.85645299e-03 4.87003048e-06 9.99998277e-01 -3.56554963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24185806399999 meters 0.014639457976216295 Centerline is valid? [True, True] Translation: X:61.02, Y:-11.60, Z:-0.36 [[ 9.12883154e-01 4.08218358e-01 1.45552101e-03 6.10154774e+01] [-4.08217832e-01 9.12884315e-01 -6.55721261e-04 -1.15999093e+01] [-1.59639975e-03 4.42726375e-06 9.99998726e-01 -3.56834545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27185806399999 meters 0.01460629054240401 Centerline is valid? [True, True] Translation: X:61.04, Y:-11.61, Z:-0.36 [[ 9.12847491e-01 4.08298909e-01 1.20818123e-03 6.10441322e+01] [-4.08298546e-01 9.12848290e-01 -5.44413340e-04 -1.16131323e+01] [-1.32516954e-03 3.66771097e-06 9.99999122e-01 -3.57331456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301858063999994 meters 0.014628081600717647 Centerline is valid? [True, True] Translation: X:61.07, Y:-11.63, Z:-0.36 [[ 9.12870069e-01 4.08248568e-01 1.15897269e-03 6.10742142e+01] [-4.08248234e-01 9.12870805e-01 -5.22458897e-04 -1.16268359e+01] [-1.27128543e-03 3.78853444e-06 9.99999192e-01 -3.57655561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.331858063999995 meters 0.014602283716657984 Centerline is valid? [True, True] Translation: X:61.10, Y:-11.64, Z:-0.36 [[ 9.12994491e-01 4.07968909e-01 1.55825403e-03 6.11041069e+01] [-4.07968303e-01 9.12995821e-01 -7.03527859e-04 -1.16402600e+01] [-1.70969691e-03 6.59880793e-06 9.99998538e-01 -3.57243100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361858063999996 meters 0.014588366009300614 Centerline is valid? [True, True] Translation: X:61.13, Y:-11.65, Z:-0.36 [[ 9.13510712e-01 4.06807953e-01 2.33833020e-03 6.11345430e+01] [-4.06806580e-01 9.13513705e-01 -1.05731909e-03 -1.16539998e+01] [-2.56622250e-03 1.46242020e-05 9.99996707e-01 -3.56864509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.391858064 meters 0.014728572369336619 Centerline is valid? [True, True] Translation: X:61.16, Y:-11.67, Z:-0.36 [[ 9.13833058e-01 4.06083950e-01 2.22907374e-03 6.11646262e+01] [-4.06082697e-01 9.13835776e-01 -1.00860542e-03 -1.16684587e+01] [-2.44658581e-03 1.65086944e-05 9.99997007e-01 -3.56985635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42185806399999 meters 0.014965187104000756 Centerline is valid? [True, True] Translation: X:61.19, Y:-11.68, Z:-0.36 [[ 9.14306207e-01 4.05019317e-01 1.87444413e-03 6.11925496e+01] [-4.05018427e-01 9.14308128e-01 -8.49079706e-04 -1.16827851e+01] [-2.05771318e-03 1.71344322e-05 9.99997883e-01 -3.57334038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45185806399999 meters 0.015049984620172025 Centerline is valid? [True, True] Translation: X:61.22, Y:-11.70, Z:-0.36 [[ 9.15009890e-01 4.03430563e-01 8.25312128e-04 6.12214059e+01] [-4.03430391e-01 9.15010263e-01 -3.72967344e-04 -1.16975165e+01] [-9.05635492e-04 8.31281427e-06 9.99999590e-01 -3.57777694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481858063999994 meters 0.015241360184800464 Centerline is valid? [True, True] Translation: X:61.25, Y:-11.71, Z:-0.36 [[ 9.15238420e-01 4.02912220e-01 6.14282286e-04 6.12506600e+01] [-4.02912125e-01 9.15238626e-01 -2.77307097e-04 -1.17114784e+01] [-6.73945293e-04 6.30032879e-06 9.99999773e-01 -3.58119137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.511858063999995 meters 0.015352839779507979 Centerline is valid? [True, True] Translation: X:61.28, Y:-11.72, Z:-0.36 [[ 9.15275938e-01 4.02827258e-01 3.97966547e-04 6.12811707e+01] [-4.02827218e-01 9.15276024e-01 -1.79107752e-04 -1.17246862e+01] [-4.36398723e-04 3.62125828e-06 9.99999905e-01 -3.58657686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541858063999996 meters 0.015448685611329553 Centerline is valid? [True, True] Translation: X:61.31, Y:-11.74, Z:-0.36 [[ 9.15219839e-01 4.02954873e-01 1.29738778e-04 6.13107587e+01] [-4.02954869e-01 9.15219848e-01 -5.73969498e-05 -1.17374307e+01] [-1.41867885e-04 2.51955089e-07 9.99999990e-01 -3.59462409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.571858064 meters 0.015404500666352563 Centerline is valid? [True, True] Translation: X:61.34, Y:-11.75, Z:-0.36 [[ 9.14859141e-01 4.03772881e-01 -4.61739443e-04 6.13409003e+01] [-4.03772825e-01 9.14859257e-01 2.11761728e-04 -1.17497293e+01] [ 5.07930247e-04 -7.29431345e-06 9.99999871e-01 -3.60795871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60185806399999 meters 0.015117934365783152 Centerline is valid? [True, True] Translation: X:61.37, Y:-11.76, Z:-0.36 [[ 9.14186405e-01 4.05290239e-01 -1.74351835e-03 6.13714197e+01] [-4.05289458e-01 9.14188067e-01 7.95609113e-04 -1.17610568e+01] [ 1.91635628e-03 -2.07054265e-05 9.99998164e-01 -3.61768798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63185806399999 meters 0.014965322569610025 Centerline is valid? [True, True] Translation: X:61.40, Y:-11.77, Z:-0.36 [[ 9.13775803e-01 4.06209914e-01 -2.69946145e-03 6.14013484e+01] [-4.06208047e-01 9.13779790e-01 1.23184075e-03 -1.17741121e+01] [ 2.96709924e-03 -2.90833051e-05 9.99995598e-01 -3.61902863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66185806399999 meters 0.014858711415187107 Centerline is valid? [True, True] Translation: X:61.43, Y:-11.79, Z:-0.36 [[ 9.13476480e-01 4.06880245e-01 -3.03097817e-03 6.14318963e+01] [-4.06877895e-01 9.13481508e-01 1.38308947e-03 -1.17877082e+01] [ 3.33149429e-03 -3.01816782e-05 9.99994450e-01 -3.62137317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.691858063999994 meters 0.014824663770326606 Centerline is valid? [True, True] Translation: X:61.46, Y:-11.80, Z:-0.36 [[ 9.12916930e-01 4.08132498e-01 -3.24690829e-03 6.14608994e+01] [-4.08129805e-01 9.12922704e-01 1.48299832e-03 -1.17999585e+01] [ 3.56943611e-03 -2.86942294e-05 9.99993629e-01 -3.61895290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721858063999996 meters 0.014723875847843373 Centerline is valid? [True, True] Translation: X:61.49, Y:-11.81, Z:-0.36 [[ 9.12573117e-01 4.08905270e-01 -2.60515270e-03 6.14892548e+01] [-4.08903537e-01 9.12576835e-01 1.19068093e-03 -1.18121591e+01] [ 2.86427772e-03 -2.13272513e-05 9.99995898e-01 -3.62018525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.751858064 meters 0.014534950180599748 Centerline is valid? [True, True] Translation: X:61.52, Y:-11.83, Z:-0.36 [[ 9.12032072e-01 4.10112449e-01 -2.29746031e-03 6.15186947e+01] [-4.10111103e-01 9.12034966e-01 1.05099387e-03 -1.18250145e+01] [ 2.52638980e-03 -1.63261339e-05 9.99996809e-01 -3.61489779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781858064 meters 0.014400796885716046 Centerline is valid? [True, True] Translation: X:61.55, Y:-11.84, Z:-0.36 [[ 9.11228571e-01 4.11900343e-01 -7.73414195e-04 6.15471549e+01] [-4.11900191e-01 9.11228900e-01 3.54281636e-04 -1.18366331e+01] [ 8.50686093e-04 -4.26209494e-06 9.99999638e-01 -3.60209936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81185806399999 meters 0.014441994255838166 Centerline is valid? [True, True] Translation: X:61.58, Y:-11.85, Z:-0.36 [[ 9.10749904e-01 4.12958346e-01 -1.29211521e-04 6.15775607e+01] [-4.12958341e-01 9.10749913e-01 6.07728203e-05 -1.18498522e+01] [ 1.42776025e-04 -1.98986477e-06 9.99999990e-01 -3.59151310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84185806399999 meters 0.014295952084888656 Centerline is valid? [True, True] Translation: X:61.61, Y:-11.86, Z:-0.36 [[ 9.10430395e-01 4.13662054e-01 4.48548145e-04 6.16075557e+01] [-4.13662004e-01 9.10430505e-01 -2.03589473e-04 -1.18631925e+01] [-4.92589154e-04 -1.93280869e-07 9.99999879e-01 -3.58465556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.871858063999994 meters 0.014310330793508609 Centerline is valid? [True, True] Translation: X:61.64, Y:-11.88, Z:-0.36 [[ 9.10027709e-01 4.14544756e-01 1.48820964e-03 6.16365821e+01] [-4.14544199e-01 9.10028925e-01 -6.79946800e-04 -1.18765266e+01] [-1.63618220e-03 1.84175478e-06 9.99998661e-01 -3.57228758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901858063999995 meters 0.014266173885669146 Centerline is valid? [True, True] Translation: X:61.67, Y:-11.89, Z:-0.36 [[ 9.09825848e-01 4.14987787e-01 1.43644918e-03 6.16671595e+01] [-4.14987268e-01 9.09826982e-01 -6.56617693e-04 -1.18899953e+01] [-1.57940855e-03 1.29962812e-06 9.99998753e-01 -3.57386344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.931858064 meters 0.014199144987308098 Centerline is valid? [True, True] Translation: X:61.70, Y:-11.90, Z:-0.36 [[ 9.09786683e-01 4.15073578e-01 1.45468441e-03 6.16975594e+01] [-4.15073045e-01 9.09787846e-01 -6.65454111e-04 -1.19032768e+01] [-1.59966662e-03 1.62099983e-06 9.99998721e-01 -3.57756138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961858064 meters 0.014314758573522109 Centerline is valid? [True, True] Translation: X:61.73, Y:-11.92, Z:-0.36 [[ 9.09750459e-01 4.15153517e-01 1.28841650e-03 6.17273498e+01] [-4.15153098e-01 9.09751371e-01 -5.89630994e-04 -1.19166099e+01] [-1.41692606e-03 1.52696572e-06 9.99998996e-01 -3.58611238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99185806399999 meters 0.014394222828202756 Centerline is valid? [True, True] Translation: X:61.76, Y:-11.93, Z:-0.36 [[ 9.10066522e-01 4.14462036e-01 3.81089238e-04 6.17558312e+01] [-4.14462000e-01 9.10066602e-01 -1.73473805e-04 -1.19308678e+01] [-4.18714894e-04 -7.43048848e-08 9.99999912e-01 -3.59776953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02185806399999 meters 0.01439768330736622 Centerline is valid? [True, True] Translation: X:61.79, Y:-11.95, Z:-0.36 [[ 9.10206707e-01 4.14154240e-01 -1.27063898e-04 6.17854434e+01] [-4.14154236e-01 9.10206716e-01 6.00061197e-05 -1.19455299e+01] [ 1.40506202e-04 -1.99392124e-06 9.99999990e-01 -3.60289856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.051858063999994 meters 0.014477935946927303 Centerline is valid? [True, True] Translation: X:61.81, Y:-11.96, Z:-0.36 [[ 9.10506812e-01 4.13493779e-01 -4.90517135e-04 6.18146598e+01] [-4.13493717e-01 9.10506944e-01 2.27170102e-04 -1.19603290e+01] [ 5.40552681e-04 -4.01417206e-06 9.99999854e-01 -3.60785776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081858063999995 meters 0.014671445082271839 Centerline is valid? [True, True] Translation: X:61.84, Y:-11.97, Z:-0.36 [[ 9.10998525e-01 4.12407866e-01 -1.19996597e-03 6.18434166e+01] [-4.12407494e-01 9.10999315e-01 5.53536207e-04 -1.19747552e+01] [ 1.32145087e-03 -9.39570767e-06 9.99999127e-01 -3.61519633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.111858063999996 meters 0.014857329833384607 Centerline is valid? [True, True] Translation: X:61.87, Y:-11.99, Z:-0.36 [[ 9.11876900e-01 4.10453351e-01 -2.92663742e-03 6.18726813e+01] [-4.10451136e-01 9.11881596e-01 1.34893839e-03 -1.19887447e+01] [ 3.22242309e-03 -2.88241022e-05 9.99994808e-01 -3.62725753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141858064 meters 0.015081458765573449 Centerline is valid? [True, True] Translation: X:61.90, Y:-12.00, Z:-0.36 [[ 9.12166750e-01 4.09802208e-01 -3.73782096e-03 6.19003970e+01] [-4.09798586e-01 9.12174407e-01 1.72329901e-03 -1.20022739e+01] [ 4.11575636e-03 -4.01823128e-05 9.99991529e-01 -3.63734172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17185806399999 meters 0.015220562900626183 Centerline is valid? [True, True] Translation: X:61.93, Y:-12.02, Z:-0.36 [[ 9.12280851e-01 4.09546688e-01 -3.89352748e-03 6.19287515e+01] [-4.09542755e-01 9.12289158e-01 1.79531983e-03 -1.20158759e+01] [ 4.28729020e-03 -4.32699268e-05 9.99990809e-01 -3.64569968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20185806399999 meters 0.015278963248490256 Centerline is valid? [True, True] Translation: X:61.96, Y:-12.03, Z:-0.36 [[ 9.12330660e-01 4.09440374e-01 -3.36838383e-03 6.19570258e+01] [-4.09437424e-01 9.12336878e-01 1.55492580e-03 -1.20298390e+01] [ 3.70975019e-03 -3.94640869e-05 9.99993118e-01 -3.63848975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.231858063999994 meters 0.015248940740842699 Centerline is valid? [True, True] Translation: X:61.99, Y:-12.04, Z:-0.36 [[ 9.12204294e-01 4.09727934e-01 -2.51914724e-03 6.19857140e+01] [-4.09726282e-01 9.12207772e-01 1.16388321e-03 -1.20431829e+01] [ 2.77486115e-03 -2.95384292e-05 9.99996150e-01 -3.63416155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261858063999995 meters 0.015345999512553546 Centerline is valid? [True, True] Translation: X:62.01, Y:-12.06, Z:-0.36 [[ 9.12223195e-01 4.09687416e-01 -2.25019327e-03 6.20144936e+01] [-4.09686095e-01 9.12225970e-01 1.04054131e-03 -1.20565926e+01] [ 2.47898141e-03 -2.73330219e-05 9.99996927e-01 -3.63221498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.291858063999996 meters 0.014818482023356262 Centerline is valid? [True, True] Translation: X:62.05, Y:-12.07, Z:-0.36 [[ 9.12018330e-01 4.10140939e-01 -2.64102144e-03 6.20456168e+01] [-4.10139120e-01 9.12022154e-01 1.22214979e-03 -1.20687801e+01] [ 2.90992373e-03 -3.14368039e-05 9.99995766e-01 -3.62486671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321858064 meters 0.014773190516790047 Centerline is valid? [True, True] Translation: X:62.07, Y:-12.08, Z:-0.36 [[ 9.11971820e-01 4.10243692e-01 -2.74092478e-03 6.20741484e+01] [-4.10241730e-01 9.11975938e-01 1.26908822e-03 -1.20819363e+01] [ 3.02029289e-03 -3.29309713e-05 9.99995438e-01 -3.62994641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35185806399999 meters 0.014768376999307796 Centerline is valid? [True, True] Translation: X:62.10, Y:-12.10, Z:-0.36 [[ 9.11702203e-01 4.10843391e-01 -2.60798358e-03 6.21040548e+01] [-4.10841614e-01 9.11705932e-01 1.20858961e-03 -1.20960751e+01] [ 2.87425515e-03 -3.04056278e-05 9.99995869e-01 -3.62966891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38185806399999 meters 0.01468188441740583 Centerline is valid? [True, True] Translation: X:62.13, Y:-12.11, Z:-0.36 [[ 9.11216367e-01 4.11920255e-01 -2.53674292e-03 6.21326412e+01] [-4.11918577e-01 9.11219898e-01 1.17597923e-03 -1.21093707e+01] [ 2.79594029e-03 -2.66399911e-05 9.99996091e-01 -3.62872914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41185806399999 meters 0.014533844020738717 Centerline is valid? [True, True] Translation: X:62.16, Y:-12.12, Z:-0.36 [[ 9.10963642e-01 4.12479348e-01 -2.45576794e-03 6.21624513e+01] [-4.12477774e-01 9.10966952e-01 1.13965372e-03 -1.21226153e+01] [ 2.70720706e-03 -2.52334155e-05 9.99996335e-01 -3.62569703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441858063999994 meters 0.01451225297802517 Centerline is valid? [True, True] Translation: X:62.19, Y:-12.14, Z:-0.36 [[ 9.10724024e-01 4.13010261e-01 -2.06814149e-03 6.21911947e+01] [-4.13009144e-01 9.10726372e-01 9.60573515e-04 -1.21355781e+01] [ 2.28023771e-03 -2.06560296e-05 9.99997400e-01 -3.62521554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.471858063999996 meters 0.014380278618089534 Centerline is valid? [True, True] Translation: X:62.22, Y:-12.15, Z:-0.36 [[ 9.10362693e-01 4.13805165e-01 -2.24768480e-03 6.22210302e+01] [-4.13803847e-01 9.10365468e-01 1.04471540e-03 -1.21487324e+01] [ 2.47852326e-03 -2.09693126e-05 9.99996928e-01 -3.62075824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501858064 meters 0.01433166467646842 Centerline is valid? [True, True] Translation: X:62.25, Y:-12.16, Z:-0.36 [[ 9.09791764e-01 4.15055606e-01 -2.79122439e-03 6.22504382e+01] [-4.15053578e-01 9.09796045e-01 1.29770431e-03 -1.21614399e+01] [ 3.07806436e-03 -2.21330169e-05 9.99995263e-01 -3.62490495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.531858064 meters 0.01428280015272577 Centerline is valid? [True, True] Translation: X:62.28, Y:-12.17, Z:-0.36 [[ 9.09557152e-01 4.15568122e-01 -2.98712604e-03 6.22803779e+01] [-4.15565798e-01 9.09562057e-01 1.38978758e-03 -1.21748745e+01] [ 3.29452792e-03 -2.27438149e-05 9.99994573e-01 -3.63000170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56185806399999 meters 0.014347098718905887 Centerline is valid? [True, True] Translation: X:62.31, Y:-12.19, Z:-0.36 [[ 9.09247991e-01 4.16242241e-01 -3.23833582e-03 6.23094105e+01] [-4.16239512e-01 9.09253758e-01 1.50742427e-03 -1.21884082e+01] [ 3.57192267e-03 -2.26991662e-05 9.99993620e-01 -3.64202386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59185806399999 meters 0.01404297888089471 Centerline is valid? [True, True] Translation: X:62.34, Y:-12.20, Z:-0.36 [[ 9.08484133e-01 4.17903297e-01 -3.66254047e-03 6.23392358e+01] [-4.17899815e-01 9.08491516e-01 1.70606134e-03 -1.22013072e+01] [ 4.04035560e-03 -1.93546730e-05 9.99991838e-01 -3.63862221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621858063999994 meters 0.014023825047578738 Centerline is valid? [True, True] Translation: X:62.37, Y:-12.21, Z:-0.36 [[ 9.08035287e-01 4.18876874e-01 -3.75263421e-03 6.23692817e+01] [-4.18873222e-01 9.08043041e-01 1.74925652e-03 -1.22149600e+01] [ 4.14027649e-03 -1.65086668e-05 9.99991429e-01 -3.64294813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.651858063999995 meters 0.013986344045702192 Centerline is valid? [True, True] Translation: X:62.40, Y:-12.23, Z:-0.36 [[ 9.07634054e-01 4.19747173e-01 -3.56862457e-03 6.23996085e+01] [-4.19743872e-01 9.07641069e-01 1.66476641e-03 -1.22283558e+01] [ 3.93781121e-03 -1.30903949e-05 9.99992247e-01 -3.64794529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681858064 meters 0.014036008351292085 Centerline is valid? [True, True] Translation: X:62.43, Y:-12.24, Z:-0.37 [[ 9.07030452e-01 4.21051291e-01 -3.40127695e-03 6.24290285e+01] [-4.21048298e-01 9.07036829e-01 1.58772956e-03 -1.22417322e+01] [ 3.75359905e-03 -8.01719115e-06 9.99992955e-01 -3.65084752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.711858064 meters 0.013884582691592985 Centerline is valid? [True, True] Translation: X:62.46, Y:-12.26, Z:-0.36 [[ 9.06794430e-01 4.21559420e-01 -3.39379601e-03 6.24587846e+01] [-4.21556438e-01 9.06800781e-01 1.58555927e-03 -1.22559558e+01] [ 3.74590431e-03 -7.09976279e-06 9.99992984e-01 -3.64685713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74185806399999 meters 0.013884582691592985 Centerline is valid? [True, True] Translation: X:62.49, Y:-12.27, Z:-0.36 [[ 9.06675249e-01 4.21815691e-01 -3.39334844e-03 6.24881268e+01] [-4.21812708e-01 9.06681599e-01 1.58651743e-03 -1.22697218e+01] [ 3.74590454e-03 -7.09858774e-06 9.99992984e-01 -3.64867923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77185806399999 meters 0.013876551395888332 Centerline is valid? [True, True] Translation: X:62.52, Y:-12.28, Z:-0.36 [[ 9.06297579e-01 4.22627519e-01 -3.26788944e-03 6.25178451e+01] [-4.22624753e-01 9.06303470e-01 1.52904192e-03 -1.22848691e+01] [ 3.60791474e-03 -4.67602713e-06 9.99993491e-01 -3.64757771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801858063999994 meters 0.013823179590045783 Centerline is valid? [True, True] Translation: X:62.55, Y:-12.30, Z:-0.36 [[ 9.06001186e-01 4.23264104e-01 -3.05766684e-03 6.25463874e+01] [-4.23261683e-01 9.06006346e-01 1.43164607e-03 -1.22988261e+01] [ 3.37622995e-03 -2.87982022e-06 9.99994301e-01 -3.64893503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.831858063999995 meters 0.013864665031588464 Centerline is valid? [True, True] Translation: X:62.58, Y:-12.31, Z:-0.36 [[ 9.05820072e-01 4.23654123e-01 -2.67971586e-03 6.25757608e+01] [-4.23652262e-01 9.05824036e-01 1.25589451e-03 -1.23129066e+01] [ 2.95941592e-03 -2.34677040e-06 9.99995621e-01 -3.64971669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861858063999996 meters 0.013833730180615272 Centerline is valid? [True, True] Translation: X:62.61, Y:-12.33, Z:-0.37 [[ 9.05620790e-01 4.24077539e-01 -3.03731997e-03 6.26051264e+01] [-4.24075148e-01 9.05625883e-01 1.42427951e-03 -1.23271557e+01] [ 3.35468053e-03 -1.80521515e-06 9.99994373e-01 -3.65285741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.891858064 meters 0.013781915340317082 Centerline is valid? [True, True] Translation: X:62.63, Y:-12.34, Z:-0.37 [[ 9.05830372e-01 4.23629595e-01 -3.05015324e-03 6.26347721e+01] [-4.23627176e-01 9.05835507e-01 1.43135827e-03 -1.23417386e+01] [ 3.36930283e-03 -4.43998639e-06 9.99994324e-01 -3.65642308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92185806399999 meters 0.013921314244626708 Centerline is valid? [True, True] Translation: X:62.66, Y:-12.36, Z:-0.37 [[ 9.06017961e-01 4.23225764e-01 -3.37736655e-03 6.26635954e+01] [-4.23222793e-01 9.06024256e-01 1.58568151e-03 -1.23562782e+01] [ 3.73107729e-03 -7.27742689e-06 9.99993039e-01 -3.66429662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95185806399999 meters 0.01396066967443354 Centerline is valid? [True, True] Translation: X:62.69, Y:-12.37, Z:-0.37 [[ 9.06432970e-01 4.22333696e-01 -3.67712329e-03 6.26926751e+01] [-4.22330162e-01 9.06440428e-01 1.72761824e-03 -1.23716107e+01] [ 4.06272461e-03 -1.30100567e-05 9.99991747e-01 -3.67070255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981858063999994 meters 0.014062516663625159 Centerline is valid? [True, True] Translation: X:62.72, Y:-12.39, Z:-0.37 [[ 9.06961890e-01 4.21196118e-01 -3.73640351e-03 6.27213530e+01] [-4.21192455e-01 9.06969586e-01 1.75670476e-03 -1.23876138e+01] [ 4.12872157e-03 -1.95193048e-05 9.99991477e-01 -3.66990299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.011858063999995 meters 0.014286702099407713 Centerline is valid? [True, True] Translation: X:62.75, Y:-12.40, Z:-0.37 [[ 9.08173802e-01 4.18579208e-01 -3.43383419e-03 6.27484478e+01] [-4.18576092e-01 9.08180294e-01 1.61538201e-03 -1.24048137e+01] [ 3.79470586e-03 -2.97267265e-05 9.99992800e-01 -3.66562500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041858063999996 meters 0.014389425698116388 Centerline is valid? [True, True] Translation: X:62.78, Y:-12.42, Z:-0.37 [[ 9.08593017e-01 4.17671687e-01 -3.01536193e-03 6.27773684e+01] [-4.17669274e-01 9.08598020e-01 1.41991831e-03 -1.24196488e+01] [ 3.33281155e-03 -3.07038288e-05 9.99994446e-01 -3.66947820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.071858064 meters 0.014547047867701841 Centerline is valid? [True, True] Translation: X:62.81, Y:-12.43, Z:-0.37 [[ 9.09038004e-01 4.16701809e-01 -3.08372859e-03 6.28057953e+01] [-4.16699278e-01 9.09043234e-01 1.45274903e-03 -1.24341563e+01] [ 3.40860576e-03 -3.56165971e-05 9.99994190e-01 -3.67679360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10185806399999 meters 0.014962324469519452 Centerline is valid? [True, True] Translation: X:62.83, Y:-12.45, Z:-0.37 [[ 9.09700693e-01 4.15254050e-01 -2.95340786e-03 6.28329823e+01] [-4.15251718e-01 9.09705487e-01 1.39209517e-03 -1.24502431e+01] [ 3.26480449e-03 -3.99822540e-05 9.99994670e-01 -3.68140588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13185806399999 meters 0.014600874672222725 Centerline is valid? [True, True] Translation: X:62.86, Y:-12.46, Z:-0.37 [[ 9.09831296e-01 4.14970741e-01 -2.50925851e-03 6.28624677e+01] [-4.14969052e-01 9.09834756e-01 1.18424190e-03 -1.24639018e+01] [ 2.77443634e-03 -3.61957205e-05 9.99996151e-01 -3.67024254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16185806399999 meters 0.0152900926500267 Centerline is valid? [True, True] Translation: X:62.89, Y:-12.48, Z:-0.37 [[ 9.09827862e-01 4.14978209e-01 -2.51945703e-03 6.28900136e+01] [-4.14976505e-01 9.09831350e-01 1.18974884e-03 -1.24805482e+01] [ 2.78600083e-03 -3.69511673e-05 9.99996118e-01 -3.68350723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.191858063999994 meters 0.014744969715310587 Centerline is valid? [True, True] Translation: X:62.92, Y:-12.50, Z:-0.37 [[ 9.09613966e-01 4.15447080e-01 -2.48133527e-03 6.29197394e+01] [-4.15445427e-01 9.09617349e-01 1.17267806e-03 -1.24955617e+01] [ 2.74425129e-03 -3.58249559e-05 9.99996234e-01 -3.67838537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221858063999996 meters 0.014627781398157453 Centerline is valid? [True, True] Translation: X:62.95, Y:-12.51, Z:-0.37 [[ 9.09424166e-01 4.15861659e-01 -2.60138555e-03 6.29491067e+01] [-4.15859846e-01 9.09427886e-01 1.22843616e-03 -1.25097912e+01] [ 2.87663206e-03 -3.53577382e-05 9.99995862e-01 -3.67789151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.251858064 meters 0.01451504060615348 Centerline is valid? [True, True] Translation: X:62.98, Y:-12.52, Z:-0.37 [[ 9.08917731e-01 4.16966078e-01 -2.80155203e-03 6.29779226e+01] [-4.16963975e-01 9.08922047e-01 1.32474784e-03 -1.25232961e+01] [ 3.09876732e-03 -3.59405301e-05 9.99995198e-01 -3.67849186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281858064 meters 0.01413327386209729 Centerline is valid? [True, True] Translation: X:63.01, Y:-12.54, Z:-0.37 [[ 9.07992738e-01 4.18975224e-01 -2.99161536e-03 6.30060648e+01] [-4.18972837e-01 9.07997666e-01 1.41436335e-03 -1.25362962e+01] [ 3.30896296e-03 -3.08260738e-05 9.99994525e-01 -3.68525127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31185806399999 meters 0.014023936582241773 Centerline is valid? [True, True] Translation: X:63.03, Y:-12.55, Z:-0.37 [[ 9.07396872e-01 4.20265115e-01 -2.85472484e-03 6.30338459e+01] [-4.20262945e-01 9.07401362e-01 1.35098023e-03 -1.25501350e+01] [ 3.15815107e-03 -2.61401654e-05 9.99995013e-01 -3.68360175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34185806399999 meters 0.013892525375646336 Centerline is valid? [True, True] Translation: X:63.06, Y:-12.56, Z:-0.37 [[ 9.06973041e-01 4.21180964e-01 -2.54927067e-03 6.30634089e+01] [-4.21179233e-01 9.06976623e-01 1.20777803e-03 -1.25643112e+01] [ 2.82082202e-03 -2.17222447e-05 9.99996021e-01 -3.68179599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371858063999994 meters 0.013877565739865155 Centerline is valid? [True, True] Translation: X:63.09, Y:-12.58, Z:-0.37 [[ 9.06569193e-01 4.22050300e-01 -2.41725943e-03 6.30919122e+01] [-4.22048745e-01 9.06572415e-01 1.14596878e-03 -1.25784876e+01] [ 2.67507719e-03 -1.86986843e-05 9.99996422e-01 -3.68305721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401858063999995 meters 0.013613194882249177 Centerline is valid? [True, True] Translation: X:63.12, Y:-12.59, Z:-0.37 [[ 9.05766660e-01 4.23772191e-01 -1.97159706e-03 6.31209965e+01] [-4.23771158e-01 9.05768806e-01 9.35500743e-04 -1.25930080e+01] [ 2.18225032e-03 -1.18394126e-05 9.99997619e-01 -3.67680729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.431858064 meters 0.013593253620032518 Centerline is valid? [True, True] Translation: X:63.15, Y:-12.61, Z:-0.37 [[ 9.05425987e-01 4.24498914e-01 -2.11033188e-03 6.31499709e+01] [-4.24497734e-01 9.05428446e-01 1.00123402e-03 -1.26071993e+01] [ 2.33577727e-03 -1.07122034e-05 9.99997272e-01 -3.67805714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461858064 meters 0.013526232467385218 Centerline is valid? [True, True] Translation: X:63.18, Y:-12.62, Z:-0.37 [[ 9.05135373e-01 4.25119869e-01 -1.74741539e-03 6.31790778e+01] [-4.25119060e-01 9.05137060e-01 8.29597657e-04 -1.26214360e+01] [ 1.93432888e-03 -8.03859564e-06 9.99998129e-01 -3.68526873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49185806399999 meters 0.013386157887279121 Centerline is valid? [True, True] Translation: X:63.21, Y:-12.63, Z:-0.37 [[ 9.04619418e-01 4.26220045e-01 -4.27103207e-04 6.32085611e+01] [-4.26219996e-01 9.04619518e-01 2.04160460e-04 -1.26347310e+01] [ 4.73383178e-04 -2.64758931e-06 9.99999888e-01 -3.67207001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52185806399999 meters 0.01335860054866453 Centerline is valid? [True, True] Translation: X:63.24, Y:-12.65, Z:-0.37 [[ 9.04304787e-01 4.26887385e-01 1.14257727e-04 6.32384164e+01] [-4.26887382e-01 9.04304794e-01 -5.24973118e-05 -1.26487672e+01] [-1.25734251e-04 -1.30161177e-06 9.99999992e-01 -3.66797158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.551858063999994 meters 0.013292004870475882 Centerline is valid? [True, True] Translation: X:63.27, Y:-12.66, Z:-0.37 [[ 9.04076678e-01 4.27369827e-01 6.25852905e-04 6.32677583e+01] [-4.27369724e-01 9.04076894e-01 -2.96668781e-04 -1.26630632e+01] [-6.92606436e-04 7.40742537e-07 9.99999760e-01 -3.66539675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581858063999995 meters 0.013237337577668162 Centerline is valid? [True, True] Translation: X:63.30, Y:-12.68, Z:-0.37 [[ 9.03746581e-01 4.28065024e-01 1.56584001e-03 6.32964904e+01] [-4.28064380e-01 9.03747938e-01 -7.42487320e-04 -1.26774420e+01] [-1.73295754e-03 7.40041918e-07 9.99998498e-01 -3.66302360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611858063999996 meters 0.013263178562152981 Centerline is valid? [True, True] Translation: X:63.33, Y:-12.69, Z:-0.37 [[ 9.03617314e-01 4.28338035e-01 1.50935091e-03 6.33256655e+01] [-4.28337436e-01 9.03618574e-01 -7.16062652e-04 -1.26917951e+01] [-1.67059438e-03 5.35112985e-07 9.99998605e-01 -3.66026781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641858064 meters 0.013277133295357343 Centerline is valid? [True, True] Translation: X:63.35, Y:-12.71, Z:-0.37 [[ 9.03536992e-01 4.28506715e-01 1.70272616e-03 6.33539840e+01] [-4.28505952e-01 9.03538596e-01 -8.08687015e-04 -1.27055251e+01] [-1.88500662e-03 1.05033901e-06 9.99998223e-01 -3.66498556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67185806399999 meters 0.013397847696974854 Centerline is valid? [True, True] Translation: X:63.38, Y:-12.72, Z:-0.37 [[ 9.03564737e-01 4.28446540e-01 2.08048425e-03 6.33837759e+01] [-4.28445398e-01 9.03567132e-01 -9.89050411e-04 -1.27199300e+01] [-2.30361242e-03 2.29717036e-06 9.99997347e-01 -3.66481233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70185806399999 meters 0.013344528430944323 Centerline is valid? [True, True] Translation: X:63.41, Y:-12.73, Z:-0.37 [[ 9.04049757e-01 4.27424030e-01 1.65405146e-03 6.34128863e+01] [-4.27423307e-01 9.04051270e-01 -7.86540547e-04 -1.27344004e+01] [-1.83153365e-03 4.09164790e-06 9.99998323e-01 -3.67430240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.731858063999994 meters 0.013502884931946317 Centerline is valid? [True, True] Translation: X:63.44, Y:-12.75, Z:-0.37 [[ 9.04401712e-01 4.26679613e-01 1.43250568e-03 6.34410596e+01] [-4.26679068e-01 9.04402846e-01 -6.81904776e-04 -1.27483875e+01] [-1.58651708e-03 5.49565686e-06 9.99998741e-01 -3.68327356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761858063999995 meters 0.013738416251491229 Centerline is valid? [True, True] Translation: X:63.47, Y:-12.76, Z:-0.37 [[ 9.05439828e-01 4.24474197e-01 6.11699160e-04 6.34697344e+01] [-4.24474098e-01 9.05440034e-01 -2.90331585e-04 -1.27633413e+01] [-6.77095175e-04 3.22733079e-06 9.99999771e-01 -3.69996025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.791858063999996 meters 0.014043729809521127 Centerline is valid? [True, True] Translation: X:63.50, Y:-12.78, Z:-0.37 [[ 9.06097479e-01 4.23068868e-01 3.03024525e-04 6.34973569e+01] [-4.23068843e-01 9.06097530e-01 -1.43796885e-04 -1.27783222e+01] [-3.35405758e-04 2.09375969e-06 9.99999944e-01 -3.71035124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821858064 meters 0.014281762120510426 Centerline is valid? [True, True] Translation: X:63.53, Y:-12.79, Z:-0.37 [[ 9.06706121e-01 4.21762955e-01 -1.38836438e-04 6.35253755e+01] [-4.21762950e-01 9.06706132e-01 6.77290159e-05 -1.27932571e+01] [ 1.54449440e-04 -2.85424759e-06 9.99999988e-01 -3.71508655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85185806399999 meters 0.014752598280900512 Centerline is valid? [True, True] Translation: X:63.55, Y:-12.81, Z:-0.37 [[ 9.07574389e-01 4.19891119e-01 -4.20987695e-04 6.35530766e+01] [-4.19891070e-01 9.07574486e-01 2.01858150e-04 -1.28085134e+01] [ 4.66836135e-04 -6.43231324e-06 9.99999891e-01 -3.72084601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88185806399999 meters 0.015284348444390831 Centerline is valid? [True, True] Translation: X:63.58, Y:-12.82, Z:-0.37 [[ 9.08740504e-01 4.17361506e-01 -2.64611940e-04 6.35806877e+01] [-4.17361487e-01 9.08740542e-01 1.27804564e-04 -1.28239115e+01] [ 2.93804303e-04 -5.70235171e-06 9.99999957e-01 -3.71828222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91185806399999 meters 0.015061645003640052 Centerline is valid? [True, True] Translation: X:63.61, Y:-12.84, Z:-0.37 [[ 9.09088855e-01 4.16602255e-01 -1.18915049e-04 6.36099154e+01] [-4.16602251e-01 9.09088863e-01 5.83608153e-05 -1.28374556e+01] [ 1.32417594e-04 -3.51488980e-06 9.99999991e-01 -3.71071635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941858063999994 meters 0.01604059860907964 Centerline is valid? [True, True] Translation: X:63.64, Y:-12.85, Z:-0.37 [[ 9.09147407e-01 4.16474468e-01 -1.02184530e-04 6.36377381e+01] [-4.16474465e-01 9.09147412e-01 5.04897994e-05 -1.28535533e+01] [ 1.13928514e-04 -3.34542257e-06 9.99999994e-01 -3.71769515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.971858063999996 meters 0.015440343587946066 Centerline is valid? [True, True] Translation: X:63.67, Y:-12.87, Z:-0.37 [[ 9.08985887e-01 4.16826614e-01 4.80000318e-04 6.36678804e+01] [-4.16826552e-01 9.08986014e-01 -2.28179153e-04 -1.28662471e+01] [-5.31424719e-04 7.33475281e-06 9.99999859e-01 -3.71646107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001858064 meters 0.014993392855919456 Centerline is valid? [True, True] Translation: X:63.70, Y:-12.88, Z:-0.37 [[ 9.08662399e-01 4.17531370e-01 4.47478755e-04 6.36980770e+01] [-4.17531315e-01 9.08662509e-01 -2.12711234e-04 -1.28793454e+01] [-4.95420781e-04 6.44630678e-06 9.99999877e-01 -3.71635197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.031858064 meters 0.014780972323617515 Centerline is valid? [True, True] Translation: X:63.73, Y:-12.89, Z:-0.37 [[ 9.08440530e-01 4.18013914e-01 4.12627977e-04 6.37282493e+01] [-4.18013868e-01 9.08440624e-01 -1.96145142e-04 -1.28932263e+01] [-4.56839416e-04 5.70198011e-06 9.99999896e-01 -3.72021911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06185806399999 meters 0.014923425823094425 Centerline is valid? [True, True] Translation: X:63.76, Y:-12.91, Z:-0.37 [[ 9.08311100e-01 4.18295281e-01 -5.73130971e-05 6.37566620e+01] [-4.18295280e-01 9.08311102e-01 2.85664848e-05 -1.29067532e+01] [ 6.40073481e-05 -1.97345724e-06 9.99999998e-01 -3.72948061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09185806399999 meters 0.015463880284172891 Centerline is valid? [True, True] Translation: X:63.79, Y:-12.92, Z:-0.37 [[ 9.08080808e-01 4.18794820e-01 -3.81729428e-04 6.37850730e+01] [-4.18794779e-01 9.08080888e-01 1.84841403e-04 -1.29222176e+01] [ 4.24051819e-04 -7.98463898e-06 9.99999910e-01 -3.73652004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121858063999994 meters 0.014606759494656995 Centerline is valid? [True, True] Translation: X:63.82, Y:-12.93, Z:-0.37 [[ 9.07964433e-01 4.19046320e-01 -8.77090195e-04 6.38150577e+01] [-4.19046107e-01 9.07964857e-01 4.23095754e-04 -1.29349557e+01] [ 9.73663792e-04 -1.66146645e-05 9.99999526e-01 -3.73180790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.151858063999995 meters 0.014739588785910794 Centerline is valid? [True, True] Translation: X:63.84, Y:-12.95, Z:-0.37 [[ 9.08106876e-01 4.18737669e-01 -8.16667383e-04 6.38443332e+01] [-4.18737483e-01 9.08107243e-01 3.94347269e-04 -1.29493212e+01] [ 9.06749621e-04 -1.61402224e-05 9.99999589e-01 -3.73568915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181858064 meters 0.01487931894665761 Centerline is valid? [True, True] Translation: X:63.87, Y:-12.96, Z:-0.37 [[ 9.08090748e-01 4.18772448e-01 -9.10919394e-04 6.38728985e+01] [-4.18772218e-01 9.08091205e-01 4.39831646e-04 -1.29632639e+01] [ 1.01138727e-03 -1.79393140e-05 9.99999488e-01 -3.73850951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211858064 meters 0.014899463606519664 Centerline is valid? [True, True] Translation: X:63.90, Y:-12.98, Z:-0.37 [[ 9.08443156e-01 4.18006505e-01 -1.26281077e-03 6.39021692e+01] [-4.18006062e-01 9.08444033e-01 6.09383536e-04 -1.29772723e+01] [ 1.40191920e-03 -2.57277440e-05 9.99999017e-01 -3.74032793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24185806399999 meters 0.015065977682249583 Centerline is valid? [True, True] Translation: X:63.93, Y:-12.99, Z:-0.37 [[ 9.08568090e-01 4.17734333e-01 -1.43276232e-03 6.39316451e+01] [-4.17733761e-01 9.08569219e-01 6.91908693e-04 -1.29917798e+01] [ 1.59079775e-03 -3.01329685e-05 9.99998734e-01 -3.74429117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27185806399999 meters 0.01514757355117974 Centerline is valid? [True, True] Translation: X:63.96, Y:-13.01, Z:-0.37 [[ 9.08666063e-01 4.17519213e-01 -1.92182267e-03 6.39605728e+01] [-4.17518184e-01 9.08668094e-01 9.27854808e-04 -1.30060658e+01] [ 2.13369615e-03 -4.07142651e-05 9.99997723e-01 -3.74712846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301858063999994 meters 0.015129546903665343 Centerline is valid? [True, True] Translation: X:63.99, Y:-13.02, Z:-0.37 [[ 9.08837410e-01 4.17145574e-01 -2.03285521e-03 6.39890911e+01] [-4.17144420e-01 9.08839682e-01 9.82005736e-04 -1.30198615e+01] [ 2.25717883e-03 -4.44893404e-05 9.99997452e-01 -3.74734681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331858063999995 meters 0.015387986816610617 Centerline is valid? [True, True] Translation: X:64.02, Y:-13.03, Z:-0.38 [[ 9.08807436e-01 4.17207526e-01 -2.63128537e-03 6.40175235e+01] [-4.17205593e-01 9.08811244e-01 1.27158681e-03 -1.30342085e+01] [ 2.92185731e-03 -5.78405764e-05 9.99995730e-01 -3.75286058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361858063999996 meters 0.015272294212344245 Centerline is valid? [True, True] Translation: X:64.05, Y:-13.05, Z:-0.38 [[ 9.08540582e-01 4.17790012e-01 -2.34873491e-03 6.40465494e+01] [-4.17788472e-01 9.08543616e-01 1.13579441e-03 -1.30474131e+01] [ 2.60845167e-03 -5.06409421e-05 9.99996597e-01 -3.76119894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391858064 meters 0.015217357631567733 Centerline is valid? [True, True] Translation: X:64.07, Y:-13.06, Z:-0.38 [[ 9.07813004e-01 4.19370196e-01 -2.04659864e-03 6.40749135e+01] [-4.19369029e-01 9.07815310e-01 9.90327527e-04 -1.30593885e+01] [ 2.27324743e-03 -4.07521232e-05 9.99997415e-01 -3.77188191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42185806399999 meters 0.015225359402344854 Centerline is valid? [True, True] Translation: X:64.10, Y:-13.07, Z:-0.38 [[ 9.07305927e-01 4.20466471e-01 -1.97521069e-03 6.41031849e+01] [-4.20465385e-01 9.07308076e-01 9.56488721e-04 -1.30734388e+01] [ 2.19429605e-03 -3.73201618e-05 9.99997592e-01 -3.77447284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45185806399999 meters 0.015005316287067895 Centerline is valid? [True, True] Translation: X:64.13, Y:-13.09, Z:-0.38 [[ 9.06882744e-01 4.21379455e-01 -1.74465796e-03 6.41323959e+01] [-4.21378608e-01 9.06884422e-01 8.45514364e-04 -1.30875059e+01] [ 1.93848550e-03 -3.16208462e-05 9.99998121e-01 -3.77140679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481858063999994 meters 0.014369744978581848 Centerline is valid? [True, True] Translation: X:64.16, Y:-13.10, Z:-0.38 [[ 9.06300073e-01 4.22632306e-01 -1.45321158e-03 6.41614280e+01] [-4.22631718e-01 9.06301238e-01 7.05008766e-04 -1.31002001e+01] [ 1.61500693e-03 -2.47761899e-05 9.99998696e-01 -3.76284725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.511858063999995 meters 0.013862658853151704 Centerline is valid? [True, True] Translation: X:64.19, Y:-13.11, Z:-0.38 [[ 9.04969959e-01 4.25473220e-01 -1.38276907e-03 6.41909809e+01] [-4.25472691e-01 9.04971015e-01 6.71330258e-04 -1.31130280e+01] [ 1.53699897e-03 -1.92032407e-05 9.99998819e-01 -3.76018188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541858063999996 meters 0.013722153655864254 Centerline is valid? [True, True] Translation: X:64.22, Y:-13.13, Z:-0.38 [[ 9.04308673e-01 4.26874874e-01 -1.91480838e-03 6.42197537e+01] [-4.26873863e-01 9.04310700e-01 9.29623544e-04 -1.31261070e+01] [ 2.12841464e-03 -2.32849848e-05 9.99997735e-01 -3.76923285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.571858064 meters 0.013508622006362709 Centerline is valid? [True, True] Translation: X:64.25, Y:-13.14, Z:-0.38 [[ 9.03618541e-01 4.28329809e-01 -2.66576245e-03 6.42494396e+01] [-4.28327853e-01 9.03622473e-01 1.29475050e-03 -1.31397850e+01] [ 2.96342309e-03 -2.81402495e-05 9.99995609e-01 -3.78000008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60185806399999 meters 0.013337091936907334 Centerline is valid? [True, True] Translation: X:64.28, Y:-13.15, Z:-0.38 [[ 9.02719685e-01 4.30210526e-01 -4.00905443e-03 6.42790514e+01] [-4.30206119e-01 9.02728587e-01 1.94769513e-03 -1.31529988e+01] [ 4.45700699e-03 -3.35029934e-05 9.99990067e-01 -3.79902226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63185806399999 meters 0.013337091936907334 Centerline is valid? [True, True] Translation: X:64.31, Y:-13.17, Z:-0.38 [[ 9.02598949e-01 4.30463784e-01 -4.00850709e-03 6.43081728e+01] [-4.30459374e-01 9.02607849e-01 1.94882185e-03 -1.31672141e+01] [ 4.45700719e-03 -3.35050980e-05 9.99990067e-01 -3.80084439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66185806399999 meters 0.013379321338059531 Centerline is valid? [True, True] Translation: X:64.34, Y:-13.18, Z:-0.38 [[ 9.02196411e-01 4.31303231e-01 -4.37714087e-03 6.43365848e+01] [-4.31297977e-01 9.02207028e-01 2.12917198e-03 -1.31817136e+01] [ 4.86740602e-03 -3.30793153e-05 9.99988154e-01 -3.81162360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.691858063999994 meters 0.01326220562139518 Centerline is valid? [True, True] Translation: X:64.37, Y:-13.20, Z:-0.38 [[ 9.02027015e-01 4.31655252e-01 -4.58338633e-03 6.43658321e+01] [-4.31649487e-01 9.02038659e-01 2.23114259e-03 -1.31966439e+01] [ 5.09747608e-03 -3.41345293e-05 9.99987007e-01 -3.80719077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721858063999996 meters 0.013411636373679195 Centerline is valid? [True, True] Translation: X:64.39, Y:-13.21, Z:-0.38 [[ 9.01995651e-01 4.31724346e-01 -4.23495226e-03 6.43931956e+01] [-4.31719419e-01 9.02005592e-01 2.06290955e-03 -1.32129156e+01] [ 4.71055890e-03 -3.24243152e-05 9.99988905e-01 -3.80993416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.751858064 meters 0.013379334457221333 Centerline is valid? [True, True] Translation: X:64.42, Y:-13.23, Z:-0.38 [[ 9.01979434e-01 4.31762521e-01 -3.77181700e-03 6.44223904e+01] [-4.31758606e-01 9.01987320e-01 1.83878871e-03 -1.32280358e+01] [ 4.19605115e-03 -3.00351483e-05 9.99991196e-01 -3.81142110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781858064 meters 0.013257097880588885 Centerline is valid? [True, True] Translation: X:64.45, Y:-13.24, Z:-0.38 [[ 9.01935537e-01 4.31855554e-01 -3.61481927e-03 6.44521943e+01] [-4.31851954e-01 9.01942781e-01 1.76358813e-03 -1.32430580e+01] [ 4.02197547e-03 -2.95760449e-05 9.99991911e-01 -3.80703237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81185806399999 meters 0.013410421364127 Centerline is valid? [True, True] Translation: X:64.48, Y:-13.26, Z:-0.38 [[ 9.02229530e-01 4.31244247e-01 -3.20537733e-03 6.44808526e+01] [-4.31241408e-01 9.02235224e-01 1.56510499e-03 -1.32592915e+01] [ 3.56694685e-03 -2.97925137e-05 9.99993638e-01 -3.80719073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84185806399999 meters 0.013513461130811243 Centerline is valid? [True, True] Translation: X:64.51, Y:-13.27, Z:-0.38 [[ 9.02345656e-01 4.30999746e-01 -3.39651248e-03 6.45086504e+01] [-4.30996553e-01 9.02352048e-01 1.65927679e-03 -1.32747770e+01] [ 3.77999787e-03 -3.33560322e-05 9.99992855e-01 -3.81203877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.871858063999994 meters 0.013569703074917509 Centerline is valid? [True, True] Translation: X:64.54, Y:-13.29, Z:-0.38 [[ 9.02462935e-01 4.30754311e-01 -3.37259030e-03 6.45375400e+01] [-4.30751157e-01 9.02469236e-01 1.64880810e-03 -1.32906538e+01] [ 3.75389019e-03 -3.52410216e-05 9.99992954e-01 -3.81062663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901858063999995 meters 0.013627662952169614 Centerline is valid? [True, True] Translation: X:64.57, Y:-13.31, Z:-0.38 [[ 9.02739479e-01 4.30178384e-01 -2.82689624e-03 6.45660423e+01] [-4.30176161e-01 9.02743904e-01 1.38327614e-03 -1.33061650e+01] [ 3.14701885e-03 -3.26746131e-05 9.99995048e-01 -3.79903685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.931858064 meters 0.013889201987414987 Centerline is valid? [True, True] Translation: X:64.59, Y:-13.32, Z:-0.38 [[ 9.02981719e-01 4.29672783e-01 -2.30518397e-03 6.45935625e+01] [-4.29671303e-01 9.02984661e-01 1.12814220e-03 -1.33225964e+01] [ 2.56627777e-03 -2.82203779e-05 9.99996707e-01 -3.79647070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961858064 meters 0.013722812664156874 Centerline is valid? [True, True] Translation: X:64.62, Y:-13.34, Z:-0.38 [[ 9.02983270e-01 4.29669336e-01 -2.33994713e-03 6.46234769e+01] [-4.29667807e-01 9.02986302e-01 1.14659203e-03 -1.33369006e+01] [ 2.60559564e-03 -2.99534684e-05 9.99996605e-01 -3.79664115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99185806399999 meters 0.013547138415277797 Centerline is valid? [True, True] Translation: X:64.65, Y:-13.35, Z:-0.38 [[ 9.02763250e-01 4.30130368e-01 -2.52627495e-03 6.46532001e+01] [-4.30128585e-01 9.02766784e-01 1.23865421e-03 -1.33510957e+01] [ 2.81341990e-03 -3.15884285e-05 9.99996042e-01 -3.79809544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.021858064 meters 0.01359607458107517 Centerline is valid? [True, True] Translation: X:64.68, Y:-13.37, Z:-0.38 [[ 9.02579041e-01 4.30509014e-01 -3.61439969e-03 6.46830175e+01] [-4.30505366e-01 9.02586277e-01 1.77269743e-03 -1.33660476e+01] [ 4.02546978e-03 -4.39810814e-05 9.99991897e-01 -3.80561452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.051858064 meters 0.01363871190562766 Centerline is valid? [True, True] Translation: X:64.71, Y:-13.38, Z:-0.38 [[ 9.02394214e-01 4.30895336e-01 -3.72713925e-03 6.47112382e+01] [-4.30891457e-01 9.02401910e-01 1.82902188e-03 -1.33802035e+01] [ 4.15149457e-03 -4.45063054e-05 9.99991382e-01 -3.81162317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.081858064 meters 0.013633365799059202 Centerline is valid? [True, True] Translation: X:64.74, Y:-13.40, Z:-0.38 [[ 9.02302834e-01 4.31088283e-01 -3.53377707e-03 6.47410531e+01] [-4.31084791e-01 9.02309753e-01 1.73555174e-03 -1.33950317e+01] [ 3.93673753e-03 -4.26357016e-05 9.99992250e-01 -3.81230871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.111858064 meters 0.013675979226607276 Centerline is valid? [True, True] Translation: X:64.77, Y:-13.41, Z:-0.38 [[ 9.02459987e-01 4.30759394e-01 -3.50942502e-03 6.47698420e+01] [-4.30755943e-01 9.02466810e-01 1.72480180e-03 -1.34103735e+01] [ 3.91011418e-03 -4.48589310e-05 9.99992354e-01 -3.81191193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141858064 meters 0.013866359005647757 Centerline is valid? [True, True] Translation: X:64.80, Y:-13.43, Z:-0.38 [[ 9.02632494e-01 4.30395473e-01 -3.78387580e-03 6.47993846e+01] [-4.30391453e-01 9.02640424e-01 1.86083322e-03 -1.34256996e+01] [ 4.21637345e-03 -5.11007265e-05 9.99991110e-01 -3.81411154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.171858064 meters 0.013755662186750627 Centerline is valid? [True, True] Translation: X:64.83, Y:-13.44, Z:-0.38 [[ 9.02658566e-01 4.30345389e-01 -3.21850772e-03 6.48292025e+01] [-4.30342476e-01 9.02664303e-01 1.58420230e-03 -1.34403123e+01] [ 3.58698618e-03 -4.49331945e-05 9.99993566e-01 -3.80898655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201858064 meters 0.014407111673674741 Centerline is valid? [True, True] Translation: X:64.86, Y:-13.45, Z:-0.38 [[ 9.03270693e-01 4.29062179e-01 -2.77507598e-03 6.48562880e+01] [-4.29060005e-01 9.03274955e-01 1.36661610e-03 -1.34549860e+01] [ 3.09301991e-03 -4.37501584e-05 9.99995216e-01 -3.80872972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23185806400001 meters 0.014718775281465589 Centerline is valid? [True, True] Translation: X:64.88, Y:-13.47, Z:-0.38 [[ 9.03708694e-01 4.28139908e-01 -2.61072102e-03 6.48839247e+01] [-4.28137977e-01 9.03712464e-01 1.28643977e-03 -1.34694115e+01] [ 2.91011733e-03 -4.48179859e-05 9.99995765e-01 -3.80767526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.261858064 meters 0.015220348170789525 Centerline is valid? [True, True] Translation: X:64.91, Y:-13.48, Z:-0.38 [[ 9.04491994e-01 4.26488723e-01 -1.26578853e-03 6.49126557e+01] [-4.26488266e-01 9.04492879e-01 6.24891190e-04 -1.34844836e+01] [ 1.41140576e-03 -2.53651230e-05 9.99999004e-01 -3.80258005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.291858064 meters 0.01563904592634085 Centerline is valid? [True, True] Translation: X:64.94, Y:-13.50, Z:-0.38 [[ 9.04880410e-01 4.25665638e-01 -4.55133018e-04 6.49414897e+01] [-4.25665578e-01 9.04880525e-01 2.25750298e-04 -1.34990579e+01] [ 5.07935149e-04 -1.05425625e-05 9.99999871e-01 -3.79930367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.321858064 meters 0.015164794403421973 Centerline is valid? [True, True] Translation: X:64.97, Y:-13.51, Z:-0.38 [[ 9.05032550e-01 4.25342197e-01 -3.15549258e-04 6.49714033e+01] [-4.25342168e-01 9.05032605e-01 1.57349853e-04 -1.35120305e+01] [ 3.52509899e-04 -8.19033354e-06 9.99999938e-01 -3.79739054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.351858064 meters 0.015472652311507495 Centerline is valid? [True, True] Translation: X:65.00, Y:-13.53, Z:-0.38 [[ 9.05279352e-01 4.24816757e-01 -1.34139028e-04 6.50006116e+01] [-4.24816752e-01 9.05279362e-01 6.76996590e-05 -1.35261843e+01] [ 1.50193243e-04 -4.30259731e-06 9.99999989e-01 -3.80023172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.381858064 meters 0.015969967370977833 Centerline is valid? [True, True] Translation: X:65.03, Y:-13.54, Z:-0.38 [[ 9.05533888e-01 4.24273941e-01 1.96724051e-05 6.50292442e+01] [-4.24273941e-01 9.05533888e-01 -8.32341195e-06 -1.35385775e+01] [-2.13454363e-05 -8.09357247e-07 1.00000000e+00 -3.81369807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.411858064 meters 0.01623188332546498 Centerline is valid? [True, True] Translation: X:65.06, Y:-13.55, Z:-0.38 [[ 9.05700326e-01 4.23918495e-01 1.68375225e-04 6.50584687e+01] [-4.23918487e-01 9.05700342e-01 -8.17003064e-05 -1.35525187e+01] [-1.87131770e-04 2.61862346e-06 9.99999982e-01 -3.82074136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.441858064 meters 0.016131260283094365 Centerline is valid? [True, True] Translation: X:65.09, Y:-13.57, Z:-0.38 [[ 9.06002987e-01 4.23271282e-01 -9.67063975e-05 6.50872385e+01] [-4.23271280e-01 9.06002992e-01 4.92009342e-05 -1.35656001e+01] [ 1.08441628e-04 -3.64315274e-06 9.99999994e-01 -3.82057193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.471858064 meters 0.016370326239420852 Centerline is valid? [True, True] Translation: X:65.12, Y:-13.58, Z:-0.38 [[ 9.06274187e-01 4.22690281e-01 -1.55091414e-04 6.51159173e+01] [-4.22690273e-01 9.06274201e-01 7.82126591e-05 -1.35792321e+01] [ 1.73615078e-04 -5.32648193e-06 9.99999985e-01 -3.82560754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501858064 meters 0.016380566867600393 Centerline is valid? [True, True] Translation: X:65.15, Y:-13.59, Z:-0.38 [[ 9.06587136e-01 4.22018216e-01 -6.25146429e-04 6.51456887e+01] [-4.22018102e-01 9.06587351e-01 3.10904478e-04 -1.35913734e+01] [ 6.97957198e-04 -1.80388913e-05 9.99999756e-01 -3.82646186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.531858064 meters 0.01768863072513618 Centerline is valid? [True, True] Translation: X:65.17, Y:-13.61, Z:-0.38 [[ 9.06492388e-01 4.22221179e-01 -9.09491568e-04 6.51737901e+01] [-4.22220938e-01 9.06492844e-01 4.52019220e-04 -1.36065668e+01] [ 1.01529969e-03 -2.57456000e-05 9.99999484e-01 -3.83596596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561858064 meters 0.017106860438885665 Centerline is valid? [True, True] Translation: X:65.20, Y:-13.62, Z:-0.38 [[ 9.06045106e-01 4.23179012e-01 -1.33770181e-03 6.52047809e+01] [-4.23178492e-01 9.06046093e-01 6.64315297e-04 -1.36172852e+01] [ 1.49314379e-03 -3.58129885e-05 9.99998885e-01 -3.83945402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59185806400001 meters 0.015894608496459253 Centerline is valid? [True, True] Translation: X:65.24, Y:-13.63, Z:-0.38 [[ 9.05636618e-01 4.24053216e-01 -1.08911668e-03 6.52351837e+01] [-4.24052872e-01 9.05637272e-01 5.41538418e-04 -1.36282131e+01] [ 1.21598577e-03 -2.85939663e-05 9.99999260e-01 -3.83787805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62185806400001 meters 0.015772327130192675 Centerline is valid? [True, True] Translation: X:65.26, Y:-13.64, Z:-0.38 [[ 9.05129517e-01 4.25134803e-01 -9.77827070e-04 6.52644510e+01] [-4.25134525e-01 9.05130045e-01 4.86649956e-04 -1.36409953e+01] [ 1.09195249e-03 -2.47731930e-05 9.99999404e-01 -3.84030760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.651858064 meters 0.01568501166985702 Centerline is valid? [True, True] Translation: X:65.29, Y:-13.65, Z:-0.38 [[ 9.04498282e-01 4.26477258e-01 -7.47793971e-05 6.52935275e+01] [-4.26477256e-01 9.04498285e-01 3.85275734e-05 -1.36527490e+01] [ 8.40689704e-05 -2.95641188e-06 9.99999996e-01 -3.83715618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.681858064 meters 0.015491722954633197 Centerline is valid? [True, True] Translation: X:65.32, Y:-13.67, Z:-0.38 [[ 9.04128816e-01 4.27259926e-01 1.97222626e-04 6.53229438e+01] [-4.27259915e-01 9.04128838e-01 -9.64449556e-05 -1.36654913e+01] [-2.19521728e-04 2.93334123e-06 9.99999976e-01 -3.83517294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.711858064 meters 0.015574367677817856 Centerline is valid? [True, True] Translation: X:65.35, Y:-13.68, Z:-0.38 [[ 9.03616832e-01 4.28340707e-01 9.27232857e-04 6.53515219e+01] [-4.28340461e-01 9.03617307e-01 -4.59424318e-04 -1.36785897e+01] [-1.03465379e-03 1.79721971e-05 9.99999465e-01 -3.83509402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.741858064 meters 0.015222864688291636 Centerline is valid? [True, True] Translation: X:65.38, Y:-13.69, Z:-0.38 [[ 9.02557579e-01 4.30568052e-01 9.85083670e-04 6.53818646e+01] [-4.30567775e-01 9.02558116e-01 -4.88380969e-04 -1.36897372e+01] [-1.09937650e-03 1.66466611e-05 9.99999396e-01 -3.83668127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.771858064 meters 0.014694504747925984 Centerline is valid? [True, True] Translation: X:65.41, Y:-13.70, Z:-0.38 [[ 9.01936372e-01 4.31867746e-01 1.01581137e-03 6.54118444e+01] [-4.31867452e-01 9.01936943e-01 -5.03937253e-04 -1.37018176e+01] [-1.13383204e-03 1.58234715e-05 9.99999357e-01 -3.83680193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.801858064 meters 0.014275250393129841 Centerline is valid? [True, True] Translation: X:65.44, Y:-13.71, Z:-0.38 [[ 9.01437665e-01 4.32907876e-01 9.52475057e-04 6.54414715e+01] [-4.32907619e-01 9.01438168e-01 -4.72676023e-04 -1.37139869e+01] [-1.06322254e-03 1.37542618e-05 9.99999435e-01 -3.83711744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.831858064 meters 0.014137049350808244 Centerline is valid? [True, True] Translation: X:65.47, Y:-13.73, Z:-0.38 [[ 9.01015612e-01 4.33786087e-01 7.05846361e-04 6.54715920e+01] [-4.33785946e-01 9.01015888e-01 -3.49906821e-04 -1.37273158e+01] [-7.87763497e-04 9.08527699e-06 9.99999690e-01 -3.84175800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.861858064 meters 0.014201550814297265 Centerline is valid? [True, True] Translation: X:65.50, Y:-13.74, Z:-0.38 [[ 9.00476016e-01 4.34904754e-01 8.94142790e-04 6.55003030e+01] [-4.34904528e-01 9.00476460e-01 -4.44327997e-04 -1.37399109e+01] [-9.98394892e-04 1.12399565e-05 9.99999502e-01 -3.83652203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.891858064 meters 0.014087712508461189 Centerline is valid? [True, True] Translation: X:65.53, Y:-13.75, Z:-0.38 [[ 9.00330866e-01 4.35204174e-01 1.28782063e-03 6.55299958e+01] [-4.35203703e-01 9.00331787e-01 -6.40733087e-04 -1.37535979e+01] [-1.43831556e-03 1.64074702e-05 9.99998965e-01 -3.83449850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921858064 meters 0.014270263216247704 Centerline is valid? [True, True] Translation: X:65.56, Y:-13.77, Z:-0.38 [[ 9.00131700e-01 4.35615932e-01 1.29714851e-03 6.55601454e+01] [-4.35615454e-01 9.00132634e-01 -6.45845436e-04 -1.37676171e+01] [-1.44894627e-03 1.62880118e-05 9.99998950e-01 -3.83376533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.951858064 meters 0.014275676867071903 Centerline is valid? [True, True] Translation: X:65.59, Y:-13.78, Z:-0.38 [[ 9.00012134e-01 4.35862519e-01 1.42239996e-03 6.55906186e+01] [-4.35861943e-01 9.00013258e-01 -7.08866429e-04 -1.37797510e+01] [-1.58914713e-03 1.80183753e-05 9.99998737e-01 -3.83697197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98185806400001 meters 0.01456005129634838 Centerline is valid? [True, True] Translation: X:65.62, Y:-13.79, Z:-0.38 [[ 9.00090100e-01 4.35700291e-01 1.75193428e-03 6.56192620e+01] [-4.35699414e-01 9.00091804e-01 -8.74175304e-04 -1.37931714e+01] [-1.95778012e-03 2.35197949e-05 9.99998083e-01 -3.84263944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.011858064 meters 0.014341712847238657 Centerline is valid? [True, True] Translation: X:65.65, Y:-13.81, Z:-0.38 [[ 9.00443477e-01 4.34970111e-01 1.59614356e-03 6.56491765e+01] [-4.34969381e-01 9.00444891e-01 -7.96854929e-04 -1.38050553e+01] [-1.78384739e-03 2.32492463e-05 9.99998409e-01 -3.84088168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.041858064 meters 0.015022156059941684 Centerline is valid? [True, True] Translation: X:65.68, Y:-13.82, Z:-0.38 [[ 9.00906834e-01 4.34009016e-01 1.74627355e-03 6.56770351e+01] [-4.34008139e-01 9.00908526e-01 -8.72939727e-04 -1.38194161e+01] [-1.95209644e-03 2.85404308e-05 9.99998094e-01 -3.84584842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.071858064 meters 0.014804576516278057 Centerline is valid? [True, True] Translation: X:65.71, Y:-13.83, Z:-0.38 [[ 9.01346154e-01 4.33096975e-01 1.45609983e-03 6.57060841e+01] [-4.33096365e-01 9.01347330e-01 -7.27496488e-04 -1.38325501e+01] [-1.62752823e-03 2.50946160e-05 9.99998675e-01 -3.84618046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.101858064 meters 0.015103904800306212 Centerline is valid? [True, True] Translation: X:65.73, Y:-13.85, Z:-0.38 [[ 9.01817696e-01 4.32115105e-01 1.17412826e-03 6.57346955e+01] [-4.32114707e-01 9.01818460e-01 -5.86684046e-04 -1.38474617e+01] [-1.31236558e-03 2.17239665e-05 9.99999139e-01 -3.84773742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.131858064 meters 0.01578189895751247 Centerline is valid? [True, True] Translation: X:65.76, Y:-13.86, Z:-0.39 [[ 9.02902030e-01 4.29846047e-01 5.47659522e-04 6.57633897e+01] [-4.29845960e-01 9.02902196e-01 -2.73006994e-04 -1.38612725e+01] [-6.11833963e-04 1.10893358e-05 9.99999813e-01 -3.85053061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.161858064 meters 0.0164320831037169 Centerline is valid? [True, True] Translation: X:65.79, Y:-13.87, Z:-0.39 [[ 9.03574565e-01 4.28430587e-01 4.86760785e-04 6.57909583e+01] [-4.28430519e-01 9.03574696e-01 -2.42927548e-04 -1.38746721e+01] [-5.43902321e-04 1.09599783e-05 9.99999852e-01 -3.85814285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.191858064 meters 0.016350746915665067 Centerline is valid? [True, True] Translation: X:65.82, Y:-13.89, Z:-0.39 [[ 9.04182584e-01 4.27145857e-01 5.21420674e-04 6.58202803e+01] [-4.27145778e-01 9.04182734e-01 -2.60123762e-04 -1.38877259e+01] [-5.82570358e-04 1.24767363e-05 9.99999830e-01 -3.86096764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.221858064 meters 0.017608497046637056 Centerline is valid? [True, True] Translation: X:65.85, Y:-13.90, Z:-0.39 [[ 9.05421387e-01 4.24513879e-01 2.78655207e-04 6.58481478e+01] [-4.24513857e-01 9.05421430e-01 -1.38497949e-04 -1.39018065e+01] [-3.11094697e-04 7.10600846e-06 9.99999952e-01 -3.86591956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.251858064 meters 0.01874855826907899 Centerline is valid? [True, True] Translation: X:65.88, Y:-13.92, Z:-0.39 [[ 9.05846068e-01 4.23606807e-01 4.16947451e-04 6.58754423e+01] [-4.23606756e-01 9.05846164e-01 -2.08609776e-04 -1.39162978e+01] [-4.66058770e-04 1.23465881e-05 9.99999891e-01 -3.86919071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281858064 meters 0.018118852898715978 Centerline is valid? [True, True] Translation: X:65.91, Y:-13.93, Z:-0.39 [[ 9.06182975e-01 4.22885591e-01 4.38346382e-04 6.59050802e+01] [-4.22885535e-01 9.06183081e-01 -2.18786565e-04 -1.39279751e+01] [-4.89743761e-04 1.28903161e-05 9.99999880e-01 -3.86731874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.311858064 meters 0.01814716563764037 Centerline is valid? [True, True] Translation: X:65.94, Y:-13.94, Z:-0.39 [[ 9.06460952e-01 4.22289501e-01 3.46669478e-04 6.59356322e+01] [-4.22289466e-01 9.06461018e-01 -1.72810215e-04 -1.39393216e+01] [-3.87218307e-04 1.02508436e-05 9.99999925e-01 -3.86589611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34185806400001 meters 0.017662819941738343 Centerline is valid? [True, True] Translation: X:65.97, Y:-13.95, Z:-0.39 [[ 9.06416901e-01 4.22383716e-01 6.31017786e-04 6.59668878e+01] [-4.22383599e-01 9.06417120e-01 -3.15776244e-04 -1.39512045e+01] [-7.05344068e-04 1.96933617e-05 9.99999751e-01 -3.86263154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37185806400001 meters 0.018193655618855272 Centerline is valid? [True, True] Translation: X:66.00, Y:-13.96, Z:-0.39 [[ 9.06216108e-01 4.22814281e-01 6.70336476e-04 6.59960468e+01] [-4.22814149e-01 9.06216356e-01 -3.35906452e-04 -1.39636188e+01] [-7.49495923e-04 2.09760911e-05 9.99999719e-01 -3.86571845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.401858064 meters 0.017765013216007382 Centerline is valid? [True, True] Translation: X:66.03, Y:-13.97, Z:-0.39 [[ 9.05689508e-01 4.23941416e-01 4.37323534e-04 6.60269461e+01] [-4.23941360e-01 9.05689613e-01 -2.18828258e-04 -1.39728510e+01] [-4.88849744e-04 1.27909232e-05 9.99999880e-01 -3.87262886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.431858064 meters 0.017573395748844048 Centerline is valid? [True, True] Translation: X:66.06, Y:-13.99, Z:-0.39 [[ 9.05253168e-01 4.24872376e-01 4.07597364e-04 6.60567747e+01] [-4.24872328e-01 9.05253259e-01 -2.03971151e-04 -1.39855367e+01] [-4.55640550e-04 1.14686897e-05 9.99999896e-01 -3.87009167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.461858064 meters 0.017154911780390154 Centerline is valid? [True, True] Translation: X:66.09, Y:-14.00, Z:-0.39 [[ 9.04045642e-01 4.27435243e-01 7.68453237e-04 6.60870634e+01] [-4.27435069e-01 9.04045968e-01 -3.86150270e-04 -1.39953340e+01] [-8.59771285e-04 2.06336059e-05 9.99999630e-01 -3.85973088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.491858064 meters 0.017206498399693057 Centerline is valid? [True, True] Translation: X:66.12, Y:-14.01, Z:-0.39 [[ 9.03332599e-01 4.28939636e-01 1.00161384e-03 6.61162239e+01] [-4.28939341e-01 9.03333154e-01 -5.04173875e-04 -1.40069064e+01] [-1.12105115e-03 2.58051163e-05 9.99999371e-01 -3.86116881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.521858064 meters 0.016770033106581796 Centerline is valid? [True, True] Translation: X:66.15, Y:-14.02, Z:-0.39 [[ 9.02541260e-01 4.30602663e-01 7.87862175e-04 6.61469971e+01] [-4.30602481e-01 9.02541604e-01 -3.96414274e-04 -1.40179674e+01] [-8.81775433e-04 1.85248311e-05 9.99999611e-01 -3.86430090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.551858064 meters 0.016770033106581796 Centerline is valid? [True, True] Translation: X:66.18, Y:-14.03, Z:-0.39 [[ 9.02423231e-01 4.30849965e-01 7.87841222e-04 6.61759110e+01] [-4.30849783e-01 9.02423574e-01 -3.96456155e-04 -1.40326541e+01] [-8.81779612e-04 1.83300243e-05 9.99999611e-01 -3.86612268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.581858064 meters 0.015852060719985038 Centerline is valid? [True, True] Translation: X:66.21, Y:-14.04, Z:-0.39 [[ 9.01869712e-01 4.32007727e-01 5.88671700e-04 6.62073546e+01] [-4.32007625e-01 9.01869904e-01 -2.97026765e-04 -1.40428454e+01] [-6.59223147e-04 1.35687793e-05 9.99999783e-01 -3.86791199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.611858064 meters 0.015768455380089797 Centerline is valid? [True, True] Translation: X:66.24, Y:-14.05, Z:-0.39 [[ 9.00551509e-01 4.34748547e-01 8.25093638e-04 6.62376152e+01] [-4.34748348e-01 9.00551887e-01 -4.15904892e-04 -1.40512963e+01] [-9.23853679e-04 1.58356814e-05 9.99999573e-01 -3.88355175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641858064 meters 0.015587850225261718 Centerline is valid? [True, True] Translation: X:66.27, Y:-14.06, Z:-0.39 [[ 8.99944565e-01 4.36003947e-01 5.81240961e-04 6.62670505e+01] [-4.36003849e-01 8.99944753e-01 -2.92673310e-04 -1.40632788e+01] [-6.50691471e-04 9.96645859e-06 9.99999788e-01 -3.88689646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.671858064 meters 0.015471711026610848 Centerline is valid? [True, True] Translation: X:66.30, Y:-14.08, Z:-0.39 [[ 8.99487722e-01 4.36944994e-01 9.54313744e-04 6.62962961e+01] [-4.36944729e-01 8.99488228e-01 -4.81772959e-04 -1.40759799e+01] [-1.06890226e-03 1.63665011e-05 9.99999429e-01 -3.88607814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701858064 meters 0.014905256137511461 Centerline is valid? [True, True] Translation: X:66.33, Y:-14.09, Z:-0.39 [[ 8.98777400e-01 4.38403108e-01 1.37849994e-03 6.63265882e+01] [-4.38402555e-01 8.98778457e-01 -6.96953820e-04 -1.40865714e+01] [-1.54451277e-03 2.20684472e-05 9.99998807e-01 -3.87169699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73185806400001 meters 0.014835781235429295 Centerline is valid? [True, True] Translation: X:66.36, Y:-14.10, Z:-0.39 [[ 8.98381356e-01 4.39212606e-01 1.79585167e-03 6.63551053e+01] [-4.39211666e-01 8.98383151e-01 -9.09052492e-04 -1.40986334e+01] [-2.01263020e-03 2.79168060e-05 9.99997974e-01 -3.87370661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.761858064 meters 0.01438868835253338 Centerline is valid? [True, True] Translation: X:66.39, Y:-14.11, Z:-0.39 [[ 8.97628822e-01 4.40748028e-01 1.91663931e-03 6.63866324e+01] [-4.40746959e-01 8.97630868e-01 -9.70732572e-04 -1.41081621e+01] [-2.14828307e-03 2.66045884e-05 9.99997692e-01 -3.87198411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.791858064 meters 0.01499169992436892 Centerline is valid? [True, True] Translation: X:66.41, Y:-14.12, Z:-0.39 [[ 8.97066861e-01 4.41889244e-01 2.22314276e-03 6.64139345e+01] [-4.41887808e-01 8.97069615e-01 -1.12698791e-03 -1.41225827e+01] [-2.49231766e-03 2.86038241e-05 9.99996894e-01 -3.87995269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.821858064 meters 0.014217767671266436 Centerline is valid? [True, True] Translation: X:66.44, Y:-14.13, Z:-0.39 [[ 8.96535668e-01 4.42963790e-01 2.62253604e-03 6.64445758e+01] [-4.42961793e-01 8.96539503e-01 -1.33042813e-03 -1.41338000e+01] [-2.94053865e-03 3.10930045e-05 9.99995676e-01 -3.87506757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.851858064 meters 0.014118133626238306 Centerline is valid? [True, True] Translation: X:66.47, Y:-14.15, Z:-0.39 [[ 8.95938347e-01 4.44168487e-01 2.97223787e-03 6.64735953e+01] [-4.44165925e-01 8.95943276e-01 -1.50895656e-03 -1.41465816e+01] [-3.33318749e-03 3.17652651e-05 9.99994444e-01 -3.87135265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.881858064 meters 0.014116395858090013 Centerline is valid? [True, True] Translation: X:66.50, Y:-14.16, Z:-0.39 [[ 8.95167059e-01 4.45724940e-01 2.28373244e-03 6.65029012e+01] [-4.45723431e-01 8.95169971e-01 -1.15982875e-03 -1.41584734e+01] [-2.56129330e-03 2.03274362e-05 9.99996720e-01 -3.88057615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.911858064 meters 0.014363906706720615 Centerline is valid? [True, True] Translation: X:66.53, Y:-14.17, Z:-0.39 [[ 8.94946616e-01 4.46168943e-01 1.95698632e-03 6.65310393e+01] [-4.46167836e-01 8.94948755e-01 -9.94121206e-04 -1.41735500e+01] [-2.19494848e-03 1.65410567e-05 9.99997591e-01 -3.89609356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.941858064 meters 0.013959544458353172 Centerline is valid? [True, True] Translation: X:66.56, Y:-14.19, Z:-0.39 [[ 8.94876227e-01 4.46312060e-01 1.44331112e-03 6.65617428e+01] [-4.46311458e-01 8.94877391e-01 -7.33127666e-04 -1.41862738e+01] [-1.61879020e-03 1.18922322e-05 9.99998690e-01 -3.89834436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.971858064 meters 0.014157833920952398 Centerline is valid? [True, True] Translation: X:66.59, Y:-14.20, Z:-0.39 [[ 8.94986474e-01 4.46091203e-01 1.36041355e-03 6.65900978e+01] [-4.46090667e-01 8.94987507e-01 -6.91486920e-04 -1.42009218e+01] [-1.52601936e-03 1.20036532e-05 9.99998836e-01 -3.90286181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001858064 meters 0.014085774381494491 Centerline is valid? [True, True] Translation: X:66.62, Y:-14.22, Z:-0.39 [[ 8.95138384e-01 4.45785094e-01 1.70980843e-03 6.66201474e+01] [-4.45784245e-01 8.95140017e-01 -8.69967582e-04 -1.42153381e+01] [-1.91833652e-03 1.65357166e-05 9.99998160e-01 -3.90243727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.031858064 meters 0.01437351200237307 Centerline is valid? [True, True] Translation: X:66.65, Y:-14.23, Z:-0.39 [[ 8.95824934e-01 4.44405321e-01 1.26429154e-03 6.66470564e+01] [-4.44404855e-01 8.95825826e-01 -6.43969833e-04 -1.42302609e+01] [-1.41876864e-03 1.50269334e-05 9.99998993e-01 -3.90235428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061858064 meters 0.014509691281004378 Centerline is valid? [True, True] Translation: X:66.67, Y:-14.25, Z:-0.39 [[ 8.96138711e-01 4.43773654e-01 5.95483664e-04 6.66747747e+01] [-4.43773551e-01 8.96138909e-01 -3.02965604e-04 -1.42455496e+01] [-6.68084233e-04 7.23930546e-06 9.99999777e-01 -3.90511139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09185806400001 meters 0.014454842696888976 Centerline is valid? [True, True] Translation: X:66.70, Y:-14.26, Z:-0.39 [[ 8.96420935e-01 4.43203271e-01 6.06595051e-04 6.67038778e+01] [-4.43203165e-01 8.96421140e-01 -3.07902721e-04 -1.42611005e+01] [-6.80228121e-04 7.16559886e-06 9.99999769e-01 -3.90491413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12185806400001 meters 0.014571014652449511 Centerline is valid? [True, True] Translation: X:66.73, Y:-14.28, Z:-0.39 [[ 8.96515192e-01 4.43012991e-01 1.86842237e-05 6.67328407e+01] [-4.43012991e-01 8.96515192e-01 -7.75031992e-06 -1.42767326e+01] [-2.01841829e-05 -1.32907429e-06 1.00000000e+00 -3.90767119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.151858064 meters 0.014741314284498494 Centerline is valid? [True, True] Translation: X:66.76, Y:-14.29, Z:-0.39 [[ 8.96424504e-01 4.43196464e-01 5.38094698e-05 6.67608021e+01] [-4.43196463e-01 8.96424506e-01 -2.58402150e-05 -1.42920169e+01] [-5.96884193e-05 -6.84364788e-07 9.99999998e-01 -3.91256960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.181858064 meters 0.014754062674238655 Centerline is valid? [True, True] Translation: X:66.79, Y:-14.31, Z:-0.39 [[ 8.95948925e-01 4.44157094e-01 1.71536993e-05 6.67894913e+01] [-4.44157094e-01 8.95948925e-01 -7.24163639e-06 -1.43063428e+01] [-1.85852627e-05 -1.13080090e-06 1.00000000e+00 -3.91467774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.211858064 meters 0.01470906080305178 Centerline is valid? [True, True] Translation: X:66.82, Y:-14.32, Z:-0.39 [[ 8.95426017e-01 4.45210279e-01 -2.37471049e-04 6.68176863e+01] [-4.45210262e-01 8.95426048e-01 1.22960067e-04 -1.43202533e+01] [ 2.67380849e-04 -4.37709505e-06 9.99999964e-01 -3.92133741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.241858064 meters 0.014707040589398207 Centerline is valid? [True, True] Translation: X:66.85, Y:-14.33, Z:-0.39 [[ 8.95053160e-01 4.45959166e-01 -5.13320373e-04 6.68473204e+01] [-4.45959087e-01 8.95053307e-01 2.64653538e-04 -1.43348929e+01] [ 5.77473768e-04 -7.95910083e-06 9.99999833e-01 -3.93148916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.271858064 meters 0.014921153354393533 Centerline is valid? [True, True] Translation: X:66.87, Y:-14.35, Z:-0.39 [[ 8.94882881e-01 4.46298014e-01 -1.64652420e-03 6.68748816e+01] [-4.46297214e-01 8.94884396e-01 8.45478727e-04 -1.43505701e+01] [ 1.85078429e-03 -2.17652756e-05 9.99998287e-01 -3.94764216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.301858064 meters 0.0145882500444382 Centerline is valid? [True, True] Translation: X:66.90, Y:-14.37, Z:-0.39 [[ 8.94905763e-01 4.46251995e-01 -1.68319819e-03 6.69041895e+01] [-4.46251157e-01 8.94907345e-01 8.65064797e-04 -1.43664383e+01] [ 1.89234331e-03 -2.30223332e-05 9.99998209e-01 -3.94149787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.331858064 meters 0.01497143544882764 Centerline is valid? [True, True] Translation: X:66.93, Y:-14.38, Z:-0.39 [[ 8.95600089e-01 4.44858823e-01 -1.05279073e-03 6.69299855e+01] [-4.44858494e-01 8.95600707e-01 5.41701362e-04 -1.43843433e+01] [ 1.18386076e-03 -1.68048872e-05 9.99999299e-01 -3.93056058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.361858064 meters 0.01559888242400587 Centerline is valid? [True, True] Translation: X:66.96, Y:-14.40, Z:-0.39 [[ 8.96068067e-01 4.43916424e-01 -4.76757323e-04 6.69558573e+01] [-4.43916356e-01 8.96068194e-01 2.45496490e-04 -1.44010364e+01] [ 5.36186997e-04 -8.34119242e-06 9.99999856e-01 -3.92806816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.391858064 meters 0.015352067263960706 Centerline is valid? [True, True] Translation: X:66.98, Y:-14.42, Z:-0.39 [[ 8.96341976e-01 4.43363324e-01 1.57724787e-04 6.69848677e+01] [-4.43363316e-01 8.96341990e-01 -7.92532007e-05 -1.44165767e+01] [-1.76513312e-04 1.10858578e-06 9.99999984e-01 -3.91634278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421858064 meters 0.015585955452576102 Centerline is valid? [True, True] Translation: X:67.01, Y:-14.43, Z:-0.39 [[ 8.96881201e-01 4.42271535e-01 -3.45307058e-05 6.70124826e+01] [-4.42271535e-01 8.96881201e-01 1.92922204e-05 -1.44339523e+01] [ 3.95023408e-05 -2.03088154e-06 9.99999999e-01 -3.90729787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.451858064 meters 0.015815598529110065 Centerline is valid? [True, True] Translation: X:67.04, Y:-14.45, Z:-0.39 [[ 8.96795506e-01 4.42445273e-01 -2.33438244e-05 6.70402663e+01] [-4.42445272e-01 8.96795507e-01 1.36498412e-05 -1.44497474e+01] [ 2.69739445e-05 -1.91275149e-06 1.00000000e+00 -3.91466845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48185806400001 meters 0.01576208005094397 Centerline is valid? [True, True] Translation: X:67.07, Y:-14.47, Z:-0.39 [[ 8.96711176e-01 4.42615898e-01 -4.83512966e-04 6.70688570e+01] [-4.42615827e-01 8.96711306e-01 2.50597423e-04 -1.44657502e+01] [ 5.44489947e-04 -1.07030184e-05 9.99999852e-01 -3.91872400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.511858064 meters 0.015571894028635019 Centerline is valid? [True, True] Translation: X:67.10, Y:-14.48, Z:-0.39 [[ 8.96393507e-01 4.43258609e-01 -6.97417169e-04 6.70975000e+01] [-4.43258462e-01 8.96393778e-01 3.60953380e-04 -1.44816313e+01] [ 7.85156104e-04 -1.44202043e-05 9.99999692e-01 -3.91634715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.541858064 meters 0.01583511118294447 Centerline is valid? [True, True] Translation: X:67.12, Y:-14.50, Z:-0.39 [[ 8.96023754e-01 4.44005996e-01 -3.27557197e-04 6.71237291e+01] [-4.44005963e-01 8.96023814e-01 1.70216762e-04 -1.44989526e+01] [ 3.69076311e-04 -7.08091326e-06 9.99999932e-01 -3.91787503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.571858064 meters 0.015622410662878481 Centerline is valid? [True, True] Translation: X:67.15, Y:-14.51, Z:-0.39 [[ 8.95846449e-01 4.44363435e-01 -5.27327061e-04 6.71531455e+01] [-4.44363351e-01 8.95846604e-01 2.73654854e-04 -1.45146573e+01] [ 5.94006367e-04 -1.08279093e-05 9.99999824e-01 -3.92213596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.601858064 meters 0.015617980817311708 Centerline is valid? [True, True] Translation: X:67.18, Y:-14.53, Z:-0.39 [[ 8.95648069e-01 4.44762176e-01 -1.06906152e-03 6.71817302e+01] [-4.44761832e-01 8.95648707e-01 5.53368632e-04 -1.45303453e+01] [ 1.20362101e-03 -2.01457853e-05 9.99999275e-01 -3.93071491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.631858064 meters 0.015604665823225151 Centerline is valid? [True, True] Translation: X:67.21, Y:-14.55, Z:-0.39 [[ 8.95339749e-01 4.45383166e-01 -7.54358804e-04 6.72075649e+01] [-4.45382995e-01 8.95340067e-01 3.90858549e-04 -1.45471660e+01] [ 8.49489480e-04 -1.39726114e-05 9.99999639e-01 -3.93029885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.661858064 meters 0.01521541166221145 Centerline is valid? [True, True] Translation: X:67.24, Y:-14.56, Z:-0.39 [[ 8.95148998e-01 4.45766397e-01 -7.68225510e-04 6.72364381e+01] [-4.45766219e-01 8.95149328e-01 3.98693002e-04 -1.45626921e+01] [ 8.65400492e-04 -1.44406607e-05 9.99999625e-01 -3.92309171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.691858064 meters 0.015298357387026562 Centerline is valid? [True, True] Translation: X:67.26, Y:-14.58, Z:-0.39 [[ 8.94811677e-01 4.46442822e-01 -9.32177404e-04 6.72640394e+01] [-4.46442560e-01 8.94812163e-01 4.83587962e-04 -1.45790103e+01] [ 1.05001805e-03 -1.65564889e-05 9.99999449e-01 -3.92555884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.721858064 meters 0.015367083833247478 Centerline is valid? [True, True] Translation: X:67.29, Y:-14.60, Z:-0.39 [[ 8.93805742e-01 4.48450248e-01 -1.91590766e-03 6.72906676e+01] [-4.48449151e-01 8.93807795e-01 9.92454097e-04 -1.45962041e+01] [ 2.15751949e-03 -2.78740090e-05 9.99997672e-01 -3.93343776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.751858064 meters 0.01484395176540834 Centerline is valid? [True, True] Translation: X:67.32, Y:-14.61, Z:-0.39 [[ 8.93040342e-01 4.49970414e-01 -2.36107477e-03 6.73189761e+01] [-4.49968752e-01 8.93043462e-01 1.22356241e-03 -1.46107342e+01] [ 2.65910927e-03 -3.02807257e-05 9.99996464e-01 -3.92975747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781858064 meters 0.014582555339478833 Centerline is valid? [True, True] Translation: X:67.35, Y:-14.63, Z:-0.39 [[ 8.92163971e-01 4.51706678e-01 -2.12741481e-03 6.73470256e+01] [-4.51705331e-01 8.92166507e-01 1.10330478e-03 -1.46255088e+01] [ 2.39637838e-03 -2.33641641e-05 9.99997128e-01 -3.92566600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.811858064 meters 0.014588956659026375 Centerline is valid? [True, True] Translation: X:67.37, Y:-14.64, Z:-0.39 [[ 8.90992159e-01 4.54012945e-01 -2.28451839e-03 6.73745260e+01] [-4.54011398e-01 8.90995087e-01 1.18520348e-03 -1.46403040e+01] [ 2.57359239e-03 -1.88096214e-05 9.99996688e-01 -3.92323060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84185806400001 meters 0.014347724955864312 Centerline is valid? [True, True] Translation: X:67.40, Y:-14.66, Z:-0.39 [[ 8.88954945e-01 4.57990616e-01 -1.92369595e-03 6.74034525e+01] [-4.57989527e-01 8.88957027e-01 9.98992703e-04 -1.46551264e+01] [ 2.16761232e-03 -7.02690480e-06 9.99997651e-01 -3.90770680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87185806400001 meters 0.014322530940540446 Centerline is valid? [True, True] Translation: X:67.43, Y:-14.67, Z:-0.39 [[ 8.87920943e-01 4.59992032e-01 -1.93130868e-03 6.74314356e+01] [-4.59990937e-01 8.87923043e-01 1.00369642e-03 -1.46705312e+01] [ 2.17654584e-03 -2.81858251e-06 9.99997631e-01 -3.90870886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.901858064 meters 0.014291829324922416 Centerline is valid? [True, True] Translation: X:67.46, Y:-14.69, Z:-0.39 [[ 8.86939837e-01 4.61880550e-01 -2.02043212e-03 6.74606572e+01] [-4.61879355e-01 8.86942139e-01 1.05077562e-03 -1.46866206e+01] [ 2.27733920e-03 1.22112742e-06 9.99997407e-01 -3.90313399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.931858064 meters 0.014454936188621224 Centerline is valid? [True, True] Translation: X:67.49, Y:-14.70, Z:-0.39 [[ 8.86054369e-01 4.63570917e-01 -3.10806471e-03 6.74885422e+01] [-4.63568100e-01 8.86059820e-01 1.61621344e-03 -1.47021542e+01] [ 3.50316081e-03 8.74667785e-06 9.99993864e-01 -3.90349759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.961858064 meters 0.014678192040370127 Centerline is valid? [True, True] Translation: X:67.52, Y:-14.72, Z:-0.39 [[ 8.84780777e-01 4.65992134e-01 -3.78254549e-03 6.75151728e+01] [-4.65987980e-01 8.84788862e-01 1.96758343e-03 -1.47181904e+01] [ 4.26363252e-03 2.17407394e-05 9.99990910e-01 -3.91186386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.991858064 meters 0.014731689302187708 Centerline is valid? [True, True] Translation: X:67.54, Y:-14.74, Z:-0.39 [[ 8.84080491e-01 4.67317825e-01 -3.96686411e-03 6.75439275e+01] [-4.67313263e-01 8.84089390e-01 2.06516072e-03 -1.47352008e+01] [ 4.47214889e-03 2.79999087e-05 9.99989999e-01 -3.90512384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.021858064 meters 0.01485122068257853 Centerline is valid? [True, True] Translation: X:67.57, Y:-14.75, Z:-0.39 [[ 8.83564514e-01 4.68292761e-01 -3.95464357e-03 6.75714950e+01] [-4.68288231e-01 8.83573364e-01 2.06000380e-03 -1.47513930e+01] [ 4.45890259e-03 3.17667795e-05 9.99990059e-01 -3.90272057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.051858064 meters 0.014865920390884498 Centerline is valid? [True, True] Translation: X:67.60, Y:-14.77, Z:-0.39 [[ 8.83152357e-01 4.69071495e-01 -3.72109525e-03 6.75997998e+01] [-4.69067485e-01 8.83160196e-01 1.93987751e-03 -1.47686303e+01] [ 4.19626446e-03 3.22373931e-05 9.99991195e-01 -3.89717548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.081858064 meters 0.01492055911057263 Centerline is valid? [True, True] Translation: X:67.63, Y:-14.79, Z:-0.39 [[ 8.83104251e-01 4.69153321e-01 -4.69507540e-03 6.76270154e+01] [-4.69146931e-01 8.83116731e-01 2.44882003e-03 -1.47882200e+01] [ 5.29517169e-03 4.01168360e-05 9.99985980e-01 -3.89532531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.111858064 meters 0.014857816630426346 Centerline is valid? [True, True] Translation: X:67.66, Y:-14.81, Z:-0.39 [[ 8.83117711e-01 4.69124755e-01 -5.00715261e-03 6.76553257e+01] [-4.69117479e-01 8.83131905e-01 2.61322426e-03 -1.48057084e+01] [ 5.64790442e-03 4.11581807e-05 9.99984050e-01 -3.89873991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141858064 meters 0.01493940377785362 Centerline is valid? [True, True] Translation: X:67.68, Y:-14.82, Z:-0.39 [[ 8.83124781e-01 4.69101858e-01 -5.83674526e-03 6.76830211e+01] [-4.69091958e-01 8.83144068e-01 3.04794577e-03 -1.48232423e+01] [ 6.58448397e-03 4.62538200e-05 9.99978321e-01 -3.90680401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.171858064 meters 0.014930853825381106 Centerline is valid? [True, True] Translation: X:67.71, Y:-14.84, Z:-0.39 [[ 8.83589623e-01 4.68196354e-01 -7.84546332e-03 6.77077386e+01] [-4.68178421e-01 8.83624451e-01 4.09818065e-03 -1.48421488e+01] [ 8.85119646e-03 5.19667348e-05 9.99960826e-01 -3.91836913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201858064 meters 0.014982278906120545 Centerline is valid? [True, True] Translation: X:67.74, Y:-14.86, Z:-0.39 [[ 8.83701195e-01 4.67969832e-01 -8.74268551e-03 6.77353783e+01] [-4.67947526e-01 8.83744439e-01 4.56940056e-03 -1.48593130e+01] [ 9.86464131e-03 5.31333235e-05 9.99951342e-01 -3.92564929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23185806400001 meters 0.015134579509520749 Centerline is valid? [True, True] Translation: X:67.76, Y:-14.88, Z:-0.39 [[ 8.83792718e-01 4.67780405e-01 -9.58770125e-03 6.77627208e+01] [-4.67753538e-01 8.83844720e-01 5.01377680e-03 -1.48766818e+01] [ 1.08193857e-02 5.35417472e-05 9.99941467e-01 -3.92773676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.261858064 meters 0.015145054327239563 Centerline is valid? [True, True] Translation: X:67.79, Y:-14.90, Z:-0.39 [[ 8.84193907e-01 4.67011771e-01 -1.00568324e-02 6.77882644e+01] [-4.66982124e-01 8.84251098e-01 5.26233825e-03 -1.48972366e+01] [ 1.13503390e-02 4.34335278e-05 9.99935582e-01 -3.91871932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.291858064 meters 0.015125286120421815 Centerline is valid? [True, True] Translation: X:67.82, Y:-14.91, Z:-0.39 [[ 8.84281047e-01 4.66841190e-01 -1.03118062e-02 6.78158475e+01] [-4.66809968e-01 8.84341168e-01 5.39927111e-03 -1.49146715e+01] [ 1.16397569e-02 3.91808194e-05 9.99932255e-01 -3.91840663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.321858064 meters 0.01509989579985931 Centerline is valid? [True, True] Translation: X:67.84, Y:-14.93, Z:-0.39 [[ 8.84588309e-01 4.66266368e-01 -9.95982826e-03 6.78425646e+01] [-4.66237174e-01 8.84644377e-01 5.21772486e-03 -1.49321541e+01] [ 1.12437557e-02 2.81037758e-05 9.99936787e-01 -3.91522764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.351858064 meters 0.015036223785691834 Centerline is valid? [True, True] Translation: X:67.87, Y:-14.95, Z:-0.39 [[ 8.84838817e-01 4.65802356e-01 -9.40391613e-03 6.78694886e+01] [-4.65776274e-01 8.84888787e-01 4.92929864e-03 -1.49499363e+01] [ 1.06174989e-02 1.84862383e-05 9.99943633e-01 -3.91082395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.381858064 meters 0.014997012655359817 Centerline is valid? [True, True] Translation: X:67.90, Y:-14.97, Z:-0.39 [[ 8.85783855e-01 4.63998471e-01 -9.61148042e-03 6.78952184e+01] [-4.63971082e-01 8.85836000e-01 5.04144050e-03 -1.49717564e+01] [ 1.08534160e-02 -6.17762704e-06 9.99941100e-01 -3.90293463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.411858064 meters 0.01506633339176501 Centerline is valid? [True, True] Translation: X:67.92, Y:-14.99, Z:-0.39 [[ 8.86151232e-01 4.63298054e-01 -9.53455015e-03 6.79222108e+01] [-4.63271030e-01 8.86202524e-01 5.00391897e-03 -1.49897821e+01] [ 1.07678483e-02 -1.71480903e-05 9.99942025e-01 -3.90390196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.441858064 meters 0.01506633339176501 Centerline is valid? [True, True] Translation: X:67.95, Y:-15.00, Z:-0.39 [[ 8.86032488e-01 4.63525131e-01 -9.53322828e-03 6.79508722e+01] [-4.63498094e-01 8.86083773e-01 5.00643731e-03 -1.50049337e+01] [ 1.07678484e-02 -1.72329698e-05 9.99942025e-01 -3.90572385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.471858064 meters 0.014883741956026585 Centerline is valid? [True, True] Translation: X:67.98, Y:-15.02, Z:-0.39 [[ 8.86446654e-01 4.62731130e-01 -9.60372577e-03 6.79787427e+01] [-4.62703609e-01 8.86498675e-01 5.04680338e-03 -1.50230044e+01] [ 1.08490032e-02 -3.00433952e-05 9.99941147e-01 -3.89009427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501858064 meters 0.014870880344524643 Centerline is valid? [True, True] Translation: X:68.01, Y:-15.04, Z:-0.39 [[ 8.87330073e-01 4.61035534e-01 -9.56966615e-03 6.80052671e+01] [-4.61008073e-01 8.87381673e-01 5.03224686e-03 -1.50438518e+01] [ 1.08119910e-02 -5.35706205e-05 9.99941547e-01 -3.89100594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.531858064 meters 0.015504311322804989 Centerline is valid? [True, True] Translation: X:68.03, Y:-15.06, Z:-0.39 [[ 8.87478725e-01 4.60736288e-01 -1.01776791e-02 6.80315756e+01] [-4.60705179e-01 8.87537080e-01 5.35436928e-03 -1.50613358e+01] [ 1.15000198e-02 -6.29793561e-05 9.99933871e-01 -3.92450348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561858064 meters 0.01473552869057216 Centerline is valid? [True, True] Translation: X:68.06, Y:-15.08, Z:-0.39 [[ 8.87357344e-01 4.60970827e-01 -1.01410527e-02 6.80602274e+01] [-4.60939910e-01 8.87415288e-01 5.33912518e-03 -1.50770429e+01] [ 1.14605062e-02 -6.32959997e-05 9.99934324e-01 -3.89262051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59185806400001 meters 0.014709807381401907 Centerline is valid? [True, True] Translation: X:68.09, Y:-15.09, Z:-0.39 [[ 8.87206581e-01 4.61258980e-01 -1.02291865e-02 6.80882278e+01] [-4.61227500e-01 8.87265546e-01 5.38923897e-03 -1.50935375e+01] [ 1.15618396e-02 -6.33861896e-05 9.99933158e-01 -3.90590619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62185806400001 meters 0.01481525241494618 Centerline is valid? [True, True] Translation: X:68.12, Y:-15.11, Z:-0.39 [[ 8.87256542e-01 4.61175808e-01 -9.62826425e-03 6.81153697e+01] [-4.61147885e-01 8.87308780e-01 5.07520171e-03 -1.51088372e+01] [ 1.08838037e-02 -6.29522183e-05 9.99940768e-01 -3.91580003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.651858064 meters 0.01505130014807347 Centerline is valid? [True, True] Translation: X:68.14, Y:-15.12, Z:-0.39 [[ 8.87272406e-01 4.61155637e-01 -9.11893855e-03 6.81421425e+01] [-4.61130578e-01 8.87319263e-01 4.80783086e-03 -1.51248123e+01] [ 1.03085681e-02 -6.08342473e-05 9.99946863e-01 -3.93313193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.681858064 meters 0.014711852798903679 Centerline is valid? [True, True] Translation: X:68.17, Y:-15.14, Z:-0.39 [[ 8.87275693e-01 4.61167988e-01 -8.11987698e-03 6.81703511e+01] [-4.61148088e-01 8.87312844e-01 4.28445035e-03 -1.51399862e+01] [ 9.18072249e-03 -5.70228993e-05 9.99957855e-01 -3.91252257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.711858064 meters 0.01476190544487649 Centerline is valid? [True, True] Translation: X:68.20, Y:-15.16, Z:-0.39 [[ 8.87174713e-01 4.61369334e-01 -7.70497002e-03 6.81992469e+01] [-4.61351397e-01 8.87208169e-01 4.06861657e-03 -1.51559460e+01] [ 8.71304726e-03 -5.48750535e-05 9.99962039e-01 -3.91206408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.741858064 meters 0.014776541358787544 Centerline is valid? [True, True] Translation: X:68.23, Y:-15.17, Z:-0.39 [[ 8.86803392e-01 4.62085022e-01 -7.56149448e-03 6.82272186e+01] [-4.62067752e-01 8.86835627e-01 3.99530222e-03 -1.51704085e+01] [ 8.55197202e-03 -4.91247970e-05 9.99963430e-01 -3.91927983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.771858064 meters 0.014806158943479577 Centerline is valid? [True, True] Translation: X:68.26, Y:-15.18, Z:-0.39 [[ 8.86375076e-01 4.62911613e-01 -7.21548313e-03 6.82560381e+01] [-4.62895898e-01 8.86404443e-01 3.81464959e-03 -1.51843429e+01] [ 8.16168190e-03 -4.11927838e-05 9.99966692e-01 -3.92780215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.801858064 meters 0.014686164921983326 Centerline is valid? [True, True] Translation: X:68.29, Y:-15.20, Z:-0.39 [[ 8.85920982e-01 4.63779497e-01 -7.25200623e-03 6.82855430e+01] [-4.63763627e-01 8.85950663e-01 3.83677226e-03 -1.51982228e+01] [ 8.20433603e-03 -3.58603355e-05 9.99966343e-01 -3.93429980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.831858064 meters 0.014589586691614321 Centerline is valid? [True, True] Translation: X:68.32, Y:-15.21, Z:-0.39 [[ 8.85355337e-01 4.64871494e-01 -6.35783156e-03 6.83150762e+01] [-4.64859310e-01 8.85378164e-01 3.36565290e-03 -1.52106948e+01] [ 7.19368132e-03 -2.43015618e-05 9.99974125e-01 -3.94376078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.861858064 meters 0.01451748835757738 Centerline is valid? [True, True] Translation: X:68.34, Y:-15.22, Z:-0.39 [[ 8.85116989e-01 4.65336309e-01 -5.48038258e-03 6.83436230e+01] [-4.65327254e-01 8.85133955e-01 2.90305646e-03 -1.52248417e+01] [ 6.20177029e-03 -1.93732164e-05 9.99980769e-01 -3.94682407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.891858064 meters 0.014448346518202126 Centerline is valid? [True, True] Translation: X:68.37, Y:-15.24, Z:-0.39 [[ 8.85116914e-01 4.65344977e-01 -4.70120876e-03 6.83725980e+01] [-4.65338305e-01 8.85129398e-01 2.49200950e-03 -1.52391812e+01] [ 5.32082218e-03 -1.80672468e-05 9.99985844e-01 -3.94381853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921858064 meters 0.014492202919182606 Centerline is valid? [True, True] Translation: X:68.40, Y:-15.25, Z:-0.40 [[ 8.85393304e-01 4.64826713e-01 -3.85024581e-03 6.84012469e+01] [-4.64822226e-01 8.85401675e-01 2.04257664e-03 -1.52542692e+01] [ 4.35845827e-03 -1.88038524e-05 9.99990502e-01 -3.95182300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.951858064 meters 0.014423799774701394 Centerline is valid? [True, True] Translation: X:68.43, Y:-15.27, Z:-0.40 [[ 8.85903516e-01 4.63858442e-01 -3.21019131e-03 6.84305032e+01] [-4.63855311e-01 8.85909332e-01 1.70453454e-03 -1.52698965e+01] [ 3.63460118e-03 -2.09888581e-05 9.99993395e-01 -3.95475803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98185806400001 meters 0.014764353551155207 Centerline is valid? [True, True] Translation: X:68.46, Y:-15.29, Z:-0.40 [[ 8.87248127e-01 4.61288068e-01 -2.01996764e-03 6.84570691e+01] [-4.61286821e-01 8.87250426e-01 1.07263689e-03 -1.52855580e+01] [ 2.28701174e-03 -1.99106178e-05 9.99997385e-01 -3.96218205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.011858064 meters 0.01500790979110208 Centerline is valid? [True, True] Translation: X:68.49, Y:-15.30, Z:-0.40 [[ 8.87955127e-01 4.59927997e-01 -1.38941005e-03 6.84852162e+01] [-4.59927403e-01 8.87956213e-01 7.39399895e-04 -1.53017814e+01] [ 1.57380600e-03 -1.75261722e-05 9.99998761e-01 -3.96622840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.041858064 meters 0.014984241176337544 Centerline is valid? [True, True] Translation: X:68.51, Y:-15.32, Z:-0.40 [[ 8.88585205e-01 4.58710382e-01 -1.05739529e-03 6.85137863e+01] [-4.58710037e-01 8.88585834e-01 5.63286193e-04 -1.53171853e+01] [ 1.19797170e-03 -1.54899459e-05 9.99999282e-01 -3.96829049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.071858064 meters 0.015346196806531901 Centerline is valid? [True, True] Translation: X:68.54, Y:-15.33, Z:-0.40 [[ 8.90175995e-01 4.55613746e-01 -1.67698389e-03 6.85419175e+01] [-4.55612872e-01 8.90177574e-01 8.93013190e-04 -1.53325435e+01] [ 1.89968254e-03 -3.08834575e-05 9.99998195e-01 -3.98428986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.101858064 meters 0.015666998585916452 Centerline is valid? [True, True] Translation: X:68.57, Y:-15.35, Z:-0.40 [[ 8.90715229e-01 4.54558064e-01 -1.82948426e-03 6.85704135e+01] [-4.54557020e-01 8.90717107e-01 9.74651371e-04 -1.53477741e+01] [ 2.07258857e-03 -3.65319053e-05 9.99997852e-01 -3.99551339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.131858064 meters 0.015989816615194455 Centerline is valid? [True, True] Translation: X:68.60, Y:-15.36, Z:-0.40 [[ 8.91476342e-01 4.53064763e-01 -1.50065437e-03 6.85987340e+01] [-4.53064057e-01 8.91477605e-01 8.00225657e-04 -1.53622294e+01] [ 1.70035381e-03 -3.34896860e-05 9.99998554e-01 -4.00641448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.161858064 meters 0.016278909795175312 Centerline is valid? [True, True] Translation: X:68.63, Y:-15.38, Z:-0.40 [[ 8.91639129e-01 4.52745846e-01 -9.28952677e-04 6.86269491e+01] [-4.52745576e-01 8.91639612e-01 4.95717006e-04 -1.53775033e+01] [ 1.05272482e-03 -2.14214645e-05 9.99999446e-01 -4.01406891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.191858064 meters 0.016110167120899205 Centerline is valid? [True, True] Translation: X:68.66, Y:-15.39, Z:-0.40 [[ 8.91432621e-01 4.53152413e-01 -8.79129575e-04 6.86566941e+01] [-4.53152170e-01 8.91433054e-01 4.70163498e-04 -1.53924988e+01] [ 9.96740886e-04 -2.07396049e-05 9.99999503e-01 -4.01697349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.221858064 meters 0.015817230153872663 Centerline is valid? [True, True] Translation: X:68.69, Y:-15.41, Z:-0.40 [[ 8.91002791e-01 4.53997673e-01 -3.71834898e-04 6.86859343e+01] [-4.53997629e-01 8.91002869e-01 1.99784913e-04 -1.54053267e+01] [ 4.22007847e-04 -9.19675301e-06 9.99999911e-01 -4.02261990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251858064 meters 0.015889843418495447 Centerline is valid? [True, True] Translation: X:68.71, Y:-15.42, Z:-0.40 [[ 8.90721580e-01 4.54549268e-01 -1.73417401e-04 6.87139279e+01] [-4.54549259e-01 8.90721597e-01 9.33565883e-05 -1.54194823e+01] [ 1.96901793e-04 -4.32797692e-06 9.99999981e-01 -4.02510642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281858064 meters 0.015486125196403737 Centerline is valid? [True, True] Translation: X:68.74, Y:-15.43, Z:-0.40 [[ 8.89964283e-01 4.56029350e-01 8.98909786e-04 6.87430156e+01] [-4.56029099e-01 8.89964736e-01 -4.78114548e-04 -1.54332528e+01] [-1.01803228e-03 1.55758507e-05 9.99999482e-01 -4.02138065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.311858064 meters 0.015412163191288327 Centerline is valid? [True, True] Translation: X:68.77, Y:-15.45, Z:-0.40 [[ 8.89645449e-01 4.56649037e-01 1.62259309e-03 6.87712604e+01] [-4.56648219e-01 8.89646928e-01 -8.64773786e-04 -1.54475365e+01] [-1.83843307e-03 2.83878193e-05 9.99998310e-01 -4.02295953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34185806400001 meters 0.015412163191288327 Centerline is valid? [True, True] Translation: X:68.80, Y:-15.46, Z:-0.40 [[ 8.89519050e-01 4.56895204e-01 1.62244567e-03 6.87998176e+01] [-4.56894386e-01 8.89520529e-01 -8.65050208e-04 -1.54628638e+01] [-1.83843602e-03 2.81923214e-05 9.99998310e-01 -4.02478099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37185806400001 meters 0.01501156180932862 Centerline is valid? [True, True] Translation: X:68.83, Y:-15.48, Z:-0.40 [[ 8.88835857e-01 4.58220801e-01 2.12524154e-03 6.88291599e+01] [-4.58219397e-01 8.88838397e-01 -1.13455504e-03 -1.54765942e+01] [-2.40887300e-03 3.46063069e-05 9.99997098e-01 -4.01962411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.401858064 meters 0.015032498782701836 Centerline is valid? [True, True] Translation: X:68.86, Y:-15.49, Z:-0.40 [[ 8.88502398e-01 4.58866643e-01 2.21188483e-03 6.88584200e+01] [-4.58865123e-01 8.88505151e-01 -1.18143748e-03 -1.54911820e+01] [-2.50739331e-03 3.47532344e-05 9.99996856e-01 -4.02051537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.431858064 meters 0.014838938221719515 Centerline is valid? [True, True] Translation: X:68.89, Y:-15.51, Z:-0.40 [[ 8.88103568e-01 4.59639459e-01 1.90264572e-03 6.88883771e+01] [-4.59638336e-01 8.88105606e-01 -1.01669871e-03 -1.55058752e+01] [-2.15706517e-03 2.84048454e-05 9.99997673e-01 -4.03027551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.461858064 meters 0.014845150351066629 Centerline is valid? [True, True] Translation: X:68.92, Y:-15.52, Z:-0.41 [[ 8.87664006e-01 4.60490215e-01 1.17253672e-03 6.89169314e+01] [-4.60489789e-01 8.87664780e-01 -6.26392885e-04 -1.55192332e+01] [-1.32926734e-03 1.60852303e-05 9.99999116e-01 -4.05891955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.491858064 meters 0.014911273122357068 Centerline is valid? [True, True] Translation: X:68.95, Y:-15.53, Z:-0.41 [[ 8.87601120e-01 4.60611720e-01 1.04674211e-03 6.89464718e+01] [-4.60611381e-01 8.87601737e-01 -5.59292708e-04 -1.55346794e+01] [-1.18670689e-03 1.42875049e-05 9.99999296e-01 -4.06663401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.521858064 meters 0.01486610027610442 Centerline is valid? [True, True] Translation: X:68.98, Y:-15.55, Z:-0.41 [[ 8.87600866e-01 4.60611465e-01 1.33472132e-03 6.89754198e+01] [-4.60610912e-01 8.87601869e-01 -7.14110669e-04 -1.55502087e+01] [-1.51362870e-03 1.90580437e-05 9.99998854e-01 -4.06989829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.551858064 meters 0.014547881471791988 Centerline is valid? [True, True] Translation: X:69.01, Y:-15.57, Z:-0.41 [[ 8.87720178e-01 4.60380627e-01 1.60106628e-03 6.90050818e+01] [-4.60379829e-01 8.87721622e-01 -8.57457345e-04 -1.55654731e+01] [-1.81605790e-03 2.40835688e-05 9.99998351e-01 -4.07142773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.581858064 meters 0.014528418703071063 Centerline is valid? [True, True] Translation: X:69.03, Y:-15.58, Z:-0.41 [[ 8.87830874e-01 4.60167428e-01 1.50917566e-03 6.90337714e+01] [-4.60166718e-01 8.87832156e-01 -8.08693800e-04 -1.55812576e+01] [-1.71202923e-03 2.35109110e-05 9.99998534e-01 -4.06991190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.611858064 meters 0.014528063525625419 Centerline is valid? [True, True] Translation: X:69.06, Y:-15.60, Z:-0.41 [[ 8.87751880e-01 4.60319048e-01 1.72450326e-03 6.90632313e+01] [-4.60318119e-01 8.87753554e-01 -9.25604928e-04 -1.55971219e+01] [-1.95700748e-03 2.78874197e-05 9.99998085e-01 -4.06869185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641858064 meters 0.014651549395857767 Centerline is valid? [True, True] Translation: X:69.09, Y:-15.61, Z:-0.41 [[ 8.87705043e-01 4.60405493e-01 2.55712181e-03 6.90913694e+01] [-4.60403448e-01 8.87708725e-01 -1.37286415e-03 -1.56123297e+01] [-2.90205354e-03 4.13907361e-05 9.99995788e-01 -4.06943094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.671858064 meters 0.014714771290370177 Centerline is valid? [True, True] Translation: X:69.12, Y:-15.63, Z:-0.41 [[ 8.87599782e-01 4.60606847e-01 2.82128971e-03 6.91201570e+01] [-4.60604356e-01 8.87604264e-01 -1.51578225e-03 -1.56279995e+01] [-3.20236846e-03 4.59096619e-05 9.99994871e-01 -4.07136215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701858064 meters 0.014711392252443525 Centerline is valid? [True, True] Translation: X:69.15, Y:-15.64, Z:-0.41 [[ 8.87405710e-01 4.60979835e-01 2.94919734e-03 6.91487822e+01] [-4.60977110e-01 8.87410609e-01 -1.58563565e-03 -1.56433466e+01] [-3.34809507e-03 4.75896648e-05 9.99994394e-01 -4.07729963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73185806400001 meters 0.014739430510564203 Centerline is valid? [True, True] Translation: X:69.18, Y:-15.66, Z:-0.41 [[ 8.87266631e-01 4.61248812e-01 2.73100106e-03 6.91779086e+01] [-4.61246474e-01 8.87270833e-01 -1.46916959e-03 -1.56593138e+01] [-3.10079032e-03 4.38805418e-05 9.99995192e-01 -4.08491140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.761858064 meters 0.014496881593407625 Centerline is valid? [True, True] Translation: X:69.21, Y:-15.67, Z:-0.41 [[ 8.87005036e-01 4.61752241e-01 2.63333478e-03 6.92072307e+01] [-4.61750067e-01 8.87008944e-01 -1.41748308e-03 -1.56745216e+01] [-2.99031749e-03 4.13721165e-05 9.99995528e-01 -4.08891880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.791858064 meters 0.01460960315833914 Centerline is valid? [True, True] Translation: X:69.24, Y:-15.69, Z:-0.41 [[ 8.86833530e-01 4.62078292e-01 3.15301126e-03 6.92351967e+01] [-4.62075172e-01 8.86839134e-01 -1.69875160e-03 -1.56897219e+01] [-3.58117001e-03 4.95816621e-05 9.99993586e-01 -4.09002952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.821858064 meters 0.014631231275633318 Centerline is valid? [True, True] Translation: X:69.26, Y:-15.70, Z:-0.41 [[ 8.86551544e-01 4.62613711e-01 3.86192619e-03 6.92639021e+01] [-4.62609028e-01 8.86559953e-01 -2.08237066e-03 -1.57046935e+01] [-4.38716232e-03 5.95669977e-05 9.99990375e-01 -4.08684774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.851858064 meters 0.014564441637871317 Centerline is valid? [True, True] Translation: X:69.29, Y:-15.72, Z:-0.41 [[ 8.86088746e-01 4.63491341e-01 4.74456013e-03 6.92913916e+01] [-4.63484275e-01 8.86101446e-01 -2.56024019e-03 -1.57183006e+01] [-5.39081075e-03 6.95710051e-05 9.99985467e-01 -4.08131493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.881858064 meters 0.014553690438782081 Centerline is valid? [True, True] Translation: X:69.32, Y:-15.73, Z:-0.41 [[ 8.85574183e-01 4.64467374e-01 5.33144159e-03 6.93193027e+01] [-4.64458460e-01 8.85590229e-01 -2.87861778e-03 -1.57333258e+01] [-6.05849662e-03 7.29964387e-05 9.99981644e-01 -4.07662148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.911858064 meters 0.014191351904310555 Centerline is valid? [True, True] Translation: X:69.35, Y:-15.75, Z:-0.41 [[ 8.85007302e-01 4.65543227e-01 5.61950081e-03 6.93478778e+01] [-4.65533333e-01 8.85025140e-01 -3.03593314e-03 -1.57469750e+01] [-6.38675761e-03 7.07580526e-05 9.99979602e-01 -4.07565717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.941858064 meters 0.014163736619295623 Centerline is valid? [True, True] Translation: X:69.38, Y:-15.76, Z:-0.41 [[ 8.83642250e-01 4.68129529e-01 5.57841920e-03 6.93760172e+01] [-4.68119820e-01 8.83659856e-01 -3.01546788e-03 -1.57606523e+01] [-6.34105466e-03 5.32262308e-05 9.99979894e-01 -4.08486435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.971858064 meters 0.013978284799432859 Centerline is valid? [True, True] Translation: X:69.41, Y:-15.77, Z:-0.41 [[ 8.82746711e-01 4.69813515e-01 5.78839521e-03 6.94055276e+01] [-4.69803086e-01 8.82765687e-01 -3.13073017e-03 -1.57741613e+01] [-6.58065603e-03 4.42358259e-05 9.99978346e-01 -4.09131465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001858064 meters 0.013692550074507598 Centerline is valid? [True, True] Translation: X:69.43, Y:-15.79, Z:-0.41 [[ 8.81148344e-01 4.72804290e-01 5.80506007e-03 6.94336899e+01] [-4.72793853e-01 8.81167466e-01 -3.14156588e-03 -1.57866448e+01] [-6.60057590e-03 2.35888587e-05 9.99978216e-01 -4.09028402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031858064 meters 0.013656673741010615 Centerline is valid? [True, True] Translation: X:69.46, Y:-15.80, Z:-0.41 [[ 8.80245576e-01 4.74484048e-01 5.71082563e-03 6.94630380e+01] [-4.74473972e-01 8.80264101e-01 -3.09226475e-03 -1.58006937e+01] [-6.49426509e-03 1.23142482e-05 9.99978912e-01 -4.09630940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061858064 meters 0.013559754166890642 Centerline is valid? [True, True] Translation: X:69.49, Y:-15.82, Z:-0.41 [[ 8.79438882e-01 4.75982244e-01 5.30614359e-03 6.94928693e+01] [-4.75973562e-01 8.79454890e-01 -2.87491657e-03 -1.58153154e+01] [-6.03492317e-03 2.72935050e-06 9.99981790e-01 -4.10180128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09185806400001 meters 0.013550592177565443 Centerline is valid? [True, True] Translation: X:69.52, Y:-15.83, Z:-0.41 [[ 8.78602628e-01 4.77524062e-01 5.30970347e-03 6.95218430e+01] [-4.77515385e-01 8.78618672e-01 -2.87877601e-03 -1.58298824e+01] [-6.03988942e-03 -6.16492490e-06 9.99981760e-01 -4.10158298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12185806400001 meters 0.013640250739569893 Centerline is valid? [True, True] Translation: X:69.55, Y:-15.84, Z:-0.41 [[ 8.77460064e-01 4.79620505e-01 5.29210364e-03 6.95508321e+01] [-4.79611913e-01 8.77476023e-01 -2.87103771e-03 -1.58447831e+01] [-6.02070261e-03 -1.89350154e-05 9.99981875e-01 -4.09485260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.151858064 meters 0.013624385240700802 Centerline is valid? [True, True] Translation: X:69.58, Y:-15.86, Z:-0.41 [[ 8.77140109e-01 4.80201741e-01 5.61395577e-03 6.95798255e+01] [-4.80192069e-01 8.77158074e-01 -3.04781689e-03 -1.58602291e+01] [-6.38789361e-03 -2.24146031e-05 9.99979597e-01 -4.09439875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.181858064 meters 0.01357407066812632 Centerline is valid? [True, True] Translation: X:69.61, Y:-15.88, Z:-0.41 [[ 8.77133367e-01 4.80216433e-01 5.40680344e-03 6.96079065e+01] [-4.80207451e-01 8.77150031e-01 -2.93725810e-03 -1.58752591e+01] [-6.15309741e-03 -2.00202037e-05 9.99981069e-01 -4.09578006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.211858064 meters 0.013560532325945117 Centerline is valid? [True, True] Translation: X:69.64, Y:-15.89, Z:-0.41 [[ 8.77386543e-01 4.79750721e-01 5.66568152e-03 6.96366115e+01] [-4.79740835e-01 8.77404836e-01 -3.07992384e-03 -1.58913770e+01] [-6.44869205e-03 -1.57750573e-05 9.99979207e-01 -4.09914494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.241858064 meters 0.013461700332275586 Centerline is valid? [True, True] Translation: X:69.66, Y:-15.91, Z:-0.41 [[ 8.78478009e-01 4.77754209e-01 5.22520489e-03 6.96645373e+01] [-4.77745754e-01 8.78493549e-01 -2.84222920e-03 -1.59090865e+01] [-5.94819575e-03 5.16396169e-07 9.99982309e-01 -4.10651429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.271858064 meters 0.013527625112329359 Centerline is valid? [True, True] Translation: X:69.69, Y:-15.93, Z:-0.41 [[ 8.79063910e-01 4.76675918e-01 5.16832136e-03 6.96931360e+01] [-4.76667617e-01 8.79079103e-01 -2.81314528e-03 -1.59262764e+01] [-5.88432191e-03 9.36306218e-06 9.99982687e-01 -4.10802872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.301858064 meters 0.0135237657253296 Centerline is valid? [True, True] Translation: X:69.72, Y:-15.94, Z:-0.41 [[ 8.79652338e-01 4.75589243e-01 5.16096574e-03 6.97203693e+01] [-4.75580936e-01 8.79667478e-01 -2.81100745e-03 -1.59423392e+01] [-5.87681862e-03 1.82523599e-05 9.99982731e-01 -4.10874566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.331858064 meters 0.013679603590781061 Centerline is valid? [True, True] Translation: X:69.75, Y:-15.96, Z:-0.41 [[ 8.80680777e-01 4.73681257e-01 5.23790074e-03 6.97491875e+01] [-4.73672656e-01 8.80696353e-01 -2.85471419e-03 -1.59589606e+01] [-5.96522468e-03 3.30415572e-05 9.99982207e-01 -4.10826197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.361858064 meters 0.013812700246066786 Centerline is valid? [True, True] Translation: X:69.78, Y:-15.98, Z:-0.41 [[ 8.81100901e-01 4.72899918e-01 5.18363493e-03 6.97770404e+01] [-4.72891469e-01 8.81116148e-01 -2.82700991e-03 -1.59751543e+01] [-5.90427720e-03 3.95842406e-05 9.99982569e-01 -4.10875936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.391858064 meters 0.013812700246066786 Centerline is valid? [True, True] Translation: X:69.81, Y:-15.99, Z:-0.41 [[ 8.80972627e-01 4.73138847e-01 5.18289175e-03 6.98054532e+01] [-4.73130394e-01 8.80987872e-01 -2.82837178e-03 -1.59907526e+01] [-5.90427734e-03 3.95344985e-05 9.99982569e-01 -4.11058118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421858064 meters 0.013911650262269277 Centerline is valid? [True, True] Translation: X:69.83, Y:-16.01, Z:-0.41 [[ 8.81607134e-01 4.71953110e-01 5.39665672e-03 6.98334555e+01] [-4.71943912e-01 8.81623650e-01 -2.94698157e-03 -1.60056858e+01] [-6.14865731e-03 5.11606919e-05 9.99981096e-01 -4.11495688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.451858064 meters 0.014316516605611536 Centerline is valid? [True, True] Translation: X:69.86, Y:-16.02, Z:-0.41 [[ 8.82904601e-01 4.69519346e-01 5.57212977e-03 6.98604102e+01] [-4.69509480e-01 8.82922182e-01 -3.04461511e-03 -1.60214735e+01] [-6.34926267e-03 7.19369432e-05 9.99979841e-01 -4.11861555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48185806400001 meters 0.014505933391776908 Centerline is valid? [True, True] Translation: X:69.89, Y:-16.04, Z:-0.41 [[ 8.83557544e-01 4.68288495e-01 5.65264013e-03 6.98882814e+01] [-4.68278306e-01 8.83575621e-01 -3.09030285e-03 -1.60372019e+01] [-6.44168829e-03 8.34516477e-05 9.99979249e-01 -4.12199341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.511858064 meters 0.015188590171837523 Centerline is valid? [True, True] Translation: X:69.91, Y:-16.05, Z:-0.41 [[ 8.85027251e-01 4.65509637e-01 5.24815526e-03 6.99142868e+01] [-4.65500796e-01 8.85042806e-01 -2.87071710e-03 -1.60539685e+01] [-5.98118853e-03 9.76424106e-05 9.99982108e-01 -4.12056752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.541858064 meters 0.015257194640030466 Centerline is valid? [True, True] Translation: X:69.94, Y:-16.07, Z:-0.41 [[ 8.85652172e-01 4.64321597e-01 5.06802952e-03 6.99431213e+01] [-4.64313324e-01 8.85666666e-01 -2.77362693e-03 -1.60689426e+01] [-5.77643970e-03 1.03315086e-04 9.99983311e-01 -4.12642630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.571858064 meters 0.016078770784143624 Centerline is valid? [True, True] Translation: X:69.97, Y:-16.08, Z:-0.41 [[ 8.86031060e-01 4.63599877e-01 4.91061675e-03 6.99695207e+01] [-4.63592091e-01 8.86044662e-01 -2.68900258e-03 -1.60844758e+01] [-5.59764702e-03 1.06016724e-04 9.99984327e-01 -4.12969564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.601858064 meters 0.01622492442852751 Centerline is valid? [True, True] Translation: X:70.00, Y:-16.10, Z:-0.41 [[ 8.86348942e-01 4.62991278e-01 4.96272210e-03 6.99979032e+01] [-4.62983312e-01 8.86362829e-01 -2.71834095e-03 -1.60989125e+01] [-5.65734055e-03 1.11741114e-04 9.99983991e-01 -4.13380341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.631858064 meters 0.016091014727817696 Centerline is valid? [True, True] Translation: X:70.03, Y:-16.11, Z:-0.41 [[ 8.86427854e-01 4.62845076e-01 4.48286537e-03 7.00284988e+01] [-4.62838567e-01 8.86439183e-01 -2.45671514e-03 -1.61124371e+01] [-5.11086602e-03 1.02857739e-04 9.99986934e-01 -4.13925183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.661858064 meters 0.01602522753777931 Centerline is valid? [True, True] Translation: X:70.06, Y:-16.13, Z:-0.41 [[ 8.86269492e-01 4.63147622e-01 4.54618673e-03 7.00576854e+01] [-4.63140923e-01 8.86281146e-01 -2.49308726e-03 -1.61276768e+01] [-5.18386703e-03 1.04022063e-04 9.99986558e-01 -4.14096049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.691858064 meters 0.0159561864775492 Centerline is valid? [True, True] Translation: X:70.09, Y:-16.14, Z:-0.41 [[ 8.86211732e-01 4.63256775e-01 4.68245598e-03 7.00878098e+01] [-4.63249662e-01 8.86224096e-01 -2.56955863e-03 -1.61420073e+01] [-5.34007076e-03 1.08026855e-04 9.99985736e-01 -4.13977493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.721858064 meters 0.016026367716516388 Centerline is valid? [True, True] Translation: X:70.12, Y:-16.16, Z:-0.41 [[ 8.86095089e-01 4.63478754e-01 4.78945396e-03 7.01172518e+01] [-4.63471305e-01 8.86108025e-01 -2.63006720e-03 -1.61572401e+01] [-5.46295386e-03 1.10715149e-04 9.99985072e-01 -4.14129364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.751858064 meters 0.015644286281082626 Centerline is valid? [True, True] Translation: X:70.15, Y:-16.17, Z:-0.41 [[ 8.85744727e-01 4.64145891e-01 4.98713042e-03 7.01460144e+01] [-4.64137814e-01 8.85758759e-01 -2.74050829e-03 -1.61707994e+01] [-5.68939012e-03 1.12674958e-04 9.99983809e-01 -4.14352633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781858064 meters 0.015766631935267103 Centerline is valid? [True, True] Translation: X:70.17, Y:-16.18, Z:-0.41 [[ 8.85359375e-01 4.64883015e-01 4.74980155e-03 7.01742195e+01] [-4.64875691e-01 8.85372109e-01 -2.61157635e-03 -1.61848441e+01] [-5.41941931e-03 1.04116324e-04 9.99985309e-01 -4.14721493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.811858064 meters 0.015863535679827834 Centerline is valid? [True, True] Translation: X:70.20, Y:-16.20, Z:-0.42 [[ 8.84529189e-01 4.66460048e-01 4.81013891e-03 7.02033664e+01] [-4.66452555e-01 8.84542263e-01 -2.64562739e-03 -1.61972685e+01] [-5.48885064e-03 9.64330688e-05 9.99984931e-01 -4.15865497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84185806400001 meters 0.015637987446060212 Centerline is valid? [True, True] Translation: X:70.23, Y:-16.21, Z:-0.42 [[ 8.84037691e-01 4.67391861e-01 4.71268899e-03 7.02320927e+01] [-4.67384674e-01 8.84050248e-01 -2.59349087e-03 -1.62110871e+01] [-5.37843039e-03 9.01050685e-05 9.99985532e-01 -4.16078205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.871858064 meters 0.015400043086838566 Centerline is valid? [True, True] Translation: X:70.26, Y:-16.22, Z:-0.42 [[ 8.83416454e-01 4.68562289e-01 4.97493812e-03 7.02613853e+01] [-4.68554290e-01 8.83430457e-01 -2.73944540e-03 -1.62249877e+01] [-5.67861267e-03 8.90425407e-05 9.99983873e-01 -4.15852183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.901858064 meters 0.015118296681672163 Centerline is valid? [True, True] Translation: X:70.29, Y:-16.24, Z:-0.42 [[ 8.82348611e-01 4.70568279e-01 5.14031101e-03 7.02917422e+01] [-4.70559763e-01 8.82363581e-01 -2.83218071e-03 -1.62369924e+01] [-5.86835763e-03 8.01471907e-05 9.99982778e-01 -4.15258644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.931858064 meters 0.01496770964198094 Centerline is valid? [True, True] Translation: X:70.32, Y:-16.25, Z:-0.42 [[ 8.81665558e-01 4.71848359e-01 4.99697504e-03 7.03200016e+01] [-4.71840323e-01 8.81679716e-01 -2.75472882e-03 -1.62495922e+01] [-5.70554580e-03 7.09752071e-05 9.99983721e-01 -4.15826988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.961858064 meters 0.014939518243180105 Centerline is valid? [True, True] Translation: X:70.35, Y:-16.26, Z:-0.42 [[ 8.81156131e-01 4.72801455e-01 4.75999123e-03 7.03495704e+01] [-4.72794170e-01 8.81168985e-01 -2.62539200e-03 -1.62629113e+01] [-5.43564580e-03 6.28841567e-05 9.99985225e-01 -4.16478370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.991858064 meters 0.014798600918864238 Centerline is valid? [True, True] Translation: X:70.38, Y:-16.28, Z:-0.42 [[ 8.80414494e-01 4.74190691e-01 3.67535121e-03 7.03791885e+01] [-4.74186356e-01 8.80422164e-01 -2.02794958e-03 -1.62752986e+01] [-4.19749548e-03 4.26348047e-05 9.99991190e-01 -4.17815593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.021858064 meters 0.014863110784676782 Centerline is valid? [True, True] Translation: X:70.41, Y:-16.29, Z:-0.42 [[ 8.80155190e-01 4.74672563e-01 3.57764281e-03 7.04080933e+01] [-4.74668456e-01 8.80162460e-01 -1.97504442e-03 -1.62901036e+01] [-4.08640629e-03 4.01514045e-05 9.99991650e-01 -4.18533416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.051858064 meters 0.014880644939179379 Centerline is valid? [True, True] Translation: X:70.44, Y:-16.31, Z:-0.42 [[ 8.79849351e-01 4.75243322e-01 2.98399394e-03 7.04378016e+01] [-4.75240465e-01 8.79854411e-01 -1.64807956e-03 -1.63052565e+01] [-3.40871903e-03 3.19470648e-05 9.99994190e-01 -4.19120040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.081858064 meters 0.014782904772317697 Centerline is valid? [True, True] Translation: X:70.47, Y:-16.32, Z:-0.42 [[ 8.79713715e-01 4.75495980e-01 2.71162033e-03 7.04680564e+01] [-4.75493620e-01 8.79717894e-01 -1.49841693e-03 -1.63192634e+01] [-3.09795215e-03 2.88197579e-05 9.99995201e-01 -4.18850996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.111858064 meters 0.014823160262203889 Centerline is valid? [True, True] Translation: X:70.50, Y:-16.33, Z:-0.42 [[ 8.79557513e-01 4.75783857e-01 2.88141871e-03 7.04968298e+01] [-4.75781189e-01 8.79562232e-01 -1.59345395e-03 -1.63340600e+01] [-3.29252674e-03 3.06095710e-05 9.99994579e-01 -4.18690293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141858064 meters 0.014746782640499674 Centerline is valid? [True, True] Translation: X:70.53, Y:-16.35, Z:-0.42 [[ 8.79447072e-01 4.75989359e-01 2.64154733e-03 7.05265813e+01] [-4.75987116e-01 8.79451039e-01 -1.46150173e-03 -1.63485405e+01] [-3.01877081e-03 2.79709236e-05 9.99995443e-01 -4.19079231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.171858064 meters 0.015012070306324751 Centerline is valid? [True, True] Translation: X:70.56, Y:-16.36, Z:-0.42 [[ 8.79431072e-01 4.76017303e-01 2.91845232e-03 7.05558902e+01] [-4.76014560e-01 8.79435914e-01 -1.61621866e-03 -1.63618399e+01] [-3.33593983e-03 3.21271048e-05 9.99994435e-01 -4.20021190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201858064 meters 0.015003813050123764 Centerline is valid? [True, True] Translation: X:70.59, Y:-16.38, Z:-0.42 [[ 8.79378620e-01 4.76116400e-01 2.53301238e-03 7.05851364e+01] [-4.76114334e-01 8.79382268e-01 -1.40287867e-03 -1.63766944e+01] [-2.89541971e-03 2.76580037e-05 9.99995808e-01 -4.20168137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23185806400001 meters 0.015018235304565938 Centerline is valid? [True, True] Translation: X:70.61, Y:-16.39, Z:-0.42 [[ 8.79329511e-01 4.76208427e-01 2.26815773e-03 7.06144971e+01] [-4.76206770e-01 8.79332436e-01 -1.25682299e-03 -1.63923631e+01] [-2.59297436e-03 2.50494777e-05 9.99996638e-01 -4.20155903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.261858064 meters 0.015174245436550288 Centerline is valid? [True, True] Translation: X:70.64, Y:-16.41, Z:-0.42 [[ 8.79203985e-01 4.76440443e-01 2.20391663e-03 7.06434878e+01] [-4.76438876e-01 8.79206747e-01 -1.22195729e-03 -1.64078501e+01] [-2.51988825e-03 2.43181590e-05 9.99996825e-01 -4.20548512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.291858064 meters 0.015098377817683986 Centerline is valid? [True, True] Translation: X:70.67, Y:-16.42, Z:-0.42 [[ 8.79389997e-01 4.76098756e-01 1.79115471e-03 7.06736128e+01] [-4.76097720e-01 8.79391821e-01 -9.93362523e-04 -1.64217032e+01] [-2.04806546e-03 2.07883942e-05 9.99997902e-01 -4.20778504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.321858064 meters 0.015292736154687228 Centerline is valid? [True, True] Translation: X:70.70, Y:-16.44, Z:-0.42 [[ 8.79428456e-01 4.76028841e-01 1.46062836e-03 7.07013891e+01] [-4.76028151e-01 8.79429669e-01 -8.10349201e-04 -1.64365852e+01] [-1.67026950e-03 1.73439301e-05 9.99998605e-01 -4.21276874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.351858064 meters 0.015340910146234525 Centerline is valid? [True, True] Translation: X:70.73, Y:-16.45, Z:-0.42 [[ 8.79378820e-01 4.76121967e-01 8.73191235e-04 7.07312669e+01] [-4.76121721e-01 8.79379254e-01 -4.83985136e-04 -1.64500942e+01] [-9.98302212e-04 9.86096382e-06 9.99999502e-01 -4.22457844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.381858064 meters 0.015454923051624032 Centerline is valid? [True, True] Translation: X:70.76, Y:-16.47, Z:-0.42 [[ 8.79113559e-01 4.76612244e-01 3.45846368e-04 7.07602076e+01] [-4.76612206e-01 8.79113627e-01 -1.90755520e-04 -1.64653328e+01] [-3.94954672e-04 2.86116410e-06 9.99999922e-01 -4.22968685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.411858064 meters 0.015391794639594074 Centerline is valid? [True, True] Translation: X:70.79, Y:-16.48, Z:-0.42 [[ 8.78844621e-01 4.77107983e-01 3.24498326e-04 7.07894790e+01] [-4.77107949e-01 8.78844681e-01 -1.78990337e-04 -1.64807400e+01] [-3.70581346e-04 2.48396433e-06 9.99999931e-01 -4.22870694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.441858064 meters 0.015429363055319641 Centerline is valid? [True, True] Translation: X:70.82, Y:-16.50, Z:-0.42 [[ 8.78463632e-01 4.77808923e-01 -5.29117865e-04 7.08193588e+01] [-4.77808831e-01 8.78463791e-01 2.96700995e-04 -1.64955936e+01] [ 6.06577269e-04 -7.82384535e-06 9.99999816e-01 -4.22820406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.471858064 meters 0.01719937482854347 Centerline is valid? [True, True] Translation: X:70.85, Y:-16.51, Z:-0.42 [[ 8.78390224e-01 4.77942747e-01 -1.16001294e-03 7.08478093e+01] [-4.77942307e-01 8.78390989e-01 6.48766249e-04 -1.65112564e+01] [ 1.32901804e-03 -1.54506691e-05 9.99999117e-01 -4.24656410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501858064 meters 0.015577192027900734 Centerline is valid? [True, True] Translation: X:70.88, Y:-16.53, Z:-0.42 [[ 8.78139220e-01 4.78404012e-01 -1.05437807e-03 7.08757787e+01] [-4.78403648e-01 8.78139853e-01 5.90082020e-04 -1.65258755e+01] [ 1.20818901e-03 -1.37558520e-05 9.99999270e-01 -4.23571658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.531858064 meters 0.015513400693611845 Centerline is valid? [True, True] Translation: X:70.90, Y:-16.54, Z:-0.42 [[ 8.78063660e-01 4.78542541e-01 -1.11578730e-03 7.09049955e+01] [-4.78542133e-01 8.78064369e-01 6.24858307e-04 -1.65408486e+01] [ 1.27875435e-03 -1.47141395e-05 9.99999182e-01 -4.23869698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561858064 meters 0.015607442283729062 Centerline is valid? [True, True] Translation: X:70.93, Y:-16.56, Z:-0.42 [[ 8.78100729e-01 4.78475061e-01 -8.52253172e-04 7.09330603e+01] [-4.78474822e-01 8.78101142e-01 4.77850708e-04 -1.65559302e+01] [ 9.77004130e-04 -1.18193695e-05 9.99999523e-01 -4.24295728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59185806400001 meters 0.01580474442982757 Centerline is valid? [True, True] Translation: X:70.96, Y:-16.57, Z:-0.42 [[ 8.78258822e-01 4.78185270e-01 -5.37026583e-04 7.09601421e+01] [-4.78185175e-01 8.78258987e-01 3.01865246e-04 -1.65720242e+01] [ 6.15995936e-04 -8.31766527e-06 9.99999810e-01 -4.24655642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.621858064 meters 0.015986057102497845 Centerline is valid? [True, True] Translation: X:70.99, Y:-16.59, Z:-0.42 [[ 8.78457058e-01 4.77820462e-01 -8.96242627e-04 7.09882358e+01] [-4.77820198e-01 8.78457515e-01 5.03093956e-04 -1.65889425e+01] [ 1.02769966e-03 -1.37036074e-05 9.99999472e-01 -4.24880156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.651858064 meters 0.015619813450948565 Centerline is valid? [True, True] Translation: X:71.02, Y:-16.60, Z:-0.42 [[ 8.78963975e-01 4.76887601e-01 -7.39160683e-04 7.10161276e+01] [-4.76887420e-01 8.78964286e-01 4.15243335e-04 -1.66038037e+01] [ 8.47720240e-04 -1.24875005e-05 9.99999641e-01 -4.23741636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.681858064 meters 0.016524648684907262 Centerline is valid? [True, True] Translation: X:71.04, Y:-16.62, Z:-0.43 [[ 8.78950759e-01 4.76912301e-01 -4.69239623e-04 7.10429742e+01] [-4.76912228e-01 8.78950884e-01 2.64533822e-04 -1.66221958e+01] [ 5.38598015e-04 -8.72608960e-06 9.99999855e-01 -4.25186881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.711858064 meters 0.016518732513983492 Centerline is valid? [True, True] Translation: X:71.07, Y:-16.64, Z:-0.43 [[ 8.78755864e-01 4.77271453e-01 -3.03562240e-04 7.10714017e+01] [-4.77271422e-01 8.78755916e-01 1.71773462e-04 -1.66380189e+01] [ 3.48739684e-04 -6.06535445e-06 9.99999939e-01 -4.25073928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.741858064 meters 0.01569115640763702 Centerline is valid? [True, True] Translation: X:71.10, Y:-16.65, Z:-0.42 [[ 8.77867723e-01 4.78903174e-01 -1.06967001e-04 7.11007750e+01] [-4.78903170e-01 8.77867729e-01 6.15247503e-05 -1.66513181e+01] [ 1.23367276e-04 -2.78375658e-06 9.99999992e-01 -4.24105919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.771858064 meters 0.01563552044404493 Centerline is valid? [True, True] Translation: X:71.13, Y:-16.67, Z:-0.42 [[ 8.77202769e-01 4.80120086e-01 6.55583404e-05 7.11288807e+01] [-4.80120085e-01 8.77202772e-01 -3.52414695e-05 -1.66665796e+01] [-7.44280953e-05 -5.61961354e-07 9.99999997e-01 -4.24543856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.801858064 meters 0.015455122325799674 Centerline is valid? [True, True] Translation: X:71.16, Y:-16.68, Z:-0.42 [[ 8.76421409e-01 4.81544884e-01 -1.93657653e-04 7.11557300e+01] [-4.81544872e-01 8.76421431e-01 1.10133427e-04 -1.66819688e+01] [ 2.22759905e-04 -3.26844419e-06 9.99999975e-01 -4.24880313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.831858064 meters 0.015103013331114816 Centerline is valid? [True, True] Translation: X:71.18, Y:-16.70, Z:-0.42 [[ 8.74770194e-01 4.84537733e-01 -5.42114322e-04 7.11836347e+01] [-4.84537636e-01 8.74770362e-01 3.06107891e-04 -1.66976354e+01] [ 6.22546365e-04 -5.09926691e-06 9.99999806e-01 -4.23759251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.861858064 meters 0.015070525766075281 Centerline is valid? [True, True] Translation: X:71.21, Y:-16.71, Z:-0.42 [[ 8.73832789e-01 4.86226227e-01 -5.59426804e-04 7.12115992e+01] [-4.86226124e-01 8.73832968e-01 3.16130450e-04 -1.67127741e+01] [ 6.42556500e-04 -4.23722601e-06 9.99999794e-01 -4.24426487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.891858064 meters 0.01500505324538376 Centerline is valid? [True, True] Translation: X:71.24, Y:-16.73, Z:-0.43 [[ 8.72076413e-01 4.89368905e-01 -8.97454472e-04 7.12412479e+01] [-4.89368643e-01 8.72076874e-01 5.06564202e-04 -1.67270157e+01] [ 1.03054606e-03 -2.57661531e-06 9.99999469e-01 -4.25416855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921858064 meters 0.01503091830745391 Centerline is valid? [True, True] Translation: X:71.27, Y:-16.74, Z:-0.43 [[ 8.71183160e-01 4.90957094e-01 -1.01655993e-03 7.12697192e+01] [-4.90956759e-01 8.71183753e-01 5.73907957e-04 -1.67427901e+01] [ 1.16737468e-03 -8.91979429e-07 9.99999319e-01 -4.25988628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.951858064 meters 0.01499093024226957 Centerline is valid? [True, True] Translation: X:71.30, Y:-16.76, Z:-0.43 [[ 8.70592817e-01 4.92003445e-01 -8.70350343e-04 7.12983947e+01] [-4.92003199e-01 8.70593252e-01 4.91931853e-04 -1.67593055e+01] [ 9.99753301e-04 -5.71849046e-08 9.99999500e-01 -4.26076926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98185806400001 meters 0.015037444951881312 Centerline is valid? [True, True] Translation: X:71.33, Y:-16.78, Z:-0.43 [[ 8.70162387e-01 4.92764804e-01 -5.18104127e-04 7.13271022e+01] [-4.92764716e-01 8.70162541e-01 2.93743644e-04 -1.67763881e+01] [ 5.95581333e-04 -3.01237365e-07 9.99999823e-01 -4.26266770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.011858064 meters 0.01518211519936518 Centerline is valid? [True, True] Translation: X:71.35, Y:-16.79, Z:-0.43 [[ 8.69870599e-01 4.93279962e-01 -1.44289725e-04 7.13546871e+01] [-4.93279955e-01 8.69870610e-01 8.31477704e-05 -1.67941783e+01] [ 1.66528520e-04 -1.15257189e-06 9.99999986e-01 -4.26600137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.041858064 meters 0.0151597249755355 Centerline is valid? [True, True] Translation: X:71.38, Y:-16.81, Z:-0.43 [[ 8.69554108e-01 4.93837296e-01 -6.15507057e-04 7.13821389e+01] [-4.93837173e-01 8.69554325e-01 3.48945800e-04 -1.68105634e+01] [ 7.07539274e-04 5.33011311e-07 9.99999750e-01 -4.27540119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.071858064 meters 0.015088236433830627 Centerline is valid? [True, True] Translation: X:71.41, Y:-16.83, Z:-0.43 [[ 8.69211449e-01 4.94439513e-01 -1.01197954e-03 7.14102960e+01] [-4.94439181e-01 8.69212039e-01 5.73182825e-04 -1.68286492e+01] [ 1.16302904e-03 2.14526193e-06 9.99999324e-01 -4.27762023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.101858064 meters 0.015227979583162072 Centerline is valid? [True, True] Translation: X:71.44, Y:-16.85, Z:-0.43 [[ 8.68945872e-01 4.94905726e-01 -1.18055023e-03 7.14388532e+01] [-4.94905275e-01 8.68946674e-01 6.68787490e-04 -1.68457376e+01] [ 1.35682196e-03 3.12040830e-06 9.99999080e-01 -4.28418697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.131858064 meters 0.015136927238567723 Centerline is valid? [True, True] Translation: X:71.47, Y:-16.86, Z:-0.43 [[ 8.68871195e-01 4.95037444e-01 -8.80140388e-04 7.14674293e+01] [-4.95037192e-01 8.68871641e-01 4.99433628e-04 -1.68630772e+01] [ 1.01196737e-03 1.75873308e-06 9.99999488e-01 -4.28316148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.161858064 meters 0.01512140612044698 Centerline is valid? [True, True] Translation: X:71.50, Y:-16.88, Z:-0.43 [[ 8.68763965e-01 4.95225284e-01 -1.04439947e-03 7.14958301e+01] [-4.95224929e-01 8.68764593e-01 5.92695205e-04 -1.68806597e+01] [ 1.20085493e-03 2.30041895e-06 9.99999279e-01 -4.28281961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.191858064 meters 0.015132859611041657 Centerline is valid? [True, True] Translation: X:71.52, Y:-16.90, Z:-0.43 [[ 8.69298715e-01 4.94284920e-01 -1.47045472e-03 7.15223198e+01] [-4.94284216e-01 8.69299958e-01 8.34269890e-04 -1.69000534e+01] [ 1.69063326e-03 1.59281745e-06 9.99998571e-01 -4.29070504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.221858064 meters 0.015189949207030463 Centerline is valid? [True, True] Translation: X:71.55, Y:-16.92, Z:-0.43 [[ 8.69741082e-01 4.93503418e-01 -2.19709209e-03 7.15487328e+01] [-4.93501844e-01 8.69743857e-01 1.24626375e-03 -1.69177157e+01] [ 2.52594277e-03 3.42215822e-07 9.99996810e-01 -4.30290291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.251858064 meters 0.015211528042466895 Centerline is valid? [True, True] Translation: X:71.58, Y:-16.94, Z:-0.43 [[ 8.70247707e-01 4.92608127e-01 -2.48236217e-03 7.15751744e+01] [-4.92606115e-01 8.70251247e-01 1.40785282e-03 -1.69353292e+01] [ 2.85379851e-03 -2.35390313e-06 9.99995928e-01 -4.31509370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281858064 meters 0.015211528042466895 Centerline is valid? [True, True] Translation: X:71.60, Y:-16.95, Z:-0.43 [[ 8.70110020e-01 4.92851290e-01 -2.48168167e-03 7.16033463e+01] [-4.92849276e-01 8.70113559e-01 1.40905299e-03 -1.69513746e+01] [ 2.85379845e-03 -2.93611301e-06 9.99995928e-01 -4.31691370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.311858064 meters 0.016125598471436638 Centerline is valid? [True, True] Translation: X:71.63, Y:-16.97, Z:-0.43 [[ 8.71798394e-01 4.89851893e-01 -3.56126444e-03 7.16295742e+01] [-4.89847719e-01 8.71805668e-01 2.02220148e-03 -1.69709651e+01] [ 4.09530975e-03 -1.84747346e-05 9.99991614e-01 -4.33849281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34185806400001 meters 0.015540504174417803 Centerline is valid? [True, True] Translation: X:71.66, Y:-16.99, Z:-0.43 [[ 8.71965106e-01 4.89558242e-01 -3.09550380e-03 7.16569876e+01] [-4.89555081e-01 8.71970600e-01 1.75931285e-03 -1.69899446e+01] [ 3.56047441e-03 -1.86397989e-05 9.99993661e-01 -4.34482402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.371858064 meters 0.015949673638441915 Centerline is valid? [True, True] Translation: X:71.68, Y:-17.01, Z:-0.43 [[ 8.73080232e-01 4.87569508e-01 -2.62353226e-03 7.16821396e+01] [-4.87567225e-01 8.73084174e-01 1.49213365e-03 -1.70109380e+01] [ 3.01808336e-03 -2.36040542e-05 9.99995445e-01 -4.34153102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.401858064 meters 0.01603406639930478 Centerline is valid? [True, True] Translation: X:71.71, Y:-17.03, Z:-0.43 [[ 8.73497905e-01 4.86821257e-01 -2.54431543e-03 7.17098302e+01] [-4.86819104e-01 8.73501610e-01 1.44812505e-03 -1.70294830e+01] [ 2.92744168e-03 -2.63128387e-05 9.99995715e-01 -4.33600473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.431858064 meters 0.016174416577603094 Centerline is valid? [True, True] Translation: X:71.74, Y:-17.05, Z:-0.43 [[ 8.73851906e-01 4.86185577e-01 -2.53611202e-03 7.17360809e+01] [-4.86183432e-01 8.73855586e-01 1.44419491e-03 -1.70471138e+01] [ 2.91834239e-03 -2.89968282e-05 9.99995741e-01 -4.33789393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.461858064 meters 0.01631749462157098 Centerline is valid? [True, True] Translation: X:71.76, Y:-17.06, Z:-0.43 [[ 8.74268224e-01 4.85435966e-01 -2.64505604e-03 7.17630295e+01] [-4.85433628e-01 8.74272224e-01 1.50692570e-03 -1.70644965e+01] [ 3.04401496e-03 -3.34581097e-05 9.99995366e-01 -4.33875222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.491858064 meters 0.017328557932488237 Centerline is valid? [True, True] Translation: X:71.79, Y:-17.08, Z:-0.44 [[ 8.75656941e-01 4.82923029e-01 -3.20472485e-03 7.17886945e+01] [-4.82919578e-01 8.75662803e-01 1.82652877e-03 -1.70841182e+01] [ 3.68833115e-03 -5.17882218e-05 9.99993197e-01 -4.35310027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.521858064 meters 0.017037611818935063 Centerline is valid? [True, True] Translation: X:71.81, Y:-17.10, Z:-0.44 [[ 8.76157774e-01 4.82014582e-01 -3.08189695e-03 7.18136129e+01] [-4.82011383e-01 8.76163192e-01 1.75702977e-03 -1.71022043e+01] [ 3.54715864e-03 -5.39258738e-05 9.99993707e-01 -4.35559321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.551858064 meters 0.01710438583008667 Centerline is valid? [True, True] Translation: X:71.84, Y:-17.12, Z:-0.43 [[ 8.77330106e-01 4.79878960e-01 -2.84048353e-03 7.18394822e+01] [-4.79876226e-01 8.77334703e-01 1.62076466e-03 -1.71209686e+01] [ 3.26982563e-03 -5.88651125e-05 9.99994652e-01 -4.34818132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.581858064 meters 0.017978066988901385 Centerline is valid? [True, True] Translation: X:71.87, Y:-17.14, Z:-0.44 [[ 8.77855326e-01 4.78919491e-01 -2.47965250e-03 7.18664448e+01] [-4.78917401e-01 8.77858826e-01 1.41589758e-03 -1.71383678e+01] [ 2.85488578e-03 -5.54045061e-05 9.99995923e-01 -4.35834727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.611858064 meters 0.018006217778151243 Centerline is valid? [True, True] Translation: X:71.89, Y:-17.16, Z:-0.44 [[ 8.77720985e-01 4.79167177e-01 -2.16518371e-03 7.18929238e+01] [-4.79165582e-01 8.77723655e-01 1.23739599e-03 -1.71572128e+01] [ 2.49335250e-03 -4.86069142e-05 9.99996890e-01 -4.36032037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641858064 meters 0.01744093041627203 Centerline is valid? [True, True] Translation: X:71.92, Y:-17.17, Z:-0.44 [[ 8.77504597e-01 4.79564804e-01 -1.81133128e-03 7.19205693e+01] [-4.79563687e-01 8.77506465e-01 1.03623308e-03 -1.71743973e+01] [ 2.08639583e-03 -4.06505868e-05 9.99997823e-01 -4.35723711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.671858064 meters 0.017582401057003604 Centerline is valid? [True, True] Translation: X:71.95, Y:-17.19, Z:-0.44 [[ 8.77282558e-01 4.79969032e-01 -2.24546797e-03 7.19473867e+01] [-4.79967315e-01 8.77285430e-01 1.28481342e-03 -1.71916234e+01] [ 2.58658699e-03 -4.93931662e-05 9.99996654e-01 -4.36224719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701858064 meters 0.01749346684611327 Centerline is valid? [True, True] Translation: X:71.97, Y:-17.21, Z:-0.44 [[ 8.76805192e-01 4.80842157e-01 -1.86415349e-03 7.19741931e+01] [-4.80840974e-01 8.76807173e-01 1.06738938e-03 -1.72087764e+01] [ 2.14774896e-03 -3.95311748e-05 9.99997693e-01 -4.36211036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73185806400001 meters 0.01741099515951415 Centerline is valid? [True, True] Translation: X:72.00, Y:-17.23, Z:-0.44 [[ 8.76375748e-01 4.81625415e-01 -1.58390896e-03 7.20011070e+01] [-4.81624561e-01 8.76377178e-01 9.07654051e-04 -1.72257487e+01] [ 1.82525092e-03 -3.25965413e-05 9.99998334e-01 -4.36201125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.761858064 meters 0.017269179702135845 Centerline is valid? [True, True] Translation: X:72.03, Y:-17.24, Z:-0.44 [[ 8.75450397e-01 4.83307375e-01 -7.63558857e-04 7.20277143e+01] [-4.83307176e-01 8.75450730e-01 4.38459999e-04 -1.72427113e+01] [ 8.80369110e-04 -1.48165055e-05 9.99999612e-01 -4.35364879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.791858064 meters 0.01708687352881385 Centerline is valid? [True, True] Translation: X:72.06, Y:-17.26, Z:-0.44 [[ 8.74790942e-01 4.84500546e-01 1.67548172e-04 7.20557953e+01] [-4.84500537e-01 8.74790958e-01 -9.44273037e-05 -1.72586826e+01] [-1.92319706e-04 1.42697063e-06 9.99999982e-01 -4.35208646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.821858064 meters 0.01681080736121863 Centerline is valid? [True, True] Translation: X:72.08, Y:-17.27, Z:-0.44 [[ 8.73956651e-01 4.86003800e-01 2.79901743e-04 7.20838373e+01] [-4.86003774e-01 8.73956696e-01 -1.58862526e-04 -1.72746645e+01] [-3.21829794e-04 2.80565809e-06 9.99999948e-01 -4.35136643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.851858064 meters 0.01629192005246317 Centerline is valid? [True, True] Translation: X:72.11, Y:-17.29, Z:-0.44 [[ 8.72732074e-01 4.88199429e-01 2.10248605e-04 7.21118055e+01] [-4.88199414e-01 8.72732100e-01 -1.18953689e-04 -1.72897645e+01] [-2.41563830e-04 1.17145379e-06 9.99999971e-01 -4.35383044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.881858064 meters 0.01624580738240683 Centerline is valid? [True, True] Translation: X:72.14, Y:-17.31, Z:-0.44 [[ 8.72105326e-01 4.89318129e-01 -2.62398606e-04 7.21400422e+01] [-4.89318105e-01 8.72105366e-01 1.52351121e-04 -1.73063533e+01] [ 3.03387398e-04 -4.46983528e-06 9.99999954e-01 -4.36040154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.911858064 meters 0.01627625962220037 Centerline is valid? [True, True] Translation: X:72.17, Y:-17.32, Z:-0.44 [[ 8.71086888e-01 4.91128424e-01 -7.10788167e-04 7.21664942e+01] [-4.91128253e-01 8.71087178e-01 4.09445529e-04 -1.73236357e+01] [ 8.20248796e-04 -7.57448066e-06 9.99999664e-01 -4.37615760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.941858064 meters 0.016109787934214262 Centerline is valid? [True, True] Translation: X:72.20, Y:-17.34, Z:-0.44 [[ 8.70612897e-01 4.91968504e-01 -4.19227474e-04 7.21955518e+01] [-4.91968444e-01 8.70612997e-01 2.42581684e-04 -1.73395942e+01] [ 4.84327436e-04 -4.94805450e-06 9.99999883e-01 -4.37241540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.971858064 meters 0.016023037515666468 Centerline is valid? [True, True] Translation: X:72.22, Y:-17.36, Z:-0.44 [[ 8.70255641e-01 4.92600343e-01 1.47900606e-04 7.22241320e+01] [-4.92600336e-01 8.70255653e-01 -8.31746485e-05 -1.73553062e+01] [-1.69683199e-04 -4.72681025e-07 9.99999986e-01 -4.36930715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001858064 meters 0.016084429405150702 Centerline is valid? [True, True] Translation: X:72.25, Y:-17.37, Z:-0.44 [[ 8.70079771e-01 4.92907771e-01 1.76678877e-03 7.22506543e+01] [-4.92906727e-01 8.70081565e-01 -1.01449802e-03 -1.73710357e+01] [-2.03730430e-03 1.18321323e-05 9.99997925e-01 -4.36652996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.031858064 meters 0.016080167226447877 Centerline is valid? [True, True] Translation: X:72.28, Y:-17.39, Z:-0.44 [[ 8.69886058e-01 4.93249013e-01 1.91270496e-03 7.22777534e+01] [-4.93247788e-01 8.69888160e-01 -1.09920834e-03 -1.73879948e+01] [-2.20602283e-03 1.27485203e-05 9.99997567e-01 -4.35733190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061858064 meters 0.0160088729373356 Centerline is valid? [True, True] Translation: X:72.31, Y:-17.41, Z:-0.43 [[ 8.69806047e-01 4.93389123e-01 2.14777272e-03 7.23059911e+01] [-4.93387579e-01 8.69808699e-01 -1.23454364e-03 -1.74054230e+01] [-2.47726180e-03 1.41291354e-05 9.99996931e-01 -4.34834600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09185806400001 meters 0.016003007020725032 Centerline is valid? [True, True] Translation: X:72.33, Y:-17.42, Z:-0.43 [[ 8.69684151e-01 4.93605269e-01 1.82121818e-03 7.23341262e+01] [-4.93604158e-01 8.69686057e-01 -1.04723013e-03 -1.74225601e+01] [-2.10080636e-03 1.17985769e-05 9.99997793e-01 -4.34922265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.121858064 meters 0.016070770112165043 Centerline is valid? [True, True] Translation: X:72.36, Y:-17.44, Z:-0.44 [[ 8.69555441e-01 4.93834362e-01 9.78850015e-04 7.23617309e+01] [-4.93834041e-01 8.69555992e-01 -5.62486491e-04 -1.74384411e+01] [-1.12894005e-03 5.72372955e-06 9.99999363e-01 -4.35852746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.151858064 meters 0.015915504346954004 Centerline is valid? [True, True] Translation: X:72.39, Y:-17.45, Z:-0.44 [[ 8.69336265e-01 4.94220396e-01 8.10973005e-04 7.23904479e+01] [-4.94220177e-01 8.69336644e-01 -4.65898704e-04 -1.74540435e+01] [-9.35265192e-04 4.22341824e-06 9.99999563e-01 -4.36471422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.181858064 meters 0.015959394466353465 Centerline is valid? [True, True] Translation: X:72.42, Y:-17.47, Z:-0.44 [[ 8.69202145e-01 4.94456604e-01 5.45276322e-04 7.24179393e+01] [-4.94456505e-01 8.69202316e-01 -3.13474889e-04 -1.74696810e+01] [-6.28955171e-04 2.85762120e-06 9.99999802e-01 -4.37356625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.211858064 meters 0.016063990022275883 Centerline is valid? [True, True] Translation: X:72.45, Y:-17.49, Z:-0.44 [[ 8.69644252e-01 4.93678795e-01 3.49286460e-04 7.24458139e+01] [-4.93678754e-01 8.69644322e-01 -1.99994017e-04 -1.74861333e+01] [-4.02487793e-04 1.48834292e-06 9.99999919e-01 -4.38612090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.241858064 meters 0.016042738539190953 Centerline is valid? [True, True] Translation: X:72.47, Y:-17.50, Z:-0.44 [[ 8.70304014e-01 4.92514886e-01 1.01155938e-04 7.24730861e+01] [-4.92514883e-01 8.70304020e-01 -5.68204940e-05 -1.75025543e+01] [-1.16021359e-04 -3.69701047e-07 9.99999993e-01 -4.38361161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.271858064 meters 0.01617903302900419 Centerline is valid? [True, True] Translation: X:72.50, Y:-17.52, Z:-0.44 [[ 8.71292640e-01 4.90763811e-01 1.32244887e-04 7.24998023e+01] [-4.90763806e-01 8.71292650e-01 -7.48306767e-05 -1.75198953e+01] [-1.51948186e-04 2.98413921e-07 9.99999988e-01 -4.38130879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.301858064 meters 0.017408836842343848 Centerline is valid? [True, True] Translation: X:72.52, Y:-17.54, Z:-0.44 [[ 8.73513905e-01 4.86798661e-01 7.21864700e-04 7.25246574e+01] [-4.86798484e-01 8.73514203e-01 -4.15944170e-04 -1.75396744e+01] [-8.33040133e-04 1.19303751e-05 9.99999653e-01 -4.37391443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.331858064 meters 0.017196625834767464 Centerline is valid? [True, True] Translation: X:72.55, Y:-17.56, Z:-0.44 [[ 8.74373314e-01 4.85252527e-01 1.13748853e-03 7.25523934e+01] [-4.85252083e-01 8.74374053e-01 -6.56547266e-04 -1.75554659e+01] [-1.31318167e-03 2.20987304e-05 9.99999138e-01 -4.36462430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.361858064 meters 0.01767731355108715 Centerline is valid? [True, True] Translation: X:72.58, Y:-17.57, Z:-0.43 [[ 8.75839375e-01 4.82598290e-01 2.06870661e-03 7.25790776e+01] [-4.82596810e-01 8.75841817e-01 -1.19605698e-03 -1.75725043e+01] [-2.38907481e-03 4.92025858e-05 9.99997145e-01 -4.34769602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.391858064 meters 0.017832280154574734 Centerline is valid? [True, True] Translation: X:72.61, Y:-17.59, Z:-0.43 [[ 8.76175972e-01 4.81983149e-01 2.81260883e-03 7.26064328e+01] [-4.81980406e-01 8.76180483e-01 -1.62747895e-03 -1.75884227e+01] [-3.24877039e-03 7.03356088e-05 9.99994720e-01 -4.33765738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421858064 meters 0.01794929748168759 Centerline is valid? [True, True] Translation: X:72.63, Y:-17.60, Z:-0.43 [[ 8.76273577e-01 4.81802751e-01 3.27540410e-03 7.26349375e+01] [-4.81799026e-01 8.76279694e-01 -1.89651373e-03 -1.76042141e+01] [-3.78391564e-03 8.37783644e-05 9.99992837e-01 -4.33253365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.451858064 meters 0.017575033920778364 Centerline is valid? [True, True] Translation: X:72.66, Y:-17.62, Z:-0.43 [[ 8.76197327e-01 4.81942497e-01 3.11037354e-03 7.26644747e+01] [-4.81939135e-01 8.76202844e-01 -1.80201246e-03 -1.76191678e+01] [-3.59378453e-03 7.99077675e-05 9.99993539e-01 -4.33347215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48185806400001 meters 0.017744624042068627 Centerline is valid? [True, True] Translation: X:72.69, Y:-17.63, Z:-0.43 [[ 8.75545229e-01 4.83129595e-01 2.51923511e-03 7.26928005e+01] [-4.83127391e-01 8.75548851e-01 -1.46057762e-03 -1.76324187e+01] [-2.91136168e-03 6.16902755e-05 9.99995760e-01 -4.34273933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.511858064 meters 0.01722938583534661 Centerline is valid? [True, True] Translation: X:72.72, Y:-17.64, Z:-0.44 [[ 8.74216574e-01 4.85532396e-01 1.91665571e-03 7.27235551e+01] [-4.85531125e-01 8.74218674e-01 -1.11157007e-03 -1.76444138e+01] [-2.21527949e-03 4.11569718e-05 9.99997545e-01 -4.35057355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.541858064 meters 0.016941649488846366 Centerline is valid? [True, True] Translation: X:72.75, Y:-17.66, Z:-0.44 [[ 8.73397977e-01 4.87003541e-01 1.87734070e-03 7.27529008e+01] [-4.87002326e-01 8.73399994e-01 -1.08835816e-03 -1.76583201e+01] [-2.16970363e-03 3.63005282e-05 9.99997646e-01 -4.35378275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.571858064 meters 0.016543785948798167 Centerline is valid? [True, True] Translation: X:72.78, Y:-17.67, Z:-0.44 [[ 8.72463307e-01 4.88677014e-01 1.59814974e-03 7.27825109e+01] [-4.88676136e-01 8.72464770e-01 -9.26769185e-04 -1.76719093e+01] [-1.84722015e-03 2.75944656e-05 9.99998294e-01 -4.35547374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.601858064 meters 0.01634227549271309 Centerline is valid? [True, True] Translation: X:72.81, Y:-17.69, Z:-0.44 [[ 8.71534286e-01 4.90332300e-01 1.49115722e-03 7.28114654e+01] [-4.90331538e-01 8.71535561e-01 -8.65103758e-04 -1.76854035e+01] [-1.72378486e-03 2.28061728e-05 9.99998514e-01 -4.35782162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.631858064 meters 0.015992233721557177 Centerline is valid? [True, True] Translation: X:72.84, Y:-17.70, Z:-0.44 [[ 8.69788344e-01 4.93422621e-01 1.53411489e-03 7.28404546e+01] [-4.93421818e-01 8.69789697e-01 -8.90663632e-04 -1.76975421e+01] [-1.77383091e-03 1.77230883e-05 9.99998427e-01 -4.35795355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.661858064 meters 0.015788052791987327 Centerline is valid? [True, True] Translation: X:72.87, Y:-17.71, Z:-0.44 [[ 8.69001128e-01 4.94809405e-01 8.31487956e-04 7.28691510e+01] [-4.94809170e-01 8.69001526e-01 -4.82224008e-04 -1.77120709e+01] [-9.61173277e-04 7.62534106e-06 9.99999538e-01 -4.35744064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.691858064 meters 0.015598372638036258 Centerline is valid? [True, True] Translation: X:72.90, Y:-17.73, Z:-0.44 [[ 8.67580358e-01 4.97296951e-01 -2.56098592e-04 7.28983937e+01] [-4.97296928e-01 8.67580395e-01 1.50696986e-04 -1.77252003e+01] [ 2.97127269e-04 -3.38470177e-06 9.99999956e-01 -4.37065476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.721858064 meters 0.015540222397005485 Centerline is valid? [True, True] Translation: X:72.93, Y:-17.74, Z:-0.44 [[ 8.66767331e-01 4.98712175e-01 -7.48625774e-04 7.29278098e+01] [-4.98711983e-01 8.66767654e-01 4.37965236e-04 -1.77406225e+01] [ 8.67303202e-04 -6.26531438e-06 9.99999624e-01 -4.37746930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.751858064 meters 0.015395214233243748 Centerline is valid? [True, True] Translation: X:72.96, Y:-17.76, Z:-0.44 [[ 8.66097175e-01 4.99875243e-01 -6.52179247e-04 7.29569149e+01] [-4.99875097e-01 8.66097420e-01 3.82018382e-04 -1.77561630e+01] [ 7.55812295e-04 -4.85687709e-06 9.99999714e-01 -4.37864481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781858064 meters 0.015328875971021217 Centerline is valid? [True, True] Translation: X:72.99, Y:-17.77, Z:-0.44 [[ 8.65385284e-01 5.01107026e-01 -2.42577332e-04 7.29854422e+01] [-5.01107005e-01 8.65385318e-01 1.43322343e-04 -1.77716441e+01] [ 2.81742695e-04 -2.47184593e-06 9.99999960e-01 -4.37478339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.811858064 meters 0.015368223520273588 Centerline is valid? [True, True] Translation: X:73.02, Y:-17.79, Z:-0.44 [[ 8.64761552e-01 5.02182695e-01 6.57397913e-06 7.30151458e+01] [-5.02182695e-01 8.64761552e-01 -2.00572113e-06 -1.77869750e+01] [-6.69216285e-06 -1.56686803e-06 1.00000000e+00 -4.36880481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84185806400001 meters 0.015289401420133372 Centerline is valid? [True, True] Translation: X:73.04, Y:-17.80, Z:-0.44 [[ 8.63863121e-01 5.03725520e-01 1.05315714e-03 7.30444080e+01] [-5.03725146e-01 8.63863763e-01 -6.13398706e-04 -1.78003602e+01] [-1.21876887e-03 -6.09211999e-07 9.99999257e-01 -4.36424215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.871858064 meters 0.015329592404124721 Centerline is valid? [True, True] Translation: X:73.07, Y:-17.82, Z:-0.44 [[ 8.63539355e-01 5.04280607e-01 9.22894293e-04 7.30728923e+01] [-5.04280320e-01 8.63539848e-01 -5.37575685e-04 -1.78163863e+01] [-1.06804499e-03 -1.17966958e-06 9.99999430e-01 -4.36484242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.901858064 meters 0.015294658510496783 Centerline is valid? [True, True] Translation: X:73.10, Y:-17.83, Z:-0.44 [[ 8.63798254e-01 5.03837181e-01 8.19087012e-04 7.31009980e+01] [-5.03836955e-01 8.63798642e-01 -4.77194996e-04 -1.78332171e+01] [-9.47954831e-04 -4.86102300e-07 9.99999551e-01 -4.36083569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.931858064 meters 0.015283510508395408 Centerline is valid? [True, True] Translation: X:73.13, Y:-17.85, Z:-0.44 [[ 8.63798784e-01 5.03836373e-01 7.55640210e-04 7.31294199e+01] [-5.03836180e-01 8.63799114e-01 -4.40347800e-04 -1.78498494e+01] [-8.74584582e-04 -3.46982971e-07 9.99999618e-01 -4.35818889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.961858064 meters 0.015477855737856165 Centerline is valid? [True, True] Translation: X:73.16, Y:-17.87, Z:-0.44 [[ 8.64765926e-01 5.02174731e-01 6.56988238e-04 7.31580334e+01] [-5.02174585e-01 8.64766176e-01 -3.82866684e-04 -1.78655018e+01] [-7.60407181e-04 1.16726659e-06 9.99999711e-01 -4.36664238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.991858064 meters 0.015451151315125942 Centerline is valid? [True, True] Translation: X:73.19, Y:-17.88, Z:-0.44 [[ 8.65307092e-01 5.01242089e-01 7.29282706e-05 7.31867964e+01] [-5.01242087e-01 8.65307095e-01 -4.08886724e-05 -1.78823921e+01] [-8.36004735e-05 -1.17346039e-06 9.99999997e-01 -4.37301989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.021858064 meters 0.015579155216442115 Centerline is valid? [True, True] Translation: X:73.21, Y:-17.90, Z:-0.44 [[ 8.65935245e-01 5.00156113e-01 -1.17836680e-04 7.32140530e+01] [-5.00156107e-01 8.65935253e-01 7.08019352e-05 -1.78993746e+01] [ 1.37450956e-04 -2.37315577e-06 9.99999991e-01 -4.37817254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.051858064 meters 0.015721231536364046 Centerline is valid? [True, True] Translation: X:73.24, Y:-17.92, Z:-0.44 [[ 8.66535559e-01 4.99114809e-01 -7.29585505e-04 7.32410076e+01] [-4.99114624e-01 8.66535866e-01 4.29575783e-04 -1.79159387e+01] [ 8.46619642e-04 -8.09589637e-06 9.99999642e-01 -4.37953154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.081858064 meters 0.016000221284327806 Centerline is valid? [True, True] Translation: X:73.27, Y:-17.93, Z:-0.44 [[ 8.67600372e-01 4.97260511e-01 -1.25688060e-03 7.32687018e+01] [-4.97259961e-01 8.67601282e-01 7.39302930e-04 -1.79329071e+01] [ 1.45809738e-03 -1.64230970e-05 9.99998937e-01 -4.38551679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.111858064 meters 0.016393455476574472 Centerline is valid? [True, True] Translation: X:73.30, Y:-17.95, Z:-0.44 [[ 8.67858908e-01 4.96808988e-01 -1.32141431e-03 7.32957186e+01] [-4.96808379e-01 8.67859913e-01 7.77743331e-04 -1.79491976e+01] [ 1.53319238e-03 -1.84817774e-05 9.99998824e-01 -4.39123933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141858064 meters 0.016468918228865936 Centerline is valid? [True, True] Translation: X:73.32, Y:-17.97, Z:-0.44 [[ 8.68016106e-01 4.96532774e-01 -1.80102337e-03 7.33244042e+01] [-4.96531642e-01 8.68017975e-01 1.06017539e-03 -1.79653128e+01] [ 2.08973248e-03 -2.59842221e-05 9.99997816e-01 -4.39717513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.171858064 meters 0.016298029011583743 Centerline is valid? [True, True] Translation: X:73.35, Y:-17.98, Z:-0.44 [[ 8.68006871e-01 4.96543823e-01 -2.88154574e-03 7.33530940e+01] [-4.96540929e-01 8.68011653e-01 1.69591793e-03 -1.79789687e+01] [ 3.34331286e-03 -4.12630216e-05 9.99994410e-01 -4.40401448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201858064 meters 0.016298029011583743 Centerline is valid? [True, True] Translation: X:73.38, Y:-18.00, Z:-0.44 [[ 8.67867864e-01 4.96786746e-01 -2.88097051e-03 7.33810062e+01] [-4.96783849e-01 8.67872645e-01 1.69689554e-03 -1.79954595e+01] [ 3.34331071e-03 -4.14614844e-05 9.99994410e-01 -4.40583593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23185806400001 meters 0.01640358457858614 Centerline is valid? [True, True] Translation: X:73.41, Y:-18.01, Z:-0.44 [[ 8.67564173e-01 4.97315528e-01 -3.10979200e-03 7.34094879e+01] [-4.97312153e-01 8.67569746e-01 1.83269466e-03 -1.80110636e+01] [ 3.60938897e-03 -4.34428674e-05 9.99993485e-01 -4.41537923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.261858064 meters 0.016291096076739498 Centerline is valid? [True, True] Translation: X:73.44, Y:-18.03, Z:-0.44 [[ 8.67229676e-01 4.97897947e-01 -3.21300897e-03 7.34379255e+01] [-4.97894344e-01 8.67235627e-01 1.89465747e-03 -1.80269123e+01] [ 3.72978191e-03 -4.33641847e-05 9.99993043e-01 -4.41897133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.291858064 meters 0.0165049085267468 Centerline is valid? [True, True] Translation: X:73.47, Y:-18.04, Z:-0.44 [[ 8.66392980e-01 4.99347786e-01 -3.87194150e-03 7.34663569e+01] [-4.99342564e-01 8.66401631e-01 2.28408413e-03 -1.80418145e+01] [ 4.49520879e-03 -4.54892593e-05 9.99989895e-01 -4.42108412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.321858064 meters 0.016540435086073904 Centerline is valid? [True, True] Translation: X:73.50, Y:-18.06, Z:-0.44 [[ 8.66067678e-01 4.99913634e-01 -3.62437420e-03 7.34954752e+01] [-4.99909057e-01 8.66075261e-01 2.13959241e-03 -1.80574754e+01] [ 4.20859225e-03 -4.11743457e-05 9.99991143e-01 -4.42578868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.351858064 meters 0.01754976606095863 Centerline is valid? [True, True] Translation: X:73.53, Y:-18.07, Z:-0.44 [[ 8.65929465e-01 5.00147921e-01 -4.26839287e-03 7.35252041e+01] [-5.00141569e-01 8.65939983e-01 2.52120064e-03 -1.80720944e+01] [ 4.95714532e-03 -4.83812157e-05 9.99987712e-01 -4.42100085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.381858064 meters 0.016581011590682457 Centerline is valid? [True, True] Translation: X:73.55, Y:-18.09, Z:-0.44 [[ 8.65638005e-01 5.00656583e-01 -3.71891822e-03 7.35522296e+01] [-5.00651761e-01 8.65645993e-01 2.19768245e-03 -1.80881587e+01] [ 4.31955084e-03 -4.05145002e-05 9.99990670e-01 -4.41832683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.411858064 meters 0.016473715156534244 Centerline is valid? [True, True] Translation: X:73.58, Y:-18.10, Z:-0.44 [[ 8.65396184e-01 5.01075066e-01 -3.63646735e-03 7.35805435e+01] [-5.01070451e-01 8.65403823e-01 2.15074150e-03 -1.81043136e+01] [ 4.22469568e-03 -3.91171484e-05 9.99991075e-01 -4.41084352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.441858064 meters 0.016294350269117755 Centerline is valid? [True, True] Translation: X:73.61, Y:-18.12, Z:-0.44 [[ 8.65039841e-01 5.01690375e-01 -3.58337916e-03 7.36092065e+01] [-5.01685894e-01 8.65047262e-01 2.12075667e-03 -1.81200484e+01] [ 4.16375554e-03 -3.68082380e-05 9.99991331e-01 -4.41108962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.471858064 meters 0.01635070897270979 Centerline is valid? [True, True] Translation: X:73.64, Y:-18.13, Z:-0.44 [[ 8.63769631e-01 5.03869527e-01 -4.18628631e-03 7.36378196e+01] [-5.03863433e-01 8.63779775e-01 2.47820485e-03 -1.81335009e+01] [ 4.86472136e-03 -3.12814962e-05 9.99988167e-01 -4.42295637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501858064 meters 0.01601443485699144 Centerline is valid? [True, True] Translation: X:73.67, Y:-18.15, Z:-0.44 [[ 8.62735929e-01 5.05635815e-01 -4.37487112e-03 7.36669833e+01] [-5.05629173e-01 8.62747021e-01 2.59176982e-03 -1.81484500e+01] [ 5.08489867e-03 -2.39504783e-05 9.99987072e-01 -4.42693048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.531858064 meters 0.01595346965660833 Centerline is valid? [True, True] Translation: X:73.70, Y:-18.16, Z:-0.44 [[ 8.60798400e-01 5.08927257e-01 -4.37736533e-03 7.36960015e+01] [-5.08920644e-01 8.60809530e-01 2.59444682e-03 -1.81614323e+01] [ 5.08846249e-03 -5.56409038e-06 9.99987054e-01 -4.43132792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561858064 meters 0.015943462812482368 Centerline is valid? [True, True] Translation: X:73.72, Y:-18.18, Z:-0.44 [[ 8.59742760e-01 5.10707457e-01 -4.50344221e-03 7.37248443e+01] [-5.10700471e-01 8.59754554e-01 2.67110210e-03 -1.81770086e+01] [ 5.23600671e-03 3.44936889e-06 9.99986292e-01 -4.42634264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59185806400001 meters 0.015829899383004133 Centerline is valid? [True, True] Translation: X:73.75, Y:-18.19, Z:-0.44 [[ 8.58831891e-01 5.12238368e-01 -4.43134591e-03 7.37533226e+01] [-5.12231616e-01 8.58843323e-01 2.63004840e-03 -1.81930956e+01] [ 5.15304355e-03 1.11060371e-05 9.99986723e-01 -4.42670747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.621858064 meters 0.015958911318167276 Centerline is valid? [True, True] Translation: X:73.78, Y:-18.21, Z:-0.44 [[ 8.57454877e-01 5.14536685e-01 -4.80980353e-03 7.37817673e+01] [-5.14528759e-01 8.57468367e-01 2.85588308e-03 -1.82089429e+01] [ 5.59371098e-03 2.59913685e-05 9.99984355e-01 -4.42516222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.651858064 meters 0.015970705072280263 Centerline is valid? [True, True] Translation: X:73.81, Y:-18.22, Z:-0.44 [[ 8.56709662e-01 5.15770540e-01 -5.41344604e-03 7.38088563e+01] [-5.15760517e-01 8.56726764e-01 3.21563778e-03 -1.82235954e+01] [ 6.29637535e-03 3.71737693e-05 9.99980177e-01 -4.43297172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.681858064 meters 0.015984756108018788 Centerline is valid? [True, True] Translation: X:73.84, Y:-18.24, Z:-0.44 [[ 8.56359032e-01 5.16350262e-01 -5.62269393e-03 7.38379166e+01] [-5.16339446e-01 8.56377490e-01 3.34233502e-03 -1.82395616e+01] [ 6.54096408e-03 4.09798829e-05 9.99978607e-01 -4.43930542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.711858064 meters 0.01596577587821793 Centerline is valid? [True, True] Translation: X:73.87, Y:-18.26, Z:-0.44 [[ 8.56159004e-01 5.16680367e-01 -5.75836576e-03 7.38662810e+01] [-5.16669015e-01 8.56178367e-01 3.42521382e-03 -1.82565306e+01] [ 6.69992893e-03 4.26415077e-05 9.99977554e-01 -4.44056477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.741858064 meters 0.0159252528452677 Centerline is valid? [True, True] Translation: X:73.89, Y:-18.27, Z:-0.44 [[ 8.56771966e-01 5.15663466e-01 -5.74350644e-03 7.38918358e+01] [-5.15652149e-01 8.56791216e-01 3.41651583e-03 -1.82738185e+01] [ 6.68275826e-03 3.44764567e-05 9.99977670e-01 -4.44678342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.771858064 meters 0.01584810683622323 Centerline is valid? [True, True] Translation: X:73.92, Y:-18.29, Z:-0.44 [[ 8.57177621e-01 5.14992551e-01 -5.40358706e-03 7.39182175e+01] [-5.14982504e-01 8.57194652e-01 3.21682825e-03 -1.82915334e+01] [ 6.28856851e-03 2.53596107e-05 9.99980226e-01 -4.44674123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.801858064 meters 0.015772663176170407 Centerline is valid? [True, True] Translation: X:73.94, Y:-18.31, Z:-0.44 [[ 8.58325722e-01 5.13079054e-01 -5.18074203e-03 7.39435195e+01] [-5.13069775e-01 8.58341357e-01 3.08568038e-03 -1.83103536e+01] [ 6.03004311e-03 9.56330387e-06 9.99981819e-01 -4.44615108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.831858064 meters 0.015837134025255384 Centerline is valid? [True, True] Translation: X:73.97, Y:-18.33, Z:-0.44 [[ 8.58900909e-01 5.12117136e-01 -5.02674743e-03 7.39711942e+01] [-5.12108371e-01 8.58915618e-01 2.99623924e-03 -1.83287404e+01] [ 5.85197733e-03 7.66830858e-07 9.99982877e-01 -4.44871874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.861858064 meters 0.016350499643057424 Centerline is valid? [True, True] Translation: X:74.00, Y:-18.35, Z:-0.45 [[ 8.59385844e-01 5.11305528e-01 -4.75684809e-03 7.39981810e+01] [-5.11297657e-01 8.59399009e-01 2.83699538e-03 -1.83467590e+01] [ 5.53860195e-03 -5.90838515e-06 9.99984662e-01 -4.45366959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.891858064 meters 0.015872735249220067 Centerline is valid? [True, True] Translation: X:74.03, Y:-18.36, Z:-0.44 [[ 8.59905286e-01 5.10435379e-01 -4.31540639e-03 7.40260005e+01] [-5.10428880e-01 8.59916115e-01 2.57562347e-03 -1.83643795e+01] [ 5.02557683e-03 -1.20841848e-05 9.99987372e-01 -4.44862011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921858064 meters 0.015843266126558196 Centerline is valid? [True, True] Translation: X:74.05, Y:-18.38, Z:-0.44 [[ 8.60504851e-01 5.09428785e-01 -3.70341663e-03 7.40528887e+01] [-5.09423982e-01 8.60512820e-01 2.21203806e-03 -1.83831930e+01] [ 4.31371334e-03 -1.68602321e-05 9.99990696e-01 -4.44498695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.951858064 meters 0.015878154280164227 Centerline is valid? [True, True] Translation: X:74.08, Y:-18.40, Z:-0.44 [[ 8.60760111e-01 5.08999601e-01 -3.38179123e-03 7.40803033e+01] [-5.08995588e-01 8.60766754e-01 2.02136985e-03 -1.84013509e+01] [ 3.93980991e-03 -1.85977277e-05 9.99992239e-01 -4.44442271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98185806400001 meters 0.015909140628201555 Centerline is valid? [True, True] Translation: X:74.11, Y:-18.42, Z:-0.44 [[ 8.60908768e-01 5.08746967e-01 -3.55194063e-03 7.41077085e+01] [-5.08742532e-01 8.60916095e-01 2.12431202e-03 -1.84198150e+01] [ 4.13866016e-03 -2.18155740e-05 9.99991435e-01 -4.44724964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.011858064 meters 0.016011711356108013 Centerline is valid? [True, True] Translation: X:74.14, Y:-18.44, Z:-0.44 [[ 8.60926372e-01 5.08714347e-01 -3.93645002e-03 7.41350551e+01] [-5.08708894e-01 8.60935371e-01 2.35559818e-03 -1.84386425e+01] [ 4.58735565e-03 -2.54894569e-05 9.99989478e-01 -4.44880805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.041858064 meters 0.01611309468803765 Centerline is valid? [True, True] Translation: X:74.16, Y:-18.46, Z:-0.45 [[ 8.61018400e-01 5.08557652e-01 -4.05335464e-03 7.41619779e+01] [-5.08551868e-01 8.61027940e-01 2.42576506e-03 -1.84558118e+01] [ 4.72369298e-03 -2.72872718e-05 9.99988843e-01 -4.45997691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.071858064 meters 0.01610067613399455 Centerline is valid? [True, True] Translation: X:74.19, Y:-18.47, Z:-0.45 [[ 8.60802572e-01 5.08923106e-01 -4.02540354e-03 7.41899190e+01] [-5.08917395e-01 8.60811984e-01 2.41128097e-03 -1.84741316e+01] [ 4.69227220e-03 -2.70389776e-05 9.99988991e-01 -4.46615744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.101858064 meters 0.016107663615579287 Centerline is valid? [True, True] Translation: X:74.22, Y:-18.49, Z:-0.45 [[ 8.60708457e-01 5.09082754e-01 -3.96254333e-03 7.42167219e+01] [-5.09077215e-01 8.60717578e-01 2.37493711e-03 -1.84919243e+01] [ 4.61967022e-03 -2.68879322e-05 9.99989329e-01 -4.46712243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.131858064 meters 0.01607768406681091 Centerline is valid? [True, True] Translation: X:74.24, Y:-18.51, Z:-0.45 [[ 8.60655567e-01 5.09175476e-01 -3.51147939e-03 7.42441658e+01] [-5.09171120e-01 8.60662730e-01 2.10624012e-03 -1.85100172e+01] [ 4.09464525e-03 -2.48033924e-05 9.99991617e-01 -4.46177194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.161858064 meters 0.016208333824916512 Centerline is valid? [True, True] Translation: X:74.27, Y:-18.53, Z:-0.45 [[ 8.60431465e-01 5.09556786e-01 -3.09457743e-03 7.42708304e+01] [-5.09553401e-01 8.60437029e-01 1.85736057e-03 -1.85272800e+01] [ 3.60911969e-03 -2.12790195e-05 9.99993487e-01 -4.46038529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.191858064 meters 0.016200990076206897 Centerline is valid? [True, True] Translation: X:74.30, Y:-18.54, Z:-0.45 [[ 8.60508728e-01 5.09431230e-01 -2.13330464e-03 7.42967677e+01] [-5.09429621e-01 8.60511372e-01 1.28051138e-03 -1.85444947e+01] [ 2.48806539e-03 -1.51226396e-05 9.99996905e-01 -4.45649854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.221858064 meters 0.01622351316371054 Centerline is valid? [True, True] Translation: X:74.32, Y:-18.56, Z:-0.45 [[ 8.60724457e-01 5.09068826e-01 -1.52939270e-03 7.43228921e+01] [-5.09067997e-01 8.60725816e-01 9.18843443e-04 -1.85627970e+01] [ 1.78414234e-03 -1.23061434e-05 9.99998408e-01 -4.45738506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.251858064 meters 0.016281335098020887 Centerline is valid? [True, True] Translation: X:74.35, Y:-18.58, Z:-0.45 [[ 8.60837091e-01 5.08879063e-01 -1.26596232e-03 7.43502222e+01] [-5.08878493e-01 8.60838021e-01 7.61876689e-04 -1.85805331e+01] [ 1.47749160e-03 -1.16307134e-05 9.99998908e-01 -4.45929683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281858064 meters 0.016356316276149762 Centerline is valid? [True, True] Translation: X:74.38, Y:-18.60, Z:-0.45 [[ 8.61035664e-01 5.08544063e-01 -7.21564870e-04 7.43773001e+01] [-5.08543877e-01 8.61035967e-01 4.35259041e-04 -1.85984392e+01] [ 8.42641706e-04 -7.82616154e-06 9.99999645e-01 -4.45926151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.311858064 meters 0.01645076603391215 Centerline is valid? [True, True] Translation: X:74.40, Y:-18.62, Z:-0.44 [[ 8.61306049e-01 5.08086494e-01 -7.64064574e-05 7.44033576e+01] [-5.08086491e-01 8.61306052e-01 4.75564455e-05 -1.86180338e+01] [ 8.99721317e-05 -2.13956528e-06 9.99999996e-01 -4.44940120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34185806400001 meters 0.016328824919489303 Centerline is valid? [True, True] Translation: X:74.43, Y:-18.63, Z:-0.44 [[ 8.61166535e-01 5.08322927e-01 1.81402403e-06 7.44314664e+01] [-5.08322927e-01 8.61166535e-01 7.54272501e-07 -1.86347542e+01] [-1.17876280e-06 -1.57166424e-06 1.00000000e+00 -4.43836314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.371858064 meters 0.016352611792665898 Centerline is valid? [True, True] Translation: X:74.46, Y:-18.65, Z:-0.44 [[ 8.61069835e-01 5.08486515e-01 4.51532214e-04 7.44590612e+01] [-5.08486443e-01 8.61069953e-01 -2.69942180e-04 -1.86518319e+01] [-5.26062781e-04 2.84105857e-06 9.99999862e-01 -4.44084051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.401858064 meters 0.01652952290639693 Centerline is valid? [True, True] Translation: X:74.49, Y:-18.67, Z:-0.44 [[ 8.60811421e-01 5.08922603e-01 1.21743391e-03 7.44857895e+01] [-5.08922077e-01 8.60812282e-01 -7.31497102e-04 -1.86683693e+01] [-1.42025747e-03 1.01020674e-05 9.99998991e-01 -4.44807369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.431858064 meters 0.016566824193183928 Centerline is valid? [True, True] Translation: X:74.51, Y:-18.69, Z:-0.45 [[ 8.60453312e-01 5.09528194e-01 1.05746472e-03 7.45142589e+01] [-5.09527798e-01 8.60453961e-01 -6.35437421e-04 -1.86854352e+01] [-1.23367299e-03 7.95656472e-06 9.99999239e-01 -4.45465720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.461858064 meters 0.016713023240646767 Centerline is valid? [True, True] Translation: X:74.54, Y:-18.70, Z:-0.45 [[ 8.59734926e-01 5.10739957e-01 7.43739529e-04 7.45409753e+01] [-5.10739761e-01 8.59735248e-01 -4.46766512e-04 -1.87028344e+01] [-8.67600597e-04 4.24342464e-06 9.99999624e-01 -4.47055900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.491858064 meters 0.016679773691652227 Centerline is valid? [True, True] Translation: X:74.57, Y:-18.72, Z:-0.45 [[ 8.59182098e-01 5.11669761e-01 4.21836894e-04 7.45685292e+01] [-5.11669698e-01 8.59182202e-01 -2.52684414e-04 -1.87203537e+01] [-4.91725725e-04 1.26076837e-06 9.99999879e-01 -4.47418529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.521858064 meters 0.016703384096470906 Centerline is valid? [True, True] Translation: X:74.59, Y:-18.74, Z:-0.45 [[ 8.58331307e-01 5.13095513e-01 -6.00932545e-04 7.45947821e+01] [-5.13095384e-01 8.58331518e-01 3.64515911e-04 -1.87386322e+01] [ 7.02830822e-04 -4.53970366e-06 9.99999753e-01 -4.48469976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.551858064 meters 0.016730779124444664 Centerline is valid? [True, True] Translation: X:74.62, Y:-18.76, Z:-0.45 [[ 8.57787671e-01 5.14003360e-01 -9.25660761e-04 7.46231646e+01] [-5.14003054e-01 8.57788171e-01 5.61019866e-04 -1.87561987e+01] [ 1.08238695e-03 -5.44346583e-06 9.99999414e-01 -4.49108495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.581858064 meters 0.01669444438579211 Centerline is valid? [True, True] Translation: X:74.65, Y:-18.77, Z:-0.45 [[ 8.57364215e-01 5.14709136e-01 -1.05265430e-03 7.46513667e+01] [-5.14708740e-01 8.57364861e-01 6.38150796e-04 -1.87729653e+01] [ 1.23097085e-03 -5.31728854e-06 9.99999242e-01 -4.49727284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.611858064 meters 0.016720826647798642 Centerline is valid? [True, True] Translation: X:74.68, Y:-18.79, Z:-0.45 [[ 8.56734366e-01 5.15757813e-01 -3.24071419e-04 7.46791684e+01] [-5.15757775e-01 8.56734427e-01 1.97717399e-04 -1.87895489e+01] [ 3.79617435e-04 -2.24893626e-06 9.99999928e-01 -4.50073335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641858064 meters 0.016902927965855775 Centerline is valid? [True, True] Translation: X:74.71, Y:-18.81, Z:-0.45 [[ 8.55728170e-01 5.17424889e-01 8.85415708e-04 7.47061839e+01] [-5.17424613e-01 8.55728628e-01 -5.34252227e-04 -1.88062221e+01] [-1.03411097e-03 -9.61200304e-07 9.99999465e-01 -4.50030646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.671858064 meters 0.016922775934619525 Centerline is valid? [True, True] Translation: X:74.73, Y:-18.82, Z:-0.45 [[ 8.55255836e-01 5.18204949e-01 1.04216423e-03 7.47342539e+01] [-5.18204567e-01 8.55256471e-01 -6.29279025e-04 -1.88240421e+01] [-1.21741320e-03 -1.85970323e-06 9.99999259e-01 -4.49896319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701858064 meters 0.01694400294950328 Centerline is valid? [True, True] Translation: X:74.76, Y:-18.84, Z:-0.45 [[ 8.54815143e-01 5.18932059e-01 7.67761122e-04 7.47611518e+01] [-5.18931852e-01 8.54815488e-01 -4.63511732e-04 -1.88413837e+01] [-8.96825196e-04 -2.19885403e-06 9.99999598e-01 -4.50279052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73185806400001 meters 0.016977582351000955 Centerline is valid? [True, True] Translation: X:74.79, Y:-18.86, Z:-0.45 [[ 8.54639334e-01 5.19222065e-01 2.36316732e-04 7.47878629e+01] [-5.19222046e-01 8.54639367e-01 -1.41603197e-04 -1.88585431e+01] [-2.75489086e-04 -1.68119446e-06 9.99999962e-01 -4.50885314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.761858064 meters 0.017105544930353545 Centerline is valid? [True, True] Translation: X:74.81, Y:-18.88, Z:-0.45 [[ 8.54565597e-01 5.19343466e-01 7.45894831e-05 7.48141984e+01] [-5.19343464e-01 8.54565600e-01 -4.36005279e-05 -1.88767935e+01] [-8.63852556e-05 -1.47804942e-06 9.99999996e-01 -4.51518872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.791858064 meters 0.01690082585713702 Centerline is valid? [True, True] Translation: X:74.84, Y:-18.89, Z:-0.45 [[ 8.54670412e-01 5.19170958e-01 -5.81709241e-05 7.48414756e+01] [-5.19170957e-01 8.54670414e-01 3.70536429e-05 -1.88947247e+01] [ 6.89541431e-05 -1.46799792e-06 9.99999998e-01 -4.51842426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.821858064 meters 0.016851742140323422 Centerline is valid? [True, True] Translation: X:74.87, Y:-18.91, Z:-0.45 [[ 8.54899822e-01 5.18793072e-01 2.05932145e-04 7.48687478e+01] [-5.18793057e-01 8.54899847e-01 -1.23304843e-04 -1.89125221e+01] [-2.40021058e-04 -1.42287888e-06 9.99999971e-01 -4.52022385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.851858064 meters 0.016923705943937585 Centerline is valid? [True, True] Translation: X:74.90, Y:-18.93, Z:-0.45 [[ 8.55103460e-01 5.18457397e-01 3.44929268e-05 7.48961117e+01] [-5.18457396e-01 8.55103460e-01 -1.91157683e-05 -1.89316858e+01] [-3.94057326e-05 -1.53715344e-06 9.99999999e-01 -4.51707478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.881858064 meters 0.016816212818692847 Centerline is valid? [True, True] Translation: X:74.92, Y:-18.95, Z:-0.45 [[ 8.54926415e-01 5.18749228e-01 -2.49931972e-04 7.49229316e+01] [-5.18749206e-01 8.54926452e-01 1.53092746e-04 -1.89496452e+01] [ 2.93090198e-04 -1.23102097e-06 9.99999957e-01 -4.52306164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.911858064 meters 0.01685407746486482 Centerline is valid? [True, True] Translation: X:74.95, Y:-18.97, Z:-0.45 [[ 8.54797858e-01 5.18961099e-01 4.15423515e-06 7.49500411e+01] [-5.18961099e-01 8.54797858e-01 -9.41212386e-07 -1.89674355e+01] [-4.03948393e-06 -1.35134010e-06 1.00000000e+00 -4.52337846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.941858064 meters 0.016796479005497945 Centerline is valid? [True, True] Translation: X:74.98, Y:-18.99, Z:-0.45 [[ 8.54587694e-01 5.19307057e-01 -2.32567437e-04 7.49774382e+01] [-5.19307037e-01 8.54587726e-01 1.43338627e-04 -1.89855260e+01] [ 2.73186037e-04 -1.72152011e-06 9.99999963e-01 -4.51518158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.971858064 meters 0.016859537542220568 Centerline is valid? [True, True] Translation: X:75.00, Y:-19.00, Z:-0.45 [[ 8.54341343e-01 5.19712033e-01 -5.20775477e-04 7.50045514e+01] [-5.19711936e-01 8.54341502e-01 3.18971906e-04 -1.90049237e+01] [ 6.10693641e-04 -1.85765561e-06 9.99999814e-01 -4.51677301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001858064 meters 0.01685155942429734 Centerline is valid? [True, True] Translation: X:75.03, Y:-19.02, Z:-0.45 [[ 8.54345866e-01 5.19704248e-01 -7.97373562e-04 7.50324308e+01] [-5.19704019e-01 8.54346238e-01 4.87724767e-04 -1.90230596e+01] [ 9.34705736e-04 -2.28739355e-06 9.99999563e-01 -4.52338689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.031858064 meters 0.01680397278400753 Centerline is valid? [True, True] Translation: X:75.06, Y:-19.04, Z:-0.45 [[ 8.54577024e-01 5.19323768e-01 -9.66841096e-04 7.50600836e+01] [-5.19323431e-01 8.54577570e-01 5.91360702e-04 -1.90410686e+01] [ 1.13334838e-03 -3.26003285e-06 9.99999358e-01 -4.52783187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061858064 meters 0.01681680030593794 Centerline is valid? [True, True] Translation: X:75.09, Y:-19.06, Z:-0.45 [[ 8.54894592e-01 5.18800775e-01 -9.96511363e-04 7.50869756e+01] [-5.18800417e-01 8.54895172e-01 6.09674899e-04 -1.90589740e+01] [ 1.16821256e-03 -4.21726355e-06 9.99999318e-01 -4.53075594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09185806400001 meters 0.01681680030593794 Centerline is valid? [True, True] Translation: X:75.11, Y:-19.08, Z:-0.45 [[ 8.54754002e-01 5.19032372e-01 -9.96298493e-04 7.51146021e+01] [-5.19032013e-01 8.54754583e-01 6.10023312e-04 -1.90759248e+01] [ 1.16821255e-03 -4.30905468e-06 9.99999318e-01 -4.53257761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.121858064 meters 0.01690697334381356 Centerline is valid? [True, True] Translation: X:75.14, Y:-19.10, Z:-0.45 [[ 8.55340711e-01 5.18064287e-01 -1.28934442e-03 7.51410013e+01] [-5.18063686e-01 8.55341683e-01 7.89503456e-04 -1.90956015e+01] [ 1.51184357e-03 -7.33192701e-06 9.99998857e-01 -4.52188064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.151858064 meters 0.016931173638146692 Centerline is valid? [True, True] Translation: X:75.17, Y:-19.11, Z:-0.45 [[ 8.55528527e-01 5.17754519e-01 -1.09469995e-03 7.51684018e+01] [-5.17754084e-01 8.55529227e-01 6.71019423e-04 -1.91140774e+01] [ 1.28397114e-03 -7.29088563e-06 9.99999176e-01 -4.52308488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.181858064 meters 0.01700219244742614 Centerline is valid? [True, True] Translation: X:75.20, Y:-19.13, Z:-0.45 [[ 8.55600175e-01 5.17636236e-01 -1.03351734e-03 7.51950864e+01] [-5.17635848e-01 8.55600799e-01 6.33864107e-04 -1.91324604e+01] [ 1.21238929e-03 -7.34861688e-06 9.99999265e-01 -4.52249042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.211858064 meters 0.017050513486752274 Centerline is valid? [True, True] Translation: X:75.22, Y:-19.15, Z:-0.45 [[ 8.55346974e-01 5.18055078e-01 -7.00177564e-04 7.52229921e+01] [-5.18054900e-01 8.55347260e-01 4.30357286e-04 -1.91499557e+01] [ 8.21843739e-04 -5.37438461e-06 9.99999662e-01 -4.51908054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.241858064 meters 0.017017864384340813 Centerline is valid? [True, True] Translation: X:75.25, Y:-19.17, Z:-0.45 [[ 8.55289007e-01 5.18151189e-01 -2.44188735e-04 7.52503110e+01] [-5.18151167e-01 8.55289042e-01 1.50645242e-04 -1.91671487e+01] [ 2.86908960e-04 -2.31854115e-06 9.99999959e-01 -4.52151242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.271858064 meters 0.017835514619265032 Centerline is valid? [True, True] Translation: X:75.28, Y:-19.18, Z:-0.45 [[ 8.54963182e-01 5.18688677e-01 1.18863062e-04 7.52783063e+01] [-5.18688672e-01 8.54963190e-01 -7.09904485e-05 -1.91848402e+01] [-1.38445485e-04 -9.58704277e-07 9.99999990e-01 -4.52819210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.301858064 meters 0.017072879915653687 Centerline is valid? [True, True] Translation: X:75.31, Y:-19.20, Z:-0.45 [[ 8.54524075e-01 5.19411758e-01 -1.74361326e-04 7.53064626e+01] [-5.19411747e-01 8.54524093e-01 1.08708939e-04 -1.92014271e+01] [ 2.05460655e-04 -2.32908431e-06 9.99999979e-01 -4.52429887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.331858064 meters 0.017163985172190043 Centerline is valid? [True, True] Translation: X:75.33, Y:-19.22, Z:-0.45 [[ 8.53861669e-01 5.20499766e-01 -4.94585667e-04 7.53346387e+01] [-5.20499676e-01 8.53861812e-01 3.05190829e-04 -1.92191186e+01] [ 5.81159569e-04 -3.15907063e-06 9.99999831e-01 -4.52949554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.361858064 meters 0.017155441710608163 Centerline is valid? [True, True] Translation: X:75.36, Y:-19.24, Z:-0.45 [[ 8.52757153e-01 5.22305571e-01 -1.45894103e-03 7.53622719e+01] [-5.22304801e-01 8.52758401e-01 8.97122193e-04 -1.92359770e+01] [ 1.71269614e-03 -3.01546185e-06 9.99998533e-01 -4.53916071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.391858064 meters 0.017157534689013407 Centerline is valid? [True, True] Translation: X:75.39, Y:-19.25, Z:-0.45 [[ 8.51780654e-01 5.23895341e-01 -1.84071269e-03 7.53904388e+01] [-5.23894118e-01 8.51782643e-01 1.13231685e-03 -1.92527084e+01] [ 2.16110264e-03 -1.47038451e-07 9.99997665e-01 -4.53939128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421858064 meters 0.017222639895265582 Centerline is valid? [True, True] Translation: X:75.42, Y:-19.27, Z:-0.45 [[ 8.51159042e-01 5.24905032e-01 -1.73011999e-03 7.54181729e+01] [-5.24903953e-01 8.51160800e-01 1.06411136e-03 -1.92688821e+01] [ 2.03116772e-03 2.41881895e-06 9.99997937e-01 -4.54633334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.451858064 meters 0.017363260012714758 Centerline is valid? [True, True] Translation: X:75.45, Y:-19.28, Z:-0.46 [[ 8.50046477e-01 5.26704050e-01 -1.95713246e-03 7.54457397e+01] [-5.26702674e-01 8.50048730e-01 1.20399771e-03 -1.92842167e+01] [ 2.29780844e-03 7.37288605e-06 9.99997360e-01 -4.55218480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48185806400001 meters 0.017498007690568557 Centerline is valid? [True, True] Translation: X:75.47, Y:-19.30, Z:-0.45 [[ 8.49665575e-01 5.27318481e-01 -1.90519996e-03 7.54738823e+01] [-5.27317175e-01 8.49667711e-01 1.17352354e-03 -1.93019104e+01] [ 2.23760754e-03 7.54211025e-06 9.99997497e-01 -4.54440457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.511858064 meters 0.01736304593924718 Centerline is valid? [True, True] Translation: X:75.50, Y:-19.32, Z:-0.45 [[ 8.49520118e-01 5.27552714e-01 -1.92444340e-03 7.55010807e+01] [-5.27551381e-01 8.49522297e-01 1.18614763e-03 -1.93198762e+01] [ 2.26061299e-03 7.58649814e-06 9.99997445e-01 -4.53876602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.541858064 meters 0.01747163550600152 Centerline is valid? [True, True] Translation: X:75.53, Y:-19.34, Z:-0.45 [[ 8.49527098e-01 5.27541654e-01 -1.87415520e-03 7.55276947e+01] [-5.27540388e-01 8.49529165e-01 1.15573274e-03 -1.93371385e+01] [ 2.20184666e-03 6.86627884e-06 9.99997576e-01 -4.53590481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.571858064 meters 0.01741185587310832 Centerline is valid? [True, True] Translation: X:75.55, Y:-19.36, Z:-0.45 [[ 8.50145046e-01 5.26547902e-01 -8.40691149e-04 7.55540062e+01] [-5.26547646e-01 8.50145462e-01 5.19579157e-04 -1.93553353e+01] [ 9.88293080e-04 9.46298795e-07 9.99999512e-01 -4.51489071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.601858064 meters 0.017387931253459415 Centerline is valid? [True, True] Translation: X:75.58, Y:-19.37, Z:-0.45 [[ 8.50550697e-01 5.25893059e-01 -5.75881264e-05 7.55805424e+01] [-5.25893057e-01 8.50550699e-01 3.72391776e-05 -1.93725592e+01] [ 6.85654461e-05 -1.38861259e-06 9.99999998e-01 -4.51470194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.631858064 meters 0.017322713487393372 Centerline is valid? [True, True] Translation: X:75.61, Y:-19.39, Z:-0.45 [[ 8.51134267e-01 5.24948023e-01 1.81960468e-04 7.56078007e+01] [-5.24948011e-01 8.51134286e-01 -1.10353119e-04 -1.93904759e+01] [-2.12802444e-04 -1.59446434e-06 9.99999977e-01 -4.50785404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.661858064 meters 0.017349046238673005 Centerline is valid? [True, True] Translation: X:75.63, Y:-19.41, Z:-0.45 [[ 8.52451093e-01 5.22806936e-01 2.03578961e-04 7.56341541e+01] [-5.22806921e-01 8.52451117e-01 -1.23896042e-04 -1.94081388e+01] [-2.38314823e-04 -8.17173782e-07 9.99999972e-01 -4.51674157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.691858064 meters 0.01732116841959993 Centerline is valid? [True, True] Translation: X:75.66, Y:-19.43, Z:-0.45 [[ 8.52824301e-01 5.22197851e-01 3.40027989e-04 7.56623923e+01] [-5.22197810e-01 8.52824369e-01 -2.08133565e-04 -1.94256591e+01] [-3.98671055e-04 -6.05089834e-08 9.99999921e-01 -4.51369865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.721858064 meters 0.01738246938470915 Centerline is valid? [True, True] Translation: X:75.69, Y:-19.44, Z:-0.45 [[ 8.52976234e-01 5.21949606e-01 3.90674066e-04 7.56889990e+01] [-5.21949551e-01 8.52976324e-01 -2.39686912e-04 -1.94426729e+01] [-4.58340218e-04 5.35086769e-07 9.99999895e-01 -4.51444636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.751858064 meters 0.017391424137231788 Centerline is valid? [True, True] Translation: X:75.72, Y:-19.46, Z:-0.45 [[ 8.53598679e-01 5.20931167e-01 1.18643090e-04 7.57164959e+01] [-5.20931162e-01 8.53598688e-01 -7.14905130e-05 -1.94610409e+01] [-1.38515222e-04 -7.80675237e-07 9.99999990e-01 -4.50900373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781858064 meters 0.017444994987610134 Centerline is valid? [True, True] Translation: X:75.74, Y:-19.48, Z:-0.45 [[ 8.53844697e-01 5.20527833e-01 9.03960160e-05 7.57443906e+01] [-5.20527830e-01 8.53844702e-01 -5.40709052e-05 -1.94785644e+01] [-1.05329570e-04 -8.85486303e-07 9.99999994e-01 -4.50753185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.811858064 meters 0.017435784987881082 Centerline is valid? [True, True] Translation: X:75.77, Y:-19.50, Z:-0.45 [[ 8.53791432e-01 5.20614373e-01 -9.29753595e-04 7.57721065e+01] [-5.20614053e-01 8.53791938e-01 5.77518466e-04 -1.94954535e+01] [ 1.09448054e-03 -9.03753118e-06 9.99999401e-01 -4.51332456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84185806400001 meters 0.017403366358879197 Centerline is valid? [True, True] Translation: X:75.80, Y:-19.51, Z:-0.45 [[ 8.53390347e-01 5.21269178e-01 -1.83307976e-03 7.58000796e+01] [-5.21267938e-01 8.53392315e-01 1.13735304e-03 -1.95103308e+01] [ 2.15720327e-03 -1.50804040e-05 9.99997673e-01 -4.53335203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.871858064 meters 0.017468956276990816 Centerline is valid? [True, True] Translation: X:75.83, Y:-19.53, Z:-0.45 [[ 8.53068071e-01 5.21793244e-01 -2.58401899e-03 7.58290574e+01] [-5.21790780e-01 8.53071984e-01 1.60367364e-03 -1.95268807e+01] [ 3.04114028e-03 -1.97254927e-05 9.99995376e-01 -4.54585213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.901858064 meters 0.017503210852566564 Centerline is valid? [True, True] Translation: X:75.86, Y:-19.54, Z:-0.46 [[ 8.52524095e-01 5.22668174e-01 -4.54389909e-03 7.58570580e+01] [-5.22660568e-01 8.52536204e-01 2.81988032e-03 -1.95420551e+01] [ 5.34770018e-03 -2.90990365e-05 9.99985701e-01 -4.56196891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.931858064 meters 0.01751370853206235 Centerline is valid? [True, True] Translation: X:75.89, Y:-19.56, Z:-0.46 [[ 8.52077442e-01 5.23395034e-01 -4.65520887e-03 7.58852815e+01] [-5.23387051e-01 8.52090158e-01 2.89093607e-03 -1.95585168e+01] [ 5.47975925e-03 -2.68253694e-05 9.99984986e-01 -4.56542050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.961858064 meters 0.017481064917276246 Centerline is valid? [True, True] Translation: X:75.91, Y:-19.58, Z:-0.46 [[ 8.51677541e-01 5.24038584e-01 -5.37862419e-03 7.59135211e+01] [-5.24027928e-01 8.51694524e-01 3.34198002e-03 -1.95755917e+01] [ 6.33227125e-03 -2.77400337e-05 9.99979951e-01 -4.56207396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.991858064 meters 0.017513039993075043 Centerline is valid? [True, True] Translation: X:75.94, Y:-19.59, Z:-0.46 [[ 8.51242604e-01 5.24744654e-01 -5.39231791e-03 7.59419193e+01] [-5.24733945e-01 8.51259683e-01 3.35258599e-03 -1.95927466e+01] [ 6.34951441e-03 -2.43317810e-05 9.99979841e-01 -4.56077712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.021858064 meters 0.017589544459665454 Centerline is valid? [True, True] Translation: X:75.97, Y:-19.61, Z:-0.46 [[ 8.51062706e-01 5.25037294e-01 -5.30186425e-03 7.59701687e+01] [-5.25026935e-01 8.51079221e-01 3.29816959e-03 -1.96086479e+01] [ 6.24396853e-03 -2.33276033e-05 9.99980506e-01 -4.55080375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.051858064 meters 0.017453871548482592 Centerline is valid? [True, True] Translation: X:76.00, Y:-19.62, Z:-0.45 [[ 8.50839806e-01 5.25402208e-01 -4.91357282e-03 7.59986496e+01] [-5.25393305e-01 8.50853994e-01 3.05870242e-03 -1.96246079e+01] [ 5.78778206e-03 -2.09075061e-05 9.99983250e-01 -4.54855574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.081858064 meters 0.01754096277618122 Centerline is valid? [True, True] Translation: X:76.03, Y:-19.64, Z:-0.46 [[ 8.50820209e-01 5.25434653e-01 -4.83711888e-03 7.60276744e+01] [-5.25426015e-01 8.50833959e-01 3.01295806e-03 -1.96410516e+01] [ 5.69869757e-03 -2.19375095e-05 9.99983762e-01 -4.55093102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.111858064 meters 0.017479166446430206 Centerline is valid? [True, True] Translation: X:76.06, Y:-19.66, Z:-0.46 [[ 8.50785780e-01 5.25489051e-01 -4.98141684e-03 7.60560522e+01] [-5.25479880e-01 8.50800362e-01 3.10470241e-03 -1.96570765e+01] [ 5.86967837e-03 -2.38023376e-05 9.99982773e-01 -4.55274117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141858064 meters 0.017518750581697533 Centerline is valid? [True, True] Translation: X:76.08, Y:-19.67, Z:-0.46 [[ 8.50894984e-01 5.25312831e-01 -4.91478059e-03 7.60841956e+01] [-5.25303891e-01 8.50909178e-01 3.06479812e-03 -1.96723633e+01] [ 5.79200969e-03 -2.60679757e-05 9.99983226e-01 -4.55643018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.171858064 meters 0.01748058654184887 Centerline is valid? [True, True] Translation: X:76.11, Y:-19.69, Z:-0.45 [[ 8.51075422e-01 5.25018169e-01 -5.15244525e-03 7.61121183e+01] [-5.25008326e-01 8.51091018e-01 3.21501084e-03 -1.96891227e+01] [ 6.07313898e-03 -3.11400521e-05 9.99981558e-01 -4.54753093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201858064 meters 0.017464920640388907 Centerline is valid? [True, True] Translation: X:76.14, Y:-19.71, Z:-0.45 [[ 8.51097553e-01 5.24985081e-01 -4.86004615e-03 7.61405315e+01] [-5.24976312e-01 8.51111428e-01 3.03452601e-03 -1.97059663e+01] [ 5.72952171e-03 -3.12685581e-05 9.99983586e-01 -4.54259618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23185806400001 meters 0.017527283722193945 Centerline is valid? [True, True] Translation: X:76.17, Y:-19.72, Z:-0.45 [[ 8.51312169e-01 5.24641261e-01 -4.37466120e-03 7.61699207e+01] [-5.24634142e-01 8.51323408e-01 2.73328918e-03 -1.97215681e+01] [ 5.15824777e-03 -3.17857181e-05 9.99986696e-01 -4.53336165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.261858064 meters 0.01758297204509689 Centerline is valid? [True, True] Translation: X:76.20, Y:-19.74, Z:-0.45 [[ 8.51417809e-01 5.24472360e-01 -4.05696166e-03 7.61988402e+01] [-5.24466227e-01 8.51427474e-01 2.53645726e-03 -1.97380347e+01] [ 4.78451034e-03 -3.18455074e-05 9.99988554e-01 -4.53119306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.291858064 meters 0.017471268636990948 Centerline is valid? [True, True] Translation: X:76.23, Y:-19.75, Z:-0.45 [[ 8.51419755e-01 5.24470990e-01 -3.81866346e-03 7.62275135e+01] [-5.24465549e-01 8.51428317e-01 2.38905544e-03 -1.97540188e+01] [ 4.50430848e-03 -3.13315671e-05 9.99989855e-01 -4.52700754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.321858064 meters 0.01757995503341148 Centerline is valid? [True, True] Translation: X:76.26, Y:-19.77, Z:-0.45 [[ 8.51413027e-01 5.24483513e-01 -3.59194575e-03 7.62552649e+01] [-5.24478694e-01 8.51420603e-01 2.24847875e-03 -1.97705441e+01] [ 4.23754665e-03 -3.04850812e-05 9.99991021e-01 -4.53156286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.351858064 meters 0.0174813911425454 Centerline is valid? [True, True] Translation: X:76.28, Y:-19.79, Z:-0.45 [[ 8.51502767e-01 5.24335549e-01 -3.90759131e-03 7.62839525e+01] [-5.24329837e-01 8.51511733e-01 2.44759409e-03 -1.97866005e+01] [ 4.61072044e-03 -3.52664223e-05 9.99989370e-01 -4.51963918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.381858064 meters 0.017588164914282067 Centerline is valid? [True, True] Translation: X:76.31, Y:-19.80, Z:-0.45 [[ 8.51683162e-01 5.24045662e-01 -3.45496830e-03 7.63109660e+01] [-5.24041189e-01 8.51690169e-01 2.16542223e-03 -1.98033194e+01] [ 4.07734266e-03 -3.37079547e-05 9.99991687e-01 -4.52180420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.411858064 meters 0.017632323365850463 Centerline is valid? [True, True] Translation: X:76.34, Y:-19.82, Z:-0.45 [[ 8.52136464e-01 5.23313114e-01 -2.61358021e-03 7.63383796e+01] [-5.23310547e-01 8.52140472e-01 1.63939910e-03 -1.98196791e+01] [ 3.08505652e-03 -2.92776651e-05 9.99995241e-01 -4.51800886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.441858064 meters 0.01763827710305752 Centerline is valid? [True, True] Translation: X:76.37, Y:-19.84, Z:-0.45 [[ 8.52246683e-01 5.23134640e-01 -2.39579085e-03 7.63672405e+01] [-5.23132479e-01 8.52250050e-01 1.50403032e-03 -1.98357801e+01] [ 2.82862323e-03 -2.84888410e-05 9.99995999e-01 -4.51336056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.471858064 meters 0.017688343588143602 Centerline is valid? [True, True] Translation: X:76.39, Y:-19.85, Z:-0.45 [[ 8.52086353e-01 5.23395079e-01 -2.53740910e-03 7.63941589e+01] [-5.23392654e-01 8.52090130e-01 1.59344629e-03 -1.98519966e+01] [ 2.99610320e-03 -2.96925593e-05 9.99995511e-01 -4.52413053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501858064 meters 0.017529823063549305 Centerline is valid? [True, True] Translation: X:76.42, Y:-19.87, Z:-0.45 [[ 8.51436900e-01 5.24452207e-01 -2.25568812e-03 7.64231293e+01] [-5.24450292e-01 8.51439887e-01 1.41748458e-03 -1.98667448e+01] [ 2.66398575e-03 -2.39023836e-05 9.99996451e-01 -4.52393214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.531858064 meters 0.017431458958532754 Centerline is valid? [True, True] Translation: X:76.45, Y:-19.88, Z:-0.45 [[ 8.50817743e-01 5.25455415e-01 -2.40312113e-03 7.64520262e+01] [-5.25453242e-01 8.50821137e-01 1.51122913e-03 -1.98834468e+01] [ 2.83870977e-03 -2.30527667e-05 9.99995971e-01 -4.52109917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561858064 meters 0.017395310906777314 Centerline is valid? [True, True] Translation: X:76.48, Y:-19.90, Z:-0.45 [[ 8.50126231e-01 5.26573654e-01 -2.36179802e-03 7.64804587e+01] [-5.26571557e-01 8.50129512e-01 1.48620103e-03 -1.99001235e+01] [ 2.79042850e-03 -1.98028182e-05 9.99996107e-01 -4.52064372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59185806400001 meters 0.017353670896026716 Centerline is valid? [True, True] Translation: X:76.51, Y:-19.91, Z:-0.45 [[ 8.49394831e-01 5.27754783e-01 -1.81923805e-03 7.65096913e+01] [-5.27753543e-01 8.49396779e-01 1.14414965e-03 -1.99149651e+01] [ 2.14908539e-03 -1.17254740e-05 9.99997691e-01 -4.52377321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.621858064 meters 0.01734178956423353 Centerline is valid? [True, True] Translation: X:76.54, Y:-19.93, Z:-0.45 [[ 8.48949361e-01 5.28470719e-01 -1.91866579e-03 7.65386841e+01] [-5.28469337e-01 8.48951529e-01 1.20865989e-03 -1.99315700e+01] [ 2.26759562e-03 -1.21350051e-05 9.99997429e-01 -4.52960771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.651858064 meters 0.017380326469806376 Centerline is valid? [True, True] Translation: X:76.57, Y:-19.95, Z:-0.45 [[ 8.48464330e-01 5.29248516e-01 -2.07078903e-03 7.65669938e+01] [-5.29246907e-01 8.48466857e-01 1.30516414e-03 -1.99477656e+01] [ 2.44775204e-03 -1.14265256e-05 9.99997004e-01 -4.53904980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.681858064 meters 0.017353956267182034 Centerline is valid? [True, True] Translation: X:76.59, Y:-19.96, Z:-0.46 [[ 8.47857809e-01 5.30210789e-01 -3.69534946e-03 7.65947217e+01] [-5.30205677e-01 8.47865861e-01 2.32843144e-03 -1.99623113e+01] [ 4.36772012e-03 -1.48835176e-05 9.99990461e-01 -4.56219139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.711858064 meters 0.01733033723153043 Centerline is valid? [True, True] Translation: X:76.62, Y:-19.98, Z:-0.46 [[ 8.47449605e-01 5.30861227e-01 -3.94014424e-03 7.66232347e+01] [-5.30855413e-01 8.47458765e-01 2.48438734e-03 -1.99788127e+01] [ 4.65797468e-03 -1.37461692e-05 9.99989151e-01 -4.56992703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.741858064 meters 0.017266920952016873 Centerline is valid? [True, True] Translation: X:76.65, Y:-20.00, Z:-0.46 [[ 8.47192710e-01 5.31270111e-01 -4.07195225e-03 7.66517317e+01] [-5.31263900e-01 8.47202496e-01 2.56906791e-03 -1.99952972e+01] [ 4.81463710e-03 -1.32143755e-05 9.99988409e-01 -4.56488279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.771858064 meters 0.017237263726746915 Centerline is valid? [True, True] Translation: X:76.68, Y:-20.01, Z:-0.46 [[ 8.46896520e-01 5.31744885e-01 -3.69616470e-03 7.66797110e+01] [-5.31739764e-01 8.46904586e-01 2.33357789e-03 -2.00119095e+01] [ 4.37116694e-03 -1.09012473e-05 9.99990446e-01 -4.56314845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.801858064 meters 0.017168189969956456 Centerline is valid? [True, True] Translation: X:76.71, Y:-20.03, Z:-0.46 [[ 8.46972024e-01 5.31630415e-01 -2.73731053e-03 7.67080757e+01] [-5.31627602e-01 8.46976447e-01 1.72937529e-03 -2.00279183e+01] [ 3.23782605e-03 -9.50265123e-06 9.99994758e-01 -4.55580795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.831858064 meters 0.017164993811956797 Centerline is valid? [True, True] Translation: X:76.74, Y:-20.04, Z:-0.46 [[ 8.47137958e-01 5.31368360e-01 -2.22406205e-03 7.67353899e+01] [-5.31366499e-01 8.47140877e-01 1.40632703e-03 -2.00449584e+01] [ 2.63137156e-03 -9.56094114e-06 9.99996538e-01 -4.55547244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.861858064 meters 0.017118432532981308 Centerline is valid? [True, True] Translation: X:76.76, Y:-20.06, Z:-0.46 [[ 8.47236395e-01 5.31213168e-01 -1.74949154e-03 7.67630656e+01] [-5.31212014e-01 8.47238201e-01 1.10736372e-03 -2.00622039e+01] [ 2.07048226e-03 -8.84792036e-06 9.99997857e-01 -4.55102572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.891858064 meters 0.017187596256024017 Centerline is valid? [True, True] Translation: X:76.79, Y:-20.08, Z:-0.46 [[ 8.47516772e-01 5.30766446e-01 -1.51665146e-03 7.67910670e+01] [-5.30765577e-01 8.47518129e-01 9.60846597e-04 -2.00785872e+01] [ 1.79537474e-03 -9.34722138e-06 9.99998388e-01 -4.55343338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921858064 meters 0.01720211821302619 Centerline is valid? [True, True] Translation: X:76.82, Y:-20.10, Z:-0.46 [[ 8.47473413e-01 5.30835882e-01 -1.44211310e-03 7.68187555e+01] [-5.30835095e-01 8.47474640e-01 9.14109207e-04 -2.00954246e+01] [ 1.70739625e-03 -9.15900594e-06 9.99998542e-01 -4.56159315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.951858064 meters 0.017200092814800536 Centerline is valid? [True, True] Translation: X:76.85, Y:-20.11, Z:-0.46 [[ 8.47171646e-01 5.31317500e-01 -1.38475430e-03 7.68472868e+01] [-5.31316773e-01 8.47172777e-01 8.78454975e-04 -2.01119221e+01] [ 1.63986465e-03 -8.45896065e-06 9.99998655e-01 -4.55969896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98185806400001 meters 0.017256427287282435 Centerline is valid? [True, True] Translation: X:76.88, Y:-20.13, Z:-0.46 [[ 8.46890599e-01 5.31766052e-01 -1.08579723e-03 7.68759705e+01] [-5.31765605e-01 8.46891295e-01 6.89605296e-04 -2.01286943e+01] [ 1.28626091e-03 -6.63062049e-06 9.99999173e-01 -4.56045802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.011858064 meters 0.017256427287282435 Centerline is valid? [True, True] Translation: X:76.90, Y:-20.15, Z:-0.46 [[ 8.46745524e-01 5.31997029e-01 -1.08560947e-03 7.69033184e+01] [-5.31996582e-01 8.46746220e-01 6.89901234e-04 -2.01461103e+01] [ 1.28626112e-03 -6.63025654e-06 9.99999173e-01 -4.56228006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.041858064 meters 0.01712714205818373 Centerline is valid? [True, True] Translation: X:76.93, Y:-20.16, Z:-0.46 [[ 8.46321282e-01 5.32672587e-01 -4.50799481e-04 7.69319972e+01] [-5.32672509e-01 8.46321402e-01 2.87755958e-04 -2.01623538e+01] [ 5.34800959e-04 -3.40550066e-06 9.99999857e-01 -4.55369964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.071858064 meters 0.01712805201441726 Centerline is valid? [True, True] Translation: X:76.96, Y:-20.18, Z:-0.46 [[ 8.46127472e-01 5.32980508e-01 -2.81425540e-04 7.69600242e+01] [-5.32980477e-01 8.46127519e-01 1.80444868e-04 -2.01796357e+01] [ 3.34295492e-04 -2.68504121e-06 9.99999944e-01 -4.55216239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.101858064 meters 0.016973042367865853 Centerline is valid? [True, True] Translation: X:76.99, Y:-20.20, Z:-0.46 [[ 8.46032066e-01 5.33131879e-01 -3.78069691e-04 7.69890529e+01] [-5.33131824e-01 8.46032151e-01 2.41930310e-04 -2.01959933e+01] [ 4.48839875e-04 -3.11981623e-06 9.99999899e-01 -4.56064279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.131858064 meters 0.016972356335994105 Centerline is valid? [True, True] Translation: X:77.02, Y:-20.21, Z:-0.46 [[ 8.45950605e-01 5.33260956e-01 -5.71160711e-04 7.70163282e+01] [-5.33260832e-01 8.45950798e-01 3.64626039e-04 -2.02125817e+01] [ 6.77614690e-04 -3.87798298e-06 9.99999770e-01 -4.56880895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.161858064 meters 0.016987564267655682 Centerline is valid? [True, True] Translation: X:77.04, Y:-20.23, Z:-0.46 [[ 8.45864062e-01 5.33398232e-01 -5.60270931e-04 7.70446225e+01] [-5.33398112e-01 8.45864248e-01 3.58026600e-04 -2.02300963e+01] [ 6.64883905e-04 -3.99437699e-06 9.99999779e-01 -4.57300453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.191858064 meters 0.01903253676915097 Centerline is valid? [True, True] Translation: X:77.07, Y:-20.25, Z:-0.46 [[ 8.46057357e-01 5.33091172e-01 -8.67003398e-04 7.70716296e+01] [-5.33090886e-01 8.46057801e-01 5.52549547e-04 -2.02472328e+01] [ 1.02809427e-03 -5.29700014e-06 9.99999471e-01 -4.60043131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.221858064 meters 0.01683139943801161 Centerline is valid? [True, True] Translation: X:77.10, Y:-20.26, Z:-0.46 [[ 8.45077971e-01 5.34642636e-01 -6.89200482e-04 7.71001184e+01] [-5.34642454e-01 8.45078252e-01 4.40368668e-04 -2.02636251e+01] [ 8.17868204e-04 -3.67002294e-06 9.99999666e-01 -4.58512880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.251858064 meters 0.01687240285271556 Centerline is valid? [True, True] Translation: X:77.13, Y:-20.28, Z:-0.46 [[ 8.44607348e-01 5.35385981e-01 -5.28213275e-04 7.71283643e+01] [-5.35385874e-01 8.44607513e-01 3.38190754e-04 -2.02806155e+01] [ 6.27195489e-04 -2.84046996e-06 9.99999803e-01 -4.58358123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281858064 meters 0.016853613987592914 Centerline is valid? [True, True] Translation: X:77.16, Y:-20.30, Z:-0.46 [[ 8.43975382e-01 5.36381662e-01 -5.17449081e-04 7.71559717e+01] [-5.36381559e-01 8.43975541e-01 3.31533340e-04 -2.02976967e+01] [ 6.14542772e-04 -2.25583222e-06 9.99999811e-01 -4.58536282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.311858064 meters 0.01670186182795118 Centerline is valid? [True, True] Translation: X:77.18, Y:-20.31, Z:-0.46 [[ 8.42703661e-01 5.38377047e-01 -8.33524998e-04 7.71845368e+01] [-5.38376783e-01 8.42704073e-01 5.33258288e-04 -2.03140775e+01] [ 9.89508934e-04 -6.28204878e-07 9.99999510e-01 -4.58733460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34185806400001 meters 0.016758192891287063 Centerline is valid? [True, True] Translation: X:77.21, Y:-20.33, Z:-0.46 [[ 8.41985537e-01 5.39499350e-01 -8.98643699e-04 7.72123247e+01] [-5.39499044e-01 8.41986016e-01 5.74976056e-04 -2.03308076e+01] [ 1.06684464e-03 6.95893364e-07 9.99999431e-01 -4.59481943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.371858064 meters 0.01667165627519986 Centerline is valid? [True, True] Translation: X:77.24, Y:-20.35, Z:-0.46 [[ 8.41274551e-01 5.40606731e-01 -1.22197111e-03 7.72402318e+01] [-5.40606165e-01 8.41275438e-01 7.81858055e-04 -2.03480085e+01] [ 1.45069201e-03 2.84783194e-06 9.99998948e-01 -4.59694316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.401858064 meters 0.016705004968006698 Centerline is valid? [True, True] Translation: X:77.27, Y:-20.37, Z:-0.46 [[ 8.40579239e-01 5.41687664e-01 -1.00844917e-03 7.72666070e+01] [-5.41687279e-01 8.40579844e-01 6.45808586e-04 -2.03653881e+01] [ 1.19750859e-03 3.41079740e-06 9.99999283e-01 -4.60468235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.431858064 meters 0.016610497751231006 Centerline is valid? [True, True] Translation: X:77.29, Y:-20.38, Z:-0.46 [[ 8.40375566e-01 5.42003521e-01 -1.04486027e-03 7.72941580e+01] [-5.42003108e-01 8.40376215e-01 6.69596581e-04 -2.03841820e+01] [ 1.24099942e-03 3.60490652e-06 9.99999230e-01 -4.60245888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.461858064 meters 0.016663635994995398 Centerline is valid? [True, True] Translation: X:77.32, Y:-20.40, Z:-0.46 [[ 8.40140884e-01 5.42367313e-01 -9.96416783e-04 7.73202525e+01] [-5.42366937e-01 8.40141475e-01 6.38177424e-04 -2.04017784e+01] [ 1.18325764e-03 4.26457383e-06 9.99999300e-01 -4.60654145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.491858064 meters 0.01657806707530991 Centerline is valid? [True, True] Translation: X:77.35, Y:-20.42, Z:-0.46 [[ 8.39978575e-01 5.42618366e-01 -1.14148386e-03 7.73475073e+01] [-5.42617872e-01 8.39979350e-01 7.32116679e-04 -2.04208566e+01] [ 1.35608283e-03 4.42721845e-06 9.99999081e-01 -4.60333885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.521858064 meters 0.01658133877704576 Centerline is valid? [True, True] Translation: X:77.37, Y:-20.44, Z:-0.46 [[ 8.39870609e-01 5.42783492e-01 -1.85495235e-03 7.73730262e+01] [-5.42782190e-01 8.39872657e-01 1.18909281e-03 -2.04407360e+01] [ 2.20334371e-03 8.15099564e-06 9.99997573e-01 -4.62204865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.551858064 meters 0.016416194435119547 Centerline is valid? [True, True] Translation: X:77.40, Y:-20.46, Z:-0.46 [[ 8.39896623e-01 5.42743113e-01 -1.89084514e-03 7.73992125e+01] [-5.42741758e-01 8.39898752e-01 1.21292992e-03 -2.04602805e+01] [ 2.24642783e-03 7.50487301e-06 9.99997477e-01 -4.62171045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.581858064 meters 0.016408330003469408 Centerline is valid? [True, True] Translation: X:77.43, Y:-20.48, Z:-0.46 [[ 8.39858783e-01 5.42802680e-01 -1.57295625e-03 7.74254387e+01] [-5.42801741e-01 8.39860256e-01 1.00977792e-03 -2.04787503e+01] [ 1.86917360e-03 5.73253735e-06 9.99998253e-01 -4.62624119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.611858064 meters 0.016380575361888774 Centerline is valid? [True, True] Translation: X:77.45, Y:-20.50, Z:-0.46 [[ 8.39687443e-01 5.43068679e-01 -1.18649921e-03 7.74513882e+01] [-5.43068143e-01 8.39688281e-01 7.62670980e-04 -2.04994780e+01] [ 1.41047221e-03 3.94467894e-06 9.99999005e-01 -4.61518662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641858064 meters 0.016323381039055722 Centerline is valid? [True, True] Translation: X:77.48, Y:-20.52, Z:-0.46 [[ 8.39520524e-01 5.43327545e-01 -6.84316707e-04 7.74780292e+01] [-5.43327366e-01 8.39520803e-01 4.40965738e-04 -2.05187871e+01] [ 8.14086943e-04 1.60820647e-06 9.99999669e-01 -4.61244518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.671858064 meters 0.01642702805069308 Centerline is valid? [True, True] Translation: X:77.50, Y:-20.54, Z:-0.46 [[ 8.39420851e-01 5.43481628e-01 -5.95471693e-04 7.75035662e+01] [-5.43481493e-01 8.39421062e-01 3.84047652e-04 -2.05373627e+01] [ 7.08574324e-04 1.25023723e-06 9.99999749e-01 -4.61399281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701858064 meters 0.016371985354126276 Centerline is valid? [True, True] Translation: X:77.53, Y:-20.56, Z:-0.46 [[ 8.39417848e-01 5.43486385e-01 -4.75135443e-04 7.75281073e+01] [-5.43486298e-01 8.39417983e-01 3.06295645e-04 -2.05578530e+01] [ 5.65304748e-04 1.11957175e-06 9.99999840e-01 -4.61479695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73185806400001 meters 0.016312315361667183 Centerline is valid? [True, True] Translation: X:77.55, Y:-20.58, Z:-0.46 [[ 8.39484069e-01 5.43384253e-01 -2.27684493e-04 7.75545189e+01] [-5.43384233e-01 8.39484100e-01 1.48136354e-04 -2.05775781e+01] [ 2.71632474e-04 -6.37945372e-07 9.99999963e-01 -4.61409453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.761858064 meters 0.01626212478542572 Centerline is valid? [True, True] Translation: X:77.58, Y:-20.60, Z:-0.46 [[ 8.39503976e-01 5.43353432e-01 -3.49694299e-04 7.75809580e+01] [-5.43353384e-01 8.39504049e-01 2.26739130e-04 -2.05976120e+01] [ 4.16769264e-04 -3.40819672e-07 9.99999913e-01 -4.61274969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.791858064 meters 0.016279432928447322 Centerline is valid? [True, True] Translation: X:77.61, Y:-20.62, Z:-0.46 [[ 8.39673825e-01 5.43090879e-01 -4.06431834e-04 7.76069826e+01] [-5.43090815e-01 8.39673923e-01 2.63416351e-04 -2.06174002e+01] [ 4.84329230e-04 -4.54419067e-07 9.99999883e-01 -4.61691120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.821858064 meters 0.016355034188380385 Centerline is valid? [True, True] Translation: X:77.63, Y:-20.64, Z:-0.46 [[ 8.39879962e-01 5.42771398e-01 -9.27398009e-04 7.76320063e+01] [-5.42771067e-01 8.39880474e-01 5.98845631e-04 -2.06367656e+01] [ 1.10393976e-03 4.06362099e-07 9.99999391e-01 -4.61883642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.851858064 meters 0.01620347365956409 Centerline is valid? [True, True] Translation: X:77.66, Y:-20.66, Z:-0.46 [[ 8.40125363e-01 5.42389217e-01 -1.81977252e-03 7.76563661e+01] [-5.42387946e-01 8.40127334e-01 1.17421181e-03 -2.06593082e+01] [ 2.16572046e-03 5.37553943e-07 9.99997655e-01 -4.62236171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.881858064 meters 0.016261709182477862 Centerline is valid? [True, True] Translation: X:77.68, Y:-20.68, Z:-0.46 [[ 8.39992596e-01 5.42594158e-01 -2.00457856e-03 7.76821835e+01] [-5.42592615e-01 8.39994988e-01 1.29388290e-03 -2.06786816e+01] [ 2.38588924e-03 8.17462246e-07 9.99997154e-01 -4.62571825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.911858064 meters 0.016295597559181377 Centerline is valid? [True, True] Translation: X:77.71, Y:-20.70, Z:-0.46 [[ 8.39691803e-01 5.43058318e-01 -2.31065278e-03 7.77083846e+01] [-5.43056268e-01 8.39694982e-01 1.49218655e-03 -2.06980261e+01] [ 2.75058786e-03 1.83765966e-06 9.99996217e-01 -4.63066129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.941858064 meters 0.0162890804501027 Centerline is valid? [True, True] Translation: X:77.73, Y:-20.72, Z:-0.46 [[ 8.38657642e-01 5.44650242e-01 -3.07790277e-03 7.77342110e+01] [-5.44646613e-01 8.38663290e-01 1.98824993e-03 -2.07185375e+01] [ 3.66422487e-03 8.90831800e-06 9.99993287e-01 -4.64406765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.971858064 meters 0.016281507140345937 Centerline is valid? [True, True] Translation: X:77.76, Y:-20.74, Z:-0.47 [[ 8.37870473e-01 5.45856890e-01 -3.65037928e-03 7.77611029e+01] [-5.45851793e-01 8.37878425e-01 2.35913877e-03 -2.07376283e+01] [ 4.34632620e-03 1.59133567e-05 9.99990555e-01 -4.65287892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001858064 meters 0.016396395185160558 Centerline is valid? [True, True] Translation: X:77.79, Y:-20.76, Z:-0.47 [[ 8.37117209e-01 5.47006922e-01 -4.26676220e-03 7.77874283e+01] [-5.46999968e-01 8.37128083e-01 2.75839596e-03 -2.07566753e+01] [ 5.08068815e-03 2.48180587e-05 9.99987093e-01 -4.65606635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.031858064 meters 0.016510568476254605 Centerline is valid? [True, True] Translation: X:77.81, Y:-20.78, Z:-0.47 [[ 8.36277224e-01 5.48281885e-01 -5.23251097e-03 7.78112565e+01] [-5.48271444e-01 8.36293592e-01 3.38388286e-03 -2.07772784e+01] [ 6.23123707e-03 3.89721883e-05 9.99980585e-01 -4.66702633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061858064 meters 0.016375174237517436 Centerline is valid? [True, True] Translation: X:77.84, Y:-20.80, Z:-0.47 [[ 8.35788183e-01 5.49023822e-01 -5.56383510e-03 7.78374151e+01] [-5.49012017e-01 8.35806700e-01 3.60064806e-03 -2.07973412e+01] [ 6.62713222e-03 4.52332280e-05 9.99978039e-01 -4.66014925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09185806400001 meters 0.016382978732170313 Centerline is valid? [True, True] Translation: X:77.86, Y:-20.82, Z:-0.47 [[ 8.35572454e-01 5.49354447e-01 -5.32592831e-03 7.78640731e+01] [-5.49343622e-01 8.35589427e-01 3.44886893e-03 -2.08172318e+01] [ 6.34494087e-03 4.39848781e-05 9.99979870e-01 -4.66152503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.121858064 meters 0.016404154355971128 Centerline is valid? [True, True] Translation: X:77.89, Y:-20.84, Z:-0.47 [[ 8.35291740e-01 5.49786293e-01 -4.76871712e-03 7.78895039e+01] [-5.49777612e-01 8.35305351e-01 3.08986429e-03 -2.08360077e+01] [ 5.68209996e-03 4.07957863e-05 9.99983856e-01 -4.66289068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.151858064 meters 0.016256293937199077 Centerline is valid? [True, True] Translation: X:77.91, Y:-20.86, Z:-0.46 [[ 8.35147633e-01 5.50012961e-01 -3.76475216e-03 7.79139731e+01] [-5.50007545e-01 8.35156118e-01 2.44094161e-03 -2.08578892e+01] [ 4.48670532e-03 3.20954890e-05 9.99989934e-01 -4.64468009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.181858064 meters 0.016240896382509147 Centerline is valid? [True, True] Translation: X:77.94, Y:-20.88, Z:-0.46 [[ 8.35090536e-01 5.50100009e-01 -3.71165864e-03 7.79398063e+01] [-5.50094739e-01 8.35098784e-01 2.40802792e-03 -2.08770438e+01] [ 4.42425780e-03 3.08425600e-05 9.99990212e-01 -4.64653132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.211858064 meters 0.016176890136623417 Centerline is valid? [True, True] Translation: X:77.97, Y:-20.90, Z:-0.46 [[ 8.35112347e-01 5.50069962e-01 -3.22570239e-03 7.79658568e+01] [-5.50065975e-01 8.35118576e-01 2.09435934e-03 -2.08965111e+01] [ 3.84588815e-03 2.53237885e-05 9.99992604e-01 -4.64533049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.241858064 meters 0.016055249095960275 Centerline is valid? [True, True] Translation: X:77.99, Y:-20.92, Z:-0.46 [[ 8.35273511e-01 5.49828143e-01 -2.67858657e-03 7.79902771e+01] [-5.49825393e-01 8.35277806e-01 1.73901919e-03 -2.09164120e+01] [ 3.19352560e-03 2.01982545e-05 9.99994900e-01 -4.63500127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.271858064 meters 0.015970825022240415 Centerline is valid? [True, True] Translation: X:78.02, Y:-20.94, Z:-0.46 [[ 8.35153338e-01 5.50012662e-01 -2.23005813e-03 7.80168275e+01] [-5.50010752e-01 8.35156315e-01 1.44980052e-03 -2.09353670e+01] [ 2.65985577e-03 1.57501983e-05 9.99996462e-01 -4.63302112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.301858064 meters 0.01600740086791085 Centerline is valid? [True, True] Translation: X:78.04, Y:-20.95, Z:-0.46 [[ 8.34875558e-01 5.50436074e-01 -1.71211626e-03 7.80437502e+01] [-5.50434947e-01 8.34877313e-01 1.11418163e-03 -2.09536049e+01] [ 2.04269279e-03 1.22056116e-05 9.99997914e-01 -4.63081303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.331858064 meters 0.016081116977541332 Centerline is valid? [True, True] Translation: X:78.07, Y:-20.97, Z:-0.46 [[ 8.34116084e-01 5.51586933e-01 -1.48755142e-03 7.80710690e+01] [-5.51586084e-01 8.34117411e-01 9.67948359e-04 -2.09696262e+01] [ 1.77470021e-03 1.31313689e-05 9.99998425e-01 -4.63305675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.361858064 meters 0.016345083860800694 Centerline is valid? [True, True] Translation: X:78.10, Y:-20.99, Z:-0.46 [[ 8.33005342e-01 5.53260202e-01 -2.29113600e-03 7.80983324e+01] [-5.53258193e-01 8.33008492e-01 1.49123433e-03 -2.09855691e+01] [ 2.73357636e-03 2.53835994e-05 9.99996263e-01 -4.64718750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.391858064 meters 0.016319862728603262 Centerline is valid? [True, True] Translation: X:78.13, Y:-21.00, Z:-0.47 [[ 8.32579168e-01 5.53898732e-01 -2.85022510e-03 7.81258758e+01] [-5.53895623e-01 8.32584046e-01 1.85624948e-03 -2.10038354e+01] [ 3.40122618e-03 3.32525601e-05 9.99994215e-01 -4.65317321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421858064 meters 0.016768632329903742 Centerline is valid? [True, True] Translation: X:78.15, Y:-21.02, Z:-0.47 [[ 8.32130602e-01 5.54572021e-01 -2.92142777e-03 7.81533665e+01] [-5.54568755e-01 8.32135730e-01 1.90350433e-03 -2.10199732e+01] [ 3.48665467e-03 3.61683581e-05 9.99993921e-01 -4.67086972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.451858064 meters 0.016261626173637966 Centerline is valid? [True, True] Translation: X:78.18, Y:-21.04, Z:-0.47 [[ 8.32278407e-01 5.54349168e-01 -3.10702040e-03 7.81803251e+01] [-5.54345468e-01 8.32284205e-01 2.02570161e-03 -2.10388227e+01] [ 3.70887000e-03 3.64149697e-05 9.99993121e-01 -4.66731991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48185806400001 meters 0.016115119749361702 Centerline is valid? [True, True] Translation: X:78.21, Y:-21.06, Z:-0.47 [[ 8.32407917e-01 5.54153636e-01 -3.28750999e-03 7.82080038e+01] [-5.54149488e-01 8.32414408e-01 2.14455289e-03 -2.10571071e+01] [ 3.92498246e-03 3.66291738e-05 9.99992297e-01 -4.67299080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.511858064 meters 0.016106462725165693 Centerline is valid? [True, True] Translation: X:78.23, Y:-21.07, Z:-0.47 [[ 8.32813576e-01 5.53541277e-01 -3.68821039e-03 7.82344028e+01] [-5.53536050e-01 8.32821742e-01 2.40591063e-03 -2.10744891e+01] [ 4.40339264e-03 3.78823740e-05 9.99990304e-01 -4.68084183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.541858064 meters 0.015594044126994678 Centerline is valid? [True, True] Translation: X:78.26, Y:-21.09, Z:-0.47 [[ 8.34322515e-01 5.51261751e-01 -4.05242273e-03 7.82609116e+01] [-5.51255405e-01 8.34332357e-01 2.64520920e-03 -2.10933390e+01] [ 4.83927006e-03 2.69623416e-05 9.99988290e-01 -4.68937521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.571858064 meters 0.015425755521027389 Centerline is valid? [True, True] Translation: X:78.29, Y:-21.11, Z:-0.47 [[ 8.35044800e-01 5.50166874e-01 -4.07339126e-03 7.82880490e+01] [-5.50160441e-01 8.35054735e-01 2.66070670e-03 -2.11121012e+01] [ 4.86533735e-03 1.92094346e-05 9.99988164e-01 -4.69228808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.601858064 meters 0.015292202951087288 Centerline is valid? [True, True] Translation: X:78.32, Y:-21.13, Z:-0.47 [[ 8.35909420e-01 5.48851601e-01 -4.16671136e-03 7.83151674e+01] [-5.48844845e-01 8.35919805e-01 2.72322063e-03 -2.11312980e+01] [ 4.97768055e-03 1.05122755e-05 9.99987611e-01 -4.69646439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.631858064 meters 0.015295891422902483 Centerline is valid? [True, True] Translation: X:78.34, Y:-21.15, Z:-0.47 [[ 8.36607972e-01 5.47782576e-01 -4.62070497e-03 7.83424212e+01] [-5.47774242e-01 8.36620732e-01 3.02158630e-03 -2.11506290e+01] [ 5.52094990e-03 3.21997589e-06 9.99984759e-01 -4.69602985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.661858064 meters 0.015246742537899587 Centerline is valid? [True, True] Translation: X:78.37, Y:-21.17, Z:-0.47 [[ 8.38326798e-01 5.45150321e-01 -4.39394531e-03 7.83678618e+01] [-5.45142741e-01 8.38338313e-01 2.87487599e-03 -2.11699232e+01] [ 5.25085227e-03 -1.47582013e-05 9.99986214e-01 -4.69631243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.691858064 meters 0.015326292901463177 Centerline is valid? [True, True] Translation: X:78.39, Y:-21.19, Z:-0.47 [[ 8.38844295e-01 5.44355732e-01 -4.13352081e-03 7.83949763e+01] [-5.44349006e-01 8.38854479e-01 2.70628786e-03 -2.11883574e+01] [ 4.94060575e-03 -2.00761925e-05 9.99987795e-01 -4.69918868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.721858064 meters 0.015275020075739928 Centerline is valid? [True, True] Translation: X:78.42, Y:-21.21, Z:-0.47 [[ 8.39547207e-01 5.43270653e-01 -4.18147195e-03 7.84224665e+01] [-5.43263747e-01 8.39557620e-01 2.73937234e-03 -2.12071096e+01] [ 4.99880723e-03 -2.81902747e-05 9.99987505e-01 -4.69375134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.751858064 meters 0.01533597269501206 Centerline is valid? [True, True] Translation: X:78.45, Y:-21.23, Z:-0.47 [[ 8.39656589e-01 5.43103169e-01 -3.96985348e-03 7.84483603e+01] [-5.43096936e-01 8.39665973e-01 2.60217862e-03 -2.12250119e+01] [ 4.74660234e-03 -2.89211639e-05 9.99988734e-01 -4.69862892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781858064 meters 0.015328884796509585 Centerline is valid? [True, True] Translation: X:78.48, Y:-21.24, Z:-0.47 [[ 8.39761180e-01 5.42941499e-01 -3.96088406e-03 7.84757245e+01] [-5.42935284e-01 8.39770521e-01 2.59796332e-03 -2.12428681e+01] [ 4.73677577e-03 -3.11650297e-05 9.99988781e-01 -4.69209547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.811858064 meters 0.015353606904951805 Centerline is valid? [True, True] Translation: X:78.50, Y:-21.26, Z:-0.47 [[ 8.39776600e-01 5.42916320e-01 -4.13901611e-03 7.85036706e+01] [-5.42909525e-01 8.39786800e-01 2.71638688e-03 -2.12611425e+01] [ 4.95066186e-03 -3.40468630e-05 9.99987745e-01 -4.69289745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84185806400001 meters 0.015290406307689937 Centerline is valid? [True, True] Translation: X:78.53, Y:-21.28, Z:-0.47 [[ 8.39832267e-01 5.42831633e-01 -3.94739796e-03 7.85315046e+01] [-5.42825444e-01 8.39841543e-01 2.59229712e-03 -2.12788036e+01] [ 4.72236968e-03 -3.43467177e-05 9.99988849e-01 -4.69248521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.871858064 meters 0.015290406307689937 Centerline is valid? [True, True] Translation: X:78.56, Y:-21.30, Z:-0.47 [[ 8.39681351e-01 5.43065053e-01 -3.94668065e-03 7.85585569e+01] [-5.43058862e-01 8.39690626e-01 2.59338947e-03 -2.12966414e+01] [ 4.72236994e-03 -3.43408753e-05 9.99988849e-01 -4.69430734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.901858064 meters 0.015327071482770207 Centerline is valid? [True, True] Translation: X:78.59, Y:-21.31, Z:-0.47 [[ 8.39557281e-01 5.43259589e-01 -3.54845669e-03 7.85853639e+01] [-5.43254580e-01 8.39564779e-01 2.33308700e-03 -2.13142079e+01] [ 4.24663114e-03 -3.10448295e-05 9.99990983e-01 -4.69363017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.931858064 meters 0.015340202614884977 Centerline is valid? [True, True] Translation: X:78.61, Y:-21.33, Z:-0.47 [[ 8.39341134e-01 5.43596481e-01 -3.05406491e-03 7.86128143e+01] [-5.43592767e-01 8.39346690e-01 2.00954888e-03 -2.13320173e+01] [ 3.65580297e-03 -2.65294392e-05 9.99993317e-01 -4.69187415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.961858064 meters 0.015264431451542299 Centerline is valid? [True, True] Translation: X:78.64, Y:-21.35, Z:-0.47 [[ 8.39045312e-01 5.44055647e-01 -2.53313211e-03 7.86409758e+01] [-5.44053090e-01 8.39049136e-01 1.66814371e-03 -2.13497002e+01] [ 3.03298532e-03 -2.14898055e-05 9.99995400e-01 -4.68311319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.991858064 meters 0.015368819316461169 Centerline is valid? [True, True] Translation: X:78.67, Y:-21.37, Z:-0.47 [[ 8.38938629e-01 5.44220747e-01 -2.39901333e-03 7.86686804e+01] [-5.44218451e-01 8.38942059e-01 1.58087731e-03 -2.13682008e+01] [ 2.87297942e-03 -2.06717231e-05 9.99995873e-01 -4.67684031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.021858064 meters 0.015411743444679068 Centerline is valid? [True, True] Translation: X:78.70, Y:-21.39, Z:-0.47 [[ 8.38774256e-01 5.44476530e-01 -1.74815929e-03 7.86964231e+01] [-5.44475309e-01 8.38776078e-01 1.15317187e-03 -2.13865053e+01] [ 2.09418921e-03 -1.54213054e-05 9.99997807e-01 -4.67591595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.051858064 meters 0.015314252906301503 Centerline is valid? [True, True] Translation: X:78.72, Y:-21.40, Z:-0.47 [[ 8.38472259e-01 5.44942284e-01 -1.47587026e-03 7.87239996e+01] [-5.44941413e-01 8.38473558e-01 9.74415038e-04 -2.14041123e+01] [ 1.76847814e-03 -1.27571547e-05 9.99998436e-01 -4.67526700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.081858064 meters 0.01535936904265496 Centerline is valid? [True, True] Translation: X:78.75, Y:-21.42, Z:-0.47 [[ 8.37431834e-01 5.46540080e-01 -1.36522624e-03 7.87509718e+01] [-5.46539337e-01 8.37432947e-01 9.01573599e-04 -2.14199493e+01] [ 1.63603154e-03 -8.85659183e-06 9.99998662e-01 -4.67994568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.111858064 meters 0.015384884565371305 Centerline is valid? [True, True] Translation: X:78.78, Y:-21.44, Z:-0.47 [[ 8.36651980e-01 5.47731590e-01 -1.88902456e-03 7.87789624e+01] [-5.47730168e-01 8.36654113e-01 1.24811840e-03 -2.14372580e+01] [ 2.26409404e-03 -9.56499568e-06 9.99997437e-01 -4.67492090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141858064 meters 0.01532709015881467 Centerline is valid? [True, True] Translation: X:78.81, Y:-21.46, Z:-0.47 [[ 8.35901269e-01 5.48875219e-01 -2.24987245e-03 7.88058835e+01] [-5.48873205e-01 8.35904297e-01 1.48689200e-03 -2.14551134e+01] [ 2.69679623e-03 -8.00020972e-06 9.99996364e-01 -4.67923624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.171858064 meters 0.015534428557227272 Centerline is valid? [True, True] Translation: X:78.83, Y:-21.47, Z:-0.47 [[ 8.35106064e-01 5.50080376e-01 -3.07274783e-03 7.88326552e+01] [-5.50076626e-01 8.35111717e-01 2.03116821e-03 -2.14724402e+01] [ 3.68339349e-03 -5.99413123e-06 9.99993216e-01 -4.69172989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201858064 meters 0.015595689035991392 Centerline is valid? [True, True] Translation: X:78.86, Y:-21.49, Z:-0.47 [[ 8.33828219e-01 5.52007777e-01 -4.23257466e-03 7.88601872e+01] [-5.52000683e-01 8.33838962e-01 2.79852138e-03 -2.14884163e+01] [ 5.07409122e-03 2.89800452e-06 9.99987127e-01 -4.69874370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23185806400001 meters 0.01595887850641064 Centerline is valid? [True, True] Translation: X:78.89, Y:-21.51, Z:-0.47 [[ 8.33337190e-01 5.52741308e-01 -5.11603509e-03 7.88872098e+01] [-5.52730949e-01 8.33352894e-01 3.38413862e-03 -2.15055142e+01] [ 6.13401586e-03 7.66235963e-06 9.99981187e-01 -4.70883038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.261858064 meters 0.016050640766247883 Centerline is valid? [True, True] Translation: X:78.91, Y:-21.52, Z:-0.47 [[ 8.33129153e-01 5.53047708e-01 -5.83496298e-03 7.89129653e+01] [-5.53034239e-01 8.33149586e-01 3.85985986e-03 -2.15222836e+01] [ 6.99608364e-03 1.11725343e-05 9.99975527e-01 -4.72255697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.291858064 meters 0.016171464981490222 Centerline is valid? [True, True] Translation: X:78.94, Y:-21.54, Z:-0.47 [[ 8.33309906e-01 5.52762294e-01 -6.96037855e-03 7.89392369e+01] [-5.52743093e-01 8.33338974e-01 4.60729176e-03 -2.15402369e+01] [ 8.34709188e-03 7.99930287e-06 9.99965162e-01 -4.73033233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.321858064 meters 0.016291292335057404 Centerline is valid? [True, True] Translation: X:78.97, Y:-21.56, Z:-0.47 [[ 8.33660145e-01 5.52231712e-01 -7.13435749e-03 7.89661017e+01] [-5.52211494e-01 8.33690672e-01 4.72544634e-03 -2.15591811e+01] [ 8.55738861e-03 2.57931463e-07 9.99963385e-01 -4.72493775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.351858064 meters 0.016197273176069896 Centerline is valid? [True, True] Translation: X:78.99, Y:-21.58, Z:-0.47 [[ 8.34117882e-01 5.51543845e-01 -6.83719642e-03 7.89926525e+01] [-5.51525230e-01 8.34145903e-01 4.53139795e-03 -2.15782616e+01] [ 8.20248403e-03 -8.83373852e-06 9.99966359e-01 -4.71493915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.381858064 meters 0.0167125621932452 Centerline is valid? [True, True] Translation: X:79.02, Y:-21.60, Z:-0.47 [[ 8.35361780e-01 5.49662305e-01 -6.48428583e-03 7.90178058e+01] [-5.49645488e-01 8.35386946e-01 4.29984692e-03 -2.15989047e+01] [ 7.78035151e-03 -2.78693270e-05 9.99969732e-01 -4.69942963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.411858064 meters 0.01643710985292949 Centerline is valid? [True, True] Translation: X:79.04, Y:-21.62, Z:-0.47 [[ 8.35958484e-01 5.48757158e-01 -6.24457431e-03 7.90443322e+01] [-5.48741516e-01 8.35981806e-01 4.14355853e-03 -2.16177778e+01] [ 7.49415791e-03 -3.71857332e-05 9.99971918e-01 -4.68494487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.441858064 meters 0.01660720029914555 Centerline is valid? [True, True] Translation: X:79.07, Y:-21.64, Z:-0.47 [[ 8.36507020e-01 5.47920454e-01 -6.25946880e-03 7.90708477e+01] [-5.47904695e-01 8.36530438e-01 4.15590955e-03 -2.16365358e+01] [ 7.51334403e-03 -4.68551732e-05 9.99971773e-01 -4.67877088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.471858064 meters 0.0168621150893625 Centerline is valid? [True, True] Translation: X:79.10, Y:-21.65, Z:-0.47 [[ 8.37028738e-01 5.47118489e-01 -6.65216332e-03 7.90974753e+01] [-5.47100650e-01 8.37055169e-01 4.41857200e-03 -2.16549040e+01] [ 7.98571013e-03 -5.90688686e-05 9.99968112e-01 -4.67927940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501858064 meters 0.016946255956926174 Centerline is valid? [True, True] Translation: X:79.12, Y:-21.67, Z:-0.47 [[ 8.37551974e-01 5.46321841e-01 -6.25595845e-03 7.91243344e+01] [-5.46306020e-01 8.37575335e-01 4.15818909e-03 -2.16736225e+01] [ 7.51154602e-03 -6.50317192e-05 9.99971786e-01 -4.66882859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.531858064 meters 0.017186815966949664 Centerline is valid? [True, True] Translation: X:79.15, Y:-21.69, Z:-0.47 [[ 8.37587446e-01 5.46262262e-01 -6.69418473e-03 7.91506960e+01] [-5.46244128e-01 8.37614193e-01 4.45166428e-03 -2.16917677e+01] [ 8.03892034e-03 -7.19990108e-05 9.99967685e-01 -4.67215419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561858064 meters 0.01727569803745835 Centerline is valid? [True, True] Translation: X:79.18, Y:-21.71, Z:-0.47 [[ 8.37510787e-01 5.46373441e-01 -7.19338444e-03 7.91776711e+01] [-5.46352482e-01 8.37541674e-01 4.78638054e-03 -2.17098689e+01] [ 8.63991046e-03 -7.85218944e-05 9.99962672e-01 -4.67488247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59185806400001 meters 0.017191875562329147 Centerline is valid? [True, True] Translation: X:79.20, Y:-21.73, Z:-0.47 [[ 8.37499904e-01 5.46390396e-01 -7.17260714e-03 7.92045933e+01] [-5.46369537e-01 8.37530614e-01 4.77501807e-03 -2.17274017e+01] [ 8.61630207e-03 -8.01831302e-05 9.99962876e-01 -4.67942342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.621858064 meters 0.016904975458656397 Centerline is valid? [True, True] Translation: X:79.23, Y:-21.74, Z:-0.47 [[ 8.37215345e-01 5.46831193e-01 -6.79054651e-03 7.92313520e+01] [-5.46812507e-01 8.37242880e-01 4.52122896e-03 -2.17427967e+01] [ 8.15768575e-03 -7.20865016e-05 9.99966723e-01 -4.68193126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.651858064 meters 0.016683645749917906 Centerline is valid? [True, True] Translation: X:79.26, Y:-21.76, Z:-0.47 [[ 8.36846114e-01 5.47399856e-01 -6.47905848e-03 7.92592095e+01] [-5.47382839e-01 8.36871193e-01 4.31674248e-03 -2.17594383e+01] [ 7.78512161e-03 -6.59237413e-05 9.99969693e-01 -4.68422176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.681858064 meters 0.016473108444200364 Centerline is valid? [True, True] Translation: X:79.29, Y:-21.78, Z:-0.47 [[ 8.36374719e-01 5.48122182e-01 -6.27725547e-03 7.92870562e+01] [-5.48106208e-01 8.36398273e-01 4.18496575e-03 -2.17765081e+01] [ 7.54415818e-03 -5.95968563e-05 9.99971541e-01 -4.68967136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.711858064 meters 0.016198566176878933 Centerline is valid? [True, True] Translation: X:79.31, Y:-21.79, Z:-0.47 [[ 8.35543606e-01 5.49397981e-01 -5.36112006e-03 7.93144992e+01] [-5.49386346e-01 8.35560804e-01 3.57576433e-03 -2.17914633e+01] [ 6.44405949e-03 -4.23808678e-05 9.99979236e-01 -4.69688004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.741858064 meters 0.01603909122583822 Centerline is valid? [True, True] Translation: X:79.34, Y:-21.81, Z:-0.47 [[ 8.34905143e-01 5.50370075e-01 -5.11700743e-03 7.93418527e+01] [-5.50359482e-01 8.34920822e-01 3.41483819e-03 -2.18076464e+01] [ 6.15172081e-03 -3.48724072e-05 9.99981077e-01 -4.69833258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.771858064 meters 0.01571701551865375 Centerline is valid? [True, True] Translation: X:79.37, Y:-21.82, Z:-0.47 [[ 8.34364756e-01 5.51192043e-01 -4.77342670e-03 7.93705425e+01] [-5.51182825e-01 8.34378410e-01 3.18791686e-03 -2.18239114e+01] [ 5.73999858e-03 -2.88546625e-05 9.99983526e-01 -4.68956856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.801858064 meters 0.015871712182609084 Centerline is valid? [True, True] Translation: X:79.40, Y:-21.84, Z:-0.47 [[ 8.33823490e-01 5.52015071e-01 -4.21294398e-03 7.93975033e+01] [-5.52007893e-01 8.33834133e-01 2.81504935e-03 -2.18403694e+01] [ 5.06684616e-03 -2.16759435e-05 9.99987163e-01 -4.71080503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.831858064 meters 0.015756982120689805 Centerline is valid? [True, True] Translation: X:79.43, Y:-21.85, Z:-0.47 [[ 8.33010284e-01 5.53247287e-01 -3.36237911e-03 7.94264733e+01] [-5.53242720e-01 8.33017070e-01 2.24803321e-03 -2.18547935e+01] [ 4.04463747e-03 -1.24230212e-05 9.99991820e-01 -4.71944405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.861858064 meters 0.01574212591480625 Centerline is valid? [True, True] Translation: X:79.45, Y:-21.87, Z:-0.47 [[ 8.32504071e-01 5.54011657e-01 -2.83813433e-03 7.94540001e+01] [-5.54008403e-01 8.32508909e-01 1.89885661e-03 -2.18712250e+01] [ 3.41476081e-03 -8.45558639e-06 9.99994170e-01 -4.72221902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.891858064 meters 0.015452518773687647 Centerline is valid? [True, True] Translation: X:79.48, Y:-21.89, Z:-0.47 [[ 8.32303352e-01 5.54316972e-01 -1.95569036e-03 7.94819355e+01] [-5.54315428e-01 8.32305650e-01 1.30818704e-03 -2.18881926e+01] [ 2.35288241e-03 -4.73912043e-06 9.99997232e-01 -4.70340574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921858064 meters 0.01555734056606472 Centerline is valid? [True, True] Translation: X:79.51, Y:-21.91, Z:-0.47 [[ 8.31910633e-01 5.54907950e-01 -1.36550255e-03 7.95088208e+01] [-5.54907196e-01 8.31911754e-01 9.15287259e-04 -2.19057253e+01] [ 1.64387780e-03 -3.71001476e-06 9.99998649e-01 -4.72032234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.951858064 meters 0.01521972498473619 Centerline is valid? [True, True] Translation: X:79.54, Y:-21.92, Z:-0.47 [[ 8.32031281e-01 5.54728586e-01 -3.77939231e-04 7.95377487e+01] [-5.54728528e-01 8.32031367e-01 2.54909759e-04 -2.19224078e+01] [ 4.55863025e-04 -2.43921999e-06 9.99999896e-01 -4.70242505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98185806400001 meters 0.015163308853466125 Centerline is valid? [True, True] Translation: X:79.57, Y:-21.94, Z:-0.47 [[ 8.31961792e-01 5.54832907e-01 -1.51606322e-04 7.95651099e+01] [-5.54832897e-01 8.31961805e-01 1.03325465e-04 -2.19391322e+01] [ 1.83459038e-04 -1.84666431e-06 9.99999983e-01 -4.70775960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.011858064 meters 0.015143157933924364 Centerline is valid? [True, True] Translation: X:79.59, Y:-21.96, Z:-0.47 [[ 8.32014689e-01 5.54753443e-01 4.17355878e-04 7.95930857e+01] [-5.54753374e-01 8.32014794e-01 -2.77821388e-04 -2.19562966e+01] [-5.01368636e-04 -3.78105828e-07 9.99999874e-01 -4.71498908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.041858064 meters 0.014965149713401722 Centerline is valid? [True, True] Translation: X:79.62, Y:-21.97, Z:-0.47 [[ 8.32321566e-01 5.54290377e-01 1.72862015e-03 7.96213928e+01] [-5.54289169e-01 8.32323361e-01 -1.15731707e-03 -2.19725088e+01] [-2.08026065e-03 5.10452829e-06 9.99997836e-01 -4.71612707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.071858064 meters 0.01493687505083737 Centerline is valid? [True, True] Translation: X:79.65, Y:-21.99, Z:-0.47 [[ 8.32445819e-01 5.54103444e-01 1.82525207e-03 7.96484820e+01] [-5.54102093e-01 8.32447820e-01 -1.22329087e-03 -2.19898194e+01] [-2.19725679e-03 6.94737328e-06 9.99997586e-01 -4.71941577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.101858064 meters 0.014988038166903207 Centerline is valid? [True, True] Translation: X:79.67, Y:-22.01, Z:-0.47 [[ 8.32427379e-01 5.54129603e-01 2.24547065e-03 7.96747776e+01] [-5.54127558e-01 8.32430408e-01 -1.50545945e-03 -2.20078545e+01] [-2.70341770e-03 8.90849773e-06 9.99996346e-01 -4.72797056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.131858064 meters 0.014931587524577952 Centerline is valid? [True, True] Translation: X:79.70, Y:-22.03, Z:-0.47 [[ 8.32366576e-01 5.54221198e-01 2.17881770e-03 7.97032818e+01] [-5.54219271e-01 8.32369427e-01 -1.46147401e-03 -2.20252084e+01] [-2.62356111e-03 8.93935733e-06 9.99996558e-01 -4.72411713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.161858064 meters 0.01490038445266825 Centerline is valid? [True, True] Translation: X:79.73, Y:-22.04, Z:-0.47 [[ 8.32214414e-01 5.54448518e-01 2.45156768e-03 7.97315609e+01] [-5.54446076e-01 8.32218025e-01 -1.64565080e-03 -2.20413550e+01] [-2.95266746e-03 1.02722375e-05 9.99995641e-01 -4.72506076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.191858064 meters 0.014842700762854162 Centerline is valid? [True, True] Translation: X:79.76, Y:-22.06, Z:-0.47 [[ 8.32121011e-01 5.54587082e-01 2.79134066e-03 7.97591370e+01] [-5.54583912e-01 8.32125693e-01 -1.87515765e-03 -2.20578766e+01] [-3.36268449e-03 1.23254597e-05 9.99994346e-01 -4.73216685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.221858064 meters 0.01470756821116754 Centerline is valid? [True, True] Translation: X:79.79, Y:-22.07, Z:-0.47 [[ 8.32151244e-01 5.54539018e-01 3.28394162e-03 7.97875785e+01] [-5.54534624e-01 8.32157724e-01 -2.20755515e-03 -2.20748869e+01] [-3.95693285e-03 1.59604343e-05 9.99992171e-01 -4.73464816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.251858064 meters 0.014862653740439146 Centerline is valid? [True, True] Translation: X:79.82, Y:-22.09, Z:-0.47 [[ 8.32998287e-01 5.53266007e-01 3.25255091e-03 7.98154355e+01] [-5.53261682e-01 8.33004637e-01 -2.18776708e-03 -2.20924429e+01] [-3.91980715e-03 2.28944463e-05 9.99992317e-01 -4.73965668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281858064 meters 0.014927448892697473 Centerline is valid? [True, True] Translation: X:79.84, Y:-22.11, Z:-0.47 [[ 8.33630909e-01 5.52311433e-01 3.40432749e-03 7.98425632e+01] [-5.52306680e-01 8.33637859e-01 -2.29133556e-03 -2.21109199e+01] [-4.10350710e-03 2.98953339e-05 9.99991580e-01 -4.74081858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.311858064 meters 0.015186171245190096 Centerline is valid? [True, True] Translation: X:79.87, Y:-22.13, Z:-0.47 [[ 8.34490473e-01 5.51012314e-01 3.32860664e-03 7.98693617e+01] [-5.51007755e-01 8.34497111e-01 -2.24175590e-03 -2.21292813e+01] [-4.01294773e-03 3.66358736e-05 9.99991947e-01 -4.74662633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34185806400001 meters 0.015941565389111963 Centerline is valid? [True, True] Translation: X:79.89, Y:-22.15, Z:-0.48 [[ 8.36769742e-01 5.47543036e-01 3.60876233e-03 7.98948103e+01] [-5.47537638e-01 8.36777521e-01 -2.43189164e-03 -2.21478097e+01] [-4.35129653e-03 5.90001338e-05 9.99990531e-01 -4.75827497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.371858064 meters 0.016221763008811334 Centerline is valid? [True, True] Translation: X:79.92, Y:-22.17, Z:-0.48 [[ 8.37779862e-01 5.45994601e-01 3.84689824e-03 7.99217865e+01] [-5.45988445e-01 8.37788691e-01 -2.59371157e-03 -2.21658820e+01] [-4.63904035e-03 7.25973308e-05 9.99989237e-01 -4.76265681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.401858064 meters 0.016608296544509803 Centerline is valid? [True, True] Translation: X:79.95, Y:-22.18, Z:-0.48 [[ 8.38557132e-01 5.44800849e-01 3.73782651e-03 7.99478067e+01] [-5.44795019e-01 8.38565459e-01 -2.52148535e-03 -2.21839038e+01] [-4.50811956e-03 7.80602629e-05 9.99989835e-01 -4.76967422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.431858064 meters 0.016975357404021157 Centerline is valid? [True, True] Translation: X:79.97, Y:-22.20, Z:-0.48 [[ 8.39344416e-01 5.43586279e-01 3.86121475e-03 7.99743012e+01] [-5.43580039e-01 8.39353292e-01 -2.60602294e-03 -2.22020058e+01] [-4.65752162e-03 8.84715344e-05 9.99989150e-01 -4.77355150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.461858064 meters 0.017716133431737825 Centerline is valid? [True, True] Translation: X:80.00, Y:-22.22, Z:-0.48 [[ 8.40526605e-01 5.41760979e-01 3.17310263e-03 7.99997658e+01] [-5.41756748e-01 8.40532590e-01 -2.14268753e-03 -2.22191796e+01] [-3.82792067e-03 8.19361164e-05 9.99992670e-01 -4.78607396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.491858064 meters 0.017810803482857424 Centerline is valid? [True, True] Translation: X:80.03, Y:-22.24, Z:-0.48 [[ 8.40735508e-01 5.41437464e-01 3.04609878e-03 8.00267237e+01] [-5.41433562e-01 8.40741022e-01 -2.05715013e-03 -2.22365864e+01] [-3.67479835e-03 8.02590459e-05 9.99993245e-01 -4.79158619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.521858064 meters 0.017391606046896584 Centerline is valid? [True, True] Translation: X:80.05, Y:-22.25, Z:-0.48 [[ 8.40908452e-01 5.41168026e-01 3.18468084e-03 8.00541879e+01] [-5.41163754e-01 8.40914478e-01 -2.15191077e-03 -2.22529320e+01] [-3.84258953e-03 8.61261175e-05 9.99992614e-01 -4.79600557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.551858064 meters 0.018260825026894138 Centerline is valid? [True, True] Translation: X:80.08, Y:-22.27, Z:-0.48 [[ 8.41157513e-01 5.40779894e-01 3.33827970e-03 8.00795232e+01] [-5.40775191e-01 8.41164132e-01 -2.25719175e-03 -2.22712086e+01] [-4.02868506e-03 9.33949622e-05 9.99991880e-01 -4.80143240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.581858064 meters 0.01787221484809816 Centerline is valid? [True, True] Translation: X:80.11, Y:-22.29, Z:-0.48 [[ 8.40891192e-01 5.41191917e-01 3.64847869e-03 8.01088565e+01] [-5.41186301e-01 8.40899101e-01 -2.46753150e-03 -2.22868984e+01] [-4.40341055e-03 1.00418820e-04 9.99990300e-01 -4.79369611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.611858064 meters 0.017483184402802953 Centerline is valid? [True, True] Translation: X:80.14, Y:-22.30, Z:-0.48 [[ 8.40779281e-01 5.41360601e-01 4.34743999e-03 8.01377142e+01] [-5.41352618e-01 8.40790512e-01 -2.94237144e-03 -2.23035807e+01] [-5.24817027e-03 1.20386920e-04 9.99986221e-01 -4.79088028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641858064 meters 0.017293951544329833 Centerline is valid? [True, True] Translation: X:80.17, Y:-22.32, Z:-0.48 [[ 8.39946422e-01 5.42650570e-01 4.51302024e-03 8.01658224e+01] [-5.42641976e-01 8.39958537e-01 -3.05638315e-03 -2.23196385e+01] [-5.44929794e-03 1.18243874e-04 9.99985145e-01 -4.79162810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.671858064 meters 0.017106604193570664 Centerline is valid? [True, True] Translation: X:80.19, Y:-22.34, Z:-0.48 [[ 8.39332668e-01 5.43603887e-01 3.93540171e-03 8.01931282e+01] [-5.43597356e-01 8.39341888e-01 -2.66639471e-03 -2.23363888e+01] [-4.75261003e-03 9.87182172e-05 9.99988701e-01 -4.79737004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701858064 meters 0.016903036998902672 Centerline is valid? [True, True] Translation: X:80.22, Y:-22.35, Z:-0.48 [[ 8.38512669e-01 5.44870572e-01 3.54465224e-03 8.02203474e+01] [-5.44865280e-01 8.38520157e-01 -2.40275334e-03 -2.23528985e+01] [-4.28145194e-03 8.33811813e-05 9.99990831e-01 -4.80435562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73185806400001 meters 0.016545695029937354 Centerline is valid? [True, True] Translation: X:80.25, Y:-22.37, Z:-0.48 [[ 8.37656340e-01 5.46188344e-01 3.18585687e-03 8.02478884e+01] [-5.46184075e-01 8.37662395e-01 -2.16051064e-03 -2.23688619e+01] [-3.84871822e-03 6.97011463e-05 9.99992591e-01 -4.80871368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.761858064 meters 0.016255071992367556 Centerline is valid? [True, True] Translation: X:80.28, Y:-22.38, Z:-0.48 [[ 8.36698972e-01 5.47651848e-01 3.50474573e-03 8.02755990e+01] [-5.47646689e-01 8.36706309e-01 -2.37820540e-03 -2.23844777e+01] [-4.23487144e-03 7.04796145e-05 9.99991030e-01 -4.81503169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.791858064 meters 0.016255071992367556 Centerline is valid? [True, True] Translation: X:80.30, Y:-22.40, Z:-0.48 [[ 8.36544004e-01 5.47888537e-01 3.50418448e-03 8.03023838e+01] [-5.47883377e-01 8.36551341e-01 -2.37903203e-03 -2.24027411e+01] [-4.23487460e-03 7.02805544e-05 9.99991030e-01 -4.81685318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.821858064 meters 0.015887171282340934 Centerline is valid? [True, True] Translation: X:80.33, Y:-22.42, Z:-0.48 [[ 8.34394850e-01 5.51156410e-01 3.44185009e-03 8.03306531e+01] [-5.51151453e-01 8.34401947e-01 -2.33834937e-03 -2.24162225e+01] [-4.16068266e-03 5.41259922e-05 9.99991343e-01 -4.82550654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.851858064 meters 0.015603099088004483 Centerline is valid? [True, True] Translation: X:80.36, Y:-22.43, Z:-0.48 [[ 8.33061938e-01 5.53169442e-01 3.37280466e-03 8.03583735e+01] [-5.53164696e-01 8.33068764e-01 -2.29192647e-03 -2.24319417e+01] [-4.07760190e-03 4.36002404e-05 9.99991686e-01 -4.82448280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.881858064 meters 0.015336902418640651 Centerline is valid? [True, True] Translation: X:80.39, Y:-22.45, Z:-0.48 [[ 8.31681856e-01 5.55242347e-01 3.35069464e-03 8.03862096e+01] [-5.55237675e-01 8.31688604e-01 -2.27808011e-03 -2.24481110e+01] [-4.05162109e-03 3.42059923e-05 9.99991792e-01 -4.82591060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.911858064 meters 0.01495265690945758 Centerline is valid? [True, True] Translation: X:80.41, Y:-22.46, Z:-0.48 [[ 8.29429092e-01 5.58602183e-01 3.31394310e-03 8.04146708e+01] [-5.58597634e-01 8.29435713e-01 -2.25446905e-03 -2.24618296e+01] [-4.00805409e-03 1.87614485e-05 9.99991968e-01 -4.82722632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.941858064 meters 0.01486719115256674 Centerline is valid? [True, True] Translation: X:80.44, Y:-22.48, Z:-0.48 [[ 8.28214506e-01 5.60402021e-01 3.21027722e-03 8.04434574e+01] [-5.60397765e-01 8.28220728e-01 -2.18427114e-03 -2.24782068e+01] [-3.88288809e-03 1.00128663e-05 9.99992462e-01 -4.82825288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.971858064 meters 0.014711410990747915 Centerline is valid? [True, True] Translation: X:80.47, Y:-22.49, Z:-0.48 [[ 8.27118846e-01 5.62018779e-01 3.05054089e-03 8.04710937e+01] [-5.62014942e-01 8.27124472e-01 -2.07680678e-03 -2.24947319e+01] [-3.69038144e-03 3.31646768e-06 9.99993191e-01 -4.83773021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001858064 meters 0.014661367315572667 Centerline is valid? [True, True] Translation: X:80.50, Y:-22.51, Z:-0.48 [[ 8.25429510e-01 5.64501973e-01 1.90971534e-03 8.05004429e+01] [-5.64500475e-01 8.25431719e-01 -1.30011786e-03 -2.25107823e+01] [-2.31025871e-03 -4.87956743e-06 9.99997331e-01 -4.84623635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.031858064 meters 0.014596885916084927 Centerline is valid? [True, True] Translation: X:80.53, Y:-22.53, Z:-0.48 [[ 8.24787940e-01 5.65439200e-01 1.83434274e-03 8.05273349e+01] [-5.65437820e-01 8.24789980e-01 -1.24957838e-03 -2.25280725e+01] [-2.21950811e-03 -6.56957956e-06 9.99997537e-01 -4.84876934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061858064 meters 0.014587236016224293 Centerline is valid? [True, True] Translation: X:80.55, Y:-22.55, Z:-0.48 [[ 8.24385642e-01 5.66024051e-01 2.25546803e-03 8.05544798e+01] [-5.66021962e-01 8.24388727e-01 -1.53770439e-03 -2.25461973e+01] [-2.72976008e-03 -8.98301828e-06 9.99996274e-01 -4.84329192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09185806400001 meters 0.01454290550087238 Centerline is valid? [True, True] Translation: X:80.58, Y:-22.56, Z:-0.48 [[ 8.24345875e-01 5.66081419e-01 2.38841047e-03 8.05815040e+01] [-5.66079074e-01 8.24349335e-01 -1.62942960e-03 -2.25644057e+01] [-2.89127440e-03 -8.81562065e-06 9.99995820e-01 -4.83728143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.121858064 meters 0.014511974962836323 Centerline is valid? [True, True] Translation: X:80.61, Y:-22.58, Z:-0.48 [[ 8.24541038e-01 5.65795273e-01 2.79017288e-03 8.06089764e+01] [-5.65792066e-01 8.24545759e-01 -1.90498781e-03 -2.25827605e+01] [-3.37845831e-03 -7.91705451e-06 9.99994293e-01 -4.83577609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.151858064 meters 0.014467377303436448 Centerline is valid? [True, True] Translation: X:80.64, Y:-22.60, Z:-0.48 [[ 8.24593175e-01 5.65720405e-01 2.55351471e-03 8.06357156e+01] [-5.65717715e-01 8.24597128e-01 -1.74436338e-03 -2.26010741e+01] [-3.09244285e-03 -6.17836699e-06 9.99995218e-01 -4.83744185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.181858064 meters 0.014542016977422719 Centerline is valid? [True, True] Translation: X:80.66, Y:-22.62, Z:-0.48 [[ 8.24435368e-01 5.65951677e-01 2.24155536e-03 8.06630318e+01] [-5.65949603e-01 8.24438415e-01 -1.53186233e-03 -2.26200661e+01] [-2.71498440e-03 -5.68588927e-06 9.99996314e-01 -4.83797052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.211858064 meters 0.014510479395606674 Centerline is valid? [True, True] Translation: X:80.69, Y:-22.64, Z:-0.48 [[ 8.24247378e-01 5.66225561e-01 2.20777001e-03 8.06894916e+01] [-5.66223548e-01 8.24250334e-01 -1.50999937e-03 -2.26377643e+01] [-2.67475541e-03 -5.47834091e-06 9.99996423e-01 -4.84236592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.241858064 meters 0.014492838762349526 Centerline is valid? [True, True] Translation: X:80.72, Y:-22.66, Z:-0.48 [[ 8.23946910e-01 5.66662970e-01 2.13720013e-03 8.07171461e+01] [-5.66661084e-01 8.23949682e-01 -1.46183778e-03 -2.26553262e+01] [-2.58931470e-03 -6.59142288e-06 9.99996648e-01 -4.84397597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.271858064 meters 0.014472721460437783 Centerline is valid? [True, True] Translation: X:80.74, Y:-22.67, Z:-0.48 [[ 8.23659448e-01 5.67081368e-01 1.95841615e-03 8.07448707e+01] [-5.67079785e-01 8.23661776e-01 -1.34015296e-03 -2.26738053e+01] [-2.37304830e-03 -6.74856129e-06 9.99997184e-01 -4.84051758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.301858064 meters 0.014509526248004116 Centerline is valid? [True, True] Translation: X:80.77, Y:-22.69, Z:-0.48 [[ 8.23355043e-01 5.67523261e-01 1.95478079e-03 8.07718841e+01] [-5.67521683e-01 8.23357364e-01 -1.33849005e-03 -2.26920382e+01] [-2.36910740e-03 -7.32795557e-06 9.99997194e-01 -4.84611893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.331858064 meters 0.01441850789177688 Centerline is valid? [True, True] Translation: X:80.80, Y:-22.71, Z:-0.49 [[ 8.23055487e-01 5.67960414e-01 7.95451699e-04 8.07990599e+01] [-5.67960154e-01 8.23055872e-01 -5.43861655e-04 -2.27105084e+01] [-9.63593082e-04 -4.15654938e-06 9.99999536e-01 -4.85135313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.361858064 meters 0.014454350744928523 Centerline is valid? [True, True] Translation: X:80.83, Y:-22.73, Z:-0.49 [[ 8.22589123e-01 5.68636198e-01 9.47875982e-05 8.08265534e+01] [-5.68636194e-01 8.22589129e-01 -6.31465088e-05 -2.27290779e+01] [-1.13878639e-04 -1.95602783e-06 9.99999994e-01 -4.85790446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.391858064 meters 0.01448328892933046 Centerline is valid? [True, True] Translation: X:80.85, Y:-22.75, Z:-0.49 [[ 8.22268387e-01 5.69099725e-01 -4.50501209e-04 8.08537564e+01] [-5.69099639e-01 8.22268511e-01 3.11397640e-04 -2.27470421e+01] [ 5.47649269e-04 3.27640689e-07 9.99999850e-01 -4.86619196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421858064 meters 0.014470549297333974 Centerline is valid? [True, True] Translation: X:80.88, Y:-22.77, Z:-0.49 [[ 8.21792169e-01 5.69786382e-01 -1.05340222e-03 8.08810103e+01] [-5.69785920e-01 8.21792844e-01 7.26001853e-04 -2.27652356e+01] [ 1.27934437e-03 3.59111400e-06 9.99999182e-01 -4.87216292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.451858064 meters 0.014364242912346272 Centerline is valid? [True, True] Translation: X:80.91, Y:-22.78, Z:-0.49 [[ 8.21568221e-01 5.70108599e-01 -1.35781603e-03 8.09079794e+01] [-5.70107831e-01 8.21569343e-01 9.35807189e-04 -2.27834927e+01] [ 1.64905175e-03 5.27210214e-06 9.99998640e-01 -4.87735196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48185806400001 meters 0.01431668403008906 Centerline is valid? [True, True] Translation: X:80.93, Y:-22.80, Z:-0.49 [[ 8.21371679e-01 5.70391670e-01 -1.38091197e-03 8.09340438e+01] [-5.70390876e-01 8.21372840e-01 9.52090925e-04 -2.28015477e+01] [ 1.67730832e-03 5.63906520e-06 9.99998593e-01 -4.87697315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.511858064 meters 0.014246898553070717 Centerline is valid? [True, True] Translation: X:80.96, Y:-22.82, Z:-0.49 [[ 8.21956527e-01 5.69549092e-01 -1.14041057e-03 8.09602424e+01] [-5.69548548e-01 8.21957318e-01 7.87193910e-04 -2.28212621e+01] [ 1.38571439e-03 2.48001024e-06 9.99999040e-01 -4.86919723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.541858064 meters 0.014195865198625458 Centerline is valid? [True, True] Translation: X:80.99, Y:-22.84, Z:-0.49 [[ 8.22354124e-01 5.68975367e-01 -8.52550023e-04 8.09862301e+01] [-5.68975062e-01 8.22354565e-01 5.89384501e-04 -2.28408575e+01] [ 1.03644367e-03 3.96926998e-07 9.99999463e-01 -4.86293542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.571858064 meters 0.014197518802094513 Centerline is valid? [True, True] Translation: X:81.01, Y:-22.86, Z:-0.49 [[ 8.22768084e-01 5.68376940e-01 -5.78686326e-04 8.10115275e+01] [-5.68376798e-01 8.22768287e-01 4.00780584e-04 -2.28599877e+01] [ 7.03919199e-04 -8.37591606e-07 9.99999752e-01 -4.86051490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.601858064 meters 0.01419770427863159 Centerline is valid? [True, True] Translation: X:81.04, Y:-22.88, Z:-0.49 [[ 8.23867956e-01 5.66781629e-01 -4.20257656e-04 8.10370151e+01] [-5.66781554e-01 8.23868063e-01 2.91818179e-04 -2.28812002e+01] [ 5.11634044e-04 -2.22535964e-06 9.99999869e-01 -4.85226765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.631858064 meters 0.014184985912974978 Centerline is valid? [True, True] Translation: X:81.06, Y:-22.90, Z:-0.48 [[ 8.24211651e-01 5.66281788e-01 3.02494189e-04 8.10624721e+01] [-5.66281750e-01 8.24211706e-01 -2.07006599e-04 -2.29002642e+01] [-3.66543319e-04 -6.79687776e-07 9.99999933e-01 -4.84963365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.661858064 meters 0.014206687182535687 Centerline is valid? [True, True] Translation: X:81.09, Y:-22.92, Z:-0.48 [[ 8.24408788e-01 5.65994140e-01 8.85956057e-04 8.10889593e+01] [-5.65993811e-01 8.24409264e-01 -6.09968316e-04 -2.29193878e+01] [-1.07562887e-03 1.41759513e-06 9.99999422e-01 -4.84340189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.691858064 meters 0.01414441569802958 Centerline is valid? [True, True] Translation: X:81.12, Y:-22.94, Z:-0.48 [[ 8.24428143e-01 5.65965375e-01 1.19586098e-03 8.11162586e+01] [-5.65964775e-01 8.24429011e-01 -8.24462802e-04 -2.29386530e+01] [-1.45251988e-03 2.89514709e-06 9.99998945e-01 -4.84098737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.721858064 meters 0.0141232969554111 Centerline is valid? [True, True] Translation: X:81.14, Y:-22.96, Z:-0.48 [[ 8.23988318e-01 5.66604331e-01 1.66841955e-03 8.11426340e+01] [-5.66603159e-01 8.23990008e-01 -1.15218352e-03 -2.29568550e+01] [-2.02759321e-03 4.05397029e-06 9.99997944e-01 -4.83666517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.751858064 meters 0.013967961189875998 Centerline is valid? [True, True] Translation: X:81.17, Y:-22.98, Z:-0.48 [[ 8.23382661e-01 5.67483785e-01 1.77423700e-03 8.11693269e+01] [-5.67482461e-01 8.23384573e-01 -1.22545627e-03 -2.29750116e+01] [-2.15630594e-03 2.17106327e-06 9.99997675e-01 -4.84014038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781858064 meters 0.014035807388667004 Centerline is valid? [True, True] Translation: X:81.20, Y:-22.99, Z:-0.48 [[ 8.22658016e-01 5.68534087e-01 1.66762906e-03 8.11963218e+01] [-5.68532919e-01 8.22659706e-01 -1.15226379e-03 -2.29932173e+01] [-2.02699247e-03 -1.82969971e-07 9.99997946e-01 -4.84114194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.811858064 meters 0.01396502933658333 Centerline is valid? [True, True] Translation: X:81.22, Y:-23.01, Z:-0.48 [[ 8.22145958e-01 5.69274316e-01 1.66630942e-03 8.12236538e+01] [-5.69273151e-01 8.22147647e-01 -1.15204457e-03 -2.30120712e+01] [-2.02578175e-03 -1.43642752e-06 9.99997948e-01 -4.84343796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84185806400001 meters 0.014008481611123157 Centerline is valid? [True, True] Translation: X:81.25, Y:-23.03, Z:-0.48 [[ 8.21371968e-01 5.70390511e-01 1.65981353e-03 8.12504942e+01] [-5.70389355e-01 8.21373645e-01 -1.14822324e-03 -2.30303075e+01] [-2.01826273e-03 -3.62158508e-06 9.99997963e-01 -4.84343402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.871858064 meters 0.013877436617719115 Centerline is valid? [True, True] Translation: X:81.28, Y:-23.05, Z:-0.48 [[ 8.21252456e-01 5.70561620e-01 1.95972262e-03 8.12779026e+01] [-5.70560007e-01 8.21254794e-01 -1.35684213e-03 -2.30490278e+01] [-2.38359364e-03 -3.82941834e-06 9.99997159e-01 -4.84593364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.901858064 meters 0.013910636823805105 Centerline is valid? [True, True] Translation: X:81.30, Y:-23.07, Z:-0.48 [[ 8.20957266e-01 5.70986504e-01 1.89217250e-03 8.13049586e+01] [-5.70984999e-01 8.20959446e-01 -1.31076790e-03 -2.30674050e+01] [-2.30182767e-03 -4.31768378e-06 9.99997351e-01 -4.84730724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.931858064 meters 0.014016865415243157 Centerline is valid? [True, True] Translation: X:81.33, Y:-23.09, Z:-0.49 [[ 8.20859770e-01 5.71127869e-01 1.48182323e-03 8.13308453e+01] [-5.71126945e-01 8.20861107e-01 -1.02718683e-03 -2.30865934e+01] [-1.80302608e-03 -3.13283078e-06 9.99998375e-01 -4.85710377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.961858064 meters 0.0138227741474812 Centerline is valid? [True, True] Translation: X:81.36, Y:-23.11, Z:-0.49 [[ 8.20922137e-01 5.71039129e-01 1.07652447e-03 8.13573241e+01] [-5.71038642e-01 8.20922842e-01 -7.45634596e-04 -2.31063912e+01] [-1.30953006e-03 -2.62912637e-06 9.99999143e-01 -4.85299767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.991858064 meters 0.013938634163383033 Centerline is valid? [True, True] Translation: X:81.38, Y:-23.13, Z:-0.49 [[ 8.21125010e-01 5.70747394e-01 1.06346734e-03 8.13842502e+01] [-5.70746918e-01 8.21125698e-01 -7.37008623e-04 -2.31259650e+01] [-1.29388611e-03 -1.79449409e-06 9.99999163e-01 -4.85905941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.021858064 meters 0.013810854271135098 Centerline is valid? [True, True] Translation: X:81.41, Y:-23.14, Z:-0.49 [[ 8.21232427e-01 5.70592559e-01 1.19715901e-03 8.14109195e+01] [-5.70591955e-01 8.21233299e-01 -8.30391632e-04 -2.31449863e+01] [-1.45696213e-03 -1.14476596e-06 9.99998939e-01 -4.86226379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.051858064 meters 0.013724190392289058 Centerline is valid? [True, True] Translation: X:81.44, Y:-23.16, Z:-0.49 [[ 8.21640174e-01 5.70003776e-01 1.76634883e-03 8.14360506e+01] [-5.70002456e-01 8.21642072e-01 -1.22690604e-03 -2.31640920e+01] [-2.15064759e-03 1.25211837e-06 9.99997687e-01 -4.86583736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.081858064 meters 0.013790392182886009 Centerline is valid? [True, True] Translation: X:81.46, Y:-23.18, Z:-0.49 [[ 8.21692380e-01 5.69928238e-01 1.85387678e-03 8.14628986e+01] [-5.69926781e-01 8.21694471e-01 -1.28841943e-03 -2.31835606e+01] [-2.25762692e-03 2.11040729e-06 9.99997452e-01 -4.86466006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.111858064 meters 0.013785387913294435 Centerline is valid? [True, True] Translation: X:81.49, Y:-23.20, Z:-0.49 [[ 8.21653976e-01 5.69983272e-01 1.95280925e-03 8.14900021e+01] [-5.69981654e-01 8.21656297e-01 -1.35808770e-03 -2.32029060e+01] [-2.37862529e-03 2.81271186e-06 9.99997171e-01 -4.86348917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141858064 meters 0.013687763916083878 Centerline is valid? [True, True] Translation: X:81.52, Y:-23.22, Z:-0.49 [[ 8.21490293e-01 5.70218110e-01 2.23730564e-03 8.15169099e+01] [-5.70215984e-01 8.21493340e-01 -1.55713638e-03 -2.32223634e+01] [-2.72583905e-03 3.42498295e-06 9.99996285e-01 -4.86020626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.171858064 meters 0.013640400762874759 Centerline is valid? [True, True] Translation: X:81.54, Y:-23.24, Z:-0.49 [[ 8.21583480e-01 5.70080287e-01 3.00866448e-03 8.15431239e+01] [-5.70076435e-01 8.21588988e-01 -2.09585873e-03 -2.32427179e+01] [-3.66669336e-03 6.75419096e-06 9.99993278e-01 -4.85044092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201858064 meters 0.013657290532640464 Centerline is valid? [True, True] Translation: X:81.57, Y:-23.26, Z:-0.49 [[ 8.21417744e-01 5.70319798e-01 2.86668008e-03 8.15692397e+01] [-5.70316298e-01 8.21422746e-01 -1.99806691e-03 -2.32616418e+01] [-3.49429334e-03 6.33324625e-06 9.99993895e-01 -4.85388781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23185806400001 meters 0.013806924855913963 Centerline is valid? [True, True] Translation: X:81.60, Y:-23.28, Z:-0.49 [[ 8.21486461e-01 5.70222805e-01 2.43867009e-03 8.15956150e+01] [-5.70220270e-01 8.21490080e-01 -1.70033511e-03 -2.32814941e+01] [-2.97291315e-03 6.22314935e-06 9.99995581e-01 -4.86130902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.261858064 meters 0.013887224429089766 Centerline is valid? [True, True] Translation: X:81.62, Y:-23.30, Z:-0.49 [[ 8.21528334e-01 5.70163303e-01 2.23718885e-03 8.16212357e+01] [-5.70161167e-01 8.21531380e-01 -1.56067622e-03 -2.33007595e+01] [-2.72776115e-03 6.58152905e-06 9.99996280e-01 -4.87134186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.291858064 meters 0.01380212232970476 Centerline is valid? [True, True] Translation: X:81.65, Y:-23.32, Z:-0.49 [[ 8.21362776e-01 5.70403781e-01 1.64805518e-03 8.16478429e+01] [-5.70402623e-01 8.21364430e-01 -1.14977811e-03 -2.33199688e+01] [-2.00949168e-03 4.32994217e-06 9.99997981e-01 -4.87623279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.321858064 meters 0.013896321983263887 Centerline is valid? [True, True] Translation: X:81.67, Y:-23.34, Z:-0.49 [[ 8.21337038e-01 5.70442170e-01 1.09588884e-03 8.16742422e+01] [-5.70441658e-01 8.21337769e-01 -7.64385059e-04 -2.33392897e+01] [-1.33613237e-03 2.67711296e-06 9.99999107e-01 -4.88488949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.351858064 meters 0.013853128240297856 Centerline is valid? [True, True] Translation: X:81.70, Y:-23.36, Z:-0.49 [[ 8.21435111e-01 5.70301740e-01 5.32838505e-04 8.17000006e+01] [-5.70301619e-01 8.21435284e-01 -3.71030699e-04 -2.33587285e+01] [-6.49291802e-04 8.98981412e-07 9.99999789e-01 -4.89602633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.381858064 meters 0.013888468771595709 Centerline is valid? [True, True] Translation: X:81.73, Y:-23.38, Z:-0.49 [[ 8.21309887e-01 5.70482151e-01 4.29690188e-04 8.17261199e+01] [-5.70482073e-01 8.21310000e-01 -2.98937668e-04 -2.33780221e+01] [-5.23447452e-04 3.89913680e-07 9.99999863e-01 -4.89992316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.411858064 meters 0.013928320233611935 Centerline is valid? [True, True] Translation: X:81.75, Y:-23.40, Z:-0.49 [[ 8.21146482e-01 5.70717480e-01 1.18353811e-04 8.17519357e+01] [-5.70717474e-01 8.21146490e-01 -8.11817750e-05 -2.33975039e+01] [-1.43517674e-04 -8.84458940e-07 9.99999990e-01 -4.90351277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.441858064 meters 0.01388892459974921 Centerline is valid? [True, True] Translation: X:81.78, Y:-23.42, Z:-0.49 [[ 8.21041092e-01 5.70869095e-01 4.46392228e-05 8.17783579e+01] [-5.70869095e-01 8.21041093e-01 -2.94674994e-05 -2.34166951e+01] [-5.34727210e-05 -1.28912482e-06 9.99999999e-01 -4.90363240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.471858064 meters 0.013817767853147119 Centerline is valid? [True, True] Translation: X:81.81, Y:-23.44, Z:-0.49 [[ 8.20505985e-01 5.71637846e-01 -3.19061745e-04 8.18054639e+01] [-5.71637801e-01 8.20506047e-01 2.25512822e-04 -2.34360919e+01] [ 3.90703755e-04 -2.64686617e-06 9.99999924e-01 -4.90802103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501858064 meters 0.01375125616144923 Centerline is valid? [True, True] Translation: X:81.83, Y:-23.46, Z:-0.49 [[ 8.19614113e-01 5.72915494e-01 -7.36180292e-04 8.18325329e+01] [-5.72915260e-01 8.19614444e-01 5.18358453e-04 -2.34552540e+01] [ 9.00359590e-04 -3.08498022e-06 9.99999595e-01 -4.90205129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.531858064 meters 0.013754589234516258 Centerline is valid? [True, True] Translation: X:81.86, Y:-23.47, Z:-0.49 [[ 8.18893538e-01 5.73945203e-01 -5.26157736e-04 8.18591182e+01] [-5.73945084e-01 8.18893707e-01 3.70435375e-04 -2.34738211e+01] [ 6.43476866e-04 -1.36148899e-06 9.99999793e-01 -4.90413463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561858064 meters 0.013777907337955468 Centerline is valid? [True, True] Translation: X:81.89, Y:-23.49, Z:-0.49 [[ 8.17707216e-01 5.75633640e-01 -9.06876995e-04 8.18858994e+01] [-5.75633285e-01 8.17707718e-01 6.38542363e-04 -2.34918321e+01] [ 1.10912678e-03 -1.12113481e-07 9.99999385e-01 -4.91293616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59185806400001 meters 0.013783299638100089 Centerline is valid? [True, True] Translation: X:81.91, Y:-23.51, Z:-0.49 [[ 8.17123537e-01 5.76460722e-01 -1.46997360e-03 8.19127036e+01] [-5.76459794e-01 8.17124859e-01 1.03469664e-03 -2.35108720e+01] [ 1.79761394e-03 1.90570022e-06 9.99998384e-01 -4.91615222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.621858064 meters 0.01389304423925983 Centerline is valid? [True, True] Translation: X:81.94, Y:-23.53, Z:-0.49 [[ 8.16540345e-01 5.77286052e-01 -1.63662085e-03 8.19396440e+01] [-5.77284902e-01 8.16541985e-01 1.15249972e-03 -2.35303678e+01] [ 2.00169165e-03 3.73398999e-06 9.99997997e-01 -4.91979049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.651858064 meters 0.014019986071635751 Centerline is valid? [True, True] Translation: X:81.97, Y:-23.55, Z:-0.49 [[ 8.16096975e-01 5.77910855e-01 -2.18428180e-03 8.19653249e+01] [-5.77908808e-01 8.16099898e-01 1.53823632e-03 -2.35494473e+01] [ 2.67155562e-03 6.96568382e-06 9.99996431e-01 -4.92233104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.681858064 meters 0.014019986071635751 Centerline is valid? [True, True] Translation: X:81.99, Y:-23.57, Z:-0.49 [[ 8.15935491e-01 5.78138830e-01 -2.18379712e-03 8.19917999e+01] [-5.78136781e-01 8.15938413e-01 1.53892481e-03 -2.35681571e+01] [ 2.67155614e-03 6.87006927e-06 9.99996431e-01 -4.92415273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.711858064 meters 0.01411412631936083 Centerline is valid? [True, True] Translation: X:82.02, Y:-23.59, Z:-0.49 [[ 8.15261291e-01 5.79090357e-01 -1.84027297e-03 8.20181419e+01] [-5.79088902e-01 8.15263368e-01 1.29793496e-03 -2.35879327e+01] [ 2.25192876e-03 7.52552242e-06 9.99997464e-01 -4.91587780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.741858064 meters 0.014143948682955095 Centerline is valid? [True, True] Translation: X:82.04, Y:-23.61, Z:-0.49 [[ 8.14819268e-01 5.79713244e-01 -1.45417231e-03 8.20449409e+01] [-5.79712335e-01 8.14820566e-01 1.02663358e-03 -2.36069640e+01] [ 1.78004259e-03 6.48080901e-06 9.99998416e-01 -4.91719011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.771858064 meters 0.01407628100444033 Centerline is valid? [True, True] Translation: X:82.07, Y:-23.63, Z:-0.49 [[ 8.14542641e-01 5.80101725e-01 -1.50857876e-03 8.20715094e+01] [-5.80100746e-01 8.14544038e-01 1.06560497e-03 -2.36259904e+01] [ 1.84696312e-03 7.14697387e-06 9.99998294e-01 -4.91875056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.801858064 meters 0.014153129480536748 Centerline is valid? [True, True] Translation: X:82.10, Y:-23.65, Z:-0.49 [[ 8.14104113e-01 5.80717231e-01 -1.41084412e-03 8.20977969e+01] [-5.80716374e-01 8.14105336e-01 9.97269303e-04 -2.36453229e+01] [ 1.72770719e-03 7.41923991e-06 9.99998507e-01 -4.92171565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.831858064 meters 0.01430079704545713 Centerline is valid? [True, True] Translation: X:82.12, Y:-23.66, Z:-0.49 [[ 8.13540205e-01 5.81505583e-01 -1.89545164e-03 8.21231952e+01] [-5.81504039e-01 8.13542413e-01 1.33976748e-03 -2.36648623e+01] [ 2.32111257e-03 1.22580795e-05 9.99997306e-01 -4.93294227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.861858064 meters 0.014416890674010214 Centerline is valid? [True, True] Translation: X:82.15, Y:-23.68, Z:-0.49 [[ 8.13095652e-01 5.82126312e-01 -2.10170769e-03 8.21497838e+01] [-5.82124415e-01 8.13098368e-01 1.48630975e-03 -2.36841331e+01] [ 2.57411511e-03 1.49433631e-05 9.99996687e-01 -4.94086741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.891858064 meters 0.014450107424373014 Centerline is valid? [True, True] Translation: X:82.18, Y:-23.70, Z:-0.49 [[ 8.12629231e-01 5.82775797e-01 -2.47053881e-03 8.21760331e+01] [-5.82773176e-01 8.12632986e-01 1.74791922e-03 -2.37040877e+01] [ 3.02628635e-03 1.93534960e-05 9.99995421e-01 -4.94572020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921858064 meters 0.014559454676157402 Centerline is valid? [True, True] Translation: X:82.20, Y:-23.72, Z:-0.50 [[ 8.12317682e-01 5.83207109e-01 -3.07434354e-03 8.22024852e+01] [-5.83203050e-01 8.12323499e-01 2.17593784e-03 -2.37243454e+01] [ 3.76638392e-03 2.54137512e-05 9.99992907e-01 -4.95341117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.951858064 meters 0.014641345437745808 Centerline is valid? [True, True] Translation: X:82.23, Y:-23.74, Z:-0.50 [[ 8.12086031e-01 5.83525781e-01 -3.73371193e-03 8.22278428e+01] [-5.83519794e-01 8.12094614e-01 2.64353671e-03 -2.37439585e+01] [ 4.57469917e-03 3.19155822e-05 9.99989535e-01 -4.96017132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98185806400001 meters 0.014768858049325826 Centerline is valid? [True, True] Translation: X:82.25, Y:-23.76, Z:-0.50 [[ 8.12007245e-01 5.83636251e-01 -3.60018710e-03 8.22526563e+01] [-5.83630679e-01 8.12015225e-01 2.55045045e-03 -2.37649369e+01] [ 4.41194208e-03 3.01953934e-05 9.99990267e-01 -4.95847391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.011858064 meters 0.014639291434806054 Centerline is valid? [True, True] Translation: X:82.28, Y:-23.79, Z:-0.50 [[ 8.12062819e-01 5.83559705e-01 -3.47098330e-03 8.22784432e+01] [-5.83554519e-01 8.12070237e-01 2.46058340e-03 -2.37853256e+01] [ 4.25457956e-03 2.73596934e-05 9.99990949e-01 -4.95040138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.041858064 meters 0.01458308184182522 Centerline is valid? [True, True] Translation: X:82.30, Y:-23.81, Z:-0.50 [[ 8.12031644e-01 5.83604562e-01 -3.21313156e-03 8.23041168e+01] [-5.83600111e-01 8.12038001e-01 2.27930478e-03 -2.38053190e+01] [ 3.93939760e-03 2.43163308e-05 9.99992240e-01 -4.95105220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.071858064 meters 0.014659622513376235 Centerline is valid? [True, True] Translation: X:82.33, Y:-23.83, Z:-0.50 [[ 8.12072739e-01 5.83547017e-01 -3.27786261e-03 8.23293722e+01] [-5.83542380e-01 8.12079354e-01 2.32657883e-03 -2.38261709e+01] [ 4.01955269e-03 2.34205102e-05 9.99991921e-01 -4.95494557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.101858064 meters 0.01484964783498133 Centerline is valid? [True, True] Translation: X:82.35, Y:-23.85, Z:-0.50 [[ 8.12300259e-01 5.83226663e-01 -3.86644617e-03 8.23548918e+01] [-5.83220202e-01 8.12309460e-01 2.74539348e-03 -2.38456360e+01] [ 4.74193748e-03 2.49056799e-05 9.99988757e-01 -4.96837937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.131858064 meters 0.014836781971067756 Centerline is valid? [True, True] Translation: X:82.38, Y:-23.87, Z:-0.50 [[ 8.12474741e-01 5.82982126e-01 -4.07873602e-03 8.23801799e+01] [-5.82974924e-01 8.12484979e-01 2.89786178e-03 -2.38668903e+01] [ 5.00331337e-03 2.33613264e-05 9.99987483e-01 -4.96042546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.161858064 meters 0.014901031137805195 Centerline is valid? [True, True] Translation: X:82.41, Y:-23.89, Z:-0.50 [[ 8.12862767e-01 5.82439967e-01 -4.21980171e-03 8.24050646e+01] [-5.82432243e-01 8.12873720e-01 2.99953733e-03 -2.38864320e+01] [ 5.17721633e-03 1.95363585e-05 9.99986598e-01 -4.97763027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.191858064 meters 0.014894083741298695 Centerline is valid? [True, True] Translation: X:82.43, Y:-23.91, Z:-0.50 [[ 8.13758127e-01 5.81187396e-01 -4.34981616e-03 8.24295394e+01] [-5.81179161e-01 8.13769753e-01 3.09385578e-03 -2.39090353e+01] [ 5.33785880e-03 1.03722235e-05 9.99985753e-01 -4.96811629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.221858064 meters 0.014794864916478398 Centerline is valid? [True, True] Translation: X:82.45, Y:-23.93, Z:-0.50 [[ 8.14296449e-01 5.80436994e-01 -3.76685176e-03 8.24549245e+01] [-5.80430805e-01 8.14305161e-01 2.68059071e-03 -2.39289121e+01] [ 4.62328084e-03 3.60130071e-06 9.99989313e-01 -4.96767445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.251858064 meters 0.0148600718724889 Centerline is valid? [True, True] Translation: X:82.48, Y:-23.95, Z:-0.50 [[ 8.14683790e-01 5.79895344e-01 -3.42236272e-03 8.24808487e+01] [-5.79890222e-01 8.14690979e-01 2.43729601e-03 -2.39498582e+01] [ 4.20154464e-03 -1.03087503e-06 9.99991173e-01 -4.96121288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281858064 meters 0.015026692755564756 Centerline is valid? [True, True] Translation: X:82.51, Y:-23.97, Z:-0.50 [[ 8.14979437e-01 5.79480407e-01 -3.31288696e-03 8.25055725e+01] [-5.79475599e-01 8.14986171e-01 2.36055831e-03 -2.39700140e+01] [ 4.06785434e-03 -4.06932779e-06 9.99991726e-01 -4.95739870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.311858064 meters 0.015109991975452387 Centerline is valid? [True, True] Translation: X:82.53, Y:-23.99, Z:-0.50 [[ 8.15813250e-01 5.78305580e-01 -3.37599028e-03 8.25301636e+01] [-5.78300570e-01 8.15820235e-01 2.40706304e-03 -2.39916083e+01] [ 4.14621917e-03 -1.13768187e-05 9.99991404e-01 -4.95365173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34185806400001 meters 0.015213085814439668 Centerline is valid? [True, True] Translation: X:82.56, Y:-24.01, Z:-0.50 [[ 8.16022600e-01 5.78010039e-01 -3.39269775e-03 8.25557569e+01] [-5.78004973e-01 8.16029653e-01 2.42016781e-03 -2.40114460e+01] [ 4.16742326e-03 -1.39154586e-05 9.99991316e-01 -4.95925897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.371858064 meters 0.015372623001154693 Centerline is valid? [True, True] Translation: X:82.58, Y:-24.03, Z:-0.50 [[ 8.15982224e-01 5.78066646e-01 -3.45866633e-03 8.25814889e+01] [-5.78061375e-01 8.15989554e-01 2.46874044e-03 -2.40314093e+01] [ 4.24933210e-03 -1.51269030e-05 9.99990971e-01 -4.96429546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.401858064 meters 0.015504820275890768 Centerline is valid? [True, True] Translation: X:82.61, Y:-24.05, Z:-0.50 [[ 8.16101228e-01 5.77899584e-01 -3.29475465e-03 8.26076541e+01] [-5.77894794e-01 8.16107879e-01 2.35318432e-03 -2.40515898e+01] [ 4.04877947e-03 -1.64150591e-05 9.99991804e-01 -4.96907918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.431858064 meters 0.015649715115198144 Centerline is valid? [True, True] Translation: X:82.63, Y:-24.07, Z:-0.50 [[ 8.16423750e-01 5.77442366e-01 -3.54606746e-03 8.26321315e+01] [-5.77436807e-01 8.16431451e-01 2.53377010e-03 -2.40727282e+01] [ 4.35822720e-03 -2.10002156e-05 9.99990503e-01 -4.97015522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.461858064 meters 0.015604347550554681 Centerline is valid? [True, True] Translation: X:82.66, Y:-24.09, Z:-0.50 [[ 8.16396539e-01 5.77482782e-01 -3.21371672e-03 8.26584201e+01] [-5.77478210e-01 8.16402864e-01 2.29801097e-03 -2.40926532e+01] [ 3.95074930e-03 -2.02368187e-05 9.99992196e-01 -4.95656982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.491858064 meters 0.01573740892441516 Centerline is valid? [True, True] Translation: X:82.68, Y:-24.11, Z:-0.50 [[ 8.16209944e-01 5.77748187e-01 -2.89132313e-03 8.26834643e+01] [-5.77744483e-01 8.16215065e-01 2.06868227e-03 -2.41122233e+01] [ 3.55511893e-03 -1.80330552e-05 9.99993680e-01 -4.95840491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.521858064 meters 0.015760969280253116 Centerline is valid? [True, True] Translation: X:82.71, Y:-24.13, Z:-0.50 [[ 8.15677061e-01 5.78501916e-01 -2.54287686e-03 8.27086632e+01] [-5.78499052e-01 8.15681024e-01 1.82046598e-03 -2.41315995e+01] [ 3.12731946e-03 -1.38604915e-05 9.99995110e-01 -4.95396049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.551858064 meters 0.0156796958066315 Centerline is valid? [True, True] Translation: X:82.74, Y:-24.15, Z:-0.49 [[ 8.15032129e-01 5.79411563e-01 -2.20644712e-03 8.27358696e+01] [-5.79409407e-01 8.15035116e-01 1.58097191e-03 -2.41504254e+01] [ 2.71436529e-03 -1.01066849e-05 9.99996316e-01 -4.94137563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.581858064 meters 0.015557240604763477 Centerline is valid? [True, True] Translation: X:82.76, Y:-24.17, Z:-0.49 [[ 8.14298387e-01 5.80443125e-01 -1.97879226e-03 8.27628820e+01] [-5.80441391e-01 8.14300791e-01 1.41893529e-03 -2.41695551e+01] [ 2.43494334e-03 -6.86378974e-06 9.99997035e-01 -4.93961775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.611858064 meters 0.015456487658250842 Centerline is valid? [True, True] Translation: X:82.79, Y:-24.19, Z:-0.49 [[ 8.12715214e-01 5.82658944e-01 -1.59222786e-03 8.27889637e+01] [-5.82657826e-01 8.12716774e-01 1.14145575e-03 -2.41873592e+01] [ 1.95910969e-03 4.55693683e-08 9.99998081e-01 -4.94812117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641858064 meters 0.015609577432712681 Centerline is valid? [True, True] Translation: X:82.82, Y:-24.21, Z:-0.49 [[ 8.11987494e-01 5.83672534e-01 -1.63805142e-03 8.28158666e+01] [-5.83671350e-01 8.11989146e-01 1.17594578e-03 -2.42064461e+01] [ 2.01644723e-03 1.23041319e-06 9.99997967e-01 -4.94557104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.671858064 meters 0.015564514803443707 Centerline is valid? [True, True] Translation: X:82.84, Y:-24.23, Z:-0.49 [[ 8.11244573e-01 5.84704653e-01 -1.64667489e-03 8.28421376e+01] [-5.84703457e-01 8.11246244e-01 1.18263875e-03 -2.42250739e+01] [ 2.02735320e-03 3.40724050e-06 9.99997945e-01 -4.94825173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701858064 meters 0.015584955605475338 Centerline is valid? [True, True] Translation: X:82.87, Y:-24.24, Z:-0.49 [[ 8.10479083e-01 5.85765391e-01 -1.60104644e-03 8.28687978e+01] [-5.85764261e-01 8.10480664e-01 1.15071356e-03 -2.42443251e+01] [ 1.97166536e-03 5.20651172e-06 9.99998056e-01 -4.94394261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73185806400001 meters 0.01566244836561769 Centerline is valid? [True, True] Translation: X:82.90, Y:-24.26, Z:-0.49 [[ 8.09854333e-01 5.86627814e-01 -1.94084446e-03 8.28951916e+01] [-5.86626155e-01 8.09856659e-01 1.39515513e-03 -2.42630868e+01] [ 2.39024261e-03 8.67769378e-06 9.99997143e-01 -4.94887617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.761858064 meters 0.01570595360590636 Centerline is valid? [True, True] Translation: X:82.92, Y:-24.28, Z:-0.50 [[ 8.08747358e-01 5.88151243e-01 -2.41360731e-03 8.29213026e+01] [-5.88148684e-01 8.08750960e-01 1.73535632e-03 -2.42815270e+01] [ 2.97265921e-03 1.60951207e-05 9.99995582e-01 -4.95000095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.791858064 meters 0.015801382964311002 Centerline is valid? [True, True] Translation: X:82.95, Y:-24.30, Z:-0.50 [[ 8.08338319e-01 5.88712824e-01 -2.52450340e-03 8.29474070e+01] [-5.88710023e-01 8.08342261e-01 1.81613565e-03 -2.43004550e+01] [ 3.10984513e-03 1.81484091e-05 9.99995164e-01 -4.95229237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.821858064 meters 0.015828096424162944 Centerline is valid? [True, True] Translation: X:82.97, Y:-24.32, Z:-0.50 [[ 8.08105218e-01 5.89032723e-01 -2.53128504e-03 8.29735681e+01] [-5.89029906e-01 8.08109182e-01 1.82193864e-03 -2.43195325e+01] [ 3.11873617e-03 1.86844661e-05 9.99995137e-01 -4.95948941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.851858064 meters 0.01564122371846936 Centerline is valid? [True, True] Translation: X:83.00, Y:-24.34, Z:-0.50 [[ 8.08373419e-01 5.88664412e-01 -2.57414809e-03 8.29994764e+01] [-5.88661492e-01 8.08377517e-01 1.85403023e-03 -2.43402697e+01] [ 3.17228505e-03 1.65531016e-05 9.99994968e-01 -4.96044642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.881858064 meters 0.015613239320641422 Centerline is valid? [True, True] Translation: X:83.02, Y:-24.36, Z:-0.50 [[ 8.08342246e-01 5.88706420e-01 -2.75038739e-03 8.30247102e+01] [-5.88703085e-01 8.08346925e-01 1.98178930e-03 -2.43593811e+01] [ 3.38995927e-03 1.71975246e-05 9.99994254e-01 -4.96244912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.911858064 meters 0.0155747114028665 Centerline is valid? [True, True] Translation: X:83.05, Y:-24.38, Z:-0.50 [[ 8.08519937e-01 5.88461464e-01 -2.93557854e-03 8.30507372e+01] [-5.88457658e-01 8.08525266e-01 2.11646881e-03 -2.43798897e+01] [ 3.61894975e-03 1.62564450e-05 9.99993451e-01 -4.96347126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.941858064 meters 0.015415847409083635 Centerline is valid? [True, True] Translation: X:83.08, Y:-24.40, Z:-0.50 [[ 8.09013952e-01 5.87779039e-01 -3.49654596e-03 8.30764436e+01] [-5.87773629e-01 8.09021508e-01 2.52202390e-03 -2.44012040e+01] [ 4.31117367e-03 1.48249841e-05 9.99990707e-01 -4.96047271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.971858064 meters 0.015463560643223384 Centerline is valid? [True, True] Translation: X:83.10, Y:-24.42, Z:-0.50 [[ 8.09173140e-01 5.87557754e-01 -3.83600785e-03 8.31013695e+01] [-5.87551239e-01 8.09182233e-01 2.76696240e-03 -2.44205608e+01] [ 4.72977961e-03 1.48995117e-05 9.99988814e-01 -4.96878234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001858064 meters 0.015381231433613692 Centerline is valid? [True, True] Translation: X:83.13, Y:-24.44, Z:-0.50 [[ 8.09457901e-01 5.87164197e-01 -4.01412618e-03 8.31270971e+01] [-5.87157046e-01 8.09467854e-01 2.89775629e-03 -2.44408220e+01] [ 4.95076485e-03 1.13107538e-05 9.99987745e-01 -4.97085775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.031858064 meters 0.015305432204855918 Centerline is valid? [True, True] Translation: X:83.15, Y:-24.46, Z:-0.50 [[ 8.09817291e-01 5.86664375e-01 -4.56787172e-03 8.31528467e+01] [-5.86655098e-01 8.09830174e-01 3.29924015e-03 -2.44614510e+01] [ 5.63474701e-03 7.98351009e-06 9.99984125e-01 -4.96966108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061858064 meters 0.015259034157788775 Centerline is valid? [True, True] Translation: X:83.18, Y:-24.48, Z:-0.50 [[ 8.09957380e-01 5.86471702e-01 -4.47043883e-03 8.31788693e+01] [-5.86462803e-01 8.09969717e-01 3.23084055e-03 -2.44818007e+01] [ 5.51571664e-03 4.90293504e-06 9.99984788e-01 -4.96912011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09185806400001 meters 0.015328983525492347 Centerline is valid? [True, True] Translation: X:83.20, Y:-24.50, Z:-0.50 [[ 8.11292936e-01 5.84624839e-01 -4.19154130e-03 8.32039814e+01] [-5.84616981e-01 8.11303764e-01 3.03116600e-03 -2.45037538e+01] [ 5.17270817e-03 -8.71734883e-06 9.99986621e-01 -4.96331827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.121858064 meters 0.01533787839109093 Centerline is valid? [True, True] Translation: X:83.23, Y:-24.52, Z:-0.50 [[ 8.12162248e-01 5.83416554e-01 -4.19624582e-03 8.32295421e+01] [-5.83408653e-01 8.12173088e-01 3.03633707e-03 -2.45245559e+01] [ 5.17952723e-03 -1.78722164e-05 9.99986586e-01 -4.96047082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.151858064 meters 0.015421001017679832 Centerline is valid? [True, True] Translation: X:83.25, Y:-24.55, Z:-0.50 [[ 8.14206552e-01 5.80561278e-01 -4.03655733e-03 8.32534235e+01] [-5.80553925e-01 8.14216557e-01 2.92214745e-03 -2.45465814e+01] [ 4.98311747e-03 -3.57923920e-05 9.99987584e-01 -4.95776591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.181858064 meters 0.015535753144808017 Centerline is valid? [True, True] Translation: X:83.28, Y:-24.57, Z:-0.50 [[ 8.15028278e-01 5.79404821e-01 -4.35416722e-03 8.32781831e+01] [-5.79396241e-01 8.15039908e-01 3.15357868e-03 -2.45665782e+01] [ 5.37601874e-03 -4.74676820e-05 9.99985548e-01 -4.95617955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.211858064 meters 0.015917175853158452 Centerline is valid? [True, True] Translation: X:83.30, Y:-24.59, Z:-0.50 [[ 8.16886033e-01 5.76781871e-01 -4.45897674e-03 8.33015524e+01] [-5.76772826e-01 8.16898200e-01 3.23085974e-03 -2.45875070e+01] [ 5.50603140e-03 -6.74275773e-05 9.99984839e-01 -4.96312172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.241858064 meters 0.015917175853158452 Centerline is valid? [True, True] Translation: X:83.33, Y:-24.61, Z:-0.50 [[ 8.16725588e-01 5.77009047e-01 -4.45791099e-03 8.33277558e+01] [-5.76999997e-01 8.16737752e-01 3.23233059e-03 -2.46065708e+01] [ 5.50602819e-03 -6.77124731e-05 9.99984839e-01 -4.96494272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.271858064 meters 0.01629062907857285 Centerline is valid? [True, True] Translation: X:83.35, Y:-24.63, Z:-0.50 [[ 8.17960006e-01 5.75257118e-01 -4.54709253e-03 8.33514112e+01] [-5.75247670e-01 8.17972641e-01 3.29813479e-03 -2.46265056e+01] [ 5.61667280e-03 -8.20379679e-05 9.99984223e-01 -4.96487644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.301858064 meters 0.016516163456548865 Centerline is valid? [True, True] Translation: X:83.38, Y:-24.65, Z:-0.50 [[ 8.18434120e-01 5.74583391e-01 -4.41796764e-03 8.33769181e+01] [-5.74574452e-01 8.18446039e-01 3.20625032e-03 -2.46461840e+01] [ 5.45812630e-03 -8.56533229e-05 9.99985101e-01 -4.96549729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.331858064 meters 0.016256281925340777 Centerline is valid? [True, True] Translation: X:83.40, Y:-24.67, Z:-0.50 [[ 8.18620892e-01 5.74318768e-01 -4.21754341e-03 8.34041008e+01] [-5.74310606e-01 8.18631752e-01 3.06299362e-03 -2.46654043e+01] [ 5.21174967e-03 -8.52506564e-05 9.99986415e-01 -4.96045809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.361858064 meters 0.016857540366683795 Centerline is valid? [True, True] Translation: X:83.43, Y:-24.68, Z:-0.50 [[ 8.18815276e-01 5.74038921e-01 -4.56741706e-03 8.34283825e+01] [-5.74029339e-01 8.18828009e-01 3.31812617e-03 -2.46845347e+01] [ 5.64466258e-03 -9.51010015e-05 9.99984064e-01 -4.97208865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.391858064 meters 0.01660659960439805 Centerline is valid? [True, True] Translation: X:83.46, Y:-24.70, Z:-0.50 [[ 8.18485361e-01 5.74503719e-01 -5.21442157e-03 8.34551457e+01] [-5.74491224e-01 8.18501964e-01 3.79046786e-03 -2.47028616e+01] [ 6.44565217e-03 -1.06803022e-04 9.99979221e-01 -4.97622838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421858064 meters 0.016712128370329107 Centerline is valid? [True, True] Translation: X:83.48, Y:-24.72, Z:-0.50 [[ 8.18203553e-01 5.74902764e-01 -5.45518049e-03 8.34811118e+01] [-5.74889093e-01 8.18221731e-01 3.96610266e-03 -2.47222546e+01] [ 6.74367060e-03 -1.08955520e-04 9.99977255e-01 -4.98195627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.451858064 meters 0.01652827408923402 Centerline is valid? [True, True] Translation: X:83.51, Y:-24.74, Z:-0.50 [[ 8.17801214e-01 5.75475303e-01 -5.41752623e-03 8.35082924e+01] [-5.75461814e-01 8.17819151e-01 3.94169353e-03 -2.47413766e+01] [ 6.69890399e-03 -1.05942285e-04 9.99977556e-01 -4.98146258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.481858064 meters 0.016374593869920594 Centerline is valid? [True, True] Translation: X:83.53, Y:-24.76, Z:-0.50 [[ 8.16672180e-01 5.77075569e-01 -5.50802145e-03 8.35346428e+01] [-5.77061651e-01 8.16690749e-01 4.00898068e-03 -2.47581989e+01] [ 6.81183497e-03 -9.55550426e-05 9.99976795e-01 -4.98942107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.511858064 meters 0.016337644600326696 Centerline is valid? [True, True] Translation: X:83.56, Y:-24.78, Z:-0.50 [[ 8.16102535e-01 5.77879850e-01 -5.61536192e-03 8.35601941e+01] [-5.77865391e-01 8.16121848e-01 4.08893752e-03 -2.47751303e+01] [ 6.94573415e-03 -9.20689634e-05 9.99975874e-01 -4.99343342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.541858064 meters 0.01619641172757272 Centerline is valid? [True, True] Translation: X:83.59, Y:-24.79, Z:-0.50 [[ 8.15486595e-01 5.78752136e-01 -5.25150592e-03 8.35866217e+01] [-5.78739495e-01 8.15503500e-01 3.82603654e-03 -2.47928955e+01] [ 6.49694828e-03 -8.08276278e-05 9.99978891e-01 -4.99342267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.571858064 meters 0.016026484114283934 Centerline is valid? [True, True] Translation: X:83.61, Y:-24.81, Z:-0.50 [[ 8.14816384e-01 5.79698810e-01 -4.85291373e-03 8.36127822e+01] [-5.79688021e-01 8.14830832e-01 3.53746627e-03 -2.48109235e+01] [ 6.00496872e-03 -6.92095190e-05 9.99981968e-01 -4.99272780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.601858064 meters 0.016026484114283934 Centerline is valid? [True, True] Translation: X:83.64, Y:-24.83, Z:-0.50 [[ 8.14663456e-01 5.79913712e-01 -4.85187047e-03 8.36389241e+01] [-5.79902918e-01 8.14677901e-01 3.53889745e-03 -2.48300830e+01] [ 6.00496680e-03 -6.93965814e-05 9.99981968e-01 -4.99454921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.631858064 meters 0.015934497461269348 Centerline is valid? [True, True] Translation: X:83.67, Y:-24.85, Z:-0.50 [[ 8.14096172e-01 5.80712916e-01 -4.46451046e-03 8.36651840e+01] [-5.80703780e-01 8.14108412e-01 3.25784183e-03 -2.48478207e+01] [ 5.52646635e-03 -5.96384591e-05 9.99984727e-01 -4.99268048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.661858064 meters 0.015536634528121077 Centerline is valid? [True, True] Translation: X:83.69, Y:-24.86, Z:-0.50 [[ 8.13498706e-01 5.81554472e-01 -3.77519945e-03 8.36928733e+01] [-5.81547941e-01 8.13507464e-01 2.75651285e-03 -2.48647171e+01] [ 4.67421530e-03 -4.69601700e-05 9.99989075e-01 -4.98255685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.691858064 meters 0.015248441010620188 Centerline is valid? [True, True] Translation: X:83.72, Y:-24.88, Z:-0.50 [[ 8.13019773e-01 5.82227071e-01 -3.23834453e-03 8.37197223e+01] [-5.82222265e-01 8.13026221e-01 2.36601958e-03 -2.48825683e+01] [ 4.01041966e-03 -3.81844138e-05 9.99991958e-01 -4.97565210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.721858064 meters 0.015298130018925979 Centerline is valid? [True, True] Translation: X:83.75, Y:-24.90, Z:-0.50 [[ 8.12626044e-01 5.82778710e-01 -2.80847035e-03 8.37454238e+01] [-5.82775095e-01 8.12630897e-01 2.05300931e-03 -2.49004706e+01] [ 3.47869990e-03 -3.16222578e-05 9.99993949e-01 -4.97714768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.751858064 meters 0.015271071843255346 Centerline is valid? [True, True] Translation: X:83.77, Y:-24.92, Z:-0.50 [[ 8.12161422e-01 5.83426351e-01 -2.74173422e-03 8.37726600e+01] [-5.83422904e-01 8.12166049e-01 2.00580969e-03 -2.49185173e+01] [ 3.39698567e-03 -2.94507069e-05 9.99994230e-01 -4.97620484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781858064 meters 0.015092784589875879 Centerline is valid? [True, True] Translation: X:83.80, Y:-24.93, Z:-0.50 [[ 8.11318329e-01 5.84601523e-01 -1.90503217e-03 8.37999105e+01] [-5.84599860e-01 8.11320565e-01 1.39455198e-03 -2.49345214e+01] [ 2.36084899e-03 -1.77440384e-05 9.99997213e-01 -4.98304325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.811858064 meters 0.015081440130617883 Centerline is valid? [True, True] Translation: X:83.83, Y:-24.95, Z:-0.50 [[ 8.10645667e-01 5.85534853e-01 -1.59315961e-03 8.38271406e+01] [-5.85533689e-01 8.10647232e-01 1.16754367e-03 -2.49527912e+01] [ 1.97512794e-03 -1.36155921e-05 9.99998049e-01 -4.98721801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84185806400001 meters 0.015215729430026049 Centerline is valid? [True, True] Translation: X:83.85, Y:-24.97, Z:-0.50 [[ 8.10267710e-01 5.86057758e-01 -1.59438561e-03 8.38533951e+01] [-5.86056593e-01 8.10269279e-01 1.16893900e-03 -2.49714435e+01] [ 1.97694745e-03 -1.27533270e-05 9.99998046e-01 -4.99099754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.871858064 meters 0.014848217787147839 Centerline is valid? [True, True] Translation: X:83.88, Y:-24.99, Z:-0.50 [[ 8.09350607e-01 5.87324988e-01 -9.76982745e-04 8.38804584e+01] [-5.87324550e-01 8.09351196e-01 7.17183936e-04 -2.49886427e+01] [ 1.21194220e-03 -6.64730285e-06 9.99999266e-01 -4.97838982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.901858064 meters 0.014706076143353572 Centerline is valid? [True, True] Translation: X:83.91, Y:-25.01, Z:-0.50 [[ 8.08786305e-01 5.88101511e-01 -1.15154330e-03 8.39075864e+01] [-5.88100903e-01 8.08787124e-01 8.45814142e-04 -2.50069367e+01] [ 1.42877797e-03 -6.85923731e-06 9.99998979e-01 -4.97491474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.931858064 meters 0.014737416994599673 Centerline is valid? [True, True] Translation: X:83.93, Y:-25.03, Z:-0.50 [[ 8.08066088e-01 5.89090392e-01 -1.30685579e-03 8.39342872e+01] [-5.89089610e-01 8.08067145e-01 9.60017176e-04 -2.50250010e+01] [ 1.62156412e-03 -5.90215893e-06 9.99998685e-01 -4.97957947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.961858064 meters 0.014630212810400124 Centerline is valid? [True, True] Translation: X:83.96, Y:-25.04, Z:-0.50 [[ 8.07463600e-01 5.89915578e-01 -1.46474905e-03 8.39616829e+01] [-5.89914596e-01 8.07464928e-01 1.07652743e-03 -2.50432019e+01] [ 1.81779379e-03 -5.17986393e-06 9.99998348e-01 -4.98446052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.991858064 meters 0.014591691440547535 Centerline is valid? [True, True] Translation: X:83.99, Y:-25.06, Z:-0.50 [[ 8.06256633e-01 5.91562830e-01 -1.91326389e-03 8.39891819e+01] [-5.91561161e-01 8.06258903e-01 1.40535959e-03 -2.50591778e+01] [ 2.37394455e-03 -1.26788247e-06 9.99997182e-01 -4.99787414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.021858064 meters 0.014574509470536592 Centerline is valid? [True, True] Translation: X:84.02, Y:-25.08, Z:-0.50 [[ 8.05596535e-01 5.92461314e-01 -1.95284269e-03 8.40163756e+01] [-5.92459574e-01 8.05598902e-01 1.43596238e-03 -2.50770383e+01] [ 2.42396009e-03 1.74033254e-07 9.99997062e-01 -4.99770800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.051858064 meters 0.014503248892289503 Centerline is valid? [True, True] Translation: X:84.04, Y:-25.10, Z:-0.50 [[ 8.05029341e-01 5.93232776e-01 -1.62264562e-03 8.40439173e+01] [-5.93231574e-01 8.05030977e-01 1.19417661e-03 -2.50957805e+01] [ 2.01470469e-03 1.25740690e-06 9.99997970e-01 -4.99968903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.081858064 meters 0.014449357702168552 Centerline is valid? [True, True] Translation: X:84.07, Y:-25.11, Z:-0.50 [[ 8.04460701e-01 5.94004616e-01 -1.22347135e-03 8.40706337e+01] [-5.94003932e-01 8.04461631e-01 9.01472839e-04 -2.51142002e+01] [ 1.51971478e-03 1.54732022e-06 9.99998845e-01 -4.98208516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.111858064 meters 0.014486005529891013 Centerline is valid? [True, True] Translation: X:84.10, Y:-25.13, Z:-0.50 [[ 8.04270503e-01 5.94262698e-01 -8.96753682e-04 8.40965405e+01] [-5.94262330e-01 8.04271003e-01 6.60764617e-04 -2.51329077e+01] [ 1.11390075e-03 1.47344266e-06 9.99999380e-01 -4.98567228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141858064 meters 0.01441309949642908 Centerline is valid? [True, True] Translation: X:84.12, Y:-25.15, Z:-0.50 [[ 8.04123475e-01 5.94462023e-01 -5.82329580e-04 8.41234345e+01] [-5.94461868e-01 8.04123686e-01 4.30515869e-04 -2.51525869e+01] [ 7.24190343e-04 -1.51869889e-08 9.99999738e-01 -4.97809829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.171858064 meters 0.014500169842375853 Centerline is valid? [True, True] Translation: X:84.15, Y:-25.17, Z:-0.50 [[ 8.04098687e-01 5.94495835e-01 -6.60201956e-05 8.41491935e+01] [-5.94495833e-01 8.04098689e-01 5.04495452e-05 -2.51711777e+01] [ 8.30787972e-05 -1.31768189e-06 9.99999997e-01 -4.97702090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201858064 meters 0.014434055597990882 Centerline is valid? [True, True] Translation: X:84.18, Y:-25.19, Z:-0.50 [[ 8.03851640e-01 5.94829778e-01 2.74578340e-04 8.41756512e+01] [-5.94829745e-01 8.03851687e-01 -2.00323058e-04 -2.51902115e+01] [-3.39878382e-04 -2.29734486e-06 9.99999942e-01 -4.97352076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.231858064 meters 0.014367906771252513 Centerline is valid? [True, True] Translation: X:84.20, Y:-25.21, Z:-0.50 [[ 8.03778529e-01 5.94928405e-01 5.18695244e-04 8.42023314e+01] [-5.94928283e-01 8.03778697e-01 -3.80396649e-04 -2.52093709e+01] [-6.43224958e-04 -2.83181212e-06 9.99999793e-01 -4.97480168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.261858064 meters 0.014439100414725903 Centerline is valid? [True, True] Translation: X:84.23, Y:-25.23, Z:-0.50 [[ 8.03472645e-01 5.95341558e-01 3.72693230e-04 8.42284525e+01] [-5.95341495e-01 8.03472731e-01 -2.73055548e-04 -2.52282317e+01] [-4.62010162e-04 -2.48708093e-06 9.99999893e-01 -4.98199420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.291858064 meters 0.014588337821735742 Centerline is valid? [True, True] Translation: X:84.25, Y:-25.25, Z:-0.50 [[ 8.02749877e-01 5.96315858e-01 -1.78946375e-04 8.42546602e+01] [-5.96315843e-01 8.02749897e-01 1.34034697e-04 -2.52475150e+01] [ 2.23576199e-04 -8.87778520e-07 9.99999975e-01 -4.98894137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.321858064 meters 0.0146562182181966 Centerline is valid? [True, True] Translation: X:84.28, Y:-25.27, Z:-0.50 [[ 8.02107091e-01 5.97179970e-01 -5.45613375e-04 8.42802468e+01] [-5.97179833e-01 8.02107277e-01 4.04735302e-04 -2.52658770e+01] [ 6.79340273e-04 1.18824806e-06 9.99999769e-01 -4.99810956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.351858064 meters 0.014683302652590062 Centerline is valid? [True, True] Translation: X:84.31, Y:-25.29, Z:-0.50 [[ 8.01478547e-01 5.98022956e-01 -8.26431982e-04 8.43070927e+01] [-5.98022643e-01 8.01478973e-01 6.12642808e-04 -2.52854499e+01] [ 1.02874232e-03 3.20497079e-06 9.99999471e-01 -4.99779240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.381858064 meters 0.014824000786344153 Centerline is valid? [True, True] Translation: X:84.33, Y:-25.30, Z:-0.50 [[ 8.00838621e-01 5.98879787e-01 -7.10227812e-04 8.43332662e+01] [-5.98879556e-01 8.00838935e-01 5.26217965e-04 -2.53038884e+01] [ 8.83919388e-04 3.92524760e-06 9.99999609e-01 -5.00198682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.411858064 meters 0.0147615494919925 Centerline is valid? [True, True] Translation: X:84.36, Y:-25.32, Z:-0.50 [[ 8.00505364e-01 5.99325046e-01 -8.07121588e-04 8.43592909e+01] [-5.99324747e-01 8.00505771e-01 5.98916960e-04 -2.53232290e+01] [ 1.00505142e-03 4.29170255e-06 9.99999495e-01 -5.00239605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.441858064 meters 0.01475416472934987 Centerline is valid? [True, True] Translation: X:84.39, Y:-25.34, Z:-0.50 [[ 8.00382448e-01 5.99489345e-01 -6.80234006e-04 8.43855102e+01] [-5.99489132e-01 8.00382737e-01 5.05377180e-04 -2.53430794e+01] [ 8.47415790e-04 3.29786918e-06 9.99999641e-01 -4.99962931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.471858064 meters 0.014830574484415295 Centerline is valid? [True, True] Translation: X:84.41, Y:-25.36, Z:-0.50 [[ 8.00299140e-01 5.99600772e-01 -4.47062642e-04 8.44114075e+01] [-5.99600680e-01 8.00299265e-01 3.33017711e-04 -2.53631730e+01] [ 5.57461580e-04 1.54527640e-06 9.99999845e-01 -4.99755203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501858064 meters 0.014670999598942653 Centerline is valid? [True, True] Translation: X:84.44, Y:-25.38, Z:-0.50 [[ 8.00844924e-01 5.98871771e-01 9.82920267e-05 8.44357535e+01] [-5.98871766e-01 8.00844930e-01 -7.11049917e-05 -2.53839117e+01] [-1.21299444e-04 -1.92024796e-06 9.99999993e-01 -4.98652251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.531858064 meters 0.014783000215172655 Centerline is valid? [True, True] Translation: X:84.46, Y:-25.40, Z:-0.50 [[ 8.01206210e-01 5.98388199e-01 4.15070317e-04 8.44614113e+01] [-5.98388121e-01 8.01206317e-01 -3.05728807e-04 -2.54042762e+01] [-5.15501471e-04 -3.42132809e-06 9.99999867e-01 -4.98612503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561858064 meters 0.014733521516649122 Centerline is valid? [True, True] Translation: X:84.49, Y:-25.42, Z:-0.50 [[ 8.01521154e-01 5.97966128e-01 5.91125217e-04 8.44867470e+01] [-5.97965969e-01 8.01521372e-01 -4.36611249e-04 -2.54239194e+01] [-7.34878233e-04 -3.51961026e-06 9.99999730e-01 -4.98548554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59185806400001 meters 0.014747706835379102 Centerline is valid? [True, True] Translation: X:84.51, Y:-25.44, Z:-0.50 [[ 8.01879632e-01 5.97485462e-01 4.22585591e-04 8.45126389e+01] [-5.97485381e-01 8.01879743e-01 -3.11679878e-04 -2.54440972e+01] [-5.25087021e-04 -2.55896756e-06 9.99999862e-01 -4.98792142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.621858064 meters 0.014866405569238563 Centerline is valid? [True, True] Translation: X:84.54, Y:-25.46, Z:-0.50 [[ 8.02384753e-01 5.96807062e-01 -1.98513494e-04 8.45368659e+01] [-5.96807043e-01 8.02384778e-01 1.49204231e-04 -2.54644301e+01] [ 2.48330344e-04 -1.24494860e-06 9.99999969e-01 -4.99788534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.651858064 meters 0.014944382426429934 Centerline is valid? [True, True] Translation: X:84.56, Y:-25.49, Z:-0.50 [[ 8.02686724e-01 5.96400683e-01 -4.97953942e-04 8.45627783e+01] [-5.96400567e-01 8.02686879e-01 3.71902890e-04 -2.54850510e+01] [ 6.21504233e-04 -1.54149884e-06 9.99999807e-01 -5.00109228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.681858064 meters 0.014918896128840453 Centerline is valid? [True, True] Translation: X:84.59, Y:-25.51, Z:-0.50 [[ 8.02954724e-01 5.96039418e-01 -8.51030665e-04 8.45879006e+01] [-5.96039080e-01 8.02955175e-01 6.34425802e-04 -2.55051666e+01] [ 1.06148226e-03 -2.16766010e-06 9.99999437e-01 -5.01165524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.711858064 meters 0.015060461724739514 Centerline is valid? [True, True] Translation: X:84.61, Y:-25.53, Z:-0.50 [[ 8.03125011e-01 5.95808891e-01 -1.40786892e-03 8.46134536e+01] [-5.95807968e-01 8.03126245e-01 1.04905648e-03 -2.55256577e+01] [ 1.75573365e-03 -3.70397825e-06 9.99998459e-01 -5.01811561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.741858064 meters 0.015025853521565635 Centerline is valid? [True, True] Translation: X:84.64, Y:-25.55, Z:-0.50 [[ 8.03738679e-01 5.94978410e-01 -2.19730863e-03 8.46388111e+01] [-5.94976157e-01 8.03741682e-01 1.63720863e-03 -2.55459868e+01] [ 2.74017232e-03 -8.54165161e-06 9.99996246e-01 -5.02333420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.771858064 meters 0.015087619253979953 Centerline is valid? [True, True] Translation: X:84.66, Y:-25.57, Z:-0.50 [[ 8.03823680e-01 5.94861415e-01 -2.71797270e-03 8.46647584e+01] [-5.94857966e-01 8.03828275e-01 2.02586289e-03 -2.55659535e+01] [ 3.38989097e-03 -1.16288495e-05 9.99994254e-01 -5.03024948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.801858064 meters 0.01515237275366758 Centerline is valid? [True, True] Translation: X:84.69, Y:-25.59, Z:-0.50 [[ 8.03708044e-01 5.95016058e-01 -3.04464667e-03 8.46913129e+01] [-5.95011726e-01 8.03713811e-01 2.27047477e-03 -2.55859399e+01] [ 3.79799352e-03 -1.31983646e-05 9.99992788e-01 -5.03044440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.831858064 meters 0.01522467946097321 Centerline is valid? [True, True] Translation: X:84.72, Y:-25.60, Z:-0.50 [[ 8.03323269e-01 5.95533630e-01 -3.37951440e-03 8.47167620e+01] [-5.95528293e-01 8.03330378e-01 2.52121415e-03 -2.56048884e+01] [ 4.21633439e-03 -1.27535500e-05 9.99991111e-01 -5.03405930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861858064 meters 0.015203438656365472 Centerline is valid? [True, True] Translation: X:84.74, Y:-25.62, Z:-0.50 [[ 8.02282338e-01 5.96934881e-01 -3.43474169e-03 8.47438766e+01] [-5.96929374e-01 8.02289691e-01 2.56397904e-03 -2.56228806e+01] [ 4.28618637e-03 -6.73689519e-06 9.99990814e-01 -5.03104172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.891858064 meters 0.015246916479856532 Centerline is valid? [True, True] Translation: X:84.77, Y:-25.64, Z:-0.50 [[ 8.01712765e-01 5.97701483e-01 -3.09521824e-03 8.47704171e+01] [-5.97697012e-01 8.01718739e-01 2.31183231e-03 -2.56414880e+01] [ 3.86328007e-03 -3.42277943e-06 9.99992537e-01 -5.03223921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921858064 meters 0.015228423440616918 Centerline is valid? [True, True] Translation: X:84.80, Y:-25.66, Z:-0.50 [[ 8.01394829e-01 5.98128369e-01 -2.96338021e-03 8.47975567e+01] [-5.98124268e-01 8.01400308e-01 2.21481002e-03 -2.56606857e+01] [ 3.69959452e-03 -2.46767517e-06 9.99993156e-01 -5.03205327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.951858064 meters 0.015297252233636196 Centerline is valid? [True, True] Translation: X:84.82, Y:-25.68, Z:-0.50 [[ 8.00920189e-01 5.98767114e-01 -2.18934236e-03 8.48249676e+01] [-5.98764874e-01 8.00923182e-01 1.63773108e-03 -2.56793825e+01] [ 2.73411456e-03 -7.90581170e-07 9.99996262e-01 -5.01971848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.981858064 meters 0.015357552332259279 Centerline is valid? [True, True] Translation: X:84.85, Y:-25.70, Z:-0.50 [[ 8.00797163e-01 5.98933302e-01 -1.67430271e-03 8.48517425e+01] [-5.98931991e-01 8.00798913e-01 1.25360634e-03 -2.56989764e+01] [ 2.09160637e-03 -1.09093996e-06 9.99997813e-01 -5.01483104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.011858064 meters 0.015350756175565845 Centerline is valid? [True, True] Translation: X:84.88, Y:-25.72, Z:-0.50 [[ 8.00663812e-01 5.99112297e-01 -1.38409167e-03 8.48771165e+01] [-5.99111399e-01 8.00665008e-01 1.03705969e-03 -2.57177852e+01] [ 1.72950899e-03 -1.11106541e-06 9.99998504e-01 -5.01204010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.041858064 meters 0.015464400781683093 Centerline is valid? [True, True] Translation: X:84.90, Y:-25.74, Z:-0.50 [[ 8.00451510e-01 5.99396479e-01 -1.11449855e-03 8.49040974e+01] [-5.99395896e-01 8.00452285e-01 8.36014372e-04 -2.57371748e+01] [ 1.39320698e-03 -1.16310745e-06 9.99999029e-01 -5.01036229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.071858064 meters 0.015531545307420956 Centerline is valid? [True, True] Translation: X:84.93, Y:-25.75, Z:-0.50 [[ 7.99320457e-01 6.00903509e-01 -1.33412095e-03 8.49315027e+01] [-6.00902675e-01 7.99321571e-01 1.00099640e-03 -2.57549080e+01] [ 1.66789390e-03 1.55994748e-06 9.99998609e-01 -5.01074260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.101858064 meters 0.01569605311030776 Centerline is valid? [True, True] Translation: X:84.96, Y:-25.77, Z:-0.50 [[ 7.98400442e-01 6.02124659e-01 -1.62168572e-03 8.49583902e+01] [-6.02123429e-01 7.98402089e-01 1.21686085e-03 -2.57721314e+01] [ 2.02745919e-03 4.91272468e-06 9.99997945e-01 -5.03317937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.131858064 meters 0.01578182860209351 Centerline is valid? [True, True] Translation: X:84.99, Y:-25.79, Z:-0.50 [[ 7.97667566e-01 6.03094257e-01 -1.94200310e-03 8.49853979e+01] [-6.03092495e-01 7.97669930e-01 1.45780297e-03 -2.57909584e+01] [ 2.42827007e-03 8.36535013e-06 9.99997052e-01 -5.02187686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.161858064 meters 0.016029230717835838 Centerline is valid? [True, True] Translation: X:85.01, Y:-25.81, Z:-0.50 [[ 7.96839197e-01 6.04187102e-01 -2.28918774e-03 8.50130777e+01] [-6.04184657e-01 7.96842485e-01 1.71904302e-03 -2.58093175e+01] [ 2.86274567e-03 1.32912478e-05 9.99995902e-01 -5.03210221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.191858064 meters 0.01614881153527678 Centerline is valid? [True, True] Translation: X:85.04, Y:-25.83, Z:-0.50 [[ 7.96241733e-01 6.04969655e-01 -3.28928377e-03 8.50392965e+01] [-6.04964613e-01 7.96248527e-01 2.46997816e-03 -2.58261390e+01] [ 4.11334919e-03 2.32005920e-05 9.99991540e-01 -5.04773514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.221858064 meters 0.01603089405374608 Centerline is valid? [True, True] Translation: X:85.07, Y:-25.85, Z:-0.51 [[ 7.96421377e-01 6.04731937e-01 -3.50335575e-03 8.50652662e+01] [-6.04726208e-01 7.96429082e-01 2.63252129e-03 -2.58464072e+01] [ 4.38214411e-03 2.19748042e-05 9.99990398e-01 -5.05045251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.251858064 meters 0.016167231093438386 Centerline is valid? [True, True] Translation: X:85.09, Y:-25.87, Z:-0.51 [[ 7.96798224e-01 6.04234131e-01 -3.70206442e-03 8.50906544e+01] [-6.04227722e-01 7.96806824e-01 2.78307019e-03 -2.58660961e+01] [ 4.63145619e-03 1.93445658e-05 9.99989275e-01 -5.05148401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281858064 meters 0.016064790747697875 Centerline is valid? [True, True] Translation: X:85.11, Y:-25.89, Z:-0.50 [[ 7.98193558e-01 6.02398229e-01 -1.84873242e-03 8.51142745e+01] [-6.02396623e-01 7.98195699e-01 1.39104705e-03 -2.58867421e+01] [ 2.31361454e-03 3.34536872e-06 9.99997324e-01 -5.03043181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.311858064 meters 0.01596261207437201 Centerline is valid? [True, True] Translation: X:85.14, Y:-25.91, Z:-0.50 [[ 7.99265165e-01 6.00977423e-01 -1.15469735e-03 8.51398169e+01] [-6.00976793e-01 7.99265999e-01 8.70306309e-04 -2.59073016e+01] [ 1.44594478e-03 -1.65920234e-06 9.99998955e-01 -5.02211185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34185806400001 meters 0.016020243882519603 Centerline is valid? [True, True] Translation: X:85.16, Y:-25.93, Z:-0.50 [[ 8.00285425e-01 5.99618047e-01 -1.19861639e-03 8.51643547e+01] [-5.99617366e-01 8.00286322e-01 9.03685676e-04 -2.59272517e+01] [ 1.50110255e-03 -4.49526972e-06 9.99998873e-01 -5.01989376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.371858064 meters 0.016538574655741375 Centerline is valid? [True, True] Translation: X:85.19, Y:-25.95, Z:-0.50 [[ 8.02427804e-01 5.96747003e-01 -1.62292507e-03 8.51886349e+01] [-5.96745749e-01 8.02429445e-01 1.22348608e-03 -2.59489828e+01] [ 2.03239451e-03 -1.32856167e-05 9.99997935e-01 -5.02055937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.401858064 meters 0.01691451051450421 Centerline is valid? [True, True] Translation: X:85.21, Y:-25.97, Z:-0.50 [[ 8.03413384e-01 5.95419284e-01 -1.67641301e-03 8.52132170e+01] [-5.95417942e-01 8.03415133e-01 1.26440182e-03 -2.59695696e+01] [ 2.09970481e-03 -1.76709623e-05 9.99997795e-01 -5.02093863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.431858064 meters 0.01753474523802326 Centerline is valid? [True, True] Translation: X:85.24, Y:-25.99, Z:-0.50 [[ 8.04283855e-01 5.94241361e-01 -2.16476287e-03 8.52363555e+01] [-5.94239118e-01 8.04286768e-01 1.63286004e-03 -2.59906368e+01] [ 2.71140311e-03 -2.68961881e-05 9.99996324e-01 -5.03356686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.461858064 meters 0.017399558904938505 Centerline is valid? [True, True] Translation: X:85.26, Y:-26.01, Z:-0.50 [[ 8.05162507e-01 5.93046888e-01 -2.95400147e-03 8.52621533e+01] [-5.93042701e-01 8.05167925e-01 2.22886870e-03 -2.60104369e+01] [ 3.70029087e-03 -4.27525000e-05 9.99993153e-01 -5.02485660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.491858064 meters 0.017399558904938505 Centerline is valid? [True, True] Translation: X:85.29, Y:-26.03, Z:-0.50 [[ 8.04996756e-01 5.93271862e-01 -2.95326047e-03 8.52879909e+01] [-5.93267673e-01 8.05002172e-01 2.22985092e-03 -2.60300024e+01] [ 3.70028890e-03 -4.29487887e-05 9.99993153e-01 -5.02667796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.521858064 meters 0.01784317950889154 Centerline is valid? [True, True] Translation: X:85.31, Y:-26.05, Z:-0.50 [[ 8.05582943e-01 5.92466663e-01 -4.40185853e-03 8.53128632e+01] [-5.92457342e-01 8.05594966e-01 3.32407656e-03 -2.60501259e+01] [ 5.51551962e-03 -6.99059750e-05 9.99984787e-01 -5.03607976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.551858064 meters 0.017967174048683875 Centerline is valid? [True, True] Translation: X:85.34, Y:-26.07, Z:-0.50 [[ 8.05558382e-01 5.92490831e-01 -5.50529247e-03 8.53388246e+01] [-5.92476241e-01 8.05577189e-01 4.15902080e-03 -2.60695950e+01] [ 6.89911972e-03 -8.85790834e-05 9.99976197e-01 -5.03474733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.581858064 meters 0.018059157806658944 Centerline is valid? [True, True] Translation: X:85.37, Y:-26.09, Z:-0.50 [[ 8.05291079e-01 5.92847175e-01 -6.20527978e-03 8.53652842e+01] [-5.92828627e-01 8.05314980e-01 4.69060628e-03 -2.60891874e+01] [ 7.77801744e-03 -9.86358980e-05 9.99969746e-01 -5.03393358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.611858064 meters 0.018088746614214703 Centerline is valid? [True, True] Translation: X:85.39, Y:-26.11, Z:-0.50 [[ 8.04842866e-01 5.93441420e-01 -7.43245809e-03 8.53909798e+01] [-5.93414815e-01 8.04877176e-01 5.62047337e-03 -2.61080417e+01] [ 9.31763758e-03 -1.13067154e-04 9.99956583e-01 -5.03300204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641858064 meters 0.018752010094989367 Centerline is valid? [True, True] Translation: X:85.42, Y:-26.13, Z:-0.50 [[ 8.03644387e-01 5.95039523e-01 -9.14687706e-03 8.54156534e+01] [-5.94999322e-01 8.03696431e-01 6.91767792e-03 -2.61270604e+01] [ 1.14676042e-02 -1.16967385e-04 9.99934238e-01 -5.03811034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.671858064 meters 0.018354902901609443 Centerline is valid? [True, True] Translation: X:85.44, Y:-26.15, Z:-0.50 [[ 8.03152122e-01 5.95696248e-01 -9.62546406e-03 8.54424009e+01] [-5.95651716e-01 8.03209790e-01 7.28471709e-03 -2.61463256e+01] [ 1.20707456e-02 -1.17311809e-04 9.99927139e-01 -5.02936124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701858064 meters 0.01828651281288371 Centerline is valid? [True, True] Translation: X:85.47, Y:-26.16, Z:-0.50 [[ 8.02460404e-01 5.96607533e-01 -1.08051395e-02 8.54680907e+01] [-5.96551449e-01 8.02533138e-01 8.18120626e-03 -2.61649603e+01] [ 1.35524518e-02 -1.19272486e-04 9.99908154e-01 -5.01977156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.731858064 meters 0.01820147623243727 Centerline is valid? [True, True] Translation: X:85.49, Y:-26.18, Z:-0.50 [[ 8.01981931e-01 5.97237409e-01 -1.15090856e-02 8.54942065e+01] [-5.97173781e-01 8.02064500e-01 8.71853789e-03 -2.61837887e+01] [ 1.44380660e-02 -1.19185695e-04 9.99895759e-01 -5.01122524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.761858064 meters 0.018337663750954573 Centerline is valid? [True, True] Translation: X:85.52, Y:-26.20, Z:-0.50 [[ 8.01086416e-01 5.98421350e-01 -1.23467144e-02 8.55200709e+01] [-5.98348236e-01 8.01181550e-01 9.35477598e-03 -2.62019184e+01] [ 1.54900574e-02 -1.06349211e-04 9.99880016e-01 -5.00149982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.791858064 meters 0.018432081560699948 Centerline is valid? [True, True] Translation: X:85.55, Y:-26.22, Z:-0.50 [[ 8.00719307e-01 5.98905613e-01 -1.26750495e-02 8.55456887e+01] [-5.98828526e-01 8.00819615e-01 9.60944516e-03 -2.62211686e+01] [ 1.59055789e-02 -1.04287100e-04 9.99873493e-01 -4.99876380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.821858064 meters 0.018481273827904068 Centerline is valid? [True, True] Translation: X:85.57, Y:-26.24, Z:-0.50 [[ 8.00281410e-01 5.99481544e-01 -1.30974393e-02 8.55722249e+01] [-5.99399219e-01 8.00388573e-01 9.93521655e-03 -2.62412524e+01] [ 1.64390197e-02 -1.00374242e-04 9.99864865e-01 -4.99006902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.851858064 meters 0.01800015560792709 Centerline is valid? [True, True] Translation: X:85.60, Y:-26.26, Z:-0.49 [[ 8.00062283e-01 5.99766658e-01 -1.34275768e-02 8.55991206e+01] [-5.99680069e-01 8.00174947e-01 1.01916058e-02 -2.62607049e+01] [ 1.68569960e-02 -1.01669217e-04 9.99857906e-01 -4.94540649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.881858064 meters 0.01800238906196242 Centerline is valid? [True, True] Translation: X:85.63, Y:-26.28, Z:-0.49 [[ 7.99897112e-01 5.99984995e-01 -1.35135425e-02 8.56253959e+01] [-5.99897225e-01 8.00011247e-01 1.02627462e-02 -2.62805784e+01] [ 1.69684797e-02 -1.02404398e-04 9.99856020e-01 -4.94216214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.911858064 meters 0.01827773789666256 Centerline is valid? [True, True] Translation: X:85.65, Y:-26.30, Z:-0.50 [[ 7.99699682e-01 6.00241682e-01 -1.37964525e-02 8.56510210e+01] [-6.00150142e-01 7.99818675e-01 1.04830472e-02 -2.63003490e+01] [ 1.73270222e-02 -1.03346610e-04 9.99849871e-01 -4.95653617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.941858064 meters 0.018024144517418402 Centerline is valid? [True, True] Translation: X:85.68, Y:-26.32, Z:-0.49 [[ 7.99474545e-01 6.00532544e-01 -1.41815456e-02 8.56778316e+01] [-6.00435756e-01 7.99600308e-01 1.07819489e-02 -2.63197935e+01] [ 1.78144795e-02 -1.04786622e-04 9.99841304e-01 -4.93952581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.971858064 meters 0.018139022720267177 Centerline is valid? [True, True] Translation: X:85.70, Y:-26.34, Z:-0.49 [[ 7.98346007e-01 6.02016984e-01 -1.48055164e-02 8.57040083e+01] [-6.01911638e-01 7.98483277e-01 1.12621532e-02 -2.63376579e+01] [ 1.86019648e-02 -7.94824358e-05 9.99826965e-01 -4.94367789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001858064 meters 0.017965618500431824 Centerline is valid? [True, True] Translation: X:85.73, Y:-26.36, Z:-0.49 [[ 7.97589712e-01 6.03026771e-01 -1.44694728e-02 8.57303441e+01] [-6.02926221e-01 7.97720948e-01 1.10118808e-02 -2.63557111e+01] [ 1.81830605e-02 -5.89383165e-05 9.99834673e-01 -4.93803850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.031858064 meters 0.017836304771739565 Centerline is valid? [True, True] Translation: X:85.76, Y:-26.37, Z:-0.49 [[ 7.96472017e-01 6.04510092e-01 -1.41377352e-02 8.57569481e+01] [-6.04414239e-01 7.96597482e-01 1.07647649e-02 -2.63739278e+01] [ 1.77694933e-02 -2.87855061e-05 9.99842110e-01 -4.93522844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061858064 meters 0.01770983936204999 Centerline is valid? [True, True] Translation: X:85.78, Y:-26.39, Z:-0.49 [[ 7.95265852e-01 6.06098111e-01 -1.40464848e-02 8.57839294e+01] [-6.06003627e-01 7.95389891e-01 1.07016024e-02 -2.63921181e+01] [ 1.76586530e-02 1.60181862e-06 9.99844074e-01 -4.93509535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09185806400001 meters 0.017781085503395612 Centerline is valid? [True, True] Translation: X:85.81, Y:-26.41, Z:-0.49 [[ 7.93027897e-01 6.09044353e-01 -1.31046424e-02 8.58126991e+01] [-6.08962437e-01 7.93136163e-01 9.98883541e-03 -2.64078535e+01] [ 1.64774096e-02 5.88098306e-05 9.99864237e-01 -4.94587461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.121858064 meters 0.01774576067013424 Centerline is valid? [True, True] Translation: X:85.84, Y:-26.43, Z:-0.49 [[ 7.91867322e-01 6.10564077e-01 -1.25559405e-02 8.58402944e+01] [-6.10488977e-01 7.91966856e-01 9.57640846e-03 -2.64262306e+01] [ 1.57908998e-02 8.20183814e-05 9.99875313e-01 -4.94657597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.151858064 meters 0.017953435720325157 Centerline is valid? [True, True] Translation: X:85.87, Y:-26.44, Z:-0.50 [[ 7.91184760e-01 6.11461833e-01 -1.18786892e-02 8.58665000e+01] [-6.11394659e-01 7.91273922e-01 9.06375927e-03 -2.64435377e+01] [ 1.49414398e-02 9.14589314e-05 9.99888366e-01 -4.96087867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.181858064 meters 0.017948548018587536 Centerline is valid? [True, True] Translation: X:85.89, Y:-26.46, Z:-0.50 [[ 7.90732821e-01 6.12063658e-01 -1.09400510e-02 8.58929283e+01] [-6.12006680e-01 7.90808491e-01 8.35187677e-03 -2.64625531e+01] [ 1.37633654e-02 9.12811851e-05 9.99905276e-01 -4.95888527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.211858064 meters 0.018066711706042144 Centerline is valid? [True, True] Translation: X:85.92, Y:-26.48, Z:-0.50 [[ 7.90561207e-01 6.12309305e-01 -9.50222288e-03 8.59183069e+01] [-6.12266298e-01 7.90618308e-01 7.25757538e-03 -2.64809864e+01] [ 1.19565123e-02 8.03332679e-05 9.99928515e-01 -4.95989771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.241858064 meters 0.017944591582921214 Centerline is valid? [True, True] Translation: X:85.94, Y:-26.50, Z:-0.49 [[ 7.90876385e-01 6.11909858e-01 -8.99274232e-03 8.59435615e+01] [-6.11871271e-01 7.90927507e-01 6.87208047e-03 -2.65009776e+01] [ 1.13177010e-02 6.74345134e-05 9.99935950e-01 -4.94964687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.271858064 meters 0.017941415593690203 Centerline is valid? [True, True] Translation: X:85.97, Y:-26.52, Z:-0.50 [[ 7.91255532e-01 6.11420797e-01 -8.90460398e-03 8.59680677e+01] [-6.11382920e-01 7.91305633e-01 6.80588802e-03 -2.65195549e+01] [ 1.12075248e-02 5.89262295e-05 9.99937192e-01 -4.95423796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.301858064 meters 0.01790247375714771 Centerline is valid? [True, True] Translation: X:85.99, Y:-26.54, Z:-0.50 [[ 7.91878284e-01 6.10628682e-01 -7.83551904e-03 8.59942862e+01] [-6.10599278e-01 7.91917048e-01 5.99258051e-03 -2.65380367e+01] [ 9.86432265e-03 3.89678913e-05 9.99951346e-01 -4.95443036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.331858064 meters 0.01786288463051183 Centerline is valid? [True, True] Translation: X:86.02, Y:-26.56, Z:-0.50 [[ 7.92320470e-01 6.10060828e-01 -7.35253732e-03 8.60206739e+01] [-6.10034912e-01 7.92354583e-01 5.62324531e-03 -2.65572743e+01] [ 9.25633833e-03 2.98920925e-05 9.99957159e-01 -4.95475682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.361858064 meters 0.017863754513758826 Centerline is valid? [True, True] Translation: X:86.05, Y:-26.58, Z:-0.50 [[ 7.92645017e-01 6.09646542e-01 -6.70607129e-03 8.60461898e+01] [-6.09624936e-01 7.92673384e-01 5.13257420e-03 -2.65763519e+01] [ 8.44478033e-03 1.98789213e-05 9.99964342e-01 -4.96237910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.391858064 meters 0.017928778686871035 Centerline is valid? [True, True] Translation: X:86.07, Y:-26.59, Z:-0.50 [[ 7.92964809e-01 6.09234600e-01 -6.32560986e-03 8.60715013e+01] [-6.09215346e-01 7.92990039e-01 4.84359635e-03 -2.65946296e+01] [ 7.96703210e-03 1.28571432e-05 9.99968263e-01 -4.97673878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421858064 meters 0.01778414153862983 Centerline is valid? [True, True] Translation: X:86.10, Y:-26.61, Z:-0.50 [[ 7.94063774e-01 6.07808610e-01 -5.60500100e-03 8.60973105e+01] [-6.07793440e-01 7.94083555e-01 4.29430289e-03 -2.66134824e+01] [ 7.06095340e-03 -3.26752057e-06 9.99975071e-01 -4.97865730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.451858064 meters 0.01778385623464531 Centerline is valid? [True, True] Translation: X:86.12, Y:-26.63, Z:-0.50 [[ 7.94659583e-01 6.07027807e-01 -5.77825814e-03 8.61227355e+01] [-6.07011646e-01 7.94680591e-01 4.42948365e-03 -2.66326217e+01] [ 7.28068934e-03 -1.24616437e-05 9.99973495e-01 -4.98716773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.481858064 meters 0.017828641658429314 Centerline is valid? [True, True] Translation: X:86.15, Y:-26.65, Z:-0.50 [[ 7.95246719e-01 6.06257955e-01 -5.82643930e-03 8.61490095e+01] [-6.06241483e-01 7.95268063e-01 4.46910999e-03 -2.66526985e+01] [ 7.34301458e-03 -2.18158574e-05 9.99973039e-01 -4.99227796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.511858064 meters 0.017837982078535184 Centerline is valid? [True, True] Translation: X:86.18, Y:-26.67, Z:-0.50 [[ 7.96101707e-01 6.05133455e-01 -5.96435654e-03 8.61754093e+01] [-6.05116142e-01 7.96124048e-01 4.57754405e-03 -2.66724412e+01] [ 7.51839272e-03 -3.50622135e-05 9.99971736e-01 -4.99159039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.541858064 meters 0.018211379789211186 Centerline is valid? [True, True] Translation: X:86.20, Y:-26.69, Z:-0.50 [[ 7.98333381e-01 6.02188982e-01 -5.67832485e-03 8.62004009e+01] [-6.02173203e-01 7.98353572e-01 4.35977379e-03 -2.66908596e+01] [ 7.15871867e-03 -6.12178885e-05 9.99974374e-01 -5.01182874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.571858064 meters 0.018291569764763507 Centerline is valid? [True, True] Translation: X:86.23, Y:-26.71, Z:-0.50 [[ 7.99948087e-01 6.00045942e-01 -5.28445335e-03 8.62259373e+01] [-6.00032215e-01 7.99965538e-01 4.05936930e-03 -2.67094278e+01] [ 6.66318865e-03 -7.64424556e-05 9.99977798e-01 -5.01466157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.601858064 meters 0.018657605489778153 Centerline is valid? [True, True] Translation: X:86.25, Y:-26.73, Z:-0.50 [[ 8.01573974e-01 5.97878058e-01 -4.58163952e-03 8.62520389e+01] [-5.97867692e-01 8.01587064e-01 3.52163666e-03 -2.67287313e+01] [ 5.77809225e-03 -8.36380453e-05 9.99983303e-01 -5.01921031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.631858064 meters 0.02007613047611461 Centerline is valid? [True, True] Translation: X:86.28, Y:-26.75, Z:-0.50 [[ 8.03638273e-01 5.95106559e-01 -3.70259420e-03 8.62775352e+01] [-5.95099751e-01 8.03646798e-01 2.84779606e-03 -2.67484470e+01] [ 4.67032009e-03 -8.51850219e-05 9.99989090e-01 -5.02571567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.661858064 meters 0.019944226251712653 Centerline is valid? [True, True] Translation: X:86.30, Y:-26.77, Z:-0.50 [[ 8.07219242e-01 5.90246922e-01 -2.38049880e-03 8.63027033e+01] [-5.90244088e-01 8.07222749e-01 1.83056665e-03 -2.67682521e+01] [ 3.00207911e-03 -7.25932790e-05 9.99995491e-01 -5.01831816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.691858064 meters 0.020451305739335544 Centerline is valid? [True, True] Translation: X:86.33, Y:-26.79, Z:-0.50 [[ 8.08706882e-01 5.88208768e-01 -1.90376300e-03 8.63273892e+01] [-5.88206945e-01 8.08709120e-01 1.46589406e-03 -2.67879463e+01] [ 2.40184224e-03 -6.56720011e-05 9.99997113e-01 -5.01704973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.721858064 meters 0.0213949469928886 Centerline is valid? [True, True] Translation: X:86.35, Y:-26.81, Z:-0.50 [[ 8.10208267e-01 5.86140825e-01 -1.22324520e-03 8.63512723e+01] [-5.86140069e-01 8.10209189e-01 9.42914032e-04 -2.68075575e+01] [ 1.54376491e-03 -4.69637208e-05 9.99998807e-01 -5.02016336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.751858064 meters 0.02195160644561985 Centerline is valid? [True, True] Translation: X:86.38, Y:-26.83, Z:-0.50 [[ 8.11404793e-01 5.84484368e-01 -5.34055545e-04 8.63771185e+01] [-5.84484222e-01 8.11404969e-01 4.12885019e-04 -2.68267500e+01] [ 6.74660162e-04 -2.28698440e-05 9.99999772e-01 -5.02549333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781858064 meters 0.02226655312940185 Centerline is valid? [True, True] Translation: X:86.40, Y:-26.84, Z:-0.50 [[ 8.12625304e-01 5.82785319e-01 1.17809507e-03 8.64042139e+01] [-5.82784617e-01 8.12626156e-01 -9.05831139e-04 -2.68435641e+01] [-1.48525596e-03 4.95256215e-05 9.99998896e-01 -5.02539431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.811858064 meters 0.022824344171625453 Centerline is valid? [True, True] Translation: X:86.43, Y:-26.86, Z:-0.50 [[ 8.12453394e-01 5.83023168e-01 1.86232893e-03 8.64297181e+01] [-5.83021411e-01 8.12455524e-01 -1.43339968e-03 -2.68619586e+01] [-2.34876465e-03 7.87927962e-05 9.99997239e-01 -5.03159603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84185806400001 meters 0.022423071052507414 Centerline is valid? [True, True] Translation: X:86.46, Y:-26.88, Z:-0.50 [[ 8.11032968e-01 5.84995573e-01 2.38841271e-03 8.64583822e+01] [-5.84992687e-01 8.11036479e-01 -1.83989073e-03 -2.68772555e+01] [-3.01341777e-03 9.50080707e-05 9.99995455e-01 -5.04691154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.871858064 meters 0.02241842873087283 Centerline is valid? [True, True] Translation: X:86.49, Y:-26.89, Z:-0.51 [[ 8.09901753e-01 5.86560778e-01 2.36711424e-03 8.64850781e+01] [-5.86557948e-01 8.09905208e-01 -1.82442686e-03 -2.68941464e+01] [-2.98727539e-03 8.91568365e-05 9.99995534e-01 -5.06203963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.901858064 meters 0.021536156040495136 Centerline is valid? [True, True] Translation: X:86.51, Y:-26.91, Z:-0.51 [[ 8.08590035e-01 5.88369068e-01 1.99896035e-03 8.65137606e+01] [-5.88367053e-01 8.08592503e-01 -1.54148908e-03 -2.69103568e+01] [-2.52330884e-03 7.03103011e-05 9.99996814e-01 -5.07171465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.931858064 meters 0.020980161255541467 Centerline is valid? [True, True] Translation: X:86.54, Y:-26.93, Z:-0.51 [[ 8.07009242e-01 5.90533277e-01 2.55581154e-03 8.65419675e+01] [-5.90529992e-01 8.07013285e-01 -1.97135740e-03 -2.69268266e+01] [-3.22672601e-03 8.16202654e-05 9.99994791e-01 -5.07879029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.961858064 meters 0.019701435942902776 Centerline is valid? [True, True] Translation: X:86.57, Y:-26.94, Z:-0.51 [[ 8.04394273e-01 5.94084407e-01 3.68387310e-03 8.65717753e+01] [-5.94077609e-01 8.04402702e-01 -2.84381755e-03 -2.69389861e+01] [-4.65278514e-03 9.90440299e-05 9.99989171e-01 -5.08000579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.991858064 meters 0.019561800424069447 Centerline is valid? [True, True] Translation: X:86.60, Y:-26.96, Z:-0.51 [[ 8.03006822e-01 5.95954627e-01 4.25757571e-03 8.65983968e+01] [-5.95945571e-01 8.03018102e-01 -3.28691194e-03 -2.69559511e+01] [-5.37776075e-03 1.02129325e-04 9.99985535e-01 -5.08090227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.021858064 meters 0.01880799282404631 Centerline is valid? [True, True] Translation: X:86.63, Y:-26.97, Z:-0.51 [[ 8.01669034e-01 5.97750704e-01 4.56691529e-03 8.66262193e+01] [-5.97740304e-01 8.01682036e-01 -3.52743443e-03 -2.69717319e+01] [-5.76974036e-03 9.80056223e-05 9.99983350e-01 -5.08469868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.051858064 meters 0.018266636847777292 Centerline is valid? [True, True] Translation: X:86.65, Y:-26.99, Z:-0.51 [[ 8.00664314e-01 5.99095245e-01 4.64141696e-03 8.66543927e+01] [-5.99084515e-01 8.00677762e-01 -3.58675052e-03 -2.69881622e+01] [-5.86508453e-03 9.11821213e-05 9.99982796e-01 -5.09073018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.081858064 meters 0.018066647101219333 Centerline is valid? [True, True] Translation: X:86.68, Y:-27.00, Z:-0.51 [[ 7.99850252e-01 6.00174502e-01 5.49015861e-03 8.66803640e+01] [-6.00159497e-01 7.99869088e-01 -4.24504511e-03 -2.70048332e+01] [-6.93917599e-03 1.00429567e-04 9.99975919e-01 -5.09171506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.111858064 meters 0.017520193170104986 Centerline is valid? [True, True] Translation: X:86.71, Y:-27.02, Z:-0.51 [[ 7.98409191e-01 6.02081079e-01 6.41385418e-03 8.67096594e+01] [-6.02060645e-01 7.98434947e-01 -4.96138370e-03 -2.70203156e+01] [-8.10820057e-03 9.96851577e-05 9.99967123e-01 -5.10018098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141858064 meters 0.017786256539804538 Centerline is valid? [True, True] Translation: X:86.74, Y:-27.04, Z:-0.51 [[ 7.97771109e-01 6.02916708e-01 7.25948892e-03 8.67351803e+01] [-6.02890548e-01 7.97804131e-01 -5.61739305e-03 -2.70392739e+01] [-9.17847038e-03 1.04716629e-04 9.99957871e-01 -5.10123287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.171858064 meters 0.01752696411286074 Centerline is valid? [True, True] Translation: X:86.76, Y:-27.06, Z:-0.51 [[ 7.97003681e-01 6.03924103e-01 7.79814866e-03 8.67625779e+01] [-6.03893934e-01 7.97041823e-01 -6.03730513e-03 -2.70551401e+01] [-9.86152471e-03 1.02499742e-04 9.99951369e-01 -5.11637754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201858064 meters 0.017470536618483877 Centerline is valid? [True, True] Translation: X:86.79, Y:-27.07, Z:-0.51 [[ 7.96596295e-01 6.04458234e-01 8.03654094e-03 8.67898599e+01] [-6.04426190e-01 7.96636826e-01 -6.22485172e-03 -2.70740624e+01] [-1.01648674e-02 1.01197999e-04 9.99948331e-01 -5.12659649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.231858064 meters 0.01750061787798366 Centerline is valid? [True, True] Translation: X:86.82, Y:-27.09, Z:-0.51 [[ 7.96332829e-01 6.04795593e-01 8.73587857e-03 8.68161499e+01] [-6.04757709e-01 7.96380737e-01 -6.77012885e-03 -2.70928952e+01] [-1.10516295e-02 1.08185946e-04 9.99938923e-01 -5.13224887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.261858064 meters 0.01739065379094347 Centerline is valid? [True, True] Translation: X:86.84, Y:-27.11, Z:-0.51 [[ 7.96007821e-01 6.05214853e-01 9.30213511e-03 8.68432287e+01] [-6.05171883e-01 7.96062164e-01 -7.21271271e-03 -2.71125095e+01] [-1.17703187e-02 1.11985107e-04 9.99930721e-01 -5.13342740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.291858064 meters 0.016784501105874473 Centerline is valid? [True, True] Translation: X:86.87, Y:-27.13, Z:-0.51 [[ 7.95531517e-01 6.05815992e-01 1.07976526e-02 8.68715501e+01] [-6.05758082e-01 7.95604782e-01 -8.37719280e-03 -2.71293933e+01] [-1.36657014e-02 1.23555547e-04 9.99906612e-01 -5.14791159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.321858064 meters 0.016925150408695654 Centerline is valid? [True, True] Translation: X:86.90, Y:-27.15, Z:-0.51 [[ 7.95301209e-01 6.06119665e-01 1.07209950e-02 8.68970427e+01] [-6.06062552e-01 7.95373458e-01 -8.32139136e-03 -2.71490578e+01] [-1.35709538e-02 1.20418991e-04 9.99907903e-01 -5.14374769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.351858064 meters 0.016681962786916728 Centerline is valid? [True, True] Translation: X:86.92, Y:-27.17, Z:-0.52 [[ 7.95272478e-01 6.06127112e-01 1.23129868e-02 8.69231733e+01] [-6.06051709e-01 7.95367779e-01 -9.56150318e-03 -2.71673646e+01] [-1.55888393e-02 1.41693611e-04 9.99878477e-01 -5.15300734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.381858064 meters 0.016698639330739375 Centerline is valid? [True, True] Translation: X:86.95, Y:-27.19, Z:-0.52 [[ 7.95074442e-01 6.06405294e-01 1.13688733e-02 8.69480715e+01] [-6.06340995e-01 7.95155710e-01 -8.83145546e-03 -2.71864981e+01] [-1.43954658e-02 1.28250583e-04 9.99896372e-01 -5.15577113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.411858064 meters 0.016698639330739375 Centerline is valid? [True, True] Translation: X:86.97, Y:-27.21, Z:-0.52 [[ 7.94909453e-01 6.06621590e-01 1.13669382e-02 8.69736394e+01] [-6.06557278e-01 7.94990711e-01 -8.83394574e-03 -2.72064603e+01] [-1.43954725e-02 1.27487906e-04 9.99896372e-01 -5.15759090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.441858064 meters 0.0167130902367578 Centerline is valid? [True, True] Translation: X:87.00, Y:-27.23, Z:-0.52 [[ 7.95010234e-01 6.06488060e-01 1.14437994e-02 8.69987357e+01] [-6.06422794e-01 7.95092583e-01 -8.89828698e-03 -2.72254187e+01] [-1.44955849e-02 1.34448378e-04 9.99894924e-01 -5.16266520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.471858064 meters 0.01656319696870485 Centerline is valid? [True, True] Translation: X:87.02, Y:-27.24, Z:-0.52 [[ 7.95446724e-01 6.05909191e-01 1.17712006e-02 8.70247015e+01] [-6.05840006e-01 7.95533801e-01 -9.15741839e-03 -2.72442916e+01] [-1.49129520e-02 1.52774191e-04 9.99888784e-01 -5.17710177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501858064 meters 0.016577152820439558 Centerline is valid? [True, True] Translation: X:87.05, Y:-27.26, Z:-0.52 [[ 7.95626236e-01 6.05680740e-01 1.13900898e-02 8.70507979e+01] [-6.05615871e-01 7.95707746e-01 -8.86563801e-03 -2.72644455e+01] [-1.44329289e-02 1.55715011e-04 9.99895828e-01 -5.18699034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.531858064 meters 0.01677842840622795 Centerline is valid? [True, True] Translation: X:87.08, Y:-27.28, Z:-0.52 [[ 7.96055989e-01 6.05110210e-01 1.16831562e-02 8.70750936e+01] [-6.05041847e-01 7.96141698e-01 -9.09726389e-03 -2.72840388e+01] [-1.48062951e-02 1.73133002e-04 9.99890366e-01 -5.18809666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561858064 meters 0.016590499684863178 Centerline is valid? [True, True] Translation: X:87.10, Y:-27.30, Z:-0.52 [[ 7.96344507e-01 6.04731157e-01 1.16470607e-02 8.71014992e+01] [-6.04663113e-01 7.96429655e-01 -9.07333841e-03 -2.73038833e+01] [-1.47629950e-02 1.82955210e-04 9.99891004e-01 -5.19687860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59185806400001 meters 0.016882315316138537 Centerline is valid? [True, True] Translation: X:87.13, Y:-27.32, Z:-0.52 [[ 7.96843447e-01 6.04080043e-01 1.13058580e-02 8.71254122e+01] [-6.04015795e-01 7.96923626e-01 -8.81216419e-03 -2.73243484e+01] [-1.43331578e-02 1.92998491e-04 9.99897256e-01 -5.19433181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.621858064 meters 0.016684769542264034 Centerline is valid? [True, True] Translation: X:87.15, Y:-27.34, Z:-0.52 [[ 7.96895654e-01 6.04018613e-01 1.09009946e-02 8.71513645e+01] [-6.03958815e-01 7.96970187e-01 -8.50122419e-03 -2.73442472e+01] [-1.38226654e-02 1.90836812e-04 9.99904444e-01 -5.20047157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.651858064 meters 0.01680033209812854 Centerline is valid? [True, True] Translation: X:87.18, Y:-27.37, Z:-0.52 [[ 7.96811534e-01 6.04131468e-01 1.07957832e-02 8.71774423e+01] [-6.04072762e-01 7.96884642e-01 -8.42406597e-03 -2.73651262e+01] [-1.36922372e-02 1.90954333e-04 9.99906239e-01 -5.20426298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.681858064 meters 0.01660243603054805 Centerline is valid? [True, True] Translation: X:87.20, Y:-27.38, Z:-0.52 [[ 7.96372598e-01 6.04718702e-01 1.02945003e-02 8.72033939e+01] [-6.04665316e-01 7.96439113e-01 -8.03714370e-03 -2.73847896e+01] [-1.30591538e-02 1.75833766e-04 9.99914710e-01 -5.20571988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.711858064 meters 0.016647753549904453 Centerline is valid? [True, True] Translation: X:87.23, Y:-27.40, Z:-0.52 [[ 7.95766264e-01 6.05515496e-01 1.03458727e-02 8.72282920e+01] [-6.05461602e-01 7.95833498e-01 -8.08032125e-03 -2.74039496e+01] [-1.31263518e-02 1.66018371e-04 9.99913832e-01 -5.20298592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.741858064 meters 0.016551117127463943 Centerline is valid? [True, True] Translation: X:87.25, Y:-27.42, Z:-0.52 [[ 7.95077655e-01 6.06413813e-01 1.06681692e-02 8.72547376e+01] [-6.06356539e-01 7.95149207e-01 -8.33582924e-03 -2.74239543e+01] [-1.35377483e-02 1.58917435e-04 9.99908348e-01 -5.20083465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.771858064 meters 0.01628380086018679 Centerline is valid? [True, True] Translation: X:87.28, Y:-27.44, Z:-0.52 [[ 7.94119714e-01 6.07668127e-01 1.06455572e-02 8.72808178e+01] [-6.07611148e-01 7.94191053e-01 -8.32256258e-03 -2.74429435e+01] [-1.35119623e-02 1.40751764e-04 9.99908699e-01 -5.19849620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.801858064 meters 0.01597476509746523 Centerline is valid? [True, True] Translation: X:87.31, Y:-27.46, Z:-0.52 [[ 7.92361834e-01 6.09975156e-01 9.64535191e-03 8.73072128e+01] [-6.09928508e-01 7.92420532e-01 -7.54426063e-03 -2.74610651e+01] [-1.22449864e-02 9.48090911e-05 9.99925023e-01 -5.20136495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.831858064 meters 0.01593911360906727 Centerline is valid? [True, True] Translation: X:87.33, Y:-27.48, Z:-0.52 [[ 7.91394361e-01 6.11235678e-01 9.26883304e-03 8.73322089e+01] [-6.11192645e-01 7.91448634e-01 -7.25322154e-03 -2.74801490e+01] [-1.17692330e-02 7.51160441e-05 9.99930737e-01 -5.20340620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.861858064 meters 0.015871182060499558 Centerline is valid? [True, True] Translation: X:87.36, Y:-27.50, Z:-0.52 [[ 7.90572356e-01 6.12302048e-01 9.03067393e-03 8.73582031e+01] [-6.12261227e-01 7.90623930e-01 -7.07045539e-03 -2.74999075e+01] [-1.14691212e-02 6.05750722e-05 9.99934226e-01 -5.20669656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.891858064 meters 0.01572011011864464 Centerline is valid? [True, True] Translation: X:87.38, Y:-27.52, Z:-0.52 [[ 7.89913252e-01 6.13161200e-01 8.39027593e-03 8.73841949e+01] [-6.13125974e-01 7.89957809e-01 -6.57264011e-03 -2.75200288e+01] [-1.06580519e-02 4.75194191e-05 9.99943200e-01 -5.21343990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921858064 meters 0.015695586756119304 Centerline is valid? [True, True] Translation: X:87.41, Y:-27.54, Z:-0.52 [[ 7.89107957e-01 6.14200887e-01 8.11797970e-03 8.74102554e+01] [-6.14167929e-01 7.89149713e-01 -6.36288799e-03 -2.75397610e+01] [-1.03143928e-02 3.52027645e-05 9.99946805e-01 -5.22315341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.951858064 meters 0.0155958704610134 Centerline is valid? [True, True] Translation: X:87.44, Y:-27.56, Z:-0.52 [[ 7.88492573e-01 6.14998069e-01 7.53900857e-03 8.74367145e+01] [-6.14969650e-01 7.88528614e-01 -5.91230946e-03 -2.75598122e+01] [-9.58078288e-03 2.55506464e-05 9.99954103e-01 -5.22912382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.981858064 meters 0.015583870983328084 Centerline is valid? [True, True] Translation: X:87.46, Y:-27.58, Z:-0.52 [[ 7.87837611e-01 6.15843817e-01 6.94919102e-03 8.74620865e+01] [-6.15819678e-01 7.87868258e-01 -5.45262811e-03 -2.75796007e+01] [-8.83301433e-03 1.63369334e-05 9.99960988e-01 -5.23617205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.011858064 meters 0.015588544868931149 Centerline is valid? [True, True] Translation: X:87.49, Y:-27.60, Z:-0.52 [[ 7.86034124e-01 6.18153685e-01 6.03133800e-03 8.74878432e+01] [-6.18135552e-01 7.86057263e-01 -4.73469316e-03 -2.75992721e+01] [-7.66774507e-03 -6.55405822e-06 9.99970602e-01 -5.24369543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.041858064 meters 0.01578966108995022 Centerline is valid? [True, True] Translation: X:87.51, Y:-27.62, Z:-0.52 [[ 7.84912049e-01 6.19581032e-01 5.69383854e-03 8.75142998e+01] [-6.19564893e-01 7.84932701e-01 -4.47199512e-03 -2.76195057e+01] [-7.24004341e-03 -1.75796147e-05 9.99973790e-01 -5.24968699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.071858064 meters 0.015803967956453897 Centerline is valid? [True, True] Translation: X:87.54, Y:-27.64, Z:-0.53 [[ 7.83832797e-01 6.20948166e-01 5.43333772e-03 8.75407551e+01] [-6.20933488e-01 7.83851628e-01 -4.26963317e-03 -2.76395486e+01] [-6.91015150e-03 -2.70628348e-05 9.99976124e-01 -5.25461573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.101858064 meters 0.015900414522140156 Centerline is valid? [True, True] Translation: X:87.57, Y:-27.66, Z:-0.53 [[ 7.82751249e-01 6.22313514e-01 5.13539054e-03 8.75669961e+01] [-6.22300417e-01 7.82768094e-01 -4.03759663e-03 -2.76600880e+01] [-6.53247081e-03 -3.53218642e-05 9.99978663e-01 -5.26025915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.131858064 meters 0.01615634216941818 Centerline is valid? [True, True] Translation: X:87.59, Y:-27.68, Z:-0.53 [[ 7.81403011e-01 6.24009194e-01 4.67544902e-03 8.75919744e+01] [-6.23998357e-01 7.81416997e-01 -3.67787568e-03 -2.76797429e+01] [-5.94850357e-03 -4.35693762e-05 9.99982307e-01 -5.26589410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.161858064 meters 0.016166360356496975 Centerline is valid? [True, True] Translation: X:87.62, Y:-27.70, Z:-0.53 [[ 7.80981595e-01 6.24535588e-01 4.80069128e-03 8.76177933e+01] [-6.24524160e-01 7.80996349e-01 -3.77844448e-03 -2.77009739e+01] [-6.10909541e-03 -4.72520975e-05 9.99981338e-01 -5.26714567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.191858064 meters 0.016102324236497767 Centerline is valid? [True, True] Translation: X:87.64, Y:-27.72, Z:-0.53 [[ 7.81018143e-01 6.24489787e-01 4.81321965e-03 8.76429115e+01] [-6.24478285e-01 7.81032972e-01 -3.79041708e-03 -2.77221628e+01] [-6.12636000e-03 -4.53666484e-05 9.99981233e-01 -5.26858480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.221858064 meters 0.016092609259808665 Centerline is valid? [True, True] Translation: X:87.67, Y:-27.74, Z:-0.53 [[ 7.81152776e-01 6.24320604e-01 4.91160762e-03 8.76675163e+01] [-6.24308610e-01 7.81168216e-01 -3.87007276e-03 -2.77437018e+01] [-6.25295792e-03 -4.32408493e-05 9.99980449e-01 -5.26711951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.251858064 meters 0.016016307389896286 Centerline is valid? [True, True] Translation: X:87.69, Y:-27.77, Z:-0.53 [[ 7.81548427e-01 6.23823842e-01 5.08638018e-03 8.76918858e+01] [-6.23810954e-01 7.81564977e-01 -4.01005501e-03 -2.77654660e+01] [-6.47690453e-03 -3.88874886e-05 9.99979024e-01 -5.26280342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281858064 meters 0.015697325981092882 Centerline is valid? [True, True] Translation: X:87.71, Y:-27.79, Z:-0.53 [[ 7.82856762e-01 6.22176103e-01 5.67340502e-03 8.77146191e+01] [-6.22160007e-01 7.82877319e-01 -4.47547007e-03 -2.77890894e+01] [-7.22611064e-03 -2.61137017e-05 9.99973891e-01 -5.25668457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.311858064 meters 0.015669268961111427 Centerline is valid? [True, True] Translation: X:87.74, Y:-27.81, Z:-0.53 [[ 7.83637798e-01 6.21191523e-01 5.73529498e-03 8.77386279e+01] [-6.21175031e-01 7.83658785e-01 -4.52657457e-03 -2.78098784e+01] [-7.30638404e-03 -1.54271087e-05 9.99973308e-01 -5.25957884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34185806400001 meters 0.01570307624744107 Centerline is valid? [True, True] Translation: X:87.76, Y:-27.83, Z:-0.53 [[ 7.84123997e-01 6.20583364e-01 5.08377076e-03 8.77633987e+01] [-6.20570381e-01 7.84140477e-01 -4.01426463e-03 -2.78316545e+01] [-6.47757628e-03 -7.15632787e-06 9.99979020e-01 -5.26824775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.371858064 meters 0.01565512696379297 Centerline is valid? [True, True] Translation: X:87.79, Y:-27.85, Z:-0.53 [[ 7.84609787e-01 6.19970665e-01 4.88437772e-03 8.77883033e+01] [-6.19958655e-01 7.84624990e-01 -3.85882243e-03 -2.78539301e+01] [-6.22476153e-03 -4.42400894e-07 9.99980626e-01 -5.27320629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.401858064 meters 0.01570904059505267 Centerline is valid? [True, True] Translation: X:87.81, Y:-27.88, Z:-0.53 [[ 7.85809704e-01 6.18451108e-01 4.61903377e-03 8.78103673e+01] [-6.18440331e-01 7.85823279e-01 -3.65113208e-03 -2.78773121e+01] [-5.88779095e-03 1.24982493e-05 9.99982667e-01 -5.28178464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.431858064 meters 0.015783273662288915 Centerline is valid? [True, True] Translation: X:87.83, Y:-27.90, Z:-0.53 [[ 7.86223907e-01 6.17927665e-01 4.16757086e-03 8.78348009e+01] [-6.17918876e-01 7.86234952e-01 -3.29581157e-03 -2.78991221e+01] [-5.31326302e-03 1.60251520e-05 9.99985884e-01 -5.28330095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.461858064 meters 0.015795689147578854 Centerline is valid? [True, True] Translation: X:87.86, Y:-27.92, Z:-0.53 [[ 7.86818193e-01 6.17171490e-01 4.05999397e-03 8.78583401e+01] [-6.17163129e-01 7.86828667e-01 -3.21248932e-03 -2.79206612e+01] [-5.17717646e-03 2.19664557e-05 9.99986598e-01 -5.28591341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.491858064 meters 0.015832038168894703 Centerline is valid? [True, True] Translation: X:87.88, Y:-27.94, Z:-0.53 [[ 7.87163854e-01 6.16732603e-01 3.73679025e-03 8.78829821e+01] [-6.16725509e-01 7.87172723e-01 -2.95812563e-03 -2.79425558e+01] [-4.76587188e-03 2.39557036e-05 9.99988643e-01 -5.28892921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.521858064 meters 0.016128547700762774 Centerline is valid? [True, True] Translation: X:87.90, Y:-27.97, Z:-0.53 [[ 7.88206383e-01 6.15405539e-01 2.59239348e-03 8.79047753e+01] [-6.15402116e-01 7.88210646e-01 -2.05289812e-03 -2.79656217e+01] [-3.30671701e-03 2.27429689e-05 9.99994533e-01 -5.30200640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.551858064 meters 0.016079781352256396 Centerline is valid? [True, True] Translation: X:87.93, Y:-27.99, Z:-0.53 [[ 7.88509993e-01 6.15019619e-01 1.69091519e-03 8.79297238e+01] [-6.15018161e-01 7.88511806e-01 -1.33887163e-03 -2.79871582e+01] [-2.15673891e-03 1.57701047e-05 9.99997674e-01 -5.31108666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.581858064 meters 0.0161126362762342 Centerline is valid? [True, True] Translation: X:87.95, Y:-28.01, Z:-0.53 [[ 7.88927193e-01 6.14485946e-01 9.51860269e-04 8.79544715e+01] [-6.14485485e-01 7.88927767e-01 -7.53232218e-04 -2.80090838e+01] [-1.21379961e-03 9.34106078e-06 9.99999263e-01 -5.31787476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.611858064 meters 0.016310612986119643 Centerline is valid? [True, True] Translation: X:87.98, Y:-28.03, Z:-0.53 [[ 7.89756620e-01 6.13420232e-01 3.17205112e-04 8.79765798e+01] [-6.13420181e-01 7.89756683e-01 -2.50094774e-04 -2.80328226e+01] [-4.03928051e-04 2.93398641e-06 9.99999918e-01 -5.32300638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641858064 meters 0.016410414723945187 Centerline is valid? [True, True] Translation: X:88.00, Y:-28.05, Z:-0.53 [[ 7.90030711e-01 6.13067267e-01 3.91832372e-05 8.79997668e+01] [-6.13067266e-01 7.90030712e-01 -2.93217575e-05 -2.80548195e+01] [-4.89321706e-05 -8.56871190e-07 9.99999999e-01 -5.32014144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.671858064 meters 0.016446845159317703 Centerline is valid? [True, True] Translation: X:88.02, Y:-28.08, Z:-0.53 [[ 7.90306897e-01 6.12711120e-01 3.03431790e-04 8.80240673e+01] [-6.12711073e-01 7.90306955e-01 -2.39193363e-04 -2.80772557e+01] [-3.86360687e-04 3.12014625e-06 9.99999925e-01 -5.31437798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701858064 meters 0.016579886313489188 Centerline is valid? [True, True] Translation: X:88.05, Y:-28.10, Z:-0.53 [[ 7.90502361e-01 6.12458984e-01 9.96887935e-05 8.80484252e+01] [-6.12458979e-01 7.90502367e-01 -7.73561425e-05 -2.80999545e+01] [-1.26181692e-04 9.49165246e-08 9.99999992e-01 -5.31289069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.731858064 meters 0.016706180388563995 Centerline is valid? [True, True] Translation: X:88.07, Y:-28.12, Z:-0.53 [[ 7.91286659e-01 6.11445347e-01 1.02260680e-04 8.80703219e+01] [-6.11445342e-01 7.91286666e-01 -7.96632540e-05 -2.81235833e+01] [-1.29627239e-04 5.09653438e-07 9.99999992e-01 -5.30449825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.761858064 meters 0.01632516166554998 Centerline is valid? [True, True] Translation: X:88.10, Y:-28.15, Z:-0.53 [[ 7.91521111e-01 6.11141266e-01 8.26914741e-04 8.80954735e+01] [-6.11140914e-01 7.91521543e-01 -6.56114979e-04 -2.81450926e+01] [-1.05549977e-03 1.39674270e-05 9.99999443e-01 -5.29651445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.791858064 meters 0.016748737996900468 Centerline is valid? [True, True] Translation: X:88.12, Y:-28.17, Z:-0.53 [[ 7.91554182e-01 6.11097326e-01 1.42679359e-03 8.81183731e+01] [-6.11096273e-01 7.91555467e-01 -1.13470082e-03 -2.81677729e+01] [-1.82279890e-03 2.62689383e-05 9.99998338e-01 -5.29341747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.821858064 meters 0.016791574200941288 Centerline is valid? [True, True] Translation: X:88.14, Y:-28.19, Z:-0.53 [[ 7.91467890e-01 6.11207575e-01 1.96988970e-03 8.81427694e+01] [-6.11205566e-01 7.91470340e-01 -1.56728357e-03 -2.81898029e+01] [-2.51704486e-03 3.64470668e-05 9.99996832e-01 -5.28462982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.851858064 meters 0.015958834318224698 Centerline is valid? [True, True] Translation: X:88.17, Y:-28.21, Z:-0.53 [[ 7.90681252e-01 6.12221439e-01 2.84017015e-03 8.81670776e+01] [-6.12217263e-01 7.90686352e-01 -2.26180480e-03 -2.82103430e+01] [-3.63040917e-03 4.95654550e-05 9.99993409e-01 -5.26999952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.881858064 meters 0.015896851909146928 Centerline is valid? [True, True] Translation: X:88.19, Y:-28.23, Z:-0.53 [[ 7.89799265e-01 6.13358251e-01 2.96241615e-03 8.81910103e+01] [-6.13353711e-01 7.89804820e-01 -2.36046416e-03 -2.82308265e+01] [-3.78754072e-03 4.72839144e-05 9.99992826e-01 -5.27180774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.911858064 meters 0.01619233200517948 Centerline is valid? [True, True] Translation: X:88.21, Y:-28.25, Z:-0.53 [[ 7.88727986e-01 6.14738299e-01 2.23333833e-03 8.82141733e+01] [-6.14735722e-01 7.88731148e-01 -1.77996904e-03 -2.82521236e+01] [-2.85571864e-03 3.09985479e-05 9.99995922e-01 -5.28205897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.941858064 meters 0.01544775767877965 Centerline is valid? [True, True] Translation: X:88.24, Y:-28.27, Z:-0.53 [[ 7.86446970e-01 6.17656394e-01 1.32000945e-03 8.82392624e+01] [-6.17655498e-01 7.86448078e-01 -1.05180196e-03 -2.82724206e+01] [-1.68777110e-03 1.18753696e-05 9.99998576e-01 -5.29147087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.971858064 meters 0.015220914245245062 Centerline is valid? [True, True] Translation: X:88.26, Y:-28.29, Z:-0.53 [[ 7.85381881e-01 6.19010626e-01 1.07042704e-03 8.82636068e+01] [-6.19010038e-01 7.85382611e-01 -8.53021282e-04 -2.82927312e+01] [-1.36872402e-03 7.34237943e-06 9.99999063e-01 -5.29604320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001858064 meters 0.015191169567316578 Centerline is valid? [True, True] Translation: X:88.29, Y:-28.31, Z:-0.53 [[ 7.84251530e-01 6.20442394e-01 8.79068384e-04 8.82889555e+01] [-6.20441999e-01 7.84252023e-01 -7.00373984e-04 -2.83137931e+01] [-1.12395287e-03 3.85842330e-06 9.99999368e-01 -5.30325611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.031858064 meters 0.015088708865766864 Centerline is valid? [True, True] Translation: X:88.31, Y:-28.33, Z:-0.53 [[ 7.83379913e-01 6.21542775e-01 7.01160857e-04 8.83145609e+01] [-6.21542524e-01 7.83380226e-01 -5.58506152e-04 -2.83347513e+01] [-8.96411014e-04 1.72121180e-06 9.99999598e-01 -5.30748816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061858064 meters 0.014997584075161373 Centerline is valid? [True, True] Translation: X:88.34, Y:-28.36, Z:-0.53 [[ 7.82268223e-01 6.22941734e-01 -1.53271990e-04 8.83387052e+01] [-6.22941722e-01 7.82268238e-01 1.24577857e-04 -2.83571866e+01] [ 1.97504556e-04 -1.97378165e-06 9.99999980e-01 -5.32237924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09185806400001 meters 0.015051020301743946 Centerline is valid? [True, True] Translation: X:88.36, Y:-28.38, Z:-0.53 [[ 7.82098328e-01 6.23154813e-01 -5.32649938e-04 8.83622262e+01] [-6.23154667e-01 7.82098510e-01 4.27421750e-04 -2.83783168e+01] [ 6.82934644e-04 -2.36254115e-06 9.99999767e-01 -5.32550765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.121858064 meters 0.015014745786631999 Centerline is valid? [True, True] Translation: X:88.39, Y:-28.40, Z:-0.53 [[ 7.81731976e-01 6.23614275e-01 -5.94956412e-04 8.83869473e+01] [-6.23614092e-01 7.81732202e-01 4.78358748e-04 -2.84003033e+01] [ 7.63407931e-04 -2.92512675e-06 9.99999709e-01 -5.32359573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.151858064 meters 0.015059277440868412 Centerline is valid? [True, True] Translation: X:88.41, Y:-28.42, Z:-0.53 [[ 7.81737140e-01 6.23607830e-01 -5.64284872e-04 8.84105858e+01] [-6.23607665e-01 7.81737344e-01 4.53193994e-04 -2.84213689e+01] [ 7.23737880e-04 -2.38620504e-06 9.99999738e-01 -5.32871452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.181858064 meters 0.014959766645309187 Centerline is valid? [True, True] Translation: X:88.43, Y:-28.44, Z:-0.53 [[ 7.81255454e-01 6.24211434e-01 4.33388519e-05 8.84345536e+01] [-6.24211433e-01 7.81255455e-01 -3.27266150e-05 -2.84443674e+01] [-5.42870418e-05 -1.48476046e-06 9.99999999e-01 -5.31603031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.211858064 meters 0.014989479773579527 Centerline is valid? [True, True] Translation: X:88.46, Y:-28.47, Z:-0.53 [[ 7.80748195e-01 6.24845784e-01 3.80785246e-05 8.84596838e+01] [-6.24845784e-01 7.80748196e-01 -2.84767225e-05 -2.84658519e+01] [-4.75232994e-05 -1.56005587e-06 9.99999999e-01 -5.31059012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.241858064 meters 0.014996486865380259 Centerline is valid? [True, True] Translation: X:88.48, Y:-28.49, Z:-0.53 [[ 7.79950974e-01 6.25840417e-01 5.01187178e-04 8.84845443e+01] [-6.25840289e-01 7.79951135e-01 -4.00051233e-04 -2.84875553e+01] [-6.41269739e-04 -1.64277928e-06 9.99999794e-01 -5.31104944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.271858064 meters 0.01508709851358763 Centerline is valid? [True, True] Translation: X:88.51, Y:-28.51, Z:-0.53 [[ 7.79500190e-01 6.26401469e-01 8.08304995e-04 8.85088639e+01] [-6.26401135e-01 7.79500609e-01 -6.46940131e-04 -2.85085243e+01] [-1.03531848e-03 -2.03321095e-06 9.99999464e-01 -5.31216466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.301858064 meters 0.01508709851358763 Centerline is valid? [True, True] Translation: X:88.53, Y:-28.53, Z:-0.53 [[ 7.79326779e-01 6.26617202e-01 8.08170130e-04 8.85340957e+01] [-6.26616868e-01 7.79327198e-01 -6.47108422e-04 -2.85288746e+01] [-1.03531823e-03 -2.10411368e-06 9.99999464e-01 -5.31398636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.331858064 meters 0.014905949757783822 Centerline is valid? [True, True] Translation: X:88.56, Y:-28.55, Z:-0.53 [[ 7.79171149e-01 6.26809750e-01 1.36299178e-03 8.85586606e+01] [-6.26808797e-01 7.79172341e-01 -1.09333203e-03 -2.85506012e+01] [-1.74731667e-03 -2.44246195e-06 9.99998473e-01 -5.30834124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.361858064 meters 0.014941058220459725 Centerline is valid? [True, True] Translation: X:88.58, Y:-28.57, Z:-0.53 [[ 7.78888200e-01 6.27160964e-01 1.51532088e-03 8.85831229e+01] [-6.27159785e-01 7.78889674e-01 -1.21644516e-03 -2.85723466e+01] [-1.94317471e-03 -2.87352920e-06 9.99998112e-01 -5.30581434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.391858064 meters 0.014972932339750288 Centerline is valid? [True, True] Translation: X:88.61, Y:-28.59, Z:-0.53 [[ 7.79044680e-01 6.26965743e-01 1.82855899e-03 8.86068024e+01] [-6.26964022e-01 7.79046826e-01 -1.46923675e-03 -2.85936293e+01] [-2.34569419e-03 -1.83962644e-06 9.99997249e-01 -5.30848926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421858064 meters 0.01501900517680233 Centerline is valid? [True, True] Translation: X:88.63, Y:-28.61, Z:-0.53 [[ 7.78805468e-01 6.27263707e-01 1.51170646e-03 8.86318443e+01] [-6.27262530e-01 7.78806935e-01 -1.21486868e-03 -2.86149357e+01] [-1.93937050e-03 -2.09044983e-06 9.99998119e-01 -5.31264269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.451858064 meters 0.015037879490423891 Centerline is valid? [True, True] Translation: X:88.66, Y:-28.64, Z:-0.53 [[ 7.78376678e-01 6.27796535e-01 1.12160029e-03 8.86558588e+01] [-6.27795887e-01 7.78377486e-01 -9.01464316e-04 -2.86355321e+01] [-1.43896459e-03 -2.45725164e-06 9.99998965e-01 -5.31704158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.481858064 meters 0.015069664005867464 Centerline is valid? [True, True] Translation: X:88.68, Y:-28.66, Z:-0.53 [[ 7.77814368e-01 6.28493636e-01 7.46968875e-04 8.86812908e+01] [-6.28493350e-01 7.77814727e-01 -5.99972012e-04 -2.86571393e+01] [-9.58081983e-04 -2.79811847e-06 9.99999541e-01 -5.32319598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.511858064 meters 0.015108037851182933 Centerline is valid? [True, True] Translation: X:88.71, Y:-28.68, Z:-0.53 [[ 7.77183754e-01 6.29273684e-01 -2.06118170e-04 8.87063036e+01] [-6.29273661e-01 7.77183782e-01 1.68179825e-04 -2.86785125e+01] [ 2.66022837e-04 -1.00189223e-06 9.99999965e-01 -5.32820086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.541858064 meters 0.015229929751812114 Centerline is valid? [True, True] Translation: X:88.73, Y:-28.70, Z:-0.53 [[ 7.76609615e-01 6.29981780e-01 -6.81163860e-04 8.87307350e+01] [-6.29981538e-01 7.76609913e-01 5.51518470e-04 -2.86999211e+01] [ 8.76445194e-04 8.06110014e-07 9.99999616e-01 -5.33793692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.571858064 meters 0.015235045719837255 Centerline is valid? [True, True] Translation: X:88.76, Y:-28.72, Z:-0.53 [[ 7.76506303e-01 6.30108911e-01 -8.49429598e-04 8.87562277e+01] [-6.30108536e-01 7.76506768e-01 6.87651605e-04 -2.87214814e+01] [ 1.09288324e-03 1.26703484e-06 9.99999403e-01 -5.34236197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.601858064 meters 0.015054549699877896 Centerline is valid? [True, True] Translation: X:88.78, Y:-28.74, Z:-0.53 [[ 7.76695236e-01 6.29876231e-01 -6.65545930e-04 8.87804240e+01] [-6.29876000e-01 7.76695522e-01 5.39361612e-04 -2.87422679e+01] [ 8.56657603e-04 2.91813461e-07 9.99999633e-01 -5.34267407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.631858064 meters 0.015058056996083773 Centerline is valid? [True, True] Translation: X:88.81, Y:-28.76, Z:-0.53 [[ 7.76998440e-01 6.29502488e-01 -2.03863603e-04 8.88051536e+01] [-6.29502466e-01 7.76998467e-01 1.66680155e-04 -2.87637441e+01] [ 2.63327279e-04 -1.17757950e-06 9.99999965e-01 -5.33923939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.661858064 meters 0.01507454444442692 Centerline is valid? [True, True] Translation: X:88.83, Y:-28.79, Z:-0.53 [[ 7.77801570e-01 6.28509904e-01 1.39920943e-04 8.88292742e+01] [-6.28509894e-01 7.77801582e-01 -1.11160589e-04 -2.87868116e+01] [-1.78696262e-04 -1.48081666e-06 9.99999984e-01 -5.33053820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.691858064 meters 0.015077902017679284 Centerline is valid? [True, True] Translation: X:88.85, Y:-28.81, Z:-0.53 [[ 7.78285532e-01 6.27910449e-01 3.12151870e-04 8.88542736e+01] [-6.27910399e-01 7.78285595e-01 -2.50572134e-04 -2.88088496e+01] [-4.00280166e-04 -9.86738782e-07 9.99999920e-01 -5.33178909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.721858064 meters 0.01506996796411388 Centerline is valid? [True, True] Translation: X:88.88, Y:-28.83, Z:-0.53 [[ 7.78937301e-01 6.27101598e-01 5.17070579e-04 8.88787794e+01] [-6.27101460e-01 7.78937472e-01 -4.16519910e-04 -2.88302365e+01] [-6.63965951e-04 1.87178947e-07 9.99999780e-01 -5.32773348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.751858064 meters 0.015024481225648648 Centerline is valid? [True, True] Translation: X:88.90, Y:-28.85, Z:-0.53 [[ 7.79580131e-01 6.26301964e-01 8.17992043e-04 8.89034619e+01] [-6.26301616e-01 7.79580560e-01 -6.60476104e-04 -2.88518831e+01] [-1.05134818e-03 2.58430903e-06 9.99999447e-01 -5.32378549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781858064 meters 0.015348714202824385 Centerline is valid? [True, True] Translation: X:88.93, Y:-28.87, Z:-0.53 [[ 7.81066053e-01 6.24448155e-01 5.67853629e-04 8.89256350e+01] [-6.24447986e-01 7.81066260e-01 -4.58492674e-04 -2.88742246e+01] [-7.29836215e-04 3.51800805e-06 9.99999734e-01 -5.32364398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.811858064 meters 0.015444044926879799 Centerline is valid? [True, True] Translation: X:88.95, Y:-28.90, Z:-0.53 [[ 7.81853084e-01 6.23462627e-01 3.27194011e-04 8.89496713e+01] [-6.23462572e-01 7.81853153e-01 -2.63490340e-04 -2.88955143e+01] [-4.20094048e-04 2.01751552e-06 9.99999912e-01 -5.32494686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84185806400001 meters 0.015574222471274142 Centerline is valid? [True, True] Translation: X:88.97, Y:-28.92, Z:-0.53 [[ 7.82676163e-01 6.22429071e-01 2.74451560e-04 8.89730792e+01] [-6.22429032e-01 7.82676211e-01 -2.20974052e-04 -2.89163927e+01] [-3.52347381e-04 2.12450455e-06 9.99999938e-01 -5.32335351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.871858064 meters 0.015772666760637228 Centerline is valid? [True, True] Translation: X:89.00, Y:-28.94, Z:-0.53 [[ 7.83283499e-01 6.21664559e-01 3.70753495e-04 8.89982774e+01] [-6.21664487e-01 7.83283586e-01 -2.98869706e-04 -2.89382054e+01] [-4.76201830e-04 3.61542767e-06 9.99999887e-01 -5.32503309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.901858064 meters 0.015986133138748897 Centerline is valid? [True, True] Translation: X:89.02, Y:-28.96, Z:-0.53 [[ 7.84038705e-01 6.20711903e-01 -2.09086962e-04 8.90216170e+01] [-6.20711879e-01 7.84038732e-01 1.71383559e-04 -2.89593987e+01] [ 2.70312092e-04 -4.58858283e-06 9.99999963e-01 -5.33245734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.931858064 meters 0.015896198326046843 Centerline is valid? [True, True] Translation: X:89.05, Y:-28.98, Z:-0.53 [[ 7.83880564e-01 6.20911090e-01 -8.24123899e-04 8.90473328e+01] [-6.20910727e-01 7.83880998e-01 6.71534852e-04 -2.89803454e+01] [ 1.06297850e-03 -1.46957497e-05 9.99999435e-01 -5.33716468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.961858064 meters 0.01614519811899492 Centerline is valid? [True, True] Translation: X:89.07, Y:-29.00, Z:-0.53 [[ 7.83889425e-01 6.20898997e-01 -1.34366940e-03 8.90717734e+01] [-6.20898035e-01 7.83890576e-01 1.09322783e-03 -2.90008784e+01] [ 1.73207384e-03 -2.26880479e-05 9.99998500e-01 -5.34905312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.991858064 meters 0.01612632708117793 Centerline is valid? [True, True] Translation: X:89.10, Y:-29.02, Z:-0.54 [[ 7.84072523e-01 6.20667076e-01 -1.63050972e-03 8.90975670e+01] [-6.20665657e-01 7.84074218e-01 1.32786026e-03 -2.90217089e+01] [ 2.10259978e-03 -2.91373538e-05 9.99997789e-01 -5.35328124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.021858064 meters 0.01601179276197906 Centerline is valid? [True, True] Translation: X:89.12, Y:-29.04, Z:-0.53 [[ 7.84147757e-01 6.20573034e-01 -1.18469068e-03 8.91231931e+01] [-6.20572283e-01 7.84148652e-01 9.65905908e-04 -2.90427065e+01] [ 1.52838876e-03 -2.22267532e-05 9.99998832e-01 -5.34720992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.051858064 meters 0.016179233774053114 Centerline is valid? [True, True] Translation: X:89.15, Y:-29.06, Z:-0.53 [[ 7.84173206e-01 6.20541262e-01 -9.61344332e-04 8.91488095e+01] [-6.20540767e-01 7.84173795e-01 7.84617632e-04 -2.90639923e+01] [ 1.24074865e-03 -1.87227752e-05 9.99999230e-01 -5.34197186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.081858064 meters 0.01626487425951042 Centerline is valid? [True, True] Translation: X:89.17, Y:-29.09, Z:-0.53 [[ 7.84226188e-01 6.20474624e-01 -7.26310411e-04 8.91745154e+01] [-6.20474340e-01 7.84226524e-01 5.93608985e-04 -2.90852379e+01] [ 9.37911201e-04 -1.48667382e-05 9.99999560e-01 -5.33726343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.111858064 meters 0.0162324489768162 Centerline is valid? [True, True] Translation: X:89.20, Y:-29.11, Z:-0.53 [[ 7.83939925e-01 6.20836653e-01 2.11953559e-04 8.91994970e+01] [-6.20836630e-01 7.83939953e-01 -1.70984501e-04 -2.91053348e+01] [-2.72312309e-04 2.45304380e-06 9.99999963e-01 -5.32921564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141858064 meters 0.016230026135122165 Centerline is valid? [True, True] Translation: X:89.23, Y:-29.13, Z:-0.53 [[ 7.83470518e-01 6.21428882e-01 3.02349584e-04 8.92251021e+01] [-6.21428834e-01 7.83470577e-01 -2.44545959e-04 -2.91259216e+01] [-3.88849925e-04 3.70579970e-06 9.99999924e-01 -5.32551541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.171858064 meters 0.016204385016400397 Centerline is valid? [True, True] Translation: X:89.25, Y:-29.14, Z:-0.53 [[ 7.82896653e-01 6.22151411e-01 6.73148386e-04 8.92495899e+01] [-6.22151170e-01 7.82896942e-01 -5.47528183e-04 -2.91449224e+01] [-8.67651245e-04 9.85792590e-06 9.99999624e-01 -5.32778865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201858064 meters 0.015859984063949586 Centerline is valid? [True, True] Translation: X:89.28, Y:-29.16, Z:-0.53 [[ 7.81646588e-01 6.23720883e-01 9.33257426e-04 8.92763075e+01] [-6.23720420e-01 7.81647145e-01 -7.59942513e-04 -2.91628210e+01] [-1.20347002e-03 1.19147587e-05 9.99999276e-01 -5.33366531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.231858064 meters 0.01562674501958252 Centerline is valid? [True, True] Translation: X:89.30, Y:-29.18, Z:-0.53 [[ 7.80861754e-01 6.24703162e-01 9.38234531e-04 8.93024370e+01] [-6.24702695e-01 7.80862318e-01 -7.64360103e-04 -2.91820641e+01] [-1.21013016e-03 1.07419311e-05 9.99999268e-01 -5.33650928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.261858064 meters 0.015471685923858319 Centerline is valid? [True, True] Translation: X:89.33, Y:-29.20, Z:-0.53 [[ 7.79773894e-01 6.26060478e-01 9.76286779e-04 8.93279521e+01] [-6.26059972e-01 7.79774505e-01 -7.95832649e-04 -2.92014634e+01] [-1.25952291e-03 9.35544977e-06 9.99999207e-01 -5.33788179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.291858064 meters 0.015408445823303037 Centerline is valid? [True, True] Translation: X:89.35, Y:-29.22, Z:-0.53 [[ 7.78789534e-01 6.27284899e-01 7.19457676e-04 8.93538313e+01] [-6.27284625e-01 7.78789866e-01 -5.86094406e-04 -2.92213868e+01] [-9.27954517e-04 5.13945019e-06 9.99999569e-01 -5.34139169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.321858064 meters 0.015237389131272941 Centerline is valid? [True, True] Translation: X:89.38, Y:-29.24, Z:-0.53 [[ 7.76447262e-01 6.30181790e-01 7.48971148e-04 8.93792762e+01] [-6.30181494e-01 7.76447623e-01 -6.10897055e-04 -2.92393685e+01] [-9.66513068e-04 2.34158869e-06 9.99999533e-01 -5.34978223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.351858064 meters 0.015158781331655814 Centerline is valid? [True, True] Translation: X:89.41, Y:-29.26, Z:-0.54 [[ 7.75159658e-01 6.31765071e-01 6.31518740e-04 8.94054595e+01] [-6.31764862e-01 7.75159915e-01 -5.14738911e-04 -2.92591535e+01] [-8.14722078e-04 3.34887393e-08 9.99999668e-01 -5.35063819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.381858064 meters 0.0152382432815918 Centerline is valid? [True, True] Translation: X:89.43, Y:-29.28, Z:-0.54 [[ 7.73815168e-01 6.33411277e-01 4.89019101e-04 8.94315177e+01] [-6.33411152e-01 7.73815323e-01 -3.98329152e-04 -2.92791151e+01] [-6.30716651e-04 -1.51701197e-06 9.99999801e-01 -5.35006600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.411858064 meters 0.015224435041603793 Centerline is valid? [True, True] Translation: X:89.46, Y:-29.30, Z:-0.54 [[ 7.72613329e-01 6.34876822e-01 2.54419741e-04 8.94567780e+01] [-6.34876788e-01 7.72613371e-01 -2.07103853e-04 -2.92979464e+01] [-3.28053530e-04 -1.51399012e-06 9.99999946e-01 -5.36151913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.441858064 meters 0.015210276882854513 Centerline is valid? [True, True] Translation: X:89.48, Y:-29.32, Z:-0.54 [[ 7.70433829e-01 6.37519953e-01 -1.55260129e-04 8.94834345e+01] [-6.37519940e-01 7.70433845e-01 1.29023060e-04 -2.93160842e+01] [ 2.01872433e-04 -4.22301958e-07 9.99999980e-01 -5.36761155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.471858064 meters 0.015299886405559767 Centerline is valid? [True, True] Translation: X:89.51, Y:-29.34, Z:-0.54 [[ 7.69558743e-01 6.38575812e-01 -5.22850575e-04 8.95087541e+01] [-6.38575666e-01 7.69558921e-01 4.30602734e-04 -2.93358240e+01] [ 6.77336814e-04 2.50555537e-06 9.99999771e-01 -5.37596808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501858064 meters 0.015398676129380054 Centerline is valid? [True, True] Translation: X:89.53, Y:-29.36, Z:-0.54 [[ 7.68988103e-01 6.39262873e-01 -5.26649971e-04 8.95341534e+01] [-6.39262726e-01 7.68988283e-01 4.33920879e-04 -2.93558166e+01] [ 6.82377165e-04 2.98770288e-06 9.99999767e-01 -5.38505394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.531858064 meters 0.015254722251984269 Centerline is valid? [True, True] Translation: X:89.56, Y:-29.38, Z:-0.54 [[ 7.68493166e-01 6.39857133e-01 -1.05036458e-03 8.95586132e+01] [-6.39856550e-01 7.68493883e-01 8.64231976e-04 -2.93772827e+01] [ 1.36018375e-03 7.92628673e-06 9.99999075e-01 -5.38674580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561858064 meters 0.015273798351394984 Centerline is valid? [True, True] Translation: X:89.58, Y:-29.40, Z:-0.54 [[ 7.68164619e-01 6.40251403e-01 -1.12229874e-03 8.95831599e+01] [-6.40250737e-01 7.68165438e-01 9.23867564e-04 -2.93993444e+01] [ 1.45361860e-03 8.87021675e-06 9.99998943e-01 -5.38234748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59185806400001 meters 0.015245785740251278 Centerline is valid? [True, True] Translation: X:89.61, Y:-29.42, Z:-0.54 [[ 7.67975668e-01 6.40478381e-01 -9.03808982e-04 8.96074936e+01] [-6.40477948e-01 7.67976200e-01 7.44674473e-04 -2.94197707e+01] [ 1.17105169e-03 6.97784625e-06 9.99999314e-01 -5.38360701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.621858064 meters 0.01524148993754519 Centerline is valid? [True, True] Translation: X:89.63, Y:-29.44, Z:-0.54 [[ 7.67788840e-01 6.40702639e-01 -6.52340467e-04 8.96320691e+01] [-6.40702413e-01 7.67789117e-01 5.38446697e-04 -2.94412690e+01] [ 8.45844131e-04 4.54274704e-06 9.99999642e-01 -5.38463772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.651858064 meters 0.015228847609522202 Centerline is valid? [True, True] Translation: X:89.66, Y:-29.46, Z:-0.54 [[ 7.67349447e-01 6.41229016e-01 -4.19527563e-04 8.96568979e+01] [-6.41228922e-01 7.67349562e-01 3.47205279e-04 -2.94625377e+01] [ 5.44562390e-04 2.58542817e-06 9.99999852e-01 -5.38541525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.681858064 meters 0.015288114665842786 Centerline is valid? [True, True] Translation: X:89.68, Y:-29.48, Z:-0.54 [[ 7.66908674e-01 6.41756098e-01 -4.41789796e-04 8.96817416e+01] [-6.41755994e-01 7.66908802e-01 3.65719294e-04 -2.94836711e+01] [ 5.73515070e-04 3.04795105e-06 9.99999836e-01 -5.38676095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.711858064 meters 0.01526250682444811 Centerline is valid? [True, True] Translation: X:89.71, Y:-29.50, Z:-0.54 [[ 7.66794740e-01 6.41892096e-01 -6.03339671e-04 8.97054402e+01] [-6.41891903e-01 7.66794977e-01 4.98831800e-04 -2.95044602e+01] [ 7.82834019e-04 4.77724971e-06 9.99999694e-01 -5.39222501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.741858064 meters 0.01527599864543972 Centerline is valid? [True, True] Translation: X:89.73, Y:-29.53, Z:-0.54 [[ 7.66811537e-01 6.41872148e-01 -4.61194289e-04 8.97304832e+01] [-6.41872034e-01 7.66811676e-01 3.82097800e-04 -2.95264987e+01] [ 5.98907101e-04 3.03071517e-06 9.99999821e-01 -5.39226287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.771858064 meters 0.017050799397711407 Centerline is valid? [True, True] Translation: X:89.75, Y:-29.55, Z:-0.54 [[ 7.67632473e-01 6.40889853e-01 -7.63318928e-04 8.97530143e+01] [-6.40889542e-01 7.67632852e-01 6.31267078e-04 -2.95485802e+01] [ 9.90521351e-04 4.62201052e-06 9.99999509e-01 -5.40015422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.801858064 meters 0.014962250043172 Centerline is valid? [True, True] Translation: X:89.78, Y:-29.57, Z:-0.54 [[ 7.67930972e-01 6.40532603e-01 -7.81792006e-05 8.97768606e+01] [-6.40532600e-01 7.67930976e-01 6.62309952e-05 -2.95693752e+01] [ 1.02459342e-04 -7.84505863e-07 9.99999995e-01 -5.38862744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.831858064 meters 0.014936404006517539 Centerline is valid? [True, True] Translation: X:89.80, Y:-29.59, Z:-0.54 [[ 7.68321129e-01 6.40064561e-01 -1.40546286e-05 8.98013630e+01] [-6.40064561e-01 7.68321129e-01 1.36110448e-05 -2.95917039e+01] [ 1.95104155e-05 -1.46178363e-06 1.00000000e+00 -5.38594373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.861858064 meters 0.014723778062656921 Centerline is valid? [True, True] Translation: X:89.82, Y:-29.61, Z:-0.54 [[ 7.69647802e-01 6.38468658e-01 1.85020693e-04 8.98231977e+01] [-6.38468640e-01 7.69647824e-01 -1.51165964e-04 -2.96138915e+01] [-2.38915504e-04 -1.78535871e-06 9.99999971e-01 -5.38816289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.891858064 meters 0.014766480973571675 Centerline is valid? [True, True] Translation: X:89.85, Y:-29.64, Z:-0.54 [[ 7.70163041e-01 6.37847040e-01 2.10711791e-04 8.98476077e+01] [-6.37847017e-01 7.70163069e-01 -1.72151953e-04 -2.96366071e+01] [-2.72089054e-04 -1.81681582e-06 9.99999963e-01 -5.39103179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921858064 meters 0.01482879004983283 Centerline is valid? [True, True] Translation: X:89.87, Y:-29.66, Z:-0.54 [[ 7.70645350e-01 6.37264258e-01 1.00510316e-04 8.98720313e+01] [-6.37264253e-01 7.70645356e-01 -8.11038217e-05 -2.96591986e+01] [-1.29142375e-04 -1.54934841e-06 9.99999992e-01 -5.39082686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.951858064 meters 0.01488075155906973 Centerline is valid? [True, True] Translation: X:89.90, Y:-29.68, Z:-0.54 [[ 7.71081512e-01 6.36736440e-01 8.91752510e-05 8.98955358e+01] [-6.36736436e-01 7.71081517e-01 -7.19074964e-05 -2.96806888e+01] [-1.14547511e-04 -1.33459050e-06 9.99999993e-01 -5.39505720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.981858064 meters 0.014978566432818599 Centerline is valid? [True, True] Translation: X:89.92, Y:-29.70, Z:-0.54 [[ 7.72139700e-01 6.35452619e-01 -5.03616179e-04 8.99192527e+01] [-6.35452481e-01 7.72139864e-01 4.18731418e-04 -2.97030939e+01] [ 6.54946104e-04 -3.29500127e-06 9.99999786e-01 -5.40829947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.011858064 meters 0.015068318279687548 Centerline is valid? [True, True] Translation: X:89.94, Y:-29.72, Z:-0.54 [[ 7.72523196e-01 6.34985453e-01 -1.17709580e-03 8.99430962e+01] [-6.34984703e-01 7.72524093e-01 9.76442533e-04 -2.97241316e+01] [ 1.52936167e-03 -6.88667846e-06 9.99998831e-01 -5.41831787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.041858064 meters 0.015123211206601801 Centerline is valid? [True, True] Translation: X:89.97, Y:-29.75, Z:-0.54 [[ 7.72858633e-01 6.34576911e-01 -1.29534565e-03 8.99667988e+01] [-6.34576000e-01 7.72859718e-01 1.07488024e-03 -2.97450065e+01] [ 1.68321466e-03 -8.73521295e-06 9.99998583e-01 -5.42780341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.071858064 meters 0.015051389394371093 Centerline is valid? [True, True] Translation: X:89.99, Y:-29.77, Z:-0.54 [[ 7.73176648e-01 6.34189504e-01 -1.24233028e-03 8.99915887e+01] [-6.34188665e-01 7.73177646e-01 1.03166795e-03 -2.97664945e+01] [ 1.61481499e-03 -9.78978653e-06 9.99998696e-01 -5.42999920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.101858064 meters 0.015192921067031222 Centerline is valid? [True, True] Translation: X:90.02, Y:-29.79, Z:-0.54 [[ 7.74117277e-01 6.33041042e-01 -1.21647287e-03 9.00156141e+01] [-6.33040235e-01 7.74118233e-01 1.01076971e-03 -2.97893391e+01] [ 1.58155254e-03 -1.23780272e-05 9.99998749e-01 -5.42579438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.131858064 meters 0.015306651636394126 Centerline is valid? [True, True] Translation: X:90.04, Y:-29.81, Z:-0.54 [[ 7.74477021e-01 6.32600826e-01 -1.24002909e-03 9.00396371e+01] [-6.32599988e-01 7.74478014e-01 1.02992128e-03 -2.98109911e+01] [ 1.61190432e-03 -1.32079754e-05 9.99998701e-01 -5.42701388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.161858064 meters 0.015527759696764867 Centerline is valid? [True, True] Translation: X:90.06, Y:-29.83, Z:-0.54 [[ 7.74973539e-01 6.31991940e-01 -1.48399419e-03 9.00634806e+01] [-6.31990737e-01 7.74974959e-01 1.23349934e-03 -2.98327642e+01] [ 1.92961998e-03 -1.80587715e-05 9.99998138e-01 -5.43197020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.191858064 meters 0.015580382427947704 Centerline is valid? [True, True] Translation: X:90.09, Y:-29.85, Z:-0.54 [[ 7.75002294e-01 6.31955008e-01 -2.07650371e-03 9.00886351e+01] [-6.31952651e-01 7.75005076e-01 1.72630002e-03 -2.98540180e+01] [ 2.70024485e-03 -2.56344528e-05 9.99996354e-01 -5.43782672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.221858064 meters 0.015580382427947704 Centerline is valid? [True, True] Translation: X:90.11, Y:-29.87, Z:-0.54 [[ 7.74838118e-01 6.32156295e-01 -2.07605359e-03 9.01135092e+01] [-6.32153937e-01 7.74840899e-01 1.72684160e-03 -2.98748011e+01] [ 2.70024502e-03 -2.56372463e-05 9.99996354e-01 -5.43964878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.251858064 meters 0.015717689619258055 Centerline is valid? [True, True] Translation: X:90.14, Y:-29.90, Z:-0.54 [[ 7.74682421e-01 6.32346728e-01 -2.18243600e-03 9.01386923e+01] [-6.32344120e-01 7.74685495e-01 1.81618304e-03 -2.98961331e+01] [ 2.83915891e-03 -2.69144992e-05 9.99995969e-01 -5.44587953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281858064 meters 0.015435555973531693 Centerline is valid? [True, True] Translation: X:90.16, Y:-29.92, Z:-0.54 [[ 7.74650637e-01 6.32384827e-01 -2.41258490e-03 9.01642659e+01] [-6.32381638e-01 7.74654393e-01 2.00870169e-03 -2.99162993e+01] [ 3.13919197e-03 -3.03676564e-05 9.99995072e-01 -5.43921327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.311858064 meters 0.015389284157745894 Centerline is valid? [True, True] Translation: X:90.19, Y:-29.94, Z:-0.54 [[ 7.74549456e-01 6.32510707e-01 -1.82913469e-03 9.01899004e+01] [-6.32508870e-01 7.74551616e-01 1.52430538e-03 -2.99370814e+01] [ 2.38089871e-03 -2.37059835e-05 9.99997165e-01 -5.43302351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34185806400001 meters 0.01556683772872299 Centerline is valid? [True, True] Translation: X:90.21, Y:-29.96, Z:-0.54 [[ 7.74429638e-01 6.32658163e-01 -1.54395815e-03 9.02137299e+01] [-6.32656855e-01 7.74431177e-01 1.28665386e-03 -2.99577009e+01] [ 2.00970139e-03 -1.96271717e-05 9.99997980e-01 -5.43540278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.371858064 meters 0.015657425501478778 Centerline is valid? [True, True] Translation: X:90.24, Y:-29.98, Z:-0.54 [[ 7.74402647e-01 6.32691665e-01 -1.34071904e-03 9.02386685e+01] [-6.32690676e-01 7.74403807e-01 1.11875663e-03 -2.99785643e+01] [ 1.74608593e-03 -1.81076617e-05 9.99998475e-01 -5.43660046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.401858064 meters 0.01552771912755462 Centerline is valid? [True, True] Translation: X:90.26, Y:-30.00, Z:-0.54 [[ 7.74260099e-01 6.32866503e-01 -1.13535777e-03 9.02646183e+01] [-6.32865792e-01 7.74260931e-01 9.48277358e-04 -2.99994527e+01] [ 1.47919614e-03 -1.56842232e-05 9.99998906e-01 -5.43572302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.431858064 meters 0.01561023393941297 Centerline is valid? [True, True] Translation: X:90.29, Y:-30.02, Z:-0.54 [[ 7.74415643e-01 6.32676440e-01 -9.66406665e-04 9.02888064e+01] [-6.32675925e-01 7.74416246e-01 8.07742804e-04 -3.00200327e+01] [ 1.25944086e-03 -1.41064328e-05 9.99999207e-01 -5.43933799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.461858064 meters 0.015663435584501784 Centerline is valid? [True, True] Translation: X:90.31, Y:-30.04, Z:-0.54 [[ 7.74434622e-01 6.32653575e-01 -6.85620016e-04 9.03135252e+01] [-6.32653315e-01 7.74434925e-01 5.74029287e-04 -3.00410339e+01] [ 8.94129766e-04 -1.07883780e-05 9.99999600e-01 -5.43586956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.491858064 meters 0.015517026141282761 Centerline is valid? [True, True] Translation: X:90.34, Y:-30.06, Z:-0.54 [[ 7.74632088e-01 6.32411765e-01 -6.98144788e-04 9.03385608e+01] [-6.32411494e-01 7.74632403e-01 5.84852158e-04 -3.00620262e+01] [ 9.10672960e-04 -1.15304601e-05 9.99999585e-01 -5.43206400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.521858064 meters 0.015565861234637811 Centerline is valid? [True, True] Translation: X:90.36, Y:-30.08, Z:-0.54 [[ 7.74906636e-01 6.32075036e-01 -9.24356893e-04 9.03638149e+01] [-6.32074562e-01 7.74907187e-01 7.74176749e-04 -3.00828219e+01] [ 1.20562860e-03 -1.56522216e-05 9.99999273e-01 -5.43190975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.551858064 meters 0.015527993996635294 Centerline is valid? [True, True] Translation: X:90.39, Y:-30.10, Z:-0.54 [[ 7.74901468e-01 6.32081087e-01 -1.10247687e-03 9.03880538e+01] [-6.32080412e-01 7.74902252e-01 9.23309049e-04 -3.01028262e+01] [ 1.43791799e-03 -1.86195036e-05 9.99998966e-01 -5.43817030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.581858064 meters 0.015481701279971444 Centerline is valid? [True, True] Translation: X:90.41, Y:-30.12, Z:-0.54 [[ 7.75185823e-01 6.31732173e-01 -1.18385424e-03 9.04138603e+01] [-6.31731395e-01 7.75186726e-01 9.92059261e-04 -3.01234843e+01] [ 1.54442385e-03 -2.11523852e-05 9.99998807e-01 -5.44168250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.611858064 meters 0.01554915780528617 Centerline is valid? [True, True] Translation: X:90.44, Y:-30.14, Z:-0.54 [[ 7.75445889e-01 6.31412928e-01 -1.17751553e-03 9.04393931e+01] [-6.31412157e-01 7.75446783e-01 9.87336471e-04 -3.01448539e+01] [ 1.53651764e-03 -2.21283874e-05 9.99998819e-01 -5.44153384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641858064 meters 0.015835278546773125 Centerline is valid? [True, True] Translation: X:90.46, Y:-30.17, Z:-0.54 [[ 7.76158788e-01 6.30537276e-01 -5.29242982e-04 9.04629848e+01] [-6.30537119e-01 7.76158968e-01 4.44714393e-04 -3.01657206e+01] [ 6.91185689e-04 -1.14616383e-05 9.99999761e-01 -5.44474301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.671858064 meters 0.015937984171806776 Centerline is valid? [True, True] Translation: X:90.49, Y:-30.19, Z:-0.54 [[ 7.76499816e-01 6.30117305e-01 -4.66300737e-04 9.04878342e+01] [-6.30117183e-01 7.76499956e-01 3.92615483e-04 -3.01867343e+01] [ 6.09476312e-04 -1.10417432e-05 9.99999814e-01 -5.44796447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701858064 meters 0.016866296021997237 Centerline is valid? [True, True] Translation: X:90.51, Y:-30.21, Z:-0.55 [[ 7.77020420e-01 6.29475145e-01 -5.55197796e-04 9.05111392e+01] [-6.29474973e-01 7.77020618e-01 4.66130370e-04 -3.02071296e+01] [ 7.24817617e-04 -1.27096986e-05 9.99999737e-01 -5.45504493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.731858064 meters 0.01663194224178726 Centerline is valid? [True, True] Translation: X:90.54, Y:-30.23, Z:-0.55 [[ 7.77200735e-01 6.29252067e-01 -9.23891719e-04 9.05351654e+01] [-6.29251589e-01 7.77201284e-01 7.76030212e-04 -3.02275773e+01] [ 1.20636844e-03 -2.17709182e-05 9.99999272e-01 -5.45554215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.761858064 meters 0.01636771318340529 Centerline is valid? [True, True] Translation: X:90.56, Y:-30.25, Z:-0.55 [[ 7.77003848e-01 6.29493800e-01 -1.60485515e-03 9.05611916e+01] [-6.29492358e-01 7.77005504e-01 1.34798275e-03 -3.02478919e+01] [ 2.09552806e-03 -3.71437316e-05 9.99997804e-01 -5.45839314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.791858064 meters 0.016374120588624856 Centerline is valid? [True, True] Translation: X:90.59, Y:-30.27, Z:-0.55 [[ 7.76579297e-01 6.30015168e-01 -2.34172588e-03 9.05864204e+01] [-6.30012100e-01 7.76582825e-01 1.96706641e-03 -3.02683223e+01] [ 3.05782577e-03 -5.22674123e-05 9.99995323e-01 -5.46824395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.821858064 meters 0.016461491663299247 Centerline is valid? [True, True] Translation: X:90.61, Y:-30.29, Z:-0.55 [[ 7.76067527e-01 6.30642305e-01 -3.07852640e-03 9.06108231e+01] [-6.30637004e-01 7.76073630e-01 2.58655829e-03 -3.02881722e+01] [ 4.02035624e-03 -6.59112316e-05 9.99991916e-01 -5.48118514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.851858064 meters 0.016416575847500062 Centerline is valid? [True, True] Translation: X:90.64, Y:-30.31, Z:-0.55 [[ 7.74831490e-01 6.32156375e-01 -3.80512087e-03 9.06354352e+01] [-6.32148291e-01 7.74840830e-01 3.19775466e-03 -3.03066914e+01] [ 4.96984401e-03 -7.23203514e-05 9.99987648e-01 -5.49169560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.881858064 meters 0.016501020169215355 Centerline is valid? [True, True] Translation: X:90.66, Y:-30.33, Z:-0.55 [[ 7.73973301e-01 6.33205995e-01 -3.93674100e-03 9.06595818e+01] [-6.33197348e-01 7.73983310e-01 3.30976164e-03 -3.03262253e+01] [ 5.14273274e-03 -6.89331782e-05 9.99986774e-01 -5.49410093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.911858064 meters 0.0161162483248162 Centerline is valid? [True, True] Translation: X:90.69, Y:-30.35, Z:-0.55 [[ 7.73207402e-01 6.34141353e-01 -3.88043074e-03 9.06850886e+01] [-6.34132955e-01 7.73217137e-01 3.26413445e-03 -3.03457636e+01] [ 5.07033818e-03 -6.31439045e-05 9.99987144e-01 -5.49079320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.941858064 meters 0.015932882066530287 Centerline is valid? [True, True] Translation: X:90.71, Y:-30.36, Z:-0.55 [[ 7.72002292e-01 6.35613804e-01 -2.74829349e-03 9.07093968e+01] [-6.35609596e-01 7.72007183e-01 2.31319647e-03 -3.03647851e+01] [ 3.59200192e-03 -3.89512621e-05 9.99993548e-01 -5.48458498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.971858064 meters 0.015715998649425817 Centerline is valid? [True, True] Translation: X:90.73, Y:-30.38, Z:-0.55 [[ 7.71317818e-01 6.36446177e-01 -2.25545731e-03 9.07332935e+01] [-6.36443343e-01 7.71321115e-01 1.89947783e-03 -3.03845919e+01] [ 2.94859725e-03 -2.96303009e-05 9.99995652e-01 -5.47579924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001858064 meters 0.016925766240423516 Centerline is valid? [True, True] Translation: X:90.76, Y:-30.41, Z:-0.55 [[ 7.70698896e-01 6.37195371e-01 -2.29606256e-03 9.07593172e+01] [-6.37192432e-01 7.70702315e-01 1.93522660e-03 -3.04050414e+01] [ 3.00269817e-03 -2.84433167e-05 9.99995491e-01 -5.46863873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.031858064 meters 0.015220027829983161 Centerline is valid? [True, True] Translation: X:90.78, Y:-30.42, Z:-0.55 [[ 7.68934370e-01 6.39326760e-01 -1.10876094e-03 9.07834086e+01] [-6.39326076e-01 7.68935169e-01 9.34809997e-04 -3.04240671e+01] [ 1.45021433e-03 -9.94775190e-06 9.99998948e-01 -5.45080438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061858064 meters 0.015207089701414187 Centerline is valid? [True, True] Translation: X:90.81, Y:-30.45, Z:-0.55 [[ 7.67842188e-01 6.40637734e-01 -1.29144705e-03 9.08089977e+01] [-6.40636806e-01 7.67843274e-01 1.09025612e-03 -3.04452830e+01] [ 1.69008814e-03 -9.79613455e-06 9.99998572e-01 -5.45064306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09185806400001 meters 0.015260571855542337 Centerline is valid? [True, True] Translation: X:90.84, Y:-30.47, Z:-0.55 [[ 7.67074077e-01 6.41557226e-01 -1.29830577e-03 9.08350357e+01] [-6.41556289e-01 7.67075176e-01 1.09663104e-03 -3.04661324e+01] [ 1.69944969e-03 -8.26101673e-06 9.99998556e-01 -5.45104356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.121858064 meters 0.01516467968472595 Centerline is valid? [True, True] Translation: X:90.86, Y:-30.49, Z:-0.55 [[ 7.66256881e-01 6.42532241e-01 -1.64680049e-03 9.08612491e+01] [-6.42530735e-01 7.66258650e-01 1.39122054e-03 -3.04865467e+01] [ 2.15577918e-03 -7.91238196e-06 9.99997676e-01 -5.45608752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.151858064 meters 0.015220690201873326 Centerline is valid? [True, True] Translation: X:90.89, Y:-30.51, Z:-0.55 [[ 7.65532358e-01 6.43395634e-01 -1.50571409e-03 9.08866953e+01] [-6.43394375e-01 7.65533838e-01 1.27271638e-03 -3.05065431e+01] [ 1.97153525e-03 -5.53759454e-06 9.99998057e-01 -5.46687562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.181858064 meters 0.015278848755234385 Centerline is valid? [True, True] Translation: X:90.91, Y:-30.53, Z:-0.55 [[ 7.64716726e-01 6.44363000e-01 -2.15720516e-03 9.09125345e+01] [-6.44360419e-01 7.64719769e-01 1.82380586e-03 -3.05265814e+01] [ 2.82485045e-03 -4.67722579e-06 9.99996010e-01 -5.47003116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.211858064 meters 0.015328918354771771 Centerline is valid? [True, True] Translation: X:90.94, Y:-30.55, Z:-0.55 [[ 7.64702112e-01 6.44380853e-01 -1.99896225e-03 9.09361026e+01] [-6.44378634e-01 7.64704725e-01 1.69092018e-03 -3.05476154e+01] [ 2.61821247e-03 -4.96167065e-06 9.99996572e-01 -5.47557583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.241858064 meters 0.015420375089388568 Centerline is valid? [True, True] Translation: X:90.96, Y:-30.57, Z:-0.55 [[ 7.64912336e-01 6.44130381e-01 -2.27361406e-03 9.09605255e+01] [-6.44127507e-01 7.64915715e-01 1.92417153e-03 -3.05696607e+01] [ 2.97854047e-03 -7.32518253e-06 9.99995564e-01 -5.46749121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.271858064 meters 0.01568427102859087 Centerline is valid? [True, True] Translation: X:90.98, Y:-30.59, Z:-0.55 [[ 7.65705125e-01 6.43187894e-01 -2.23480187e-03 9.09837046e+01] [-6.43185114e-01 7.65708386e-01 1.89125068e-03 -3.05919675e+01] [ 2.92763608e-03 -1.07490447e-05 9.99995714e-01 -5.46752667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.301858064 meters 0.015772915596690775 Centerline is valid? [True, True] Translation: X:91.01, Y:-30.61, Z:-0.55 [[ 7.66005456e-01 6.42828564e-01 -2.66047929e-03 9.10087127e+01] [-6.42824615e-01 7.66010076e-01 2.25323058e-03 -3.06136501e+01] [ 3.48639492e-03 -1.57653383e-05 9.99993922e-01 -5.46906830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.331858064 meters 0.015881471067682635 Centerline is valid? [True, True] Translation: X:91.03, Y:-30.64, Z:-0.55 [[ 7.66270384e-01 6.42512703e-01 -2.66917463e-03 9.10339223e+01] [-6.42508722e-01 7.66275033e-01 2.26196395e-03 -3.06353672e+01] [ 3.49866245e-03 -1.83080072e-05 9.99993879e-01 -5.46995358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.361858064 meters 0.018221824619001795 Centerline is valid? [True, True] Translation: X:91.06, Y:-30.66, Z:-0.55 [[ 7.67649500e-01 6.40863120e-01 -2.95069994e-03 9.10575552e+01] [-6.40858239e-01 7.67655171e-01 2.50132133e-03 -3.06573373e+01] [ 3.86812466e-03 -2.91577007e-05 9.99992518e-01 -5.47969282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.391858064 meters 0.01598372922057616 Centerline is valid? [True, True] Translation: X:91.08, Y:-30.68, Z:-0.55 [[ 7.67641203e-01 6.40875575e-01 -2.34118150e-03 9.10815964e+01] [-6.40872497e-01 7.67644773e-01 1.98618831e-03 -3.06789719e+01] [ 3.07009531e-03 -2.42811544e-05 9.99995287e-01 -5.46858532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421858064 meters 0.01626984712876441 Centerline is valid? [True, True] Translation: X:91.11, Y:-30.70, Z:-0.55 [[ 7.68359717e-01 6.40014310e-01 -2.24223244e-03 9.11054151e+01] [-6.40011480e-01 7.68362988e-01 1.90355783e-03 -3.07012279e+01] [ 2.94115268e-03 -2.75626549e-05 9.99995674e-01 -5.46888225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.451858064 meters 0.01663404191096504 Centerline is valid? [True, True] Translation: X:91.13, Y:-30.72, Z:-0.55 [[ 7.68674910e-01 6.39635323e-01 -2.35282647e-03 9.11288586e+01] [-6.39632203e-01 7.68678510e-01 1.99827304e-03 -3.07224505e+01] [ 3.08673317e-03 -3.10787738e-05 9.99995236e-01 -5.47362837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.481858064 meters 0.016691332517336798 Centerline is valid? [True, True] Translation: X:91.15, Y:-30.74, Z:-0.55 [[ 7.68858827e-01 6.39415349e-01 -2.02844048e-03 9.11535222e+01] [-6.39413026e-01 7.68861503e-01 1.72411722e-03 -3.07439462e+01] [ 2.66201681e-03 -2.85914824e-05 9.99996456e-01 -5.46965783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.511858064 meters 0.01725593910309048 Centerline is valid? [True, True] Translation: X:91.18, Y:-30.77, Z:-0.55 [[ 7.69248384e-01 6.38948058e-01 -1.51730128e-03 9.11766176e+01] [-6.38946755e-01 7.69249880e-01 1.29070437e-03 -3.07659731e+01] [ 1.99187688e-03 -2.33975254e-05 9.99998016e-01 -5.46935526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.541858064 meters 0.01692128423076357 Centerline is valid? [True, True] Translation: X:91.20, Y:-30.79, Z:-0.55 [[ 7.69076247e-01 6.39155163e-01 -1.55011057e-03 9.12019341e+01] [-6.39153802e-01 7.69077809e-01 1.31945677e-03 -3.07862866e+01] [ 2.03549325e-03 -2.40037999e-05 9.99997928e-01 -5.46121758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.571858064 meters 0.016938943246936723 Centerline is valid? [True, True] Translation: X:91.23, Y:-30.81, Z:-0.55 [[ 7.68956291e-01 6.39298908e-01 -1.76889916e-03 9.12268644e+01] [-6.39297134e-01 7.68958325e-01 1.50625400e-03 -3.08074928e+01] [ 2.32315628e-03 -2.73913221e-05 9.99997301e-01 -5.46313996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.601858064 meters 0.01686559008819285 Centerline is valid? [True, True] Translation: X:91.25, Y:-30.83, Z:-0.55 [[ 7.68722797e-01 6.39579364e-01 -1.87014222e-03 9.12516125e+01] [-6.39577381e-01 7.68725072e-01 1.59324070e-03 -3.08285647e+01] [ 2.45662909e-03 -2.86597863e-05 9.99996982e-01 -5.46409568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.631858064 meters 0.017115631265930707 Centerline is valid? [True, True] Translation: X:91.28, Y:-30.85, Z:-0.55 [[ 7.68256816e-01 6.40138231e-01 -2.12382735e-03 9.12753318e+01] [-6.40135673e-01 7.68259751e-01 1.80989011e-03 -3.08496016e+01] [ 2.79023092e-03 -3.09227608e-05 9.99996107e-01 -5.47303257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.661858064 meters 0.01695521350204554 Centerline is valid? [True, True] Translation: X:91.30, Y:-30.87, Z:-0.55 [[ 7.67877187e-01 6.40591295e-01 -2.72369341e-03 9.13012529e+01] [-6.40587088e-01 7.67882017e-01 2.32197173e-03 -3.08704713e+01] [ 3.57891007e-03 -3.82262960e-05 9.99993595e-01 -5.47283667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.691858064 meters 0.016945404519479016 Centerline is valid? [True, True] Translation: X:91.33, Y:-30.89, Z:-0.55 [[ 7.67358594e-01 6.41211483e-01 -2.93631756e-03 9.13267560e+01] [-6.41206593e-01 7.67364211e-01 2.50445828e-03 -3.08912151e+01] [ 3.85911242e-03 -3.90314035e-05 9.99992553e-01 -5.47724749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721858064 meters 0.016710350089173747 Centerline is valid? [True, True] Translation: X:91.35, Y:-30.91, Z:-0.55 [[ 7.67343761e-01 6.41228284e-01 -3.13704579e-03 9.13528880e+01] [-6.41222697e-01 7.67350172e-01 2.67717340e-03 -3.09111866e+01] [ 4.12389194e-03 -4.27673443e-05 9.99991496e-01 -5.47251677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.751858064 meters 0.016921447789378624 Centerline is valid? [True, True] Translation: X:91.38, Y:-30.93, Z:-0.55 [[ 7.67525168e-01 6.41010471e-01 -3.27007881e-03 9.13762090e+01] [-6.41004392e-01 7.67532132e-01 2.79197272e-03 -3.09324895e+01] [ 4.29957431e-03 -4.67744529e-05 9.99990756e-01 -5.47901155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781858064 meters 0.01715195100118182 Centerline is valid? [True, True] Translation: X:91.40, Y:-30.95, Z:-0.55 [[ 7.67985059e-01 6.40459408e-01 -3.27046017e-03 9.13998889e+01] [-6.40453317e-01 7.67992021e-01 2.79373642e-03 -3.09534228e+01] [ 4.30096209e-03 -5.09707654e-05 9.99990750e-01 -5.47813713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.811858064 meters 0.01718220888465342 Centerline is valid? [True, True] Translation: X:91.42, Y:-30.97, Z:-0.55 [[ 7.68186877e-01 6.40216785e-01 -3.37507264e-03 9.14247139e+01] [-6.40210288e-01 7.68194289e-01 2.88476499e-03 -3.09747479e+01] [ 4.43958649e-03 -5.52823823e-05 9.99990143e-01 -5.47723861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84185806400001 meters 0.017880361926920954 Centerline is valid? [True, True] Translation: X:91.45, Y:-31.00, Z:-0.55 [[ 7.69082748e-01 6.39141568e-01 -3.12770677e-03 9.14475233e+01] [-6.39135975e-01 7.69089106e-01 2.67429448e-03 -3.09956303e+01] [ 4.11473797e-03 -5.77238307e-05 9.99991533e-01 -5.48252438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.871858064 meters 0.017261240222777797 Centerline is valid? [True, True] Translation: X:91.47, Y:-31.02, Z:-0.55 [[ 7.69272271e-01 6.38913990e-01 -3.01431265e-03 9.14742570e+01] [-6.38908786e-01 7.69278174e-01 2.57933558e-03 -3.10156412e+01] [ 3.96681852e-03 -5.83405068e-05 9.99992130e-01 -5.46616617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.901858064 meters 0.017529151241284468 Centerline is valid? [True, True] Translation: X:91.50, Y:-31.04, Z:-0.55 [[ 7.69516161e-01 6.38621083e-01 -2.82668109e-03 9.14979556e+01] [-6.38616501e-01 7.69521350e-01 2.42005956e-03 -3.10363894e+01] [ 3.72069251e-03 -5.71097606e-05 9.99993077e-01 -5.47058584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.931858064 meters 0.017478632859032953 Centerline is valid? [True, True] Translation: X:91.52, Y:-31.06, Z:-0.55 [[ 7.69918524e-01 6.38136943e-01 -2.59028381e-03 9.15231019e+01] [-6.38133086e-01 7.69922879e-01 2.21922886e-03 -3.10570603e+01] [ 3.41049068e-03 -5.56796053e-05 9.99994183e-01 -5.46672622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.961858064 meters 0.01792083720508955 Centerline is valid? [True, True] Translation: X:91.55, Y:-31.08, Z:-0.55 [[ 7.70324098e-01 6.37647301e-01 -2.58899622e-03 9.15468942e+01] [-6.37643444e-01 7.70328447e-01 2.21873417e-03 -3.10766752e+01] [ 3.40914729e-03 -5.82879326e-05 9.99994187e-01 -5.47323071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.991858064 meters 0.018080707743828858 Centerline is valid? [True, True] Translation: X:91.57, Y:-31.10, Z:-0.55 [[ 7.70442310e-01 6.37504253e-01 -2.64083065e-03 9.15724022e+01] [-6.37500233e-01 7.70446834e-01 2.26476116e-03 -3.10981059e+01] [ 3.47841448e-03 -6.13376656e-05 9.99993948e-01 -5.47964483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.021858064 meters 0.018170395119877433 Centerline is valid? [True, True] Translation: X:91.60, Y:-31.12, Z:-0.55 [[ 7.70691786e-01 6.37202027e-01 -2.78353248e-03 9.15966192e+01] [-6.37197556e-01 7.70696810e-01 2.38772573e-03 -3.11183670e+01] [ 3.66672328e-03 -6.65405106e-05 9.99993275e-01 -5.48431693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.051858064 meters 0.018745436115784365 Centerline is valid? [True, True] Translation: X:91.62, Y:-31.14, Z:-0.55 [[ 7.71237783e-01 6.36544690e-01 -1.77174242e-03 9.16207091e+01] [-6.36542873e-01 7.71239817e-01 1.52144383e-03 -3.11394008e+01] [ 2.33490529e-03 -4.56049571e-05 9.99997273e-01 -5.48070044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.081858064 meters 0.018689574859570283 Centerline is valid? [True, True] Translation: X:91.65, Y:-31.16, Z:-0.55 [[ 7.71318838e-01 6.36447881e-01 -1.15982897e-03 9.16457214e+01] [-6.36447100e-01 7.71319710e-01 9.97275091e-04 -3.11603849e+01] [ 1.52931256e-03 -3.10472776e-05 9.99998830e-01 -5.47345935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.111858064 meters 0.01884832668307911 Centerline is valid? [True, True] Translation: X:91.67, Y:-31.18, Z:-0.55 [[ 7.71300351e-01 6.36470633e-01 -9.49726577e-04 9.16708070e+01] [-6.36470108e-01 7.71300935e-01 8.17410032e-04 -3.11818253e+01] [ 1.25278248e-03 -2.59960677e-05 9.99999215e-01 -5.47013098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141858064 meters 0.01884832668307911 Centerline is valid? [True, True] Translation: X:91.70, Y:-31.20, Z:-0.55 [[ 7.71129312e-01 6.36677848e-01 -9.49506377e-04 9.16953491e+01] [-6.36677324e-01 7.71129896e-01 8.17666118e-04 -3.12030051e+01] [ 1.25278266e-03 -2.59971323e-05 9.99999215e-01 -5.47195329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.171858064 meters 0.018920509294694902 Centerline is valid? [True, True] Translation: X:91.72, Y:-31.22, Z:-0.55 [[ 7.71158808e-01 6.36642649e-01 -4.78506589e-04 9.17202888e+01] [-6.36642515e-01 7.71158957e-01 4.13264713e-04 -3.12239162e+01] [ 6.32106584e-04 -1.40550853e-05 9.99999800e-01 -5.47163823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201858064 meters 0.020139212167598005 Centerline is valid? [True, True] Translation: X:91.75, Y:-31.24, Z:-0.55 [[ 7.70545942e-01 6.37384130e-01 -6.48975969e-04 9.17453978e+01] [-6.37383885e-01 7.70546216e-01 5.58934702e-04 -3.12430733e+01] [ 8.56322085e-04 -1.70380418e-05 9.99999633e-01 -5.49045885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.231858064 meters 0.018580962315413334 Centerline is valid? [True, True] Translation: X:91.77, Y:-31.26, Z:-0.55 [[ 7.69527981e-01 6.38612717e-01 -6.95542617e-04 9.17707231e+01] [-6.38612435e-01 7.69528296e-01 5.99974644e-04 -3.12626249e+01] [ 9.18391162e-04 -1.75151126e-05 9.99999578e-01 -5.49012134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.261858064 meters 0.01783444549325497 Centerline is valid? [True, True] Translation: X:91.80, Y:-31.28, Z:-0.55 [[ 7.68572244e-01 6.39762764e-01 -5.57761551e-04 9.17975352e+01] [-6.39762583e-01 7.68572446e-01 4.81767878e-04 -3.12813331e+01] [ 7.36897309e-04 -1.34384489e-05 9.99999728e-01 -5.49275462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.291858064 meters 0.016989604127621183 Centerline is valid? [True, True] Translation: X:91.82, Y:-31.30, Z:-0.55 [[ 7.66207882e-01 6.42592555e-01 -5.37963013e-04 9.18246217e+01] [-6.42592387e-01 7.66208071e-01 4.65043920e-04 -3.12984814e+01] [ 7.11025363e-04 -1.06293805e-05 9.99999747e-01 -5.48670533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.321858064 meters 0.016822059814622786 Centerline is valid? [True, True] Translation: X:91.85, Y:-31.32, Z:-0.55 [[ 7.64884299e-01 6.44167681e-01 9.06306542e-05 9.18487910e+01] [-6.44167676e-01 7.64884305e-01 -7.63614521e-05 -3.13178271e+01] [-1.18511544e-04 2.63379226e-08 9.99999993e-01 -5.48746780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.351858064 meters 0.01666553829640799 Centerline is valid? [True, True] Translation: X:91.87, Y:-31.34, Z:-0.55 [[ 7.63538704e-01 6.45761960e-01 3.72759282e-04 9.18741338e+01] [-6.45761881e-01 7.63538795e-01 -3.19433803e-04 -3.13376921e+01] [-4.90894372e-04 3.18633703e-06 9.99999880e-01 -5.48646341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.381858064 meters 0.016542621600213175 Centerline is valid? [True, True] Translation: X:91.90, Y:-31.36, Z:-0.55 [[ 7.62361093e-01 6.47151720e-01 4.63858795e-04 9.18988838e+01] [-6.47151597e-01 7.62361234e-01 -3.98157049e-04 -3.13575624e+01] [-6.11295983e-04 3.35248292e-06 9.99999813e-01 -5.48739841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.411858064 meters 0.016415269960929655 Centerline is valid? [True, True] Translation: X:91.92, Y:-31.38, Z:-0.55 [[ 7.60587942e-01 6.49234907e-01 1.34371454e-04 9.19235602e+01] [-6.49234897e-01 7.60587954e-01 -1.14245530e-04 -3.13759254e+01] [-1.76373495e-04 -3.44864573e-07 9.99999984e-01 -5.50099870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.441858064 meters 0.016204900218316883 Centerline is valid? [True, True] Translation: X:91.95, Y:-31.40, Z:-0.55 [[ 7.60037289e-01 6.49879438e-01 1.86776059e-04 9.19491484e+01] [-6.49879418e-01 7.60037312e-01 -1.59194679e-04 -3.13970153e+01] [-2.45414122e-04 -3.88024147e-07 9.99999970e-01 -5.50866775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.471858064 meters 0.016265453740999438 Centerline is valid? [True, True] Translation: X:91.97, Y:-31.42, Z:-0.55 [[ 7.59651805e-01 6.50329681e-01 6.64476676e-04 9.19744229e+01] [-6.50329430e-01 7.59652095e-01 -5.71796581e-04 -3.14181969e+01] [-8.76627387e-04 2.23756689e-06 9.99999616e-01 -5.50530749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501858064 meters 0.01620886824769861 Centerline is valid? [True, True] Translation: X:92.00, Y:-31.44, Z:-0.55 [[ 7.59682681e-01 6.50292994e-01 1.11583733e-03 9.19981502e+01] [-6.50292282e-01 7.59683501e-01 -9.62251666e-04 -3.14390653e+01] [-1.47342872e-03 5.38552433e-06 9.99998914e-01 -5.50442639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.531858064 meters 0.016200850864944213 Centerline is valid? [True, True] Translation: X:92.02, Y:-31.46, Z:-0.55 [[ 7.59761605e-01 6.50200126e-01 1.44879393e-03 9.20233424e+01] [-6.50198924e-01 7.59762987e-01 -1.25052318e-03 -3.14608347e+01] [-1.91383033e-03 8.09524588e-06 9.99998169e-01 -5.50664662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561858064 meters 0.016370672441370422 Centerline is valid? [True, True] Translation: X:92.05, Y:-31.48, Z:-0.55 [[ 7.59891306e-01 6.50048267e-01 1.56642176e-03 9.20475154e+01] [-6.50046859e-01 7.59892921e-01 -1.35298358e-03 -3.14824852e+01] [-2.06981744e-03 9.87291966e-06 9.99997858e-01 -5.50828295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59185806400001 meters 0.016278623002232245 Centerline is valid? [True, True] Translation: X:92.07, Y:-31.51, Z:-0.55 [[ 7.60836497e-01 6.48941189e-01 1.77700365e-03 9.20716569e+01] [-6.48939372e-01 7.60838572e-01 -1.53600233e-03 -3.15052108e+01] [-2.34878810e-03 1.54790061e-05 9.99997241e-01 -5.50990498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.621858064 meters 0.01646594802006282 Centerline is valid? [True, True] Translation: X:92.10, Y:-31.53, Z:-0.55 [[ 7.61116245e-01 6.48611368e-01 2.31402643e-03 9.20953366e+01] [-6.48608278e-01 7.61119762e-01 -2.00224223e-03 -3.15265392e+01] [-3.05992832e-03 2.30423919e-05 9.99995318e-01 -5.51022131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.651858064 meters 0.01640213062717914 Centerline is valid? [True, True] Translation: X:92.12, Y:-31.55, Z:-0.55 [[ 7.61476055e-01 6.48186815e-01 2.84098727e-03 9.21202045e+01] [-6.48182151e-01 7.61481354e-01 -2.45908031e-03 -3.15486116e+01] [-3.75730227e-03 3.10535331e-05 9.99992941e-01 -5.51305888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.681858064 meters 0.016474771999681836 Centerline is valid? [True, True] Translation: X:92.14, Y:-31.57, Z:-0.55 [[ 7.61902123e-01 6.47685716e-01 2.89259697e-03 9.21445887e+01] [-6.47680872e-01 7.61907614e-01 -2.50515222e-03 -3.15707913e+01] [-3.82644297e-03 3.52010627e-05 9.99992679e-01 -5.51569890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.711858064 meters 0.016636478022453518 Centerline is valid? [True, True] Translation: X:92.17, Y:-31.59, Z:-0.55 [[ 7.62589997e-01 6.46872883e-01 3.45973521e-03 9.21682270e+01] [-6.46865936e-01 7.62597844e-01 -2.99837400e-03 -3.15925272e+01] [-4.57795345e-03 4.85451672e-05 9.99989520e-01 -5.51700712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.741858064 meters 0.016694614735659356 Centerline is valid? [True, True] Translation: X:92.19, Y:-31.61, Z:-0.55 [[ 7.64150171e-01 6.45025730e-01 4.04040329e-03 9.21925868e+01] [-6.45016219e-01 7.64160849e-01 -3.50352925e-03 -3.16134659e+01] [-5.34738452e-03 7.10968195e-05 9.99985700e-01 -5.52327599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.771858064 meters 0.016610185168823333 Centerline is valid? [True, True] Translation: X:92.22, Y:-31.63, Z:-0.55 [[ 7.64648303e-01 6.44436785e-01 3.76866414e-03 9.22165893e+01] [-6.44428496e-01 7.64657587e-01 -3.26938104e-03 -3.16342870e+01] [-4.98864703e-03 7.12921021e-05 9.99987554e-01 -5.53012063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.801858064 meters 0.01694935545243425 Centerline is valid? [True, True] Translation: X:92.24, Y:-31.66, Z:-0.55 [[ 7.64932179e-01 6.44099444e-01 3.82986606e-03 9.22401240e+01] [-6.44090871e-01 7.64941763e-01 -3.32415152e-03 -3.16559220e+01] [-5.07070864e-03 7.59686997e-05 9.99987141e-01 -5.53858873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.831858064 meters 0.017125882553176323 Centerline is valid? [True, True] Translation: X:92.26, Y:-31.68, Z:-0.56 [[ 7.65778342e-01 6.43093714e-01 3.74231704e-03 9.22646829e+01] [-6.43085508e-01 7.65787482e-01 -3.24986038e-03 -3.16767013e+01] [-4.95578433e-03 8.20428428e-05 9.99987717e-01 -5.55611807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.861858064 meters 0.01728616998728465 Centerline is valid? [True, True] Translation: X:92.29, Y:-31.70, Z:-0.56 [[ 7.66099468e-01 6.42710698e-01 3.81629328e-03 9.22886120e+01] [-6.42702150e-01 7.66108968e-01 -3.31576935e-03 -3.16977611e+01] [-5.05477694e-03 8.74692394e-05 9.99987221e-01 -5.56233943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.891858064 meters 0.017351225682748782 Centerline is valid? [True, True] Translation: X:92.31, Y:-31.72, Z:-0.56 [[ 7.66584989e-01 6.42131340e-01 3.84661203e-03 9.23131456e+01] [-6.42122641e-01 7.66594634e-01 -3.34376093e-03 -3.17187890e+01] [-5.09592583e-03 9.32802624e-05 9.99987011e-01 -5.56984630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921858064 meters 0.017663436125371083 Centerline is valid? [True, True] Translation: X:92.34, Y:-31.74, Z:-0.56 [[ 7.67885348e-01 6.40576439e-01 3.73080032e-03 9.23377190e+01] [-6.40568229e-01 7.67894404e-01 -3.24462550e-03 -3.17394610e+01] [-4.94329133e-03 1.01668224e-04 9.99987777e-01 -5.58427969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.951858064 meters 0.017905702225002738 Centerline is valid? [True, True] Translation: X:92.36, Y:-31.76, Z:-0.56 [[ 7.68497981e-01 6.39842536e-01 3.51884610e-03 9.23605820e+01] [-6.39835219e-01 7.68506030e-01 -3.06173458e-03 -3.17600655e+01] [-4.66328247e-03 1.01455175e-04 9.99989122e-01 -5.59188009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.981858064 meters 0.017995577841598512 Centerline is valid? [True, True] Translation: X:92.38, Y:-31.78, Z:-0.56 [[ 7.68772570e-01 6.39510333e-01 3.90771631e-03 9.23846264e+01] [-6.39501295e-01 7.68782492e-01 -3.40182480e-03 -3.17812004e+01] [-5.17968599e-03 1.16239954e-04 9.99986579e-01 -5.59788756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.011858064 meters 0.01849077951925174 Centerline is valid? [True, True] Translation: X:92.41, Y:-31.80, Z:-0.56 [[ 7.69641016e-01 6.38462752e-01 4.24522058e-03 9.24069352e+01] [-6.38452059e-01 7.69652711e-01 -3.69761790e-03 -3.18021586e+01] [-5.62813683e-03 1.35468572e-04 9.99984153e-01 -5.59504772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.041858064 meters 0.01875778340671411 Centerline is valid? [True, True] Translation: X:92.43, Y:-31.82, Z:-0.56 [[ 7.69761090e-01 6.38315149e-01 4.65134980e-03 9.24310790e+01] [-6.38302302e-01 7.69775128e-01 -4.05254394e-03 -3.18237873e+01] [-6.16729358e-03 1.50523351e-04 9.99980971e-01 -5.59327543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.071858064 meters 0.018255015261613917 Centerline is valid? [True, True] Translation: X:92.46, Y:-31.84, Z:-0.56 [[ 7.69663012e-01 6.38426379e-01 5.53231469e-03 9.24570657e+01] [-6.38408187e-01 7.69682873e-01 -4.82302257e-03 -3.18447873e+01] [-7.33727270e-03 1.80227083e-04 9.99973066e-01 -5.58962385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.101858064 meters 0.018453194171094926 Centerline is valid? [True, True] Translation: X:92.48, Y:-31.87, Z:-0.56 [[ 7.69110823e-01 6.39089199e-01 5.79118951e-03 9.24815540e+01] [-6.39069261e-01 7.69132603e-01 -5.05156835e-03 -3.18658489e+01] [-7.68259544e-03 1.84244691e-04 9.99970471e-01 -5.58303074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.131858064 meters 0.017959000614172146 Centerline is valid? [True, True] Translation: X:92.51, Y:-31.89, Z:-0.56 [[ 7.68047767e-01 6.40353404e-01 7.08134491e-03 9.25071610e+01] [-6.40323614e-01 7.68080381e-01 -6.18039861e-03 -3.18850680e+01] [-9.39668139e-03 2.12488984e-04 9.99955828e-01 -5.57480935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.161858064 meters 0.01767933157074794 Centerline is valid? [True, True] Translation: X:92.53, Y:-31.91, Z:-0.56 [[ 7.66841007e-01 6.41792030e-01 7.60659732e-03 9.25325459e+01] [-6.41757692e-01 7.66878703e-01 -6.64223904e-03 -3.19050376e+01] [-1.00962736e-02 2.11948930e-04 9.99949009e-01 -5.57885046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.191858064 meters 0.01738235394841861 Centerline is valid? [True, True] Translation: X:92.56, Y:-31.92, Z:-0.56 [[ 7.65565125e-01 6.43309715e-01 7.91523305e-03 9.25582143e+01] [-6.43272578e-01 7.65606015e-01 -6.91522622e-03 -3.19249027e+01] [-1.05085822e-02 2.02403662e-04 9.99944763e-01 -5.58246174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221858064 meters 0.016678529153035415 Centerline is valid? [True, True] Translation: X:92.59, Y:-31.94, Z:-0.56 [[ 7.63090862e-01 6.46244127e-01 7.80159064e-03 9.25852107e+01] [-6.46208175e-01 7.63130724e-01 -6.81856220e-03 -3.19435096e+01] [-1.03600893e-02 1.61730858e-04 9.99946320e-01 -5.59236248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.251858064 meters 0.016481820184413378 Centerline is valid? [True, True] Translation: X:92.61, Y:-31.96, Z:-0.56 [[ 7.61775774e-01 6.47799306e-01 7.33004153e-03 9.26097623e+01] [-6.47767618e-01 7.61811027e-01 -6.40868069e-03 -3.19633944e+01] [-9.73564537e-03 1.33814151e-04 9.99952599e-01 -5.59550012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281858064 meters 0.01632694316853464 Centerline is valid? [True, True] Translation: X:92.63, Y:-31.98, Z:-0.56 [[ 7.60618803e-01 6.49158969e-01 7.18817889e-03 9.26340478e+01] [-6.49128529e-01 7.60652759e-01 -6.28756820e-03 -3.19827764e+01] [-9.54933940e-03 1.16390608e-04 9.99954397e-01 -5.59744400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.311858064 meters 0.0157334929790564 Centerline is valid? [True, True] Translation: X:92.66, Y:-32.00, Z:-0.56 [[ 7.58770793e-01 6.51319647e-01 7.04280306e-03 9.26602343e+01] [-6.51290492e-01 7.58803472e-01 -6.16322743e-03 -3.20021511e+01] [-9.35833453e-03 8.95662932e-05 9.99956206e-01 -5.60993170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34185806400001 meters 0.015672804172152527 Centerline is valid? [True, True] Translation: X:92.68, Y:-32.02, Z:-0.56 [[ 7.57849971e-01 6.52395157e-01 6.63185371e-03 9.26836693e+01] [-6.52369323e-01 7.57878984e-01 -5.80625960e-03 -3.20224181e+01] [-8.81411819e-03 7.38557502e-05 9.99961152e-01 -5.61361179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.371858064 meters 0.015583761158030392 Centerline is valid? [True, True] Translation: X:92.71, Y:-32.04, Z:-0.56 [[ 7.57030657e-01 6.53349673e-01 6.22807694e-03 9.27079826e+01] [-6.53326902e-01 7.57056273e-01 -5.45516695e-03 -3.20432832e+01] [-8.27913626e-03 6.07584035e-05 9.99965726e-01 -5.61871354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.401858064 meters 0.015450329895502596 Centerline is valid? [True, True] Translation: X:92.73, Y:-32.06, Z:-0.56 [[ 7.55331816e-01 6.55323116e-01 5.04595589e-03 9.27322637e+01] [-6.55308200e-01 7.55348670e-01 -4.42152119e-03 -3.20631700e+01] [-6.70898111e-03 3.30593556e-05 9.99977494e-01 -5.63489359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.431858064 meters 0.015214602946028789 Centerline is valid? [True, True] Translation: X:92.76, Y:-32.08, Z:-0.56 [[ 7.54368149e-01 6.56437665e-01 4.27633148e-03 9.27562131e+01] [-6.56426963e-01 7.54380270e-01 -3.74856211e-03 -3.20839063e+01] [-5.68667746e-03 2.06965740e-05 9.99983831e-01 -5.64400550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.461858064 meters 0.015286162611573182 Centerline is valid? [True, True] Translation: X:92.78, Y:-32.10, Z:-0.57 [[ 7.53517098e-01 6.57417083e-01 3.84212180e-03 9.27810176e+01] [-6.57408449e-01 7.53526893e-01 -3.36945043e-03 -3.21049261e+01] [-5.11027638e-03 1.30951805e-05 9.99986942e-01 -5.65360535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.491858064 meters 0.015130460606223393 Centerline is valid? [True, True] Translation: X:92.81, Y:-32.13, Z:-0.57 [[ 7.52922015e-01 6.58099563e-01 3.66121081e-03 9.28053703e+01] [-6.58091722e-01 7.52930917e-01 -3.21252231e-03 -3.21262133e+01] [-4.87079834e-03 9.36624667e-06 9.99988138e-01 -5.66014748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.521858064 meters 0.015040245931981371 Centerline is valid? [True, True] Translation: X:92.83, Y:-32.15, Z:-0.57 [[ 7.52201625e-01 6.58922136e-01 3.78591824e-03 9.28294528e+01] [-6.58913754e-01 7.52211153e-01 -3.32374175e-03 -3.21486572e+01] [-5.03789694e-03 5.53034356e-06 9.99987310e-01 -5.65789102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.551858064 meters 0.015020733255402674 Centerline is valid? [True, True] Translation: X:92.85, Y:-32.17, Z:-0.57 [[ 7.51940680e-01 6.59219438e-01 3.86611376e-03 9.28529123e+01] [-6.59210690e-01 7.51950618e-01 -3.39605105e-03 -3.21712577e+01] [-5.14586950e-03 5.04541705e-06 9.99986760e-01 -5.65018293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.581858064 meters 0.015010276003242359 Centerline is valid? [True, True] Translation: X:92.88, Y:-32.19, Z:-0.56 [[ 7.51803516e-01 6.59378361e-01 3.41332419e-03 9.28755120e+01] [-6.59371538e-01 7.51811264e-01 -2.99977425e-03 -3.21935086e+01] [-4.54416180e-03 4.59200686e-06 9.99989675e-01 -5.64554422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.611858064 meters 0.014934077973329268 Centerline is valid? [True, True] Translation: X:92.90, Y:-32.22, Z:-0.56 [[ 7.51609224e-01 6.59600942e-01 3.18946333e-03 9.28996832e+01] [-6.59594980e-01 7.51615991e-01 -2.80434008e-03 -3.22162052e+01] [-4.24699700e-03 4.01386843e-06 9.99990981e-01 -5.64553680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641858064 meters 0.014903199058351524 Centerline is valid? [True, True] Translation: X:92.92, Y:-32.24, Z:-0.57 [[ 7.51147051e-01 6.60127706e-01 3.08525135e-03 9.29228571e+01] [-6.60122126e-01 7.51153387e-01 -2.71418075e-03 -3.22380523e+01] [-4.10920292e-03 2.10619086e-06 9.99991557e-01 -5.65501643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.671858064 meters 0.014880606566498592 Centerline is valid? [True, True] Translation: X:92.95, Y:-32.26, Z:-0.57 [[ 7.50629500e-01 6.60716800e-01 2.94347269e-03 9.29472461e+01] [-6.60711721e-01 7.50635271e-01 -2.59065438e-03 -3.22600803e+01] [-3.92116329e-03 -1.65309664e-07 9.99992312e-01 -5.65855562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701858064 meters 0.014761753274139457 Centerline is valid? [True, True] Translation: X:92.97, Y:-32.28, Z:-0.57 [[ 7.50233209e-01 6.61165361e-01 3.24000583e-03 9.29715927e+01] [-6.61159204e-01 7.50240205e-01 -2.85342454e-03 -3.22816922e+01] [-4.31736811e-03 -1.42582756e-06 9.99990680e-01 -5.66301730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.731858064 meters 0.01473007553782655 Centerline is valid? [True, True] Translation: X:93.00, Y:-32.30, Z:-0.57 [[ 7.49316894e-01 6.62206422e-01 2.61669618e-03 9.29951953e+01] [-6.62202409e-01 7.49321463e-01 -2.30534567e-03 -3.23041745e+01] [-3.48736132e-03 -5.34806089e-06 9.99993919e-01 -5.67117515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.761858064 meters 0.014686677994021954 Centerline is valid? [True, True] Translation: X:93.02, Y:-32.33, Z:-0.57 [[ 7.48934951e-01 6.62640425e-01 2.02636172e-03 9.30194469e+01] [-6.62638018e-01 7.48937693e-01 -1.78578605e-03 -3.23267857e+01] [-2.70095270e-03 -5.30672817e-06 9.99996352e-01 -5.67902919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.791858064 meters 0.014684364689250155 Centerline is valid? [True, True] Translation: X:93.04, Y:-32.35, Z:-0.57 [[ 7.48413601e-01 6.63230601e-01 1.50069806e-03 9.30432926e+01] [-6.63229282e-01 7.48415105e-01 -1.32272480e-03 -3.23494836e+01] [-2.00041666e-03 -5.36166117e-06 9.99997999e-01 -5.68667824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.821858064 meters 0.014604500179090374 Centerline is valid? [True, True] Translation: X:93.07, Y:-32.37, Z:-0.57 [[ 7.47974884e-01 6.63724280e-01 1.91156039e-03 9.30660440e+01] [-6.63722137e-01 7.47977326e-01 -1.68645286e-03 -3.23719214e+01] [-2.54914354e-03 -7.32056142e-06 9.99996751e-01 -5.69529243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.851858064 meters 0.014576869268336493 Centerline is valid? [True, True] Translation: X:93.09, Y:-32.39, Z:-0.57 [[ 7.47753938e-01 6.63972893e-01 2.01117240e-03 9.30899590e+01] [-6.63970520e-01 7.47756643e-01 -1.77536933e-03 -3.23937122e+01] [-2.68266463e-03 -7.81977276e-06 9.99996402e-01 -5.69954049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.881858064 meters 0.014541567839419055 Centerline is valid? [True, True] Translation: X:93.11, Y:-32.42, Z:-0.57 [[ 7.47873774e-01 6.63837154e-01 2.24743901e-03 9.31138151e+01] [-6.63834186e-01 7.47877151e-01 -1.98512904e-03 -3.24157650e+01] [-2.99861070e-03 -7.30089962e-06 9.99995504e-01 -5.70897559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.911858064 meters 0.014424834176432958 Centerline is valid? [True, True] Translation: X:93.14, Y:-32.44, Z:-0.57 [[ 7.47901925e-01 6.63805271e-01 2.29606485e-03 9.31378789e+01] [-6.63802170e-01 7.47905450e-01 -2.02923657e-03 -3.24383254e+01] [-3.06425735e-03 -6.46289309e-06 9.99995305e-01 -5.71478574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.941858064 meters 0.014524093116004411 Centerline is valid? [True, True] Translation: X:93.16, Y:-32.46, Z:-0.57 [[ 7.49636649e-01 6.61845243e-01 2.40191675e-03 9.31590490e+01] [-6.61841834e-01 7.49640497e-01 -2.12409451e-03 -3.24629349e+01] [-3.20639591e-03 2.61010283e-06 9.99994859e-01 -5.72704258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.971858064 meters 0.01452874902565587 Centerline is valid? [True, True] Translation: X:93.18, Y:-32.49, Z:-0.57 [[ 7.50865395e-01 6.60450770e-01 2.43700730e-03 9.31814945e+01] [-6.60447251e-01 7.50869349e-01 -2.15614503e-03 -3.24870626e+01] [-3.25390173e-03 9.45991197e-06 9.99994706e-01 -5.72773002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001858064 meters 0.014672406513514386 Centerline is valid? [True, True] Translation: X:93.20, Y:-32.51, Z:-0.57 [[ 7.52228392e-01 6.58894731e-01 3.19057421e-03 9.32030573e+01] [-6.58888674e-01 7.52235158e-01 -2.82530875e-03 -3.25109461e+01] [-4.26164315e-03 2.30442487e-05 9.99990919e-01 -5.72754764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.031858064 meters 0.014865971920175983 Centerline is valid? [True, True] Translation: X:93.23, Y:-32.53, Z:-0.57 [[ 7.53627712e-01 6.57291814e-01 3.56975730e-03 9.32255306e+01] [-6.57284208e-01 7.53636165e-01 -3.16226609e-03 -3.25339362e+01] [-4.76882981e-03 3.68262554e-05 9.99988628e-01 -5.72509943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061858064 meters 0.014865971920175983 Centerline is valid? [True, True] Translation: X:93.25, Y:-32.56, Z:-0.57 [[ 7.53442821e-01 6.57503747e-01 3.56899847e-03 9.32497397e+01] [-6.57496140e-01 7.53451273e-01 -3.16312225e-03 -3.25554824e+01] [-4.76883117e-03 3.66290290e-05 9.99988628e-01 -5.72692065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09185806400001 meters 0.015319257420450115 Centerline is valid? [True, True] Translation: X:93.27, Y:-32.58, Z:-0.57 [[ 7.55919435e-01 6.54645345e-01 5.02799027e-03 9.32710236e+01] [-6.54630160e-01 7.55936152e-01 -4.45952506e-03 -3.25797786e+01] [-6.72024694e-03 7.95675841e-05 9.99977416e-01 -5.72466477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.121858064 meters 0.015382080583861212 Centerline is valid? [True, True] Translation: X:93.29, Y:-32.60, Z:-0.57 [[ 7.56969817e-01 6.53425685e-01 5.61882757e-03 9.32936749e+01] [-6.53406668e-01 7.56990663e-01 -4.98623030e-03 -3.26021583e+01] [-7.51153096e-03 1.03046437e-04 9.99971783e-01 -5.71961315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.151858064 meters 0.01581351305050233 Centerline is valid? [True, True] Translation: X:93.31, Y:-32.63, Z:-0.57 [[ 7.58430048e-01 6.51721526e-01 6.55091267e-03 9.33146802e+01] [-6.51695589e-01 7.58458326e-01 -5.81607300e-03 -3.26258659e+01] [-8.75905423e-03 1.41883630e-04 9.99961629e-01 -5.71181353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.181858064 meters 0.01610331388816526 Centerline is valid? [True, True] Translation: X:93.34, Y:-32.65, Z:-0.57 [[ 7.58631278e-01 6.51482740e-01 6.98743629e-03 9.33371329e+01] [-6.51453199e-01 7.58663440e-01 -6.20595804e-03 -3.26485494e+01] [-9.34418700e-03 1.56046151e-04 9.99956330e-01 -5.71249589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.211858064 meters 0.016022705523887033 Centerline is valid? [True, True] Translation: X:93.36, Y:-32.67, Z:-0.57 [[ 7.58512721e-01 6.51615821e-01 7.43464641e-03 9.33610349e+01] [-6.51582348e-01 7.58549137e-01 -6.60679879e-03 -3.26713727e+01] [-9.94463924e-03 1.67056557e-04 9.99950537e-01 -5.71115945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.241858064 meters 0.015898285968727225 Centerline is valid? [True, True] Translation: X:93.39, Y:-32.69, Z:-0.57 [[ 7.58166059e-01 6.52016779e-01 7.63853299e-03 9.33854729e+01] [-6.51981426e-01 7.58204518e-01 -6.79181448e-03 -3.26938140e+01] [-1.02199472e-02 1.69141583e-04 9.99947761e-01 -5.71452468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.271858064 meters 0.015722851662553 Centerline is valid? [True, True] Translation: X:93.41, Y:-32.72, Z:-0.57 [[ 7.57445079e-01 6.52852576e-01 7.77602544e-03 9.34096162e+01] [-6.52815944e-01 7.57484975e-01 -6.91775652e-03 -3.27153429e+01] [-1.04064976e-02 1.63507243e-04 9.99945838e-01 -5.72246227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.301858064 meters 0.015296327803041975 Centerline is valid? [True, True] Translation: X:93.43, Y:-32.74, Z:-0.57 [[ 7.55722088e-01 6.54847370e-01 7.68426469e-03 9.34347122e+01] [-6.54811677e-01 7.55761142e-01 -6.83848590e-03 -3.27361607e+01] [-1.02856332e-02 1.36248591e-04 9.99947092e-01 -5.74000556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.331858064 meters 0.01521929227109856 Centerline is valid? [True, True] Translation: X:93.46, Y:-32.76, Z:-0.57 [[ 7.54696869e-01 6.56030557e-01 7.51955974e-03 9.34578382e+01] [-6.55996416e-01 7.54734320e-01 -6.69389618e-03 -3.27565143e+01] [-1.00666703e-02 1.19058248e-04 9.99949323e-01 -5.74908682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.361858064 meters 0.015200191950619552 Centerline is valid? [True, True] Translation: X:93.48, Y:-32.78, Z:-0.57 [[ 7.53930237e-01 6.56910831e-01 7.57350866e-03 9.34804452e+01] [-6.56876212e-01 7.53968267e-01 -6.74497795e-03 -3.27775279e+01] [-1.01410343e-02 1.10385141e-04 9.99948572e-01 -5.74866404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.391858064 meters 0.014995058014514926 Centerline is valid? [True, True] Translation: X:93.50, Y:-32.80, Z:-0.57 [[ 7.52752018e-01 6.58252035e-01 8.28594509e-03 9.35046193e+01] [-6.58210637e-01 7.52797614e-01 -7.38307210e-03 -3.27992624e+01] [-1.10975619e-02 1.03725228e-04 9.99938415e-01 -5.74702923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421858064 meters 0.01503282547918016 Centerline is valid? [True, True] Translation: X:93.53, Y:-32.82, Z:-0.58 [[ 7.52442357e-01 6.58605275e-01 8.34218749e-03 9.35291741e+01] [-6.58563291e-01 7.52488593e-01 -7.43703324e-03 -3.28212110e+01] [-1.11754702e-02 1.02080368e-04 9.99937547e-01 -5.75155957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.451858064 meters 0.014994467785407006 Centerline is valid? [True, True] Translation: X:93.55, Y:-32.84, Z:-0.58 [[ 7.52277834e-01 6.58790885e-01 8.52237666e-03 9.35536586e+01] [-6.58747032e-01 7.52326099e-01 -7.60187959e-03 -3.28431917e+01] [-1.14196554e-02 1.04635178e-04 9.99934788e-01 -5.75859179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.481858064 meters 0.014948699347977736 Centerline is valid? [True, True] Translation: X:93.58, Y:-32.87, Z:-0.58 [[ 7.52858279e-01 6.58130886e-01 8.25519255e-03 9.35770655e+01] [-6.58089656e-01 7.52903529e-01 -7.36758427e-03 -3.28659476e+01] [-1.10641984e-02 1.14089986e-04 9.99938783e-01 -5.76682544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.511858064 meters 0.015501220238221383 Centerline is valid? [True, True] Translation: X:93.60, Y:-32.89, Z:-0.58 [[ 7.53422597e-01 6.57477793e-01 8.79446761e-03 9.35991688e+01] [-6.57430915e-01 7.53473911e-01 -7.85223015e-03 -3.28885027e+01] [-1.17890688e-02 1.34292744e-04 9.99930497e-01 -5.76363492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.541858064 meters 0.015400366590413318 Centerline is valid? [True, True] Translation: X:93.62, Y:-32.91, Z:-0.58 [[ 7.54069562e-01 6.56733131e-01 8.98280668e-03 9.36228672e+01] [-6.56684134e-01 7.54123048e-01 -8.02351785e-03 -3.29096247e+01] [-1.20434516e-02 1.51423964e-04 9.99927464e-01 -5.76869049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.571858064 meters 0.015525346893567339 Centerline is valid? [True, True] Translation: X:93.65, Y:-32.93, Z:-0.58 [[ 7.54892217e-01 6.55779510e-01 9.53807332e-03 9.36461163e+01] [-6.55724138e-01 7.54952450e-01 -8.52363985e-03 -3.29309945e+01] [-1.27904202e-02 1.80084474e-04 9.99918183e-01 -5.77597312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.601858064 meters 0.015984632060919837 Centerline is valid? [True, True] Translation: X:93.67, Y:-32.95, Z:-0.58 [[ 7.56292400e-01 6.54168331e-01 9.25204817e-03 9.36682027e+01] [-6.54116064e-01 7.56348962e-01 -8.27178717e-03 -3.29533693e+01] [-1.24089182e-02 2.03976445e-04 9.99922986e-01 -5.78376186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.631858064 meters 0.01616504693376233 Centerline is valid? [True, True] Translation: X:93.69, Y:-32.98, Z:-0.58 [[ 7.56993456e-01 6.53364370e-01 8.71245773e-03 9.36914640e+01] [-6.53317926e-01 7.57043563e-01 -7.79297627e-03 -3.29753052e+01] [-1.16873631e-02 2.07227232e-04 9.99931679e-01 -5.78649615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.661858064 meters 0.016552942732127575 Centerline is valid? [True, True] Translation: X:93.71, Y:-33.00, Z:-0.58 [[ 7.57466120e-01 6.52819562e-01 8.46734254e-03 9.37146962e+01] [-6.52775619e-01 7.57513415e-01 -7.57739133e-03 -3.29971193e+01] [-1.13607949e-02 2.12342446e-04 9.99935442e-01 -5.79176705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.691858064 meters 0.016859547105304226 Centerline is valid? [True, True] Translation: X:93.74, Y:-33.02, Z:-0.58 [[ 7.58233132e-01 6.51931787e-01 8.21354036e-03 9.37383783e+01] [-6.51890348e-01 7.58277585e-01 -7.35379570e-03 -3.30186799e+01] [-1.10223167e-02 2.21563868e-04 9.99939228e-01 -5.80056948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.721858064 meters 0.016951568862763028 Centerline is valid? [True, True] Translation: X:93.76, Y:-33.04, Z:-0.58 [[ 7.58302374e-01 6.51855533e-01 7.86594223e-03 9.37627345e+01] [-6.51817485e-01 7.58343140e-01 -7.04617106e-03 -3.30403055e+01] [-1.05581689e-02 2.15969566e-04 9.99944238e-01 -5.80338045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.751858064 meters 0.01718850791820532 Centerline is valid? [True, True] Translation: X:93.79, Y:-33.06, Z:-0.58 [[ 7.58282866e-01 6.51878402e-01 7.85137314e-03 9.37863872e+01] [-6.51840456e-01 7.58323481e-01 -7.03691269e-03 -3.30618299e+01] [-1.05410920e-02 2.18127679e-04 9.99944417e-01 -5.80762338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781858064 meters 0.017432257789654532 Centerline is valid? [True, True] Translation: X:93.81, Y:-33.08, Z:-0.58 [[ 7.58471900e-01 6.51668345e-01 6.98175290e-03 9.38114118e+01] [-6.51638301e-01 7.58504007e-01 -6.26060673e-03 -3.30836173e+01] [-9.37552677e-03 1.98916686e-04 9.99956029e-01 -5.82457285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.811858064 meters 0.01773527526322515 Centerline is valid? [True, True] Translation: X:93.84, Y:-33.10, Z:-0.58 [[ 7.58466308e-01 6.51679440e-01 6.53965692e-03 9.38355127e+01] [-6.51653056e-01 7.58494477e-01 -5.86717454e-03 -3.31049556e+01] [-8.78381067e-03 1.88466790e-04 9.99961404e-01 -5.83428702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84185806400001 meters 0.017287365006012273 Centerline is valid? [True, True] Translation: X:93.86, Y:-33.13, Z:-0.58 [[ 7.58350323e-01 6.51818745e-01 6.09190990e-03 9.38605782e+01] [-6.51795831e-01 7.58374771e-01 -5.46820135e-03 -3.31255693e+01] [-8.18422691e-03 1.76130788e-04 9.99966493e-01 -5.84328958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.871858064 meters 0.017473620152043855 Centerline is valid? [True, True] Translation: X:93.88, Y:-33.15, Z:-0.58 [[ 7.58473453e-01 6.51676378e-01 5.99331540e-03 9.38847483e+01] [-6.51654172e-01 7.58497111e-01 -5.38264602e-03 -3.31473469e+01] [-8.05365567e-03 1.77025125e-04 9.99967553e-01 -5.84553710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.901858064 meters 0.017924595503108987 Centerline is valid? [True, True] Translation: X:93.91, Y:-33.17, Z:-0.58 [[ 7.58980294e-01 6.51081838e-01 6.43064182e-03 9.39071636e+01] [-6.51056225e-01 7.59007510e-01 -5.77853714e-03 -3.31683665e+01] [-8.64320602e-03 1.99086433e-04 9.99962627e-01 -5.83809540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.931858064 meters 0.01835876518925571 Centerline is valid? [True, True] Translation: X:93.93, Y:-33.19, Z:-0.58 [[ 7.59125987e-01 6.50911683e-01 6.45888709e-03 9.39304005e+01] [-6.50885815e-01 7.59153436e-01 -5.80664046e-03 -3.31900713e+01] [-8.68289644e-03 2.03973680e-04 9.99962282e-01 -5.83447182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.961858064 meters 0.01855158951728579 Centerline is valid? [True, True] Translation: X:93.95, Y:-33.21, Z:-0.58 [[ 7.59156045e-01 6.50877690e-01 6.35072399e-03 9.39549588e+01] [-6.50852655e-01 7.59182581e-01 -5.71233032e-03 -3.32118590e+01] [-8.53938739e-03 2.03164522e-04 9.99963518e-01 -5.83957529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.991858064 meters 0.018064351741016595 Centerline is valid? [True, True] Translation: X:93.98, Y:-33.23, Z:-0.58 [[ 7.59413207e-01 6.50579462e-01 6.15992415e-03 9.39799331e+01] [-6.50555875e-01 7.59438163e-01 -5.54352833e-03 -3.32321027e+01] [-8.28458716e-03 2.02453785e-04 9.99965662e-01 -5.84614438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.021858064 meters 0.018646740702983913 Centerline is valid? [True, True] Translation: X:94.00, Y:-33.25, Z:-0.58 [[ 7.59910084e-01 6.49996913e-01 6.37786270e-03 9.40029689e+01] [-6.49971583e-01 7.59936817e-01 -5.74241443e-03 -3.32523971e+01] [-8.57932433e-03 2.18289117e-04 9.99963173e-01 -5.84555354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.051858064 meters 0.017901815031620884 Centerline is valid? [True, True] Translation: X:94.03, Y:-33.27, Z:-0.58 [[ 7.59837294e-01 6.50082143e-01 6.36350422e-03 9.40289629e+01] [-6.50056906e-01 7.59863909e-01 -5.73226355e-03 -3.32722870e+01] [-8.56183936e-03 2.18947764e-04 9.99963323e-01 -5.84625319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.081858064 meters 0.017552826623840324 Centerline is valid? [True, True] Translation: X:94.05, Y:-33.29, Z:-0.59 [[ 7.59864380e-01 6.50047582e-01 6.65313928e-03 9.40547666e+01] [-6.50019963e-01 7.59893471e-01 -5.99666122e-03 -3.32925460e+01] [-8.95379223e-03 2.31975911e-04 9.99959887e-01 -5.85274580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.111858064 meters 0.01851681433134017 Centerline is valid? [True, True] Translation: X:94.08, Y:-33.31, Z:-0.59 [[ 7.59607774e-01 6.50347973e-01 6.59878167e-03 9.40777969e+01] [-6.50320786e-01 7.59636401e-01 -5.95097257e-03 -3.33149140e+01] [-8.88287771e-03 2.29080149e-04 9.99960520e-01 -5.85334891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141858064 meters 0.018368785490332808 Centerline is valid? [True, True] Translation: X:94.10, Y:-33.34, Z:-0.59 [[ 7.59426699e-01 6.50567659e-01 5.72800138e-03 9.41031339e+01] [-6.50547160e-01 7.59448275e-01 -5.16819287e-03 -3.33356621e+01] [-7.71237990e-03 1.98528619e-04 9.99970239e-01 -5.86409682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.171858064 meters 0.018598452585889227 Centerline is valid? [True, True] Translation: X:94.13, Y:-33.36, Z:-0.59 [[ 7.59001670e-01 6.51066749e-01 5.34346529e-03 9.41264424e+01] [-6.51048907e-01 7.59020458e-01 -4.82345372e-03 -3.33566322e+01] [-7.19618981e-03 1.82152191e-04 9.99974090e-01 -5.86795603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201858064 meters 0.018762513672459808 Centerline is valid? [True, True] Translation: X:94.15, Y:-33.38, Z:-0.59 [[ 7.58716586e-01 6.51401952e-01 4.96387447e-03 9.41507416e+01] [-6.51386553e-01 7.58732805e-01 -4.48211503e-03 -3.33772872e+01] [-6.68591288e-03 1.67253931e-04 9.99977635e-01 -5.87495711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.231858064 meters 0.018174540666234043 Centerline is valid? [True, True] Translation: X:94.18, Y:-33.40, Z:-0.59 [[ 7.57835801e-01 6.52431984e-01 4.17187454e-03 9.41773804e+01] [-6.52421114e-01 7.57847272e-01 -3.76857945e-03 -3.33961735e+01] [-5.62038550e-03 1.34145392e-04 9.99984197e-01 -5.88936111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.261858064 meters 0.017555449489271225 Centerline is valid? [True, True] Translation: X:94.20, Y:-33.42, Z:-0.59 [[ 7.57302638e-01 6.53052281e-01 3.92851365e-03 9.42031366e+01] [-6.53042642e-01 7.57312817e-01 -3.55032592e-03 -3.34161678e+01] [-5.29366218e-03 1.23184252e-04 9.99985981e-01 -5.89815879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.291858064 meters 0.01707640886008523 Centerline is valid? [True, True] Translation: X:94.23, Y:-33.44, Z:-0.59 [[ 7.56666957e-01 6.53790770e-01 3.57012142e-03 9.42280088e+01] [-6.53782811e-01 7.56675371e-01 -3.22783284e-03 -3.34358342e+01] [-4.81175027e-03 1.08310433e-04 9.99988418e-01 -5.90212203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.321858064 meters 0.01741024769602185 Centerline is valid? [True, True] Translation: X:94.25, Y:-33.46, Z:-0.59 [[ 7.56220667e-01 6.54307679e-01 3.42998693e-03 9.42511411e+01] [-6.54300330e-01 7.56228439e-01 -3.10262494e-03 -3.34561565e+01] [-4.62392498e-03 1.02027518e-04 9.99989304e-01 -5.90064191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.351858064 meters 0.017317165337979407 Centerline is valid? [True, True] Translation: X:94.28, Y:-33.48, Z:-0.59 [[ 7.55520359e-01 6.55113664e-01 3.88250178e-03 9.42765217e+01] [-6.55104250e-01 7.55530327e-01 -3.51377718e-03 -3.34761587e+01] [-5.23527129e-03 1.11286776e-04 9.99986290e-01 -5.89837288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.381858064 meters 0.017487423079297605 Centerline is valid? [True, True] Translation: X:94.30, Y:-33.50, Z:-0.59 [[ 7.55314616e-01 6.55348890e-01 4.20272843e-03 9.43003078e+01] [-6.55337852e-01 7.55326299e-01 -3.80557686e-03 -3.34970646e+01] [-5.66841189e-03 1.20200805e-04 9.99983927e-01 -5.89758684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.411858064 meters 0.017260633404109563 Centerline is valid? [True, True] Translation: X:94.33, Y:-33.52, Z:-0.59 [[ 7.55161435e-01 6.55523538e-01 4.48298842e-03 9.43255234e+01] [-6.55510968e-01 7.55174731e-01 -4.06157813e-03 -3.35183648e+01] [-6.04789964e-03 1.28499092e-04 9.99981703e-01 -5.89444380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.441858064 meters 0.016945595663131 Centerline is valid? [True, True] Translation: X:94.35, Y:-33.54, Z:-0.59 [[ 7.55158827e-01 6.55522842e-01 4.99491168e-03 9.43506876e+01] [-6.55507219e-01 7.55175332e-01 -4.52811821e-03 -3.35391482e+01] [-6.74031901e-03 1.45247776e-04 9.99977273e-01 -5.89130222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.471858064 meters 0.01688722537207402 Centerline is valid? [True, True] Translation: X:94.38, Y:-33.56, Z:-0.59 [[ 7.55181988e-01 6.55490836e-01 5.65068655e-03 9.43762092e+01] [-6.55470815e-01 7.55203110e-01 -5.12576649e-03 -3.35605062e+01] [-7.62730902e-03 1.67026406e-04 9.99970898e-01 -5.88599807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501858064 meters 0.017009258638231516 Centerline is valid? [True, True] Translation: X:94.40, Y:-33.58, Z:-0.59 [[ 7.55117045e-01 6.55566695e-01 5.52773191e-03 9.44006141e+01] [-6.55547518e-01 7.55137260e-01 -5.01702040e-03 -3.35825506e+01] [-7.46318781e-03 1.64746686e-04 9.99972136e-01 -5.88648481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.531858064 meters 0.017499118614983853 Centerline is valid? [True, True] Translation: X:94.42, Y:-33.60, Z:-0.59 [[ 7.55170449e-01 6.55508155e-01 5.16247873e-03 9.44248015e+01] [-6.55491410e-01 7.55188079e-01 -4.68797129e-03 -3.36041148e+01] [-6.97164580e-03 1.56256921e-04 9.99975686e-01 -5.89240198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561858064 meters 0.016907002720995615 Centerline is valid? [True, True] Translation: X:94.45, Y:-33.62, Z:-0.59 [[ 7.54942195e-01 6.55773590e-01 4.82493787e-03 9.44503027e+01] [-6.55758955e-01 7.54957600e-01 -4.38364486e-03 -3.36247290e+01] [-6.51730204e-03 1.45402260e-04 9.99978752e-01 -5.90051482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59185806400001 meters 0.01788316379103881 Centerline is valid? [True, True] Translation: X:94.47, Y:-33.65, Z:-0.59 [[ 7.54554598e-01 6.56221758e-01 4.51256491e-03 9.44723682e+01] [-6.56208951e-01 7.54568079e-01 -4.10199729e-03 -3.36468580e+01] [-6.09685731e-03 1.33995428e-04 9.99981405e-01 -5.90641672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.621858064 meters 0.017092220560298424 Centerline is valid? [True, True] Translation: X:94.50, Y:-33.67, Z:-0.59 [[ 7.54215709e-01 6.56613860e-01 4.11138881e-03 9.44985599e+01] [-6.56603226e-01 7.54226905e-01 -3.73887670e-03 -3.36672402e+01] [-5.55591832e-03 1.20368383e-04 9.99984559e-01 -5.91249218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.651858064 meters 0.017073530610791202 Centerline is valid? [True, True] Translation: X:94.52, Y:-33.69, Z:-0.59 [[ 7.53605125e-01 6.57318323e-01 3.45520065e-03 9.45234523e+01] [-6.57310813e-01 7.53613039e-01 -3.14360841e-03 -3.36871797e+01] [-4.67023567e-03 9.78986591e-05 9.99989090e-01 -5.91904320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.681858064 meters 0.016932361621949044 Centerline is valid? [True, True] Translation: X:94.55, Y:-33.71, Z:-0.59 [[ 7.53404516e-01 6.57549932e-01 3.11793530e-03 9.45482913e+01] [-6.57543814e-01 7.53410963e-01 -2.83789108e-03 -3.37084782e+01] [-4.21514173e-03 8.79008890e-05 9.99991112e-01 -5.92385873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.711858064 meters 0.017262729780440682 Centerline is valid? [True, True] Translation: X:94.57, Y:-33.73, Z:-0.59 [[ 7.53453703e-01 6.57494281e-01 2.96456709e-03 9.45721943e+01] [-6.57488743e-01 7.53459530e-01 -2.69974044e-03 -3.37301324e+01] [-4.00874522e-03 8.49599434e-05 9.99991961e-01 -5.92536279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.741858064 meters 0.01674529921707538 Centerline is valid? [True, True] Translation: X:94.60, Y:-33.75, Z:-0.59 [[ 7.53602803e-01 6.57324527e-01 2.69826865e-03 9.45978838e+01] [-6.57319935e-01 7.53607630e-01 -2.45826014e-03 -3.37515042e+01] [-3.64931052e-03 7.89259558e-05 9.99993338e-01 -5.92514522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.771858064 meters 0.01739988696106919 Centerline is valid? [True, True] Translation: X:94.62, Y:-33.77, Z:-0.59 [[ 7.55082302e-01 6.55622910e-01 3.05252441e-03 9.46201680e+01] [-6.55617010e-01 7.55088465e-01 -2.78318944e-03 -3.37728398e+01] [-4.12964873e-03 1.00250166e-04 9.99991468e-01 -5.92491324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.801858064 meters 0.018416306089996618 Centerline is valid? [True, True] Translation: X:94.64, Y:-33.80, Z:-0.59 [[ 7.55811922e-01 6.54780595e-01 3.27265207e-03 9.46422341e+01] [-6.54773803e-01 7.55818999e-01 -2.98458068e-03 -3.37951179e+01] [-4.42777813e-03 1.12934819e-04 9.99990191e-01 -5.93041280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.831858064 meters 0.018823927922667655 Centerline is valid? [True, True] Translation: X:94.67, Y:-33.82, Z:-0.59 [[ 7.56439880e-01 6.54055815e-01 3.11429542e-03 9.46655775e+01] [-6.54049653e-01 7.56446282e-01 -2.84138773e-03 -3.38164542e+01] [-4.21422336e-03 1.12435160e-04 9.99991114e-01 -5.93312616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861858064 meters 0.02032623011954791 Centerline is valid? [True, True] Translation: X:94.69, Y:-33.84, Z:-0.59 [[ 7.57285276e-01 6.53074969e-01 3.47783666e-03 9.46876903e+01] [-6.53067266e-01 7.57293251e-01 -3.17471299e-03 -3.38376105e+01] [-4.70706782e-03 1.32902124e-04 9.99988913e-01 -5.93704405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.891858064 meters 0.018528855279080953 Centerline is valid? [True, True] Translation: X:94.71, Y:-33.86, Z:-0.59 [[ 7.57171664e-01 6.53208811e-01 3.05282886e-03 9.47147476e+01] [-6.53202874e-01 7.57177810e-01 -2.78742988e-03 -3.38566919e+01] [-4.13230803e-03 1.16446339e-04 9.99991455e-01 -5.94252095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921858064 meters 0.01915622295715316 Centerline is valid? [True, True] Translation: X:94.74, Y:-33.88, Z:-0.59 [[ 7.56868333e-01 6.53559561e-01 3.19794239e-03 9.47376458e+01] [-6.53553041e-01 7.56875080e-01 -2.92170441e-03 -3.38782389e+01] [-4.32995075e-03 1.21320575e-04 9.99990618e-01 -5.94769385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.951858064 meters 0.01915622295715316 Centerline is valid? [True, True] Translation: X:94.76, Y:-33.90, Z:-0.59 [[ 7.56689387e-01 6.53766740e-01 3.19719216e-03 9.47615302e+01] [-6.53760219e-01 7.56696131e-01 -2.92252509e-03 -3.39001734e+01] [-4.32995264e-03 1.21246673e-04 9.99990618e-01 -5.94951625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.981858064 meters 0.018759133899611657 Centerline is valid? [True, True] Translation: X:94.79, Y:-33.92, Z:-0.59 [[ 7.56097131e-01 6.54452097e-01 3.09537583e-03 9.47859744e+01] [-6.54445984e-01 7.56103458e-01 -2.83100789e-03 -3.39208333e+01] [-4.19318342e-03 1.14760660e-04 9.99991202e-01 -5.94995547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.011858064 meters 0.018651070476022266 Centerline is valid? [True, True] Translation: X:94.81, Y:-33.94, Z:-0.60 [[ 7.54817788e-01 6.55927963e-01 2.93502512e-03 9.48104458e+01] [-6.55922473e-01 7.54823487e-01 -2.68556265e-03 -3.39409669e+01] [-3.97696153e-03 1.01961519e-04 9.99992087e-01 -5.95202121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.041858064 meters 0.018230628467644186 Centerline is valid? [True, True] Translation: X:94.84, Y:-33.96, Z:-0.60 [[ 7.53806669e-01 6.57091339e-01 2.54537450e-03 9.48350334e+01] [-6.57087213e-01 7.53810961e-01 -2.32990896e-03 -3.39613204e+01] [-3.44969419e-03 8.37678738e-05 9.99994046e-01 -5.95797679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.071858064 meters 0.018122860839976936 Centerline is valid? [True, True] Translation: X:94.86, Y:-33.98, Z:-0.60 [[ 7.52507451e-01 6.58580072e-01 2.19674065e-03 9.48589834e+01] [-6.58577002e-01 7.52510654e-01 -2.01187078e-03 -3.39816477e+01] [-2.97804875e-03 6.72248778e-05 9.99995563e-01 -5.96536012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.101858064 meters 0.017136121103747737 Centerline is valid? [True, True] Translation: X:94.89, Y:-34.00, Z:-0.60 [[ 7.49685268e-01 6.61792843e-01 1.49415652e-03 9.48853247e+01] [-6.61791430e-01 7.49686756e-01 -1.36797252e-03 -3.40005102e+01] [-2.02546378e-03 3.67288668e-05 9.99997948e-01 -5.98029026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.131858064 meters 0.016352267482949837 Centerline is valid? [True, True] Translation: X:94.91, Y:-34.02, Z:-0.60 [[ 7.48101766e-01 6.63582986e-01 1.16970222e-03 9.49111366e+01] [-6.63582122e-01 7.48102680e-01 -1.07099917e-03 -3.40203860e+01] [-1.58575419e-03 2.50228929e-05 9.99998742e-01 -5.98142212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.161858064 meters 0.015917273152045212 Centerline is valid? [True, True] Translation: X:94.94, Y:-34.04, Z:-0.60 [[ 7.46465023e-01 6.65423574e-01 1.19864713e-03 9.49356086e+01] [-6.65422668e-01 7.46465985e-01 -1.09808220e-03 -3.40407047e+01] [-1.62543909e-03 2.20729837e-05 9.99998679e-01 -5.98529008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.191858064 meters 0.015525314382907565 Centerline is valid? [True, True] Translation: X:94.96, Y:-34.06, Z:-0.60 [[ 7.44122983e-01 6.68041665e-01 1.14915120e-03 9.49607950e+01] [-6.68040835e-01 7.44123870e-01 -1.05317086e-03 -3.40607006e+01] [-1.55867285e-03 1.60087118e-05 9.99998785e-01 -5.98185925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.221858064 meters 0.015722503424147074 Centerline is valid? [True, True] Translation: X:94.98, Y:-34.08, Z:-0.60 [[ 7.43214378e-01 6.69052202e-01 1.24063989e-03 9.49836757e+01] [-6.69051235e-01 7.43215413e-01 -1.13782660e-03 -3.40821656e+01] [-1.68332808e-03 1.55974407e-05 9.99998583e-01 -5.98548346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.251858064 meters 0.01553182422980387 Centerline is valid? [True, True] Translation: X:95.01, Y:-34.10, Z:-0.60 [[ 7.42374068e-01 6.69983531e-01 1.67676495e-03 9.50080659e+01] [-6.69981764e-01 7.42375961e-01 -1.53908288e-03 -3.41036061e+01] [-2.27595017e-03 1.91732763e-05 9.99997410e-01 -5.98025908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281858064 meters 0.015431361182292769 Centerline is valid? [True, True] Translation: X:95.03, Y:-34.12, Z:-0.60 [[ 7.41458699e-01 6.70994055e-01 2.44454247e-03 9.50305150e+01] [-6.70990297e-01 7.41462729e-01 -2.24571615e-03 -3.41244500e+01] [-3.31939931e-03 2.48414977e-05 9.99994490e-01 -5.97046474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.311858064 meters 0.015384628529798255 Centerline is valid? [True, True] Translation: X:95.05, Y:-34.15, Z:-0.60 [[ 7.41007224e-01 6.71492180e-01 2.55870473e-03 9.50540236e+01] [-6.71488063e-01 7.41011641e-01 -2.35153337e-03 -3.41468919e+01] [-3.47506626e-03 2.43635305e-05 9.99993962e-01 -5.96869666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34185806400001 meters 0.015214789301159656 Centerline is valid? [True, True] Translation: X:95.08, Y:-34.17, Z:-0.60 [[ 7.40641330e-01 6.71893798e-01 3.02380538e-03 9.50781686e+01] [-6.71888045e-01 7.40647502e-01 -2.78077158e-03 -3.41690219e+01] [-4.10795708e-03 2.78956798e-05 9.99991562e-01 -5.96613651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.371858064 meters 0.01532485528501 Centerline is valid? [True, True] Translation: X:95.10, Y:-34.19, Z:-0.60 [[ 7.40550391e-01 6.71993051e-01 3.23387099e-03 9.51017886e+01] [-6.71986463e-01 7.40557451e-01 -2.97570673e-03 -3.41920750e+01] [-4.39452150e-03 3.05432499e-05 9.99990344e-01 -5.96792507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.401858064 meters 0.015313081546181488 Centerline is valid? [True, True] Translation: X:95.13, Y:-34.22, Z:-0.60 [[ 7.40556294e-01 6.71987646e-01 2.99654418e-03 9.51258592e+01] [-6.71981984e-01 7.40562355e-01 -2.75866317e-03 -3.42150986e+01] [-4.07291538e-03 2.93216659e-05 9.99991705e-01 -5.97322817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.431858064 meters 0.015305199839204711 Centerline is valid? [True, True] Translation: X:95.15, Y:-34.24, Z:-0.60 [[ 7.40609181e-01 6.71929592e-01 2.94360877e-03 9.51498639e+01] [-6.71924122e-01 7.40615030e-01 -2.71134413e-03 -3.42382481e+01] [-4.00191325e-03 3.01646181e-05 9.99991992e-01 -5.97953482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.461858064 meters 0.015461850192659865 Centerline is valid? [True, True] Translation: X:95.17, Y:-34.26, Z:-0.60 [[ 7.40726243e-01 6.71802149e-01 2.55071743e-03 9.51730566e+01] [-6.71798038e-01 7.40730634e-01 -2.35045149e-03 -3.42613339e+01] [-3.46843290e-03 2.74741351e-05 9.99993985e-01 -5.98516365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.491858064 meters 0.01577197223528485 Centerline is valid? [True, True] Translation: X:95.19, Y:-34.28, Z:-0.60 [[ 7.41826558e-01 6.70589436e-01 1.77934013e-03 9.51938922e+01] [-6.70587431e-01 7.41828691e-01 -1.64012776e-03 -3.42846934e+01] [-2.41981791e-03 2.34872002e-05 9.99997072e-01 -5.99037104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.521858064 meters 0.015819406818836198 Centerline is valid? [True, True] Translation: X:95.22, Y:-34.31, Z:-0.60 [[ 7.42246564e-01 6.70125848e-01 1.17766733e-03 9.52166089e+01] [-6.70124969e-01 7.42247498e-01 -1.08534270e-03 -3.43073578e+01] [-1.60143683e-03 1.64076120e-05 9.99998718e-01 -5.99534796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.551858064 meters 0.015654516030822033 Centerline is valid? [True, True] Translation: X:95.24, Y:-34.33, Z:-0.60 [[ 7.42792833e-01 6.69521017e-01 6.44736004e-04 9.52396064e+01] [-6.69520754e-01 7.42793113e-01 -5.93584558e-04 -3.43295838e+01] [-8.76322800e-04 9.24621984e-06 9.99999616e-01 -5.99825487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.581858064 meters 0.015803003345233255 Centerline is valid? [True, True] Translation: X:95.26, Y:-34.35, Z:-0.60 [[ 7.43518967e-01 6.68714725e-01 4.02758477e-04 9.52616186e+01] [-6.68714622e-01 7.43519077e-01 -3.70287077e-04 -3.43524528e+01] [-5.47075032e-04 5.98498291e-06 9.99999850e-01 -6.00071177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.611858064 meters 0.016433981733307783 Centerline is valid? [True, True] Translation: X:95.28, Y:-34.38, Z:-0.60 [[ 7.45743398e-01 6.66233267e-01 1.35462367e-04 9.52811956e+01] [-6.66233256e-01 7.45743410e-01 -1.23501476e-04 -3.43765569e+01] [-1.83300959e-04 1.85087703e-06 9.99999983e-01 -5.99758798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641858064 meters 0.018233108001762675 Centerline is valid? [True, True] Translation: X:95.30, Y:-34.40, Z:-0.60 [[ 7.46833301e-01 6.65011189e-01 3.71273755e-04 9.53006690e+01] [-6.65011101e-01 7.46833394e-01 -3.42316802e-04 -3.44014492e+01] [-5.04924142e-04 8.75241890e-06 9.99999872e-01 -6.00417736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.671858064 meters 0.017282381929384916 Centerline is valid? [True, True] Translation: X:95.32, Y:-34.42, Z:-0.60 [[ 7.47798480e-01 6.63925423e-01 6.82468767e-04 9.53246217e+01] [-6.63925125e-01 7.47798791e-01 -6.29659005e-04 -3.44221932e+01] [-9.28395940e-04 1.77498856e-05 9.99999569e-01 -5.99600725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701858064 meters 0.01720298256172486 Centerline is valid? [True, True] Translation: X:95.35, Y:-34.44, Z:-0.60 [[ 7.49621641e-01 6.61865163e-01 1.37871314e-03 9.53468026e+01] [-6.61863937e-01 7.49622908e-01 -1.27481450e-03 -3.44448734e+01] [-1.87727026e-03 4.31080288e-05 9.99998237e-01 -5.98635913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.731858064 meters 0.01765066464065156 Centerline is valid? [True, True] Translation: X:95.37, Y:-34.47, Z:-0.60 [[ 7.50287254e-01 6.61110256e-01 1.50536152e-03 9.53678730e+01] [-6.61108792e-01 7.50288763e-01 -1.39205200e-03 -3.44672562e+01] [-2.04975569e-03 4.92311309e-05 9.99997898e-01 -5.98602647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.761858064 meters 0.018000429025758297 Centerline is valid? [True, True] Translation: X:95.39, Y:-34.49, Z:-0.60 [[ 7.50548458e-01 6.60813885e-01 1.42153096e-03 9.53892559e+01] [-6.60812579e-01 7.50549803e-01 -1.31480371e-03 -3.44903952e+01] [-1.93577033e-03 4.74583551e-05 9.99998125e-01 -5.98600071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.791858064 meters 0.018366820072782016 Centerline is valid? [True, True] Translation: X:95.41, Y:-34.51, Z:-0.60 [[ 7.50557437e-01 6.60804189e-01 1.16525276e-03 9.54112866e+01] [-6.60803311e-01 7.50558341e-01 -1.07776784e-03 -3.45132310e+01] [-1.58678368e-03 3.89237868e-05 9.99998740e-01 -5.98594598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.821858064 meters 0.01798513721881623 Centerline is valid? [True, True] Translation: X:95.43, Y:-34.54, Z:-0.60 [[ 7.50118999e-01 6.61302265e-01 8.95122381e-04 9.54345407e+01] [-6.61301748e-01 7.50119532e-01 -8.27980889e-04 -3.45351208e+01] [-1.21899442e-03 2.91382004e-05 9.99999257e-01 -5.99287824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.851858064 meters 0.0182029239160165 Centerline is valid? [True, True] Translation: X:95.46, Y:-34.56, Z:-0.60 [[ 7.49479564e-01 6.62027314e-01 4.67653307e-04 9.54567502e+01] [-6.62027173e-01 7.49479710e-01 -4.32029486e-04 -3.45565846e+01] [-6.36511984e-04 1.41980740e-05 9.99999797e-01 -5.99783087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.881858064 meters 0.017604019162299287 Centerline is valid? [True, True] Translation: X:95.48, Y:-34.58, Z:-0.60 [[ 7.48557961e-01 6.63069311e-01 2.60622152e-04 9.54811139e+01] [-6.63069268e-01 7.48558006e-01 -2.39980072e-04 -3.45777447e+01] [-3.54214220e-04 6.82845362e-06 9.99999937e-01 -6.00003574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.911858064 meters 0.017306342775741137 Centerline is valid? [True, True] Translation: X:95.50, Y:-34.60, Z:-0.60 [[ 7.46108838e-01 6.65823955e-01 2.51657737e-04 9.55043348e+01] [-6.65823914e-01 7.46108880e-01 -2.31912650e-04 -3.45983654e+01] [-3.42177070e-04 5.47233820e-06 9.99999941e-01 -6.00808200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.941858064 meters 0.016513120313170038 Centerline is valid? [True, True] Translation: X:95.53, Y:-34.62, Z:-0.60 [[ 7.44581570e-01 6.67531425e-01 2.88739213e-04 9.55294050e+01] [-6.67531372e-01 7.44581626e-01 -2.66310464e-04 -3.46189452e+01] [-3.92760516e-04 5.54738075e-06 9.99999923e-01 -6.00529514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.971858064 meters 0.016197679825119455 Centerline is valid? [True, True] Translation: X:95.55, Y:-34.64, Z:-0.60 [[ 7.43110322e-01 6.69168893e-01 2.05042163e-04 9.55531299e+01] [-6.69168867e-01 7.43110350e-01 -1.88673073e-04 -3.46399668e+01] [-2.78623105e-04 2.99707625e-06 9.99999961e-01 -6.01055051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001858064 meters 0.016040936603019973 Centerline is valid? [True, True] Translation: X:95.58, Y:-34.66, Z:-0.60 [[ 7.41804219e-01 6.70616426e-01 3.31626094e-04 9.55759717e+01] [-6.70616356e-01 7.41804293e-01 -3.06587761e-04 -3.46607640e+01] [-4.51604449e-04 5.03421164e-06 9.99999898e-01 -6.01247620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.031858064 meters 0.01570224575560957 Centerline is valid? [True, True] Translation: X:95.60, Y:-34.68, Z:-0.60 [[ 7.39852707e-01 6.72768785e-01 3.64299972e-04 9.55996680e+01] [-6.72768701e-01 7.39852797e-01 -3.37015945e-04 -3.46816919e+01] [-4.96262162e-04 4.25254039e-06 9.99999877e-01 -6.01052381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061858064 meters 0.015488505185069551 Centerline is valid? [True, True] Translation: X:95.62, Y:-34.70, Z:-0.60 [[ 7.38970593e-01 6.73737170e-01 8.29673651e-04 9.56233552e+01] [-6.73736730e-01 7.38971059e-01 -7.70250765e-04 -3.47034245e+01] [-1.13205139e-03 1.02110525e-05 9.99999359e-01 -6.00786152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09185806400001 meters 0.015210823526249565 Centerline is valid? [True, True] Translation: X:95.65, Y:-34.72, Z:-0.60 [[ 7.38234943e-01 6.74541619e-01 1.66532686e-03 9.56476770e+01] [-6.74539841e-01 7.38236821e-01 -1.54860581e-03 -3.47247171e+01] [-2.27400468e-03 1.99056031e-05 9.99997414e-01 -6.00095493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.121858064 meters 0.015231446400142071 Centerline is valid? [True, True] Translation: X:95.67, Y:-34.75, Z:-0.60 [[ 7.37004501e-01 6.75884265e-01 2.19670582e-03 9.56701991e+01] [-6.75881174e-01 7.37007774e-01 -2.04443092e-03 -3.47462481e+01] [-3.00078796e-03 2.20426776e-05 9.99995497e-01 -5.99352176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.151858064 meters 0.015111236185598282 Centerline is valid? [True, True] Translation: X:95.69, Y:-34.77, Z:-0.60 [[ 7.36287191e-01 6.76664522e-01 2.50953390e-03 9.56946693e+01] [-6.76660487e-01 7.36291467e-01 -2.33674515e-03 -3.47677138e+01] [-3.42894094e-03 2.24130906e-05 9.99994121e-01 -5.99528314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.181858064 meters 0.015054402907099515 Centerline is valid? [True, True] Translation: X:95.72, Y:-34.79, Z:-0.60 [[ 7.35720669e-01 6.77281356e-01 2.25001402e-03 9.57186220e+01] [-6.77278113e-01 7.35724109e-01 -2.09604786e-03 -3.47899782e+01] [-3.07500370e-03 1.82204839e-05 9.99995272e-01 -5.99991758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.211858064 meters 0.015120622394466097 Centerline is valid? [True, True] Translation: X:95.74, Y:-34.81, Z:-0.60 [[ 7.35022087e-01 6.78041385e-01 1.55270719e-03 9.57426566e+01] [-6.78039842e-01 7.35023727e-01 -1.44660400e-03 -3.48123163e+01] [-2.12213401e-03 1.04885511e-05 9.99997748e-01 -6.02088812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.241858064 meters 0.015168138171189992 Centerline is valid? [True, True] Translation: X:95.77, Y:-34.84, Z:-0.60 [[ 7.34706124e-01 6.78384307e-01 1.28202144e-03 9.57666217e+01] [-6.78383255e-01 7.34707242e-01 -1.19471194e-03 -3.48350251e+01] [-1.75238427e-03 8.06030185e-06 9.99998465e-01 -6.03064333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.271858064 meters 0.015109513559493163 Centerline is valid? [True, True] Translation: X:95.79, Y:-34.86, Z:-0.60 [[ 7.34725105e-01 6.78364209e-01 1.01020276e-03 9.57900684e+01] [-6.78363555e-01 7.34725800e-01 -9.41476727e-04 -3.48577265e+01] [-1.38088614e-03 6.44185246e-06 9.99999047e-01 -6.03497075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.301858064 meters 0.015258076291133394 Centerline is valid? [True, True] Translation: X:95.81, Y:-34.88, Z:-0.60 [[ 7.35093278e-01 6.77965624e-01 6.96532925e-04 9.58134555e+01] [-6.77965313e-01 7.35093608e-01 -6.48838069e-04 -3.48809741e+01] [-9.51906807e-04 4.73134022e-06 9.99999547e-01 -6.03957901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.331858064 meters 0.015450968873757888 Centerline is valid? [True, True] Translation: X:95.84, Y:-34.90, Z:-0.60 [[ 7.35553634e-01 6.77466450e-01 2.46496302e-04 9.58359433e+01] [-6.77466412e-01 7.35553675e-01 -2.28512757e-04 -3.49042553e+01] [-3.36120987e-04 1.09042342e-06 9.99999944e-01 -6.04611797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.361858064 meters 0.015726000396522437 Centerline is valid? [True, True] Translation: X:95.86, Y:-34.93, Z:-0.61 [[ 7.37276930e-01 6.75590339e-01 -6.49140408e-04 9.58576118e+01] [-6.75590065e-01 7.37277216e-01 6.08951044e-04 -3.49273397e+01] [ 8.89997875e-04 -1.04127458e-05 9.99999604e-01 -6.06343589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.391858064 meters 0.01597188299334349 Centerline is valid? [True, True] Translation: X:95.88, Y:-34.95, Z:-0.61 [[ 7.38190499e-01 6.74591353e-01 -1.13782443e-03 9.58798207e+01] [-6.74590510e-01 7.38191375e-01 1.06672208e-03 -3.49499975e+01] [ 1.55953367e-03 -1.98785407e-05 9.99998784e-01 -6.07261642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421858064 meters 0.016731997393673943 Centerline is valid? [True, True] Translation: X:95.90, Y:-34.97, Z:-0.61 [[ 7.40344961e-01 6.72225388e-01 -1.53839280e-03 9.59001688e+01] [-6.72223842e-01 7.40346559e-01 1.44211045e-03 -3.49741981e+01] [ 2.10836707e-03 -3.35148885e-05 9.99997777e-01 -6.07826412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.451858064 meters 0.017080939210323037 Centerline is valid? [True, True] Translation: X:95.92, Y:-35.00, Z:-0.61 [[ 7.41703170e-01 6.70726145e-01 -1.68725062e-03 9.59221850e+01] [-6.70724280e-01 7.41705088e-01 1.58219014e-03 -3.49969131e+01] [ 2.31265867e-03 -4.18354849e-05 9.99997325e-01 -6.07337170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.481858064 meters 0.01810176932026789 Centerline is valid? [True, True] Translation: X:95.94, Y:-35.02, Z:-0.61 [[ 7.43219778e-01 6.69045717e-01 -1.47998454e-03 9.59431786e+01] [-6.69044277e-01 7.43221251e-01 1.38862881e-03 -3.50203349e+01] [ 2.02901212e-03 -4.18812065e-05 9.99997941e-01 -6.07610171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.511858064 meters 0.01906167412316823 Centerline is valid? [True, True] Translation: X:95.97, Y:-35.04, Z:-0.61 [[ 7.44664066e-01 6.67437661e-01 -1.54799882e-03 9.59651238e+01] [-6.67436081e-01 7.44665674e-01 1.45312307e-03 -3.50439263e+01] [ 2.12261064e-03 -4.88982685e-05 9.99997746e-01 -6.07540832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.541858064 meters 0.01833782593013196 Centerline is valid? [True, True] Translation: X:95.99, Y:-35.07, Z:-0.61 [[ 7.47639617e-01 6.64102882e-01 -1.53775227e-03 9.59881380e+01] [-6.64101317e-01 7.47641197e-01 1.44297293e-03 -3.50654161e+01] [ 2.10796943e-03 -5.76004169e-05 9.99997777e-01 -6.06204406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.571858064 meters 0.01905871014683209 Centerline is valid? [True, True] Translation: X:96.01, Y:-35.09, Z:-0.61 [[ 7.48717774e-01 6.62887223e-01 -1.49163643e-03 9.60091396e+01] [-6.62885747e-01 7.48719257e-01 1.40007716e-03 -3.50878619e+01] [ 2.04491018e-03 -5.94781256e-05 9.99997907e-01 -6.06073638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.601858064 meters 0.019232067983248363 Centerline is valid? [True, True] Translation: X:96.03, Y:-35.11, Z:-0.61 [[ 7.49338885e-01 6.62185638e-01 -1.18996501e-03 9.60322985e+01] [-6.62184695e-01 7.49339829e-01 1.11862283e-03 -3.51104327e+01] [ 1.63242415e-03 -5.02509613e-05 9.99998666e-01 -6.05666495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.631858064 meters 0.019439675020469106 Centerline is valid? [True, True] Translation: X:96.06, Y:-35.13, Z:-0.61 [[ 7.49837013e-01 6.61622005e-01 -8.81268518e-04 9.60552764e+01] [-6.61621487e-01 7.49837530e-01 8.29162515e-04 -3.51321924e+01] [ 1.20940037e-03 -3.86705558e-05 9.99999268e-01 -6.05384810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.661858064 meters 0.01981350117989723 Centerline is valid? [True, True] Translation: X:96.08, Y:-35.15, Z:-0.61 [[ 7.49703081e-01 6.61774337e-01 -1.32491511e-04 9.60789053e+01] [-6.61774325e-01 7.49703092e-01 1.26457096e-04 -3.51540849e+01] [ 1.83015357e-04 -7.12579411e-06 9.99999983e-01 -6.05442252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.691858064 meters 0.01909815702324372 Centerline is valid? [True, True] Translation: X:96.10, Y:-35.17, Z:-0.61 [[ 7.49132446e-01 6.62420029e-01 -5.32050422e-04 9.61034279e+01] [-6.62419840e-01 7.49132635e-01 5.01936130e-04 -3.51745736e+01] [ 7.31068881e-04 -2.35758859e-05 9.99999732e-01 -6.05789855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721858064 meters 0.019978160788528643 Centerline is valid? [True, True] Translation: X:96.13, Y:-35.20, Z:-0.61 [[ 7.48429128e-01 6.63214081e-01 -9.60585885e-04 9.61255188e+01] [-6.63213465e-01 7.48429744e-01 9.04957116e-04 -3.51968254e+01] [ 1.31911135e-03 -4.02227719e-05 9.99999129e-01 -6.06931268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.751858064 meters 0.01885968345828132 Centerline is valid? [True, True] Translation: X:96.15, Y:-35.22, Z:-0.61 [[ 7.46466867e-01 6.65420864e-01 -1.51344123e-03 9.61510843e+01] [-6.65419339e-01 7.46468399e-01 1.42560242e-03 -3.52159790e+01] [ 2.07836165e-03 -5.70919141e-05 9.99997839e-01 -6.08029598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781858064 meters 0.018194202042605197 Centerline is valid? [True, True] Translation: X:96.18, Y:-35.24, Z:-0.61 [[ 7.45199841e-01 6.66839576e-01 -1.47557226e-03 9.61758365e+01] [-6.66838128e-01 7.45201300e-01 1.39067960e-03 -3.52369621e+01] [ 2.02695856e-03 -5.23663794e-05 9.99997944e-01 -6.08306694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.811858064 meters 0.018900504765885097 Centerline is valid? [True, True] Translation: X:96.20, Y:-35.26, Z:-0.61 [[ 7.44046881e-01 6.68125782e-01 -1.47572349e-03 9.61977355e+01] [-6.68124335e-01 7.44048343e-01 1.39129938e-03 -3.52590859e+01] [ 2.02757260e-03 -4.92251923e-05 9.99997943e-01 -6.08896111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84185806400001 meters 0.017804362194919317 Centerline is valid? [True, True] Translation: X:96.22, Y:-35.28, Z:-0.61 [[ 7.42853632e-01 6.69452755e-01 -1.22095314e-03 9.62231683e+01] [-6.69451765e-01 7.42854634e-01 1.15209972e-03 -3.52791061e+01] [ 1.67826702e-03 -3.84722285e-05 9.99998591e-01 -6.08052377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.871858064 meters 0.017804362194919317 Centerline is valid? [True, True] Translation: X:96.25, Y:-35.30, Z:-0.61 [[ 7.42667972e-01 6.69658715e-01 -1.22050160e-03 9.62467171e+01] [-6.69657724e-01 7.42668974e-01 1.15257861e-03 -3.53013863e+01] [ 1.67826298e-03 -3.86648974e-05 9.99998591e-01 -6.08234543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.901858064 meters 0.017188173423513375 Centerline is valid? [True, True] Translation: X:96.27, Y:-35.32, Z:-0.61 [[ 7.40670361e-01 6.71868049e-01 -8.60920977e-04 9.62722796e+01] [-6.71867556e-01 7.40670861e-01 8.13773879e-04 -3.53214058e+01] [ 1.18440775e-03 -2.43133200e-05 9.99999298e-01 -6.08031625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.931858064 meters 0.016865216843817695 Centerline is valid? [True, True] Translation: X:96.30, Y:-35.34, Z:-0.61 [[ 7.39803428e-01 6.72822781e-01 -6.27047529e-04 9.62963238e+01] [-6.72822519e-01 7.39803694e-01 5.93509697e-04 -3.53423648e+01] [ 8.63218923e-04 -1.71888106e-05 9.99999627e-01 -6.07797353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.961858064 meters 0.01686322267304348 Centerline is valid? [True, True] Translation: X:96.32, Y:-35.36, Z:-0.61 [[ 7.38982783e-01 6.73724141e-01 -4.77604598e-04 9.63187779e+01] [-6.73723990e-01 7.38982937e-01 4.52563121e-04 -3.53634615e+01] [ 6.57844348e-04 -1.26626793e-05 9.99999784e-01 -6.08085495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.991858064 meters 0.016354574434435668 Centerline is valid? [True, True] Translation: X:96.34, Y:-35.38, Z:-0.61 [[ 7.38246913e-01 6.74530566e-01 1.08183468e-04 9.63430108e+01] [-6.74530558e-01 7.38246921e-01 -1.00274234e-04 -3.53843230e+01] [-1.47504148e-04 1.05408851e-06 9.99999989e-01 -6.07414283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.021858064 meters 0.016510817229745393 Centerline is valid? [True, True] Translation: X:96.37, Y:-35.41, Z:-0.61 [[ 7.38172048e-01 6.74612324e-01 4.88956929e-04 9.63661179e+01] [-6.74612167e-01 7.38172210e-01 -4.60001135e-04 -3.54069549e+01] [-6.71256852e-04 9.70368674e-06 9.99999775e-01 -6.07176632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.051858064 meters 0.016513063805547085 Centerline is valid? [True, True] Translation: X:96.39, Y:-35.43, Z:-0.61 [[ 7.38097247e-01 6.74694024e-01 6.53802332e-04 9.63901372e+01] [-6.74693743e-01 7.38097536e-01 -6.15979420e-04 -3.54298401e+01] [-8.98167524e-04 1.35363710e-05 9.99999597e-01 -6.07121005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.081858064 meters 0.01724305069872721 Centerline is valid? [True, True] Translation: X:96.41, Y:-35.45, Z:-0.61 [[ 7.38577285e-01 6.74168338e-01 8.03640351e-04 9.64118067e+01] [-6.74167911e-01 7.38577722e-01 -7.58399796e-04 -3.54526208e+01] [-1.10483999e-03 1.83483257e-05 9.99999389e-01 -6.07802401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.111858064 meters 0.016928118731982706 Centerline is valid? [True, True] Translation: X:96.44, Y:-35.47, Z:-0.61 [[ 7.38530175e-01 6.74219871e-01 8.63790221e-04 9.64362793e+01] [-6.74219378e-01 7.38530680e-01 -8.15352114e-04 -3.54740321e+01] [-1.18766218e-03 1.97780340e-05 9.99999295e-01 -6.08087444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141858064 meters 0.016985990972858845 Centerline is valid? [True, True] Translation: X:96.46, Y:-35.50, Z:-0.61 [[ 7.38231199e-01 6.74547350e-01 7.54760160e-04 9.64605053e+01] [-6.74546974e-01 7.38231584e-01 -7.12562393e-04 -3.54967244e+01] [-1.03784486e-03 1.69146073e-05 9.99999461e-01 -6.09106794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.171858064 meters 0.016735078747933885 Centerline is valid? [True, True] Translation: X:96.49, Y:-35.52, Z:-0.61 [[ 7.37886003e-01 6.74925243e-01 4.03607427e-04 9.64850542e+01] [-6.74925136e-01 7.37886113e-01 -3.80231976e-04 -3.55187028e+01] [-5.54444474e-04 8.16305502e-06 9.99999846e-01 -6.09416553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201858064 meters 0.016826457851519216 Centerline is valid? [True, True] Translation: X:96.51, Y:-35.54, Z:-0.61 [[ 7.37754898e-01 6.75068641e-01 2.00700887e-04 9.65083748e+01] [-6.75068615e-01 7.37754926e-01 -1.88116439e-04 -3.55414957e+01] [-2.75059577e-04 3.29695420e-06 9.99999962e-01 -6.10180031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.231858064 meters 0.016768599005648997 Centerline is valid? [True, True] Translation: X:96.53, Y:-35.56, Z:-0.61 [[ 7.37619677e-01 6.75216417e-01 3.95036988e-05 9.65321557e+01] [-6.75216417e-01 7.37619678e-01 -3.53107665e-05 -3.55644141e+01] [-5.29811149e-05 -6.27629700e-07 9.99999999e-01 -6.10126398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.261858064 meters 0.01698190433651085 Centerline is valid? [True, True] Translation: X:96.55, Y:-35.59, Z:-0.61 [[ 7.37467777e-01 6.75382301e-01 -1.62363970e-04 9.65547284e+01] [-6.75382283e-01 7.37467795e-01 1.56088007e-04 -3.55868568e+01] [ 2.25157276e-04 -5.45212663e-06 9.99999975e-01 -6.10798641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.291858064 meters 0.016738126298175775 Centerline is valid? [True, True] Translation: X:96.58, Y:-35.61, Z:-0.61 [[ 7.37247751e-01 6.75621601e-01 -1.09779274e-03 9.65798930e+01] [-6.75620795e-01 7.37248568e-01 1.04454017e-03 -3.56085656e+01] [ 1.51506003e-03 -2.83932859e-05 9.99998852e-01 -6.12259532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.321858064 meters 0.016606838391351447 Centerline is valid? [True, True] Translation: X:96.60, Y:-35.63, Z:-0.61 [[ 7.36858422e-01 6.76045059e-01 -1.65643688e-03 9.66040543e+01] [-6.76043223e-01 7.36860283e-01 1.57590282e-03 -3.56306291e+01] [ 2.28594386e-03 -4.13943414e-05 9.99997386e-01 -6.13141664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.351858064 meters 0.016816813074020498 Centerline is valid? [True, True] Translation: X:96.63, Y:-35.65, Z:-0.61 [[ 7.36706157e-01 6.76209565e-01 -2.15903358e-03 9.66272666e+01] [-6.76206447e-01 7.36709319e-01 2.05432539e-03 -3.56531802e+01] [ 2.97973463e-03 -5.34817375e-05 9.99995559e-01 -6.14354215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.381858064 meters 0.016765827026960802 Centerline is valid? [True, True] Translation: X:96.65, Y:-35.68, Z:-0.61 [[ 7.36496404e-01 6.76435522e-01 -2.83395142e-03 9.66511267e+01] [-6.76430147e-01 7.36501853e-01 2.69750806e-03 -3.56762185e+01] [ 3.91190074e-03 -6.97348140e-05 9.99992346e-01 -6.14583553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.411858064 meters 0.01667066586640045 Centerline is valid? [True, True] Translation: X:96.67, Y:-35.70, Z:-0.61 [[ 7.36909109e-01 6.75984613e-01 -3.12538234e-03 9.66736834e+01] [-6.75978067e-01 7.36915733e-01 2.97591508e-03 -3.56989996e+01] [ 4.31481622e-03 -8.02890152e-05 9.99990688e-01 -6.14061596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.441858064 meters 0.01666985562853498 Centerline is valid? [True, True] Translation: X:96.70, Y:-35.72, Z:-0.61 [[ 7.37019495e-01 6.75865571e-01 -2.82745149e-03 9.66969111e+01] [-6.75860205e-01 7.37024915e-01 2.69421605e-03 -3.57219866e+01] [ 3.90483006e-03 -7.47278115e-05 9.99992373e-01 -6.14037294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.471858064 meters 0.017237887872502453 Centerline is valid? [True, True] Translation: X:96.72, Y:-35.75, Z:-0.61 [[ 7.37150638e-01 6.75721970e-01 -2.95907425e-03 9.67190793e+01] [-6.75716086e-01 7.37156573e-01 2.82087084e-03 -3.57450477e+01] [ 4.08742543e-03 -7.99126732e-05 9.99991643e-01 -6.14474199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501858064 meters 0.017898197702465618 Centerline is valid? [True, True] Translation: X:96.74, Y:-35.77, Z:-0.62 [[ 7.37755453e-01 6.75065371e-01 -1.90677768e-03 9.67410817e+01] [-6.75062922e-01 7.37757915e-01 1.81931938e-03 -3.57684469e+01] [ 2.63489984e-03 -5.50178877e-05 9.99996527e-01 -6.15161289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.531858064 meters 0.017982749333326286 Centerline is valid? [True, True] Translation: X:96.76, Y:-35.79, Z:-0.62 [[ 7.38307144e-01 6.74461794e-01 -1.96174499e-03 9.67635839e+01] [-6.74459201e-01 7.38309748e-01 1.87120538e-03 -3.57906779e+01] [ 2.71043199e-03 -5.84073381e-05 9.99996325e-01 -6.15193264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561858064 meters 0.01702503221539101 Centerline is valid? [True, True] Translation: X:96.79, Y:-35.81, Z:-0.61 [[ 7.38652446e-01 6.74085096e-01 -1.35907324e-03 9.67883733e+01] [-6.74083847e-01 7.38653695e-01 1.29860384e-03 -3.58120707e+01] [ 1.87925397e-03 -4.30875880e-05 9.99998233e-01 -6.14563704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.591858064 meters 0.017633172070038318 Centerline is valid? [True, True] Translation: X:96.81, Y:-35.84, Z:-0.61 [[ 7.39022717e-01 6.73679379e-01 -1.23212753e-03 9.68094769e+01] [-6.73678353e-01 7.39023743e-01 1.17668205e-03 -3.58353587e+01] [ 1.70327793e-03 -3.95371217e-05 9.99998549e-01 -6.14837245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.621858064 meters 0.017508631797290366 Centerline is valid? [True, True] Translation: X:96.83, Y:-35.86, Z:-0.62 [[ 7.39062100e-01 6.73636470e-01 -1.05770004e-03 9.68337064e+01] [-6.73635711e-01 7.39062856e-01 1.01193327e-03 -3.58582895e+01] [ 1.46338197e-03 -3.53770091e-05 9.99998929e-01 -6.15205882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.651858064 meters 0.01754990881573837 Centerline is valid? [True, True] Translation: X:96.86, Y:-35.88, Z:-0.62 [[ 7.38850280e-01 6.73869011e-01 -9.05013297e-04 9.68572042e+01] [-6.73868455e-01 7.38850834e-01 8.66634613e-04 -3.58810698e+01] [ 1.25266804e-03 -3.04533150e-05 9.99999215e-01 -6.15434000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.681858064 meters 0.01803265177532886 Centerline is valid? [True, True] Translation: X:96.88, Y:-35.90, Z:-0.62 [[ 7.39014268e-01 6.73689763e-01 -1.19510249e-04 9.68798006e+01] [-6.73689753e-01 7.39014278e-01 1.16223694e-04 -3.59038533e+01] [ 1.66618493e-04 -5.37813814e-06 9.99999986e-01 -6.15858082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.711858064 meters 0.01783991829585328 Centerline is valid? [True, True] Translation: X:96.90, Y:-35.93, Z:-0.62 [[ 7.38860548e-01 6.73858298e-01 -2.90864419e-04 9.69034642e+01] [-6.73858240e-01 7.38860605e-01 2.80263172e-04 -3.59262225e+01] [ 4.03765925e-04 -1.10740156e-05 9.99999918e-01 -6.16177367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.741858064 meters 0.017993013052434927 Centerline is valid? [True, True] Translation: X:96.93, Y:-35.95, Z:-0.62 [[ 7.38533917e-01 6.74216246e-01 -3.26899868e-04 9.69268498e+01] [-6.74216173e-01 7.38533989e-01 3.14882458e-04 -3.59493897e+01] [ 4.53725533e-04 -1.21501970e-05 9.99999897e-01 -6.16938290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.771858064 meters 0.01787513053636739 Centerline is valid? [True, True] Translation: X:96.95, Y:-35.97, Z:-0.62 [[ 7.38478286e-01 6.74276885e-01 -7.09349990e-04 9.69504431e+01] [-6.74276542e-01 7.38478626e-01 6.81176354e-04 -3.59724725e+01] [ 9.83141277e-04 -2.47358878e-05 9.99999516e-01 -6.18051540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.801858064 meters 0.018063545163608873 Centerline is valid? [True, True] Translation: X:96.97, Y:-36.00, Z:-0.62 [[ 7.38183766e-01 6.74599195e-01 -8.09039538e-04 9.69735637e+01] [-6.74598748e-01 7.38184209e-01 7.77018102e-04 -3.59954144e+01] [ 1.12139600e-03 -2.78050895e-05 9.99999371e-01 -6.18993920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.831858064 meters 0.018194447299806425 Centerline is valid? [True, True] Translation: X:97.00, Y:-36.02, Z:-0.62 [[ 7.38154569e-01 6.74631177e-01 -7.79282685e-04 9.69969670e+01] [-6.74630762e-01 7.38154980e-01 7.48907637e-04 -3.60185253e+01] [ 1.08046784e-03 -2.70815222e-05 9.99999416e-01 -6.19564428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.861858064 meters 0.018352535145084847 Centerline is valid? [True, True] Translation: X:97.02, Y:-36.04, Z:-0.62 [[ 7.38109599e-01 6.74680208e-01 -9.14883156e-04 9.70202656e+01] [-6.74679636e-01 7.38110165e-01 8.79318221e-04 -3.60416911e+01] [ 1.26854316e-03 -3.17801845e-05 9.99999195e-01 -6.20204461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.891858064 meters 0.018569452703738706 Centerline is valid? [True, True] Translation: X:97.04, Y:-36.06, Z:-0.62 [[ 7.38005363e-01 6.74793929e-01 -1.11246777e-03 9.70438223e+01] [-6.74793082e-01 7.38006201e-01 1.06933944e-03 -3.60649087e+01] [ 1.54259187e-03 -3.84926881e-05 9.99998809e-01 -6.20697300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921858064 meters 0.018914553798105575 Centerline is valid? [True, True] Translation: X:97.07, Y:-36.09, Z:-0.62 [[ 7.38414716e-01 6.74346493e-01 -7.17042648e-04 9.70663451e+01] [-6.74346141e-01 7.38415064e-01 6.89878366e-04 -3.60867399e+01] [ 9.94692150e-04 -2.58813960e-05 9.99999505e-01 -6.21216584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.951858064 meters 0.018318604567646102 Centerline is valid? [True, True] Translation: X:97.09, Y:-36.11, Z:-0.62 [[ 7.38389866e-01 6.74374057e-01 1.91132469e-04 9.70905709e+01] [-6.74374033e-01 7.38389891e-01 -1.81421544e-04 -3.61084558e+01] [-2.63476266e-04 5.06505519e-06 9.99999965e-01 -6.20590758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.981858064 meters 0.017927153052971878 Centerline is valid? [True, True] Translation: X:97.11, Y:-36.13, Z:-0.62 [[ 7.38772680e-01 6.73952709e-01 1.63505231e-03 9.71149934e+01] [-6.73950885e-01 7.38774487e-01 -1.56900544e-03 -3.61292913e+01] [-2.26537040e-03 5.71933982e-05 9.99997432e-01 -6.18986013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.011858064 meters 0.017998614858916708 Centerline is valid? [True, True] Translation: X:97.14, Y:-36.15, Z:-0.62 [[ 7.38633299e-01 6.74102978e-01 2.45452192e-03 9.71392303e+01] [-6.74098862e-01 7.38637372e-01 -2.35737443e-03 -3.61517095e+01] [-3.40211475e-03 8.66448150e-05 9.99994209e-01 -6.18865530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.041858064 meters 0.017971990364369406 Centerline is valid? [True, True] Translation: X:97.16, Y:-36.17, Z:-0.62 [[ 7.38572520e-01 6.74167312e-01 3.01132195e-03 9.71637534e+01] [-6.74161108e-01 7.38578651e-01 -2.89424373e-03 -3.61742837e+01] [-4.17530262e-03 1.07492743e-04 9.99991278e-01 -6.18991660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.071858064 meters 0.01820501431649247 Centerline is valid? [True, True] Translation: X:97.19, Y:-36.20, Z:-0.62 [[ 7.38351290e-01 6.74408608e-01 3.22514822e-03 9.71868301e+01] [-6.74401485e-01 7.38358325e-01 -3.10180823e-03 -3.61962670e+01] [-4.47320121e-03 1.15179361e-04 9.99989989e-01 -6.19480346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.101858064 meters 0.01787533037945148 Centerline is valid? [True, True] Translation: X:97.21, Y:-36.22, Z:-0.62 [[ 7.38025869e-01 6.74765513e-01 3.05281048e-03 9.72114416e+01] [-6.74759131e-01 7.38032175e-01 -2.93680977e-03 -3.62185307e+01] [-4.23473031e-03 1.07529835e-04 9.99991028e-01 -6.19710214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.131858064 meters 0.018171479598832294 Centerline is valid? [True, True] Translation: X:97.23, Y:-36.24, Z:-0.62 [[ 7.37836121e-01 6.74972471e-01 3.16579816e-03 9.72349903e+01] [-6.74965600e-01 7.37842904e-01 -3.04761091e-03 -3.62411298e+01] [-4.39291518e-03 1.11832557e-04 9.99990345e-01 -6.19928249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.161858064 meters 0.018214833593652544 Centerline is valid? [True, True] Translation: X:97.26, Y:-36.26, Z:-0.62 [[ 7.37566140e-01 6.75266614e-01 3.34489259e-03 9.72594324e+01] [-6.75258945e-01 7.37573716e-01 -3.22036382e-03 -3.62637869e+01] [-4.64170903e-03 1.16562672e-04 9.99989220e-01 -6.20053539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.191858064 meters 0.01841388919766566 Centerline is valid? [True, True] Translation: X:97.28, Y:-36.29, Z:-0.62 [[ 7.37141713e-01 6.75729959e-01 3.33418163e-03 9.72820750e+01] [-6.75722335e-01 7.37149245e-01 -3.21188961e-03 -3.62852028e+01] [-4.62815951e-03 1.14636813e-04 9.99989283e-01 -6.20386752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221858064 meters 0.018402587278726967 Centerline is valid? [True, True] Translation: X:97.31, Y:-36.31, Z:-0.62 [[ 7.36098100e-01 6.76867708e-01 3.11336983e-03 9.73056995e+01] [-6.76861066e-01 7.36104677e-01 -3.00040146e-03 -3.63053898e+01] [-4.32264095e-03 1.01270988e-04 9.99990652e-01 -6.21325526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.251858064 meters 0.01804210289154452 Centerline is valid? [True, True] Translation: X:97.33, Y:-36.33, Z:-0.62 [[ 7.35572844e-01 6.77440676e-01 2.59260948e-03 9.73299502e+01] [-6.77436071e-01 7.35577408e-01 -2.49929813e-03 -3.63265018e+01] [-3.60019118e-03 8.20886570e-05 9.99993516e-01 -6.21625045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281858064 meters 0.017128662630687776 Centerline is valid? [True, True] Translation: X:97.36, Y:-36.35, Z:-0.62 [[ 7.34951200e-01 6.78113275e-01 3.01990689e-03 9.73550415e+01] [-6.78107025e-01 7.34957399e-01 -2.91287820e-03 -3.63463817e+01] [-4.19476429e-03 9.30032551e-05 9.99991198e-01 -6.20406528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.311858064 meters 0.017414019392576852 Centerline is valid? [True, True] Translation: X:97.38, Y:-36.37, Z:-0.62 [[ 7.34892636e-01 6.78176955e-01 2.97169856e-03 9.73781250e+01] [-6.78170898e-01 7.34898639e-01 -2.86772566e-03 -3.63683498e+01] [-4.12872268e-03 9.21509962e-05 9.99991473e-01 -6.20455454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.341858064 meters 0.018639021442769375 Centerline is valid? [True, True] Translation: X:97.40, Y:-36.39, Z:-0.62 [[ 7.35369652e-01 6.77658953e-01 3.13346254e-03 9.73995579e+01] [-6.77652206e-01 7.35376321e-01 -3.02559000e-03 -3.63911309e+01] [-4.35459231e-03 1.01529262e-04 9.99990514e-01 -6.20669221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.371858064 meters 0.018250281916395248 Centerline is valid? [True, True] Translation: X:97.42, Y:-36.41, Z:-0.62 [[ 7.36591221e-01 6.76330463e-01 3.23710975e-03 9.74242763e+01] [-6.76323243e-01 7.36598325e-01 -3.12710354e-03 -3.64115090e+01] [-4.49940500e-03 1.14064445e-04 9.99989871e-01 -6.20383979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.401858064 meters 0.018651566735611406 Centerline is valid? [True, True] Translation: X:97.45, Y:-36.43, Z:-0.62 [[ 7.37293560e-01 6.75562539e-01 3.66910351e-03 9.74471215e+01] [-6.75553244e-01 7.37302677e-01 -3.54637624e-03 -3.64339959e+01] [-5.10103877e-03 1.36045582e-04 9.99986980e-01 -6.19835426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.431858064 meters 0.018529346463605507 Centerline is valid? [True, True] Translation: X:97.47, Y:-36.46, Z:-0.62 [[ 7.38248290e-01 6.74515842e-01 4.22388565e-03 9.74705819e+01] [-6.74503494e-01 7.38260355e-01 -4.08485205e-03 -3.64557688e+01] [-5.87362474e-03 1.66609413e-04 9.99982736e-01 -6.19285391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.461858064 meters 0.01938093209691433 Centerline is valid? [True, True] Translation: X:97.49, Y:-36.48, Z:-0.62 [[ 7.39811037e-01 6.72797310e-01 4.83833372e-03 9.74931625e+01] [-6.72781053e-01 7.39826829e-01 -4.68161450e-03 -3.64776345e+01] [-6.72930673e-03 2.08370824e-04 9.99977336e-01 -6.18147720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.491858064 meters 0.018930449840481058 Centerline is valid? [True, True] Translation: X:97.52, Y:-36.50, Z:-0.62 [[ 7.40514948e-01 6.72021326e-01 4.99484890e-03 9.75176270e+01] [-6.72003968e-01 7.40531760e-01 -4.83530775e-03 -3.64977487e+01] [-6.94827417e-03 2.24059393e-04 9.99975835e-01 -6.18391037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.521858064 meters 0.019094845842426253 Centerline is valid? [True, True] Translation: X:97.54, Y:-36.52, Z:-0.62 [[ 7.40708022e-01 6.71809602e-01 4.84612699e-03 9.75414682e+01] [-6.71793243e-01 7.40723842e-01 -4.69348309e-03 -3.65192939e+01] [-6.74276880e-03 2.20905206e-04 9.99977243e-01 -6.18672650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.551858064 meters 0.01983852155593141 Centerline is valid? [True, True] Translation: X:97.56, Y:-36.54, Z:-0.62 [[ 7.40930323e-01 6.71564286e-01 4.86486638e-03 9.75635584e+01] [-6.71547779e-01 7.40946259e-01 -4.71395379e-03 -3.65406209e+01] [-6.77032756e-03 2.25721093e-04 9.99977056e-01 -6.19047105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.581858064 meters 0.01962297273837753 Centerline is valid? [True, True] Translation: X:97.59, Y:-36.56, Z:-0.62 [[ 7.40791521e-01 6.71715443e-01 5.12703892e-03 9.75892355e+01] [-6.71697095e-01 7.40809225e-01 -4.97047870e-03 -3.65610415e+01] [-7.13690503e-03 2.38271327e-04 9.99974504e-01 -6.19404906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.611858064 meters 0.019042222463458113 Centerline is valid? [True, True] Translation: X:97.61, Y:-36.58, Z:-0.62 [[ 7.40372310e-01 6.72177564e-01 5.11515468e-03 9.76146723e+01] [-6.72159293e-01 7.40389942e-01 -4.96166987e-03 -3.65812990e+01] [-7.12233224e-03 2.35284230e-04 9.99974608e-01 -6.20105614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641858064 meters 0.01937331455031443 Centerline is valid? [True, True] Translation: X:97.64, Y:-36.60, Z:-0.62 [[ 7.39591764e-01 6.73038497e-01 4.81695196e-03 9.76377741e+01] [-6.73022298e-01 7.39607419e-01 -4.67460169e-03 -3.66020060e+01] [-6.70884031e-03 2.15380836e-04 9.99977472e-01 -6.20883591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.671858064 meters 0.019168305507164165 Centerline is valid? [True, True] Translation: X:97.66, Y:-36.62, Z:-0.62 [[ 7.37581572e-01 6.75249468e-01 3.40296888e-03 9.76629964e+01] [-6.75241401e-01 7.37589409e-01 -3.30364967e-03 -3.66194443e+01] [-4.74078149e-03 1.38885636e-04 9.99988753e-01 -6.22978747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701858064 meters 0.018468286389163105 Centerline is valid? [True, True] Translation: X:97.69, Y:-36.64, Z:-0.62 [[ 7.36163906e-01 6.76797696e-01 2.75364280e-03 9.76886852e+01] [-6.76792427e-01 7.36169048e-01 -2.67278737e-03 -3.66393990e+01] [-3.83608293e-03 1.03964992e-04 9.99992637e-01 -6.23318601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.731858064 meters 0.018468286389163105 Centerline is valid? [True, True] Translation: X:97.71, Y:-36.66, Z:-0.62 [[ 7.35975711e-01 6.77002344e-01 2.75303557e-03 9.77119016e+01] [-6.76997073e-01 7.35980853e-01 -2.67341262e-03 -3.66620435e+01] [-3.83608808e-03 1.03769730e-04 9.99992637e-01 -6.23500792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.761858064 meters 0.01792947470271202 Centerline is valid? [True, True] Translation: X:97.74, Y:-36.68, Z:-0.62 [[ 7.34631883e-01 6.78460126e-01 2.80260145e-03 9.77376085e+01] [-6.78454666e-01 7.34637222e-01 -2.72355018e-03 -3.66823224e+01] [-3.90671554e-03 9.93687658e-05 9.99992364e-01 -6.23895734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.791858064 meters 0.017479439845617402 Centerline is valid? [True, True] Translation: X:97.76, Y:-36.70, Z:-0.62 [[ 7.31921832e-01 6.81383606e-01 2.61042511e-03 9.77630671e+01] [-6.81378886e-01 7.31926482e-01 -2.53738173e-03 -3.66995346e+01] [-3.63956958e-03 7.84765314e-05 9.99993374e-01 -6.23686993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.821858064 meters 0.017089824044530518 Centerline is valid? [True, True] Translation: X:97.79, Y:-36.72, Z:-0.62 [[ 7.30635654e-01 6.82762226e-01 2.69897854e-03 9.77885669e+01] [-6.82757190e-01 7.30640635e-01 -2.62337696e-03 -3.67200285e+01] [-3.76312609e-03 7.39857345e-05 9.99992917e-01 -6.23690316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.851858064 meters 0.01664666344036032 Centerline is valid? [True, True] Translation: X:97.81, Y:-36.74, Z:-0.62 [[ 7.29545933e-01 6.83925880e-01 2.84983605e-03 9.78139565e+01] [-6.83920274e-01 7.29551496e-01 -2.77016348e-03 -3.67402774e+01] [-3.97368865e-03 7.19008450e-05 9.99992102e-01 -6.23565385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.881858064 meters 0.016925925169201602 Centerline is valid? [True, True] Translation: X:97.84, Y:-36.76, Z:-0.62 [[ 7.28743752e-01 6.84780702e-01 2.81676602e-03 9.78373706e+01] [-6.84775226e-01 7.28749193e-01 -2.73933432e-03 -3.67615043e+01] [-3.92855924e-03 6.74211808e-05 9.99992281e-01 -6.23745998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.911858064 meters 0.01635754368736873 Centerline is valid? [True, True] Translation: X:97.86, Y:-36.78, Z:-0.62 [[ 7.28603983e-01 6.84929235e-01 2.85992273e-03 9.78645319e+01] [-6.84923586e-01 7.28609593e-01 -2.78258544e-03 -3.67801280e+01] [-3.98964126e-03 6.85743025e-05 9.99992039e-01 -6.23806023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.941858064 meters 0.016545643206727013 Centerline is valid? [True, True] Translation: X:97.89, Y:-36.80, Z:-0.62 [[ 7.28807729e-01 6.84713403e-01 2.61709341e-03 9.78892311e+01] [-6.84708667e-01 7.28812425e-01 -2.54758135e-03 -3.68021947e+01] [-3.65173329e-03 6.47504393e-05 9.99993330e-01 -6.24243052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.971858064 meters 0.017137855376572777 Centerline is valid? [True, True] Translation: X:97.91, Y:-36.82, Z:-0.62 [[ 7.29410679e-01 6.84071676e-01 2.44998883e-03 9.79117147e+01] [-6.84067517e-01 7.29414791e-01 -2.38628330e-03 -3.68234324e+01] [-3.41944691e-03 6.46227442e-05 9.99994152e-01 -6.24761265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001858064 meters 0.01752807267347996 Centerline is valid? [True, True] Translation: X:97.94, Y:-36.84, Z:-0.62 [[ 7.30857231e-01 6.82525089e-01 2.68536140e-03 9.79363930e+01] [-6.82520077e-01 7.30862160e-01 -2.61684924e-03 -3.68445770e+01] [-3.74869429e-03 7.97301221e-05 9.99992970e-01 -6.24919703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.031858064 meters 0.017816351838876383 Centerline is valid? [True, True] Translation: X:97.96, Y:-36.87, Z:-0.62 [[ 7.31327929e-01 6.82021152e-01 2.57081516e-03 9.79597264e+01] [-6.82016551e-01 7.31332443e-01 -2.50636133e-03 -3.68668922e+01] [-3.58951197e-03 7.96335576e-05 9.99993555e-01 -6.24790382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061858064 meters 0.018095946359861864 Centerline is valid? [True, True] Translation: X:97.98, Y:-36.89, Z:-0.63 [[ 7.31880441e-01 6.81429576e-01 2.18013664e-03 9.79833216e+01] [-6.81426263e-01 7.31883684e-01 -2.12621334e-03 -3.68885970e+01] [-3.04447109e-03 7.05315948e-05 9.99995363e-01 -6.25149672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.091858064 meters 0.018607009564816552 Centerline is valid? [True, True] Translation: X:98.01, Y:-36.91, Z:-0.63 [[ 7.32307616e-01 6.80971024e-01 2.00498226e-03 9.80058348e+01] [-6.80968217e-01 7.32310358e-01 -1.95625618e-03 -3.69095093e+01] [-2.80042305e-03 6.72521084e-05 9.99996077e-01 -6.25692295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.121858064 meters 0.018939457654406012 Centerline is valid? [True, True] Translation: X:98.03, Y:-36.93, Z:-0.63 [[ 7.32662831e-01 6.80589859e-01 1.61872927e-03 9.80305606e+01] [-6.80588028e-01 7.32664617e-01 -1.57968791e-03 -3.69296896e+01] [-2.26110523e-03 5.56908550e-05 9.99997442e-01 -6.26812744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.151858064 meters 0.01911949821486178 Centerline is valid? [True, True] Translation: X:98.05, Y:-36.95, Z:-0.63 [[ 7.32473404e-01 6.80794294e-01 1.35748458e-03 9.80540206e+01] [-6.80793005e-01 7.32474660e-01 -1.32542748e-03 -3.69515665e+01] [-1.89666652e-03 4.66743664e-05 9.99998200e-01 -6.27187234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.181858064 meters 0.019175395965911533 Centerline is valid? [True, True] Translation: X:98.08, Y:-36.97, Z:-0.63 [[ 7.32238809e-01 6.81046756e-01 1.28191619e-03 9.80783843e+01] [-6.81045607e-01 7.32239930e-01 -1.25145840e-03 -3.69738720e+01] [-1.79097191e-03 4.33230204e-05 9.99998395e-01 -6.27603189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.211858064 meters 0.01934789200348272 Centerline is valid? [True, True] Translation: X:98.10, Y:-37.00, Z:-0.63 [[ 7.32042348e-01 6.81258469e-01 9.48161372e-04 9.81023572e+01] [-6.81257841e-01 7.32042962e-01 -9.25593510e-04 -3.69960428e+01] [-1.32466328e-03 3.16312776e-05 9.99999122e-01 -6.28127244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.241858064 meters 0.01979369134926537 Centerline is valid? [True, True] Translation: X:98.13, Y:-37.02, Z:-0.63 [[ 7.32070016e-01 6.81229058e-01 6.80317189e-04 9.81259307e+01] [-6.81228735e-01 7.32070332e-01 -6.64009962e-04 -3.70171411e+01] [-9.50382910e-04 2.26501655e-05 9.99999548e-01 -6.29240827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.271858064 meters 0.020092524998860255 Centerline is valid? [True, True] Translation: X:98.15, Y:-37.04, Z:-0.63 [[ 7.32114057e-01 6.81181886e-01 4.96094670e-04 9.81491570e+01] [-6.81181715e-01 7.32114225e-01 -4.83824279e-04 -3.70398910e+01] [-6.92770300e-04 1.62839383e-05 9.99999760e-01 -6.29337530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.301858064 meters 0.020409047438145485 Centerline is valid? [True, True] Translation: X:98.17, Y:-37.06, Z:-0.63 [[ 7.32217289e-01 6.81070847e-01 5.86800923e-04 9.81723943e+01] [-6.81070606e-01 7.32217523e-01 -5.72971065e-04 -3.70626953e+01] [-8.19899806e-04 1.98864597e-05 9.99999664e-01 -6.29512249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.331858064 meters 0.017949379418247043 Centerline is valid? [True, True] Translation: X:98.20, Y:-37.08, Z:-0.63 [[ 7.32357670e-01 6.80920115e-01 1.98778643e-04 9.82004997e+01] [-6.80920088e-01 7.32357697e-01 -1.92902317e-04 -3.70803316e+01] [-2.76928137e-04 5.92112053e-06 9.99999962e-01 -6.29315633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361858064 meters 0.018145867101508728 Centerline is valid? [True, True] Translation: X:98.22, Y:-37.10, Z:-0.63 [[ 7.32059597e-01 6.81240525e-01 3.06252423e-04 9.82247561e+01] [-6.81240460e-01 7.32059661e-01 -2.98170470e-04 -3.71025516e+01] [-4.27320853e-04 9.64701238e-06 9.99999909e-01 -6.29660736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.391858064 meters 0.01876200924150184 Centerline is valid? [True, True] Translation: X:98.25, Y:-37.13, Z:-0.63 [[ 7.31875001e-01 6.81438901e-01 -8.60355346e-05 9.82475741e+01] [-6.81438895e-01 7.31875006e-01 8.58287605e-05 -3.71253686e+01] [ 1.21454314e-04 -4.18796447e-06 9.99999993e-01 -6.30555879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421858064 meters 0.02135124718495754 Centerline is valid? [True, True] Translation: X:98.27, Y:-37.15, Z:-0.63 [[ 7.31496958e-01 6.81844702e-01 -5.72719214e-05 9.82676778e+01] [-6.81844699e-01 7.31496960e-01 5.84025279e-05 -3.71511915e+01] [ 8.17156906e-05 -3.67071539e-06 9.99999997e-01 -6.31582898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.451858064 meters 0.018761669834805372 Centerline is valid? [True, True] Translation: X:98.30, Y:-37.17, Z:-0.63 [[ 7.31402297e-01 6.81945911e-01 6.73806628e-04 9.82956435e+01] [-6.81945593e-01 7.31402607e-01 -6.59754490e-04 -3.71698475e+01] [-9.42740802e-04 2.30464890e-05 9.99999555e-01 -6.29828041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.481858064 meters 0.019225120107775023 Centerline is valid? [True, True] Translation: X:98.32, Y:-37.19, Z:-0.63 [[ 7.31239003e-01 6.82120332e-01 1.17147814e-03 9.83181902e+01] [-6.82119365e-01 7.31239940e-01 -1.14942774e-03 -3.71922590e+01] [-1.64067963e-03 4.14184691e-05 9.99998653e-01 -6.29753702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.511858064 meters 0.018889605747854202 Centerline is valid? [True, True] Translation: X:98.34, Y:-37.21, Z:-0.63 [[ 7.31153896e-01 6.82210119e-01 1.82612658e-03 9.83428154e+01] [-6.82207764e-01 7.31156173e-01 -1.79375374e-03 -3.72137871e+01] [-2.55890068e-03 6.57123068e-05 9.99996724e-01 -6.29444238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.541858064 meters 0.018568736059048296 Centerline is valid? [True, True] Translation: X:98.37, Y:-37.23, Z:-0.63 [[ 7.30511036e-01 6.82898058e-01 1.96680903e-03 9.83677722e+01] [-6.82895325e-01 7.30513681e-01 -1.93332484e-03 -3.72343160e+01] [-2.75704468e-03 6.91904434e-05 9.99996197e-01 -6.29360666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.571858064 meters 0.018935348947406585 Centerline is valid? [True, True] Translation: X:98.39, Y:-37.26, Z:-0.63 [[ 7.29938594e-01 6.83508857e-01 2.30003991e-03 9.83901934e+01] [-6.83505118e-01 7.29942214e-01 -2.26239039e-03 -3.72561771e+01] [-3.22526010e-03 7.93170138e-05 9.99994796e-01 -6.29812505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.601858064 meters 0.018161813890297772 Centerline is valid? [True, True] Translation: X:98.42, Y:-37.28, Z:-0.63 [[ 7.28381919e-01 6.85169088e-01 1.76117008e-03 9.84155305e+01] [-6.85166899e-01 7.28384046e-01 -1.73262343e-03 -3.72761484e+01] [-2.46994820e-03 5.53161371e-05 9.99996948e-01 -6.30554338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.631858064 meters 0.018322823754007934 Centerline is valid? [True, True] Translation: X:98.44, Y:-37.30, Z:-0.63 [[ 7.27734736e-01 6.85857211e-01 1.42823937e-03 9.84378563e+01] [-6.85855772e-01 7.27736136e-01 -1.40595756e-03 -3.72978858e+01] [-2.00366754e-03 4.35979383e-05 9.99997992e-01 -6.31584606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.661858064 meters 0.01800904714553309 Centerline is valid? [True, True] Translation: X:98.46, Y:-37.32, Z:-0.63 [[ 7.26815470e-01 6.86831700e-01 1.21998216e-03 9.84616470e+01] [-6.86830652e-01 7.26816493e-01 -1.20055394e-03 -3.73196232e+01] [-1.71128165e-03 3.46600340e-05 9.99998535e-01 -6.32208265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.691858064 meters 0.01803852895311414 Centerline is valid? [True, True] Translation: X:98.48, Y:-37.34, Z:-0.63 [[ 7.25721294e-01 6.87988250e-01 8.78007807e-04 9.84844315e+01] [-6.87987708e-01 7.25721825e-01 -8.64027110e-04 -3.73407243e+01] [-1.23162993e-03 2.29842940e-05 9.99999241e-01 -6.33078559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.721858064 meters 0.017977669802862813 Centerline is valid? [True, True] Translation: X:98.51, Y:-37.36, Z:-0.63 [[ 7.25236337e-01 6.88499905e-01 3.70078983e-04 9.85082787e+01] [-6.88499809e-01 7.25236431e-01 -3.62973479e-04 -3.73638464e+01] [-5.18301966e-04 8.44224698e-06 9.99999866e-01 -6.33435851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.751858064 meters 0.018029992879370602 Centerline is valid? [True, True] Translation: X:98.53, Y:-37.39, Z:-0.63 [[ 7.24738990e-01 6.89023457e-01 2.68138657e-04 9.85318034e+01] [-6.89023407e-01 7.24739040e-01 -2.62554360e-04 -3.73867961e+01] [-3.75236665e-04 5.52957051e-06 9.99999930e-01 -6.34209289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781858064 meters 0.017869228515437756 Centerline is valid? [True, True] Translation: X:98.56, Y:-37.41, Z:-0.63 [[ 7.24376885e-01 6.89404171e-01 1.34783448e-04 9.85555363e+01] [-6.89404159e-01 7.24376897e-01 -1.30961744e-04 -3.74092582e+01] [-1.87919588e-04 1.94539037e-06 9.99999982e-01 -6.34438731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.811858064 meters 0.017504611861081695 Centerline is valid? [True, True] Translation: X:98.58, Y:-37.43, Z:-0.63 [[ 7.23958971e-01 6.89842389e-01 9.41496442e-04 9.85793076e+01] [-6.89841765e-01 7.23959583e-01 -9.28436468e-04 -3.74307939e+01] [-1.32208020e-03 2.26663428e-05 9.99999126e-01 -6.33723232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.841858064 meters 0.017649672611179865 Centerline is valid? [True, True] Translation: X:98.60, Y:-37.45, Z:-0.63 [[ 7.23822411e-01 6.89984901e-01 1.39753819e-03 9.86012385e+01] [-6.89983522e-01 7.23823760e-01 -1.37970496e-03 -3.74536967e+01] [-1.96354694e-03 3.43830451e-05 9.99998072e-01 -6.33188369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.871858064 meters 0.017745468740096946 Centerline is valid? [True, True] Translation: X:98.62, Y:-37.48, Z:-0.63 [[ 7.24038534e-01 6.89756509e-01 2.03966945e-03 9.86246228e+01] [-6.89753566e-01 7.24041405e-01 -2.01559609e-03 -3.74772974e+01] [-2.86707565e-03 5.24999599e-05 9.99995889e-01 -6.32768081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.901858064 meters 0.018168846226210855 Centerline is valid? [True, True] Translation: X:98.65, Y:-37.50, Z:-0.63 [[ 7.25192700e-01 6.88540796e-01 2.66844440e-03 9.86462438e+01] [-6.88535742e-01 7.25197605e-01 -2.63921196e-03 -3.75010798e+01] [-3.75235459e-03 7.66179003e-05 9.99992957e-01 -6.32793818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.931858064 meters 0.018668674942426616 Centerline is valid? [True, True] Translation: X:98.67, Y:-37.52, Z:-0.63 [[ 7.26281442e-01 6.87389757e-01 3.25407896e-03 9.86671544e+01] [-6.87382220e-01 7.26288724e-01 -3.22059101e-03 -3.75243976e+01] [-4.57720213e-03 1.02259456e-04 9.99989519e-01 -6.32261687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.961858064 meters 0.01873605486416794 Centerline is valid? [True, True] Translation: X:98.69, Y:-37.55, Z:-0.63 [[ 7.27331355e-01 6.86277146e-01 3.57475706e-03 9.86893787e+01] [-6.86268032e-01 7.27340130e-01 -3.53889799e-03 -3.75478658e+01] [-5.02872907e-03 1.20709976e-04 9.99987349e-01 -6.32263474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.991858064 meters 0.019426136988161088 Centerline is valid? [True, True] Translation: X:98.71, Y:-37.57, Z:-0.63 [[ 7.28688168e-01 6.84833787e-01 4.02960192e-03 9.87107523e+01] [-6.84822172e-01 7.28699294e-01 -3.99137686e-03 -3.75714838e+01] [-5.66979781e-03 1.48908349e-04 9.99983915e-01 -6.32284203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.021858064 meters 0.020547665570499262 Centerline is valid? [True, True] Translation: X:98.73, Y:-37.59, Z:-0.63 [[ 7.31067032e-01 6.82293915e-01 4.00100311e-03 9.87320785e+01] [-6.82282415e-01 7.31077961e-01 -3.96495736e-03 -3.75948992e+01] [-5.63031147e-03 1.68835543e-04 9.99984135e-01 -6.32845938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.051858064 meters 0.02099848067998286 Centerline is valid? [True, True] Translation: X:98.75, Y:-37.62, Z:-0.63 [[ 7.31560013e-01 6.81764514e-01 4.13469985e-03 9.87534037e+01] [-6.81752213e-01 7.31571675e-01 -4.09934075e-03 -3.76172715e+01] [-5.81961435e-03 1.80073002e-04 9.99983050e-01 -6.33564339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.081858064 meters 0.020158524358740167 Centerline is valid? [True, True] Translation: X:98.78, Y:-37.64, Z:-0.63 [[ 7.30934017e-01 6.82438325e-01 3.65984146e-03 9.87779834e+01] [-6.82428689e-01 7.30943163e-01 -3.62993978e-03 -3.76386752e+01] [-5.15234611e-03 1.55665655e-04 9.99986714e-01 -6.33538327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.111858064 meters 0.019395732491451212 Centerline is valid? [True, True] Translation: X:98.80, Y:-37.66, Z:-0.63 [[ 7.29342671e-01 6.84138508e-01 3.71091444e-03 9.88027156e+01] [-6.84128613e-01 7.29352096e-01 -3.68241827e-03 -3.76595005e+01] [-5.22584737e-03 1.47002027e-04 9.99986334e-01 -6.34297628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141858064 meters 0.01960589576353192 Centerline is valid? [True, True] Translation: X:98.83, Y:-37.68, Z:-0.64 [[ 7.27148226e-01 6.86473874e-01 3.01301299e-03 9.88251479e+01] [-6.86467366e-01 7.27154461e-01 -2.99102589e-03 -3.76811819e+01] [-4.24418696e-03 1.06584084e-04 9.99990988e-01 -6.35622085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.171858064 meters 0.017875155549668974 Centerline is valid? [True, True] Translation: X:98.85, Y:-37.70, Z:-0.64 [[ 7.22212006e-01 6.91668666e-01 2.06755577e-03 9.88515328e+01] [-6.91665620e-01 7.22214964e-01 -2.05350402e-03 -3.77000976e+01] [-2.91356410e-03 5.30080146e-05 9.99995754e-01 -6.37101624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201858064 meters 0.017679954501354834 Centerline is valid? [True, True] Translation: X:98.87, Y:-37.72, Z:-0.64 [[ 7.19398395e-01 6.94595541e-01 1.72738385e-03 9.88748075e+01] [-6.94593425e-01 7.19400468e-01 -1.71490223e-03 -3.77213506e+01] [-2.43384420e-03 3.38684516e-05 9.99997038e-01 -6.37962445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.231858064 meters 0.017093395687207358 Centerline is valid? [True, True] Translation: X:98.90, Y:-37.74, Z:-0.64 [[ 7.16325495e-01 6.97764901e-01 1.38865032e-03 9.88997813e+01] [-6.97763538e-01 7.16326841e-01 -1.37892238e-03 -3.77421987e+01] [-1.95689114e-03 1.88077003e-05 9.99998085e-01 -6.38391068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.261858064 meters 0.01667751425569815 Centerline is valid? [True, True] Translation: X:98.93, Y:-37.76, Z:-0.64 [[ 7.11444072e-01 7.02742711e-01 1.19216772e-04 9.89259398e+01] [-7.02742701e-01 7.11444082e-01 -1.16674584e-04 -3.77617722e+01] [-1.66808280e-04 -7.71275199e-07 9.99999986e-01 -6.40145566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.291858064 meters 0.016583512051342293 Centerline is valid? [True, True] Translation: X:98.95, Y:-37.78, Z:-0.64 [[ 7.09106958e-01 7.05100869e-01 -2.95206192e-04 9.89490924e+01] [-7.05100807e-01 7.09107019e-01 2.95903247e-04 -3.77840129e+01] [ 4.17974420e-04 -1.67692725e-06 9.99999913e-01 -6.41207415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.321858064 meters 0.016641177739577784 Centerline is valid? [True, True] Translation: X:98.97, Y:-37.81, Z:-0.64 [[ 7.07611028e-01 7.06602172e-01 -6.07911153e-05 9.89720725e+01] [-7.06602169e-01 7.07611031e-01 6.27700867e-05 -3.78074703e+01] [ 8.73699434e-05 -1.46167165e-06 9.99999996e-01 -6.41034856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.351858064 meters 0.01663406052944413 Centerline is valid? [True, True] Translation: X:98.99, Y:-37.83, Z:-0.64 [[ 7.06423088e-01 7.07788631e-01 1.29379147e-03 9.89931400e+01] [-7.07787461e-01 7.06424273e-01 -1.28702283e-03 -3.78332039e+01] [-1.82490583e-03 -6.54673215e-06 9.99998335e-01 -6.39149502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.381858064 meters 0.01666279671330741 Centerline is valid? [True, True] Translation: X:99.02, Y:-37.86, Z:-0.64 [[ 7.06096582e-01 7.08112204e-01 2.17331034e-03 9.90151200e+01] [-7.08108896e-01 7.06099926e-01 -2.16469697e-03 -3.78584768e+01] [-3.06742261e-03 -1.04552499e-05 9.99995295e-01 -6.38031907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.411858064 meters 0.01664690039676109 Centerline is valid? [True, True] Translation: X:99.04, Y:-37.88, Z:-0.64 [[ 7.06242549e-01 7.07963698e-01 2.97724307e-03 9.90360289e+01] [-7.07957477e-01 7.06248824e-01 -2.96800613e-03 -3.78826156e+01] [-4.20391501e-03 -1.16292792e-05 9.99991163e-01 -6.37466066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.441858064 meters 0.016608698770729867 Centerline is valid? [True, True] Translation: X:99.06, Y:-37.91, Z:-0.64 [[ 7.06698535e-01 7.07506347e-01 3.45688264e-03 9.90574631e+01] [-7.07497944e-01 7.06706989e-01 -3.44830169e-03 -3.79072444e+01] [-4.88269846e-03 -8.82761292e-06 9.99988080e-01 -6.36660458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.471858064 meters 0.01646621625782973 Centerline is valid? [True, True] Translation: X:99.08, Y:-37.93, Z:-0.64 [[ 7.07228548e-01 7.06975764e-01 3.61265315e-03 9.90774719e+01] [-7.06966568e-01 7.07237775e-01 -3.60583334e-03 -3.79334386e+01] [-5.10424156e-03 -3.87672588e-06 9.99986973e-01 -6.36579578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501858064 meters 0.016480779065660475 Centerline is valid? [True, True] Translation: X:99.10, Y:-37.96, Z:-0.64 [[ 7.07257013e-01 7.06945864e-01 3.88108214e-03 9.90982949e+01] [-7.06935237e-01 7.07267662e-01 -3.87616350e-03 -3.79575799e+01] [-5.48520164e-03 -2.22990241e-06 9.99984956e-01 -6.36787447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.531858064 meters 0.016505063605834296 Centerline is valid? [True, True] Translation: X:99.12, Y:-37.98, Z:-0.64 [[ 7.07515236e-01 7.06685965e-01 4.13986095e-03 9.91195036e+01] [-7.06673856e-01 7.07527347e-01 -4.13697963e-03 -3.79826054e+01] [-5.85261027e-03 1.44461934e-06 9.99982873e-01 -6.36904232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561858064 meters 0.01638799631865943 Centerline is valid? [True, True] Translation: X:99.14, Y:-38.01, Z:-0.64 [[ 7.07969011e-01 7.06231524e-01 4.11252565e-03 9.91405997e+01] [-7.06219554e-01 7.07980956e-01 -4.11198086e-03 -3.80077591e+01] [-5.81560035e-03 6.80899449e-06 9.99983089e-01 -6.37065285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.591858064 meters 0.016438400418026966 Centerline is valid? [True, True] Translation: X:99.64, Y:-37.66, Z:0.36 [[ 7.55824896e-01 -6.54759547e-01 -4.31998086e-03 9.96361938e+01] [-6.54745738e-01 -7.55837136e-01 4.27106422e-03 -3.76576640e+01] [-6.06172203e-03 -3.99687611e-04 -9.99981548e-01 3.60740750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.621858064 meters 0.01647352227285134 Centerline is valid? [True, True] Translation: X:99.64, Y:-37.67, Z:0.36 [[ 8.03813697e-01 -5.94857594e-01 -5.28992574e-03 9.96373735e+01] [-5.94841377e-01 -8.03831004e-01 4.41050629e-03 -3.76672689e+01] [-6.87582948e-03 -3.98558652e-04 -9.99976282e-01 3.61415502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.651858064 meters 0.01647352227285134 Centerline is valid? [True, True] Translation: X:99.64, Y:-37.68, Z:0.36 [[ 8.47860924e-01 -5.30189062e-01 -5.60472966e-03 9.96372808e+01] [-5.30174321e-01 -8.47879355e-01 3.97337434e-03 -3.76787187e+01] [-6.85877419e-03 -3.97385094e-04 -9.99976399e-01 3.61239943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.681858064 meters 0.016620447861856683 Centerline is valid? [True, True] Translation: X:99.64, Y:-37.68, Z:0.36 [[ 8.85362275e-01 -4.64849133e-01 -6.99468072e-03 9.96413351e+01] [-4.64831324e-01 -8.85389829e-01 4.08542729e-03 -3.76844634e+01] [-8.09212650e-03 -3.65736498e-04 -9.99967191e-01 3.61922642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.711858064 meters 0.016738803283709233 Centerline is valid? [True, True] Translation: X:99.64, Y:-37.69, Z:0.36 [[ 9.18459732e-01 -3.95441817e-01 -7.58222674e-03 9.96441840e+01] [-3.95425164e-01 -9.18490962e-01 3.64601655e-03 -3.76911832e+01] [-8.40599414e-03 -3.50516138e-04 -9.99964608e-01 3.61915099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.741858064 meters 0.01695272463048216 Centerline is valid? [True, True] Translation: X:99.65, Y:-37.70, Z:0.36 [[ 9.46094741e-01 -3.23783826e-01 -8.29306983e-03 9.96480057e+01] [-3.23768293e-01 -9.46131029e-01 3.18880064e-03 -3.76968846e+01] [-8.87881277e-03 -3.31874449e-04 -9.99960527e-01 3.61803505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.771858064 meters 0.017118376823129663 Centerline is valid? [True, True] Translation: X:99.65, Y:-37.70, Z:0.36 [[ 9.68209651e-01 -2.49987340e-01 -8.74083565e-03 9.96526688e+01] [-2.49974184e-01 -9.68249053e-01 2.58417652e-03 -3.77018878e+01] [-9.10931726e-03 -3.17041381e-04 -9.99958459e-01 3.61498012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.801858064 meters 0.017412611987335368 Centerline is valid? [True, True] Translation: X:99.66, Y:-37.71, Z:0.36 [[ 9.84549906e-01 -1.74888639e-01 -8.68600253e-03 9.96575527e+01] [-1.74879080e-01 -9.84588173e-01 1.85401225e-03 -3.77060043e+01] [-8.87638104e-03 -3.06367457e-04 -9.99960557e-01 3.61324108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.831858064 meters 0.017927691151183305 Centerline is valid? [True, True] Translation: X:99.66, Y:-37.71, Z:0.36 [[ 9.94954471e-01 -9.98562122e-02 -9.71278622e-03 9.96577414e+01] [-9.98488214e-02 -9.95001842e-01 1.24411721e-03 -3.77051477e+01] [-9.78847301e-03 -2.68029726e-04 -9.99952056e-01 3.61741168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861858064 meters 0.01800986565796001 Centerline is valid? [True, True] Translation: X:99.66, Y:-37.71, Z:0.36 [[ 9.99701099e-01 -2.24653125e-02 -9.64482916e-03 9.96584640e+01] [-2.24617453e-02 -9.99747589e-01 4.78033522e-04 -3.77095538e+01] [-9.65313387e-03 -2.61250942e-04 -9.99953373e-01 3.61604691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.891858064 meters 0.018124086912239944 Centerline is valid? [True, True] Translation: X:99.66, Y:-37.71, Z:0.36 [[ 9.98432438e-01 5.51118927e-02 -9.76449703e-03 9.96596442e+01] [ 5.51117113e-02 -9.98480153e-01 -2.87855313e-04 -3.77140135e+01] [-9.76552074e-03 -2.50734059e-04 -9.99952285e-01 3.61678586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921858064 meters 0.018034720292991697 Centerline is valid? [True, True] Translation: X:99.66, Y:-37.72, Z:0.36 [[ 9.91132085e-01 1.32617238e-01 -8.35815693e-03 9.96604514e+01] [ 1.32614813e-01 -9.91167289e-01 -8.46172986e-04 -3.77191527e+01] [-8.39654888e-03 -2.69746221e-04 -9.99964712e-01 3.60106037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.951858064 meters 0.017843376044207417 Centerline is valid? [True, True] Translation: X:99.66, Y:-37.73, Z:0.36 [[ 9.77753001e-01 2.09622998e-01 -7.56749614e-03 9.96631360e+01] [ 2.09618928e-01 -9.77782246e-01 -1.33595386e-03 -3.77277867e+01] [-7.67941003e-03 -2.80057534e-04 -9.99970474e-01 3.59346945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.981858064 meters 0.017844312170255318 Centerline is valid? [True, True] Translation: X:99.67, Y:-37.74, Z:0.36 [[ 9.58349009e-01 2.85514124e-01 -6.99011851e-03 9.96655844e+01] [ 2.85508705e-01 -9.58374458e-01 -1.78244560e-03 -3.77354066e+01] [-7.20806444e-03 -2.87534705e-04 -9.99973980e-01 3.58652368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.011858064 meters 0.01787011887210371 Centerline is valid? [True, True] Translation: X:99.67, Y:-37.74, Z:0.36 [[ 9.32686995e-01 3.60627728e-01 -6.52773290e-03 9.96665757e+01] [ 3.60621124e-01 -9.32709790e-01 -2.20289150e-03 -3.77413709e+01] [-6.88290414e-03 -2.99430127e-04 -9.99976268e-01 3.57647829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.041858064 meters 0.01768409168944059 Centerline is valid? [True, True] Translation: X:99.67, Y:-37.75, Z:0.36 [[ 9.01143895e-01 4.33472787e-01 -6.40491380e-03 9.96690649e+01] [ 4.33464210e-01 -9.01166605e-01 -2.74366902e-03 -3.77479239e+01] [-6.96120028e-03 -3.03860311e-04 -9.99975724e-01 3.57179642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.071858064 meters 0.017430811100999657 Centerline is valid? [True, True] Translation: X:99.67, Y:-37.76, Z:0.36 [[ 8.63916864e-01 5.03594772e-01 -6.32117674e-03 9.96735160e+01] [ 5.03583859e-01 -8.63939935e-01 -3.32946415e-03 -3.77559055e+01] [-7.13781777e-03 -3.06862346e-04 -9.99974478e-01 3.56915397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.101858064 meters 0.017398679901822374 Centerline is valid? [True, True] Translation: X:99.68, Y:-37.76, Z:0.36 [[ 8.21198802e-01 5.70611608e-01 -5.90933286e-03 9.96770046e+01] [ 5.70599560e-01 -8.21220003e-01 -3.72148857e-03 -3.77622307e+01] [-6.97638693e-03 -3.15780769e-04 -9.99975615e-01 3.56871747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.131858064 meters 0.016892628815259977 Centerline is valid? [True, True] Translation: X:99.68, Y:-37.77, Z:0.36 [[ 7.72792084e-01 6.34637654e-01 -5.23861515e-03 9.96842062e+01] [ 6.34625941e-01 -7.72809767e-01 -3.87024646e-03 -3.77714399e+01] [-6.50465709e-03 -3.33665241e-04 -9.99978789e-01 3.56212671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.161858064 meters 0.01701894781417827 Centerline is valid? [True, True] Translation: X:99.69, Y:-37.78, Z:0.36 [[ 7.20385190e-01 6.93557571e-01 -4.80355451e-03 9.96894837e+01] [ 6.93545200e-01 -7.20401126e-01 -4.15608305e-03 -3.77790065e+01] [-6.34296894e-03 -3.37501500e-04 -9.99979826e-01 3.55931603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.191858064 meters 0.016970592345658033 Centerline is valid? [True, True] Translation: X:99.69, Y:-37.78, Z:0.36 [[ 6.63685716e-01 7.47998513e-01 -4.41536812e-03 9.96944088e+01] [ 7.47985258e-01 -6.63700316e-01 -4.46589645e-03 -3.77837802e+01] [-6.27096512e-03 -3.38678582e-04 -9.99980280e-01 3.55619043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221858064 meters 0.017134957041789536 Centerline is valid? [True, True] Translation: X:99.70, Y:-37.79, Z:0.36 [[ 6.03116619e-01 7.97643754e-01 -3.84523360e-03 9.96984992e+01] [ 7.97631024e-01 -6.03128780e-01 -4.51929925e-03 -3.77899747e+01] [-5.92396187e-03 -3.41413132e-04 -9.99982395e-01 3.55242269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.251858064 meters 0.01710511226727255 Centerline is valid? [True, True] Translation: X:99.71, Y:-37.80, Z:0.36 [[ 5.38979344e-01 8.42312072e-01 -3.41174291e-03 9.97051328e+01] [ 8.42299026e-01 -5.38990035e-01 -4.70030359e-03 -3.77959008e+01] [-5.79801789e-03 -3.40341184e-04 -9.99983133e-01 3.55118371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281858064 meters 0.01740342907748583 Centerline is valid? [True, True] Translation: X:99.71, Y:-37.80, Z:0.36 [[ 4.72325671e-01 8.81419697e-01 -2.78890835e-03 9.97095365e+01] [ 8.81408352e-01 -4.72333783e-01 -4.48500141e-03 -3.78008002e+01] [-5.27046422e-03 -3.39785809e-04 -9.99986053e-01 3.55004247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.311858064 meters 0.017414569794305425 Centerline is valid? [True, True] Translation: X:99.72, Y:-37.81, Z:0.35 [[ 4.02431548e-01 9.15446946e-01 -2.39540102e-03 9.97156267e+01] [ 9.15435385e-01 -4.02438537e-01 -4.61299279e-03 -3.78051706e+01] [-5.18695184e-03 -3.36421025e-04 -9.99986491e-01 3.54539388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.341858064 meters 0.017641406470692192 Centerline is valid? [True, True] Translation: X:99.72, Y:-37.81, Z:0.35 [[ 3.30297805e-01 9.43874604e-01 -2.02277217e-03 9.97202680e+01] [ 9.43862565e-01 -3.30303833e-01 -4.77875188e-03 -3.78101111e+01] [-5.17867194e-03 -3.30807669e-04 -9.99986536e-01 3.54105133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.371858064 meters 0.017699091520909885 Centerline is valid? [True, True] Translation: X:99.73, Y:-37.81, Z:0.35 [[ 2.56036808e-01 9.66665877e-01 -1.49488938e-03 9.97263166e+01] [ 9.66656216e-01 -2.56040953e-01 -4.33477425e-03 -3.78138080e+01] [-4.57303125e-03 -3.35182350e-04 -9.99989487e-01 3.53903954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.401858064 meters 0.01786419470422569 Centerline is valid? [True, True] Translation: X:99.73, Y:-37.82, Z:0.35 [[ 1.79810889e-01 9.83700529e-01 -1.14587015e-03 9.97310719e+01] [ 9.83690671e-01 -1.79814232e-01 -4.41656244e-03 -3.78169306e+01] [-4.55061857e-03 -3.33035755e-04 -9.99989590e-01 3.53015099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.431858064 meters 0.017898021294227257 Centerline is valid? [True, True] Translation: X:99.74, Y:-37.82, Z:0.35 [[ 1.01922117e-01 9.94792074e-01 -7.81558374e-04 9.97365568e+01] [ 9.94782676e-01 -1.01924561e-01 -4.33717499e-03 -3.78210352e+01] [-4.39424730e-03 -3.35426675e-04 -9.99990289e-01 3.52416393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.461858064 meters 0.01758116460193567 Centerline is valid? [True, True] Translation: X:99.75, Y:-37.82, Z:0.35 [[ 2.26358347e-02 9.99743679e-01 -4.41480851e-04 9.97459806e+01] [ 9.99732358e-01 -2.26376845e-02 -4.76942614e-03 -3.78239918e+01] [-4.77819774e-03 -3.33402750e-04 -9.99988529e-01 3.52303863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.491858064 meters 0.017488768162857625 Centerline is valid? [True, True] Translation: X:99.76, Y:-37.83, Z:0.35 [[-5.76334712e-02 9.98337810e-01 2.99740048e-05 9.97558216e+01] [ 9.98318926e-01 5.76325656e-02 -6.14889683e-03 -3.78263551e+01] [-6.14040367e-03 -3.24458652e-04 -9.99981095e-01 3.53938772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.521858064 meters 0.017393511909275402 Centerline is valid? [True, True] Translation: X:99.76, Y:-37.83, Z:0.35 [[-1.36822392e-01 9.90595317e-01 7.42549537e-04 9.97642462e+01] [ 9.90565716e-01 1.36824048e-01 -7.66433725e-03 -3.78283331e+01] [-7.69385522e-03 -3.13108838e-04 -9.99970353e-01 3.54878248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.551858064 meters 0.017433843746627195 Centerline is valid? [True, True] Translation: X:99.77, Y:-37.83, Z:0.36 [[-2.14836973e-01 9.76648606e-01 1.60490821e-03 9.97719582e+01] [ 9.76609705e-01 2.14842748e-01 -8.72229467e-03 -3.78310642e+01] [-8.86341982e-03 -3.06502444e-04 -9.99960672e-01 3.55435146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.581858064 meters 0.01716949445323011 Centerline is valid? [True, True] Translation: X:99.78, Y:-37.83, Z:0.36 [[-2.91719815e-01 9.56500664e-01 2.45531508e-03 9.97797886e+01] [ 9.56457309e-01 2.91729983e-01 -9.11224873e-03 -3.78317618e+01] [-9.43216099e-03 -3.09819462e-04 -9.99955468e-01 3.55925141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.611858064 meters 0.017334136761553987 Centerline is valid? [True, True] Translation: X:99.79, Y:-37.83, Z:0.36 [[-3.66030510e-01 9.30596699e-01 3.38366666e-03 9.97866280e+01] [ 9.30548885e-01 3.66046022e-01 -9.43834579e-03 -3.78333812e+01] [-1.00218712e-02 -3.06055283e-04 -9.99949733e-01 3.56138911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641858064 meters 0.017175370305612232 Centerline is valid? [True, True] Translation: X:99.79, Y:-37.83, Z:0.36 [[-4.38072356e-01 8.98929594e-01 4.26561091e-03 9.97937052e+01] [ 8.98879993e-01 4.38093017e-01 -9.44811782e-03 -3.78335045e+01] [-1.03619271e-02 -3.04686931e-04 -9.99946267e-01 3.55787225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.671858064 meters 0.01735586155907002 Centerline is valid? [True, True] Translation: X:99.80, Y:-37.83, Z:0.36 [[-5.07327069e-01 8.61739193e-01 4.98087014e-03 9.97994199e+01] [ 8.61691589e-01 5.07351427e-01 -9.06283121e-03 -3.78349316e+01] [-1.03368484e-02 -3.05845690e-04 -9.99946527e-01 3.55618654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701858064 meters 0.017352931453080686 Centerline is valid? [True, True] Translation: X:99.80, Y:-37.84, Z:0.36 [[-5.73200517e-01 8.19394303e-01 5.84330209e-03 9.98020083e+01] [ 8.19346255e-01 5.73230221e-01 -8.87854632e-03 -3.78376169e+01] [-1.06245876e-02 -3.01499661e-04 -9.99943512e-01 3.55171378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.731858064 meters 0.01711464338942808 Centerline is valid? [True, True] Translation: X:99.81, Y:-37.84, Z:0.35 [[-6.35659460e-01 7.71941242e-01 6.61585410e-03 9.98096337e+01] [ 7.71894440e-01 6.35693817e-01 -8.50553375e-03 -3.78358724e+01] [-1.07714298e-02 -2.99881995e-04 -9.99941941e-01 3.54092747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.761858064 meters 0.017060073015990378 Centerline is valid? [True, True] Translation: X:99.82, Y:-37.83, Z:0.35 [[-6.94136396e-01 7.19809655e-01 6.98028214e-03 9.98174578e+01] [ 7.19768822e-01 6.94171426e-01 -7.67293013e-03 -3.78329488e+01] [-1.03685616e-02 -3.01870608e-04 -9.99946199e-01 3.53625084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.791858064 meters 0.01710429192981924 Centerline is valid? [True, True] Translation: X:99.83, Y:-37.83, Z:0.35 [[-7.48499865e-01 6.63096476e-01 7.14256514e-03 9.98250101e+01] [ 6.63062315e-01 7.48533880e-01 -6.73771879e-03 -3.78311292e+01] [-9.81420958e-03 -3.07215830e-04 -9.99951792e-01 3.53171362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.821858064 meters 0.017000749058084498 Centerline is valid? [True, True] Translation: X:99.85, Y:-37.81, Z:0.35 [[-7.93548420e-01 6.08469590e-01 6.75749661e-03 9.98451461e+01] [ 6.08444514e-01 7.93577142e-01 -5.53102725e-03 -3.78117667e+01] [-8.72805673e-03 -2.77576194e-04 -9.99961871e-01 3.51848609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.851858064 meters 0.016885347312144916 Centerline is valid? [True, True] Translation: X:99.86, Y:-37.79, Z:0.35 [[-8.34641645e-01 5.50750208e-01 6.89436592e-03 9.98603139e+01] [ 5.50728625e-01 8.34670073e-01 -4.88372843e-03 -3.77888477e+01] [-8.44423535e-03 -2.79238469e-04 -9.99964308e-01 3.51359008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.881858064 meters 0.016958950798314942 Centerline is valid? [True, True] Translation: X:99.88, Y:-37.77, Z:0.35 [[-8.71590208e-01 4.90181246e-01 7.27019771e-03 9.98755280e+01] [ 4.90161502e-01 8.71620484e-01 -4.40834315e-03 -3.77664580e+01] [-8.49774039e-03 -2.78697693e-04 -9.99963855e-01 3.50881703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.911858064 meters 0.017092340288004833 Centerline is valid? [True, True] Translation: X:99.89, Y:-37.75, Z:0.35 [[-9.04358363e-01 4.26685586e-01 8.68109922e-03 9.98920271e+01] [ 4.26663004e-01 9.04399986e-01 -4.39833961e-03 -3.77460862e+01] [-9.72789414e-03 -2.73771334e-04 -9.99952645e-01 3.50280855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.941858064 meters 0.017116072871642758 Centerline is valid? [True, True] Translation: X:99.90, Y:-37.72, Z:0.35 [[-9.32539064e-01 3.60944471e-01 9.48595911e-03 9.99030028e+01] [ 3.60922777e-01 9.32587268e-01 -3.96683369e-03 -3.77211012e+01] [-1.02782914e-02 -2.75528666e-04 -9.99947139e-01 3.50450573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.971858064 meters 0.016999937660194697 Centerline is valid? [True, True] Translation: X:99.91, Y:-37.69, Z:0.35 [[-9.55952485e-01 2.93298137e-01 1.14476499e-02 9.99102598e+01] [ 2.93273705e-01 9.56020988e-01 -3.79529352e-03 -3.76949576e+01] [-1.20573460e-02 -2.70825584e-04 -9.99927271e-01 3.51674855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001858064 meters 0.017070606713234206 Centerline is valid? [True, True] Translation: X:99.92, Y:-37.67, Z:0.35 [[-9.74335395e-01 2.24733796e-01 1.28553435e-02 9.99182042e+01] [ 2.24710622e-01 9.74420161e-01 -3.23824154e-03 -3.76682945e+01] [-1.32542482e-02 -2.66401106e-04 -9.99912123e-01 3.52103667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.031858064 meters 0.016970535025082046 Centerline is valid? [True, True] Translation: X:100.09, Y:-36.95, Z:-0.64 [[-9.60235440e-01 -2.79162918e-01 3.99558751e-03 1.00093942e+02] [ 2.79159367e-01 -9.60243718e-01 -1.43176782e-03 -3.69522412e+01] [ 4.23643429e-03 -2.59428521e-04 9.99990993e-01 -6.44320167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061858064 meters 0.016909910899808707 Centerline is valid? [True, True] Translation: X:99.88, Y:-37.66, Z:0.35 [[-9.75426526e-01 2.19886317e-01 1.38960484e-02 9.98756929e+01] [ 2.19859949e-01 9.75525464e-01 -3.41646987e-03 -3.76589679e+01] [-1.43071841e-02 -2.77330844e-04 -9.99897609e-01 3.52879239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.091858064 meters 0.017093066024071256 Centerline is valid? [True, True] Translation: X:99.88, Y:-37.63, Z:0.35 [[-9.88574385e-01 1.50064496e-01 1.41891929e-02 9.98757209e+01] [ 1.50045039e-01 9.88676171e-01 -2.43209199e-03 -3.76323541e+01] [-1.43934876e-02 -2.75285847e-04 -9.99896370e-01 3.52297293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.121858064 meters 0.016939728155184134 Centerline is valid? [True, True] Translation: X:100.00, Y:-36.90, Z:-0.64 [[-9.78268084e-01 -2.07304344e-01 4.05766935e-03 9.99990540e+01] [ 2.07301127e-01 -9.78276442e-01 -1.20257998e-03 -3.69026482e+01] [ 4.21882239e-03 -3.35286182e-04 9.99991045e-01 -6.43718622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.151858064 meters 0.01694506573894421 Centerline is valid? [True, True] Translation: X:99.82, Y:-37.63, Z:0.35 [[-9.89188501e-01 1.46049394e-01 1.32545891e-02 9.98225040e+01] [ 1.46032508e-01 9.89277260e-01 -2.23825319e-03 -3.76267156e+01] [-1.34393591e-02 -2.78453433e-04 -9.99909649e-01 3.50378504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.181858064 meters 0.01693290896522088 Centerline is valid? [True, True] Translation: X:99.82, Y:-37.60, Z:0.35 [[-9.97094718e-01 7.52280818e-02 1.19523333e-02 9.98248088e+01] [ 7.52192620e-02 9.97166313e-01 -1.18638529e-03 -3.75992511e+01] [-1.20077136e-02 -2.83892818e-04 -9.99927865e-01 3.49538578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.211858064 meters 0.016946926411256617 Centerline is valid? [True, True] Translation: X:99.82, Y:-37.57, Z:0.35 [[-9.99923898e-01 4.02113437e-03 1.16631669e-02 9.98225624e+01] [ 4.01751589e-03 9.99991874e-01 -3.33661178e-04 -3.75713379e+01] [-1.16644138e-02 -2.86778828e-04 -9.99931927e-01 3.48923801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.241858064 meters 0.01687909404472787 Centerline is valid? [True, True] Translation: X:99.82, Y:-37.54, Z:0.35 [[-9.97649847e-01 -6.76641355e-02 1.07864292e-02 9.98187116e+01] [-6.76633864e-02 9.97708112e-01 4.34785650e-04 -3.75434562e+01] [-1.07911274e-02 -2.96082493e-04 -9.99941730e-01 3.47964569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.271858064 meters 0.016954977684976547 Centerline is valid? [True, True] Translation: X:99.81, Y:-37.52, Z:0.35 [[-9.90205697e-01 -1.39213023e-01 1.06024744e-02 9.98100014e+01] [-1.39208309e-01 9.90262411e-01 1.18499472e-03 -3.75159648e+01] [-1.06641985e-02 -3.02564005e-04 -9.99943090e-01 3.47536018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.301858064 meters 0.016818813674297696 Centerline is valid? [True, True] Translation: X:99.79, Y:-37.49, Z:0.35 [[-9.77357798e-01 -2.11289068e-01 1.13429921e-02 9.97885125e+01] [-2.11278585e-01 9.77423567e-01 2.12838994e-03 -3.74903923e+01] [-1.15366134e-02 -3.16332821e-04 -9.99933401e-01 3.48030664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.331858064 meters 0.016760852966048737 Centerline is valid? [True, True] Translation: X:99.75, Y:-37.47, Z:0.35 [[-9.59312387e-01 -2.82097118e-01 1.18726653e-02 9.97493829e+01] [-2.82079662e-01 9.59385799e-01 3.15469792e-03 -3.74718124e+01] [-1.22803977e-02 -3.22696614e-04 -9.99924541e-01 3.47834078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361858064 meters 0.016796555106337364 Centerline is valid? [True, True] Translation: X:99.69, Y:-37.46, Z:0.35 [[-9.35835811e-01 -3.52212061e-01 1.25697342e-02 9.96868070e+01] [-3.52184988e-01 9.35920165e-01 4.37929615e-03 -3.74639419e+01] [-1.33067086e-02 -3.28569514e-04 -9.99911408e-01 3.48251183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.391858064 meters 0.016820192168837504 Centerline is valid? [True, True] Translation: X:99.62, Y:-37.46, Z:0.35 [[-9.07283672e-01 -4.20322912e-01 1.28447379e-02 9.96158083e+01] [-4.20285875e-01 9.07374533e-01 5.58939181e-03 -3.74633115e+01] [-1.40043375e-02 -3.27297968e-04 -9.99901881e-01 3.47886717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421858064 meters 0.016742156879145428 Centerline is valid? [True, True] Translation: X:99.54, Y:-37.47, Z:0.35 [[-8.73451457e-01 -4.86743457e-01 1.27812302e-02 9.95448083e+01] [-4.86696803e-01 8.73544904e-01 6.74701116e-03 -3.74680361e+01] [-1.44490421e-02 -3.27397172e-04 -9.99895554e-01 3.47895917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.451858064 meters 0.016868649170028956 Centerline is valid? [True, True] Translation: X:99.46, Y:-37.49, Z:0.35 [[-8.34650002e-01 -5.50639926e-01 1.24517671e-02 9.94621838e+01] [-5.50584409e-01 8.34742815e-01 7.82569596e-03 -3.74861564e+01] [-1.47031638e-02 -3.24031692e-04 -9.99891850e-01 3.48084970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.481858064 meters 0.016921282131168003 Centerline is valid? [True, True] Translation: X:99.38, Y:-37.51, Z:0.35 [[-7.91458798e-01 -6.11109046e-01 1.17773055e-02 9.93771140e+01] [-6.11047169e-01 7.91546359e-01 8.70172264e-03 -3.75134968e+01] [-1.46399847e-02 -3.09434215e-04 -9.99892782e-01 3.46723091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.511858064 meters 0.016913882587676985 Centerline is valid? [True, True] Translation: X:99.29, Y:-37.55, Z:0.35 [[-7.43228540e-01 -6.68945828e-01 1.10822494e-02 9.92891114e+01] [-6.68877505e-01 7.43311097e-01 9.56535593e-03 -3.75517266e+01] [-1.46362639e-02 -3.03421787e-04 -9.99892838e-01 3.46035918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.541858064 meters 0.016913882587676985 Centerline is valid? [True, True] Translation: X:99.20, Y:-37.60, Z:0.35 [[-6.90307860e-01 -7.23442233e-01 1.03147924e-02 9.91996406e+01] [-7.23367978e-01 6.90384852e-01 1.03694120e-02 -3.76002690e+01] [-1.46228470e-02 -3.03303918e-04 -9.99893034e-01 3.45440177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.571858064 meters 0.01692573464703957 Centerline is valid? [True, True] Translation: X:99.11, Y:-37.66, Z:0.34 [[-6.33831339e-01 -7.73411964e-01 9.57957088e-03 9.91116267e+01] [-7.73330500e-01 6.33903659e-01 1.12289292e-02 -3.76590739e+01] [-1.47571132e-02 -2.90927109e-04 -9.99891066e-01 3.44577644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.601858064 meters 0.01698424760474882 Centerline is valid? [True, True] Translation: X:99.03, Y:-37.73, Z:0.34 [[-5.73307417e-01 -8.19296108e-01 8.51427275e-03 9.90265742e+01] [-8.19213070e-01 5.73370566e-01 1.16679351e-02 -3.77266797e+01] [-1.44413272e-02 -2.85689792e-04 -9.99895678e-01 3.43407643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.631858064 meters 0.017048950181293286 Centerline is valid? [True, True] Translation: X:98.94, Y:-37.81, Z:0.34 [[-5.09862217e-01 -8.60222753e-01 7.57201718e-03 9.89434888e+01] [-8.60135659e-01 5.09918369e-01 1.22436110e-02 -3.78063892e+01] [-1.43933434e-02 -2.70407311e-04 -9.99896374e-01 3.42680729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.661858064 meters 0.017201131559754113 Centerline is valid? [True, True] Translation: X:98.87, Y:-37.89, Z:0.34 [[-4.42457753e-01 -8.96764787e-01 6.63731616e-03 9.88687934e+01] [-8.96672859e-01 4.42507452e-01 1.28428482e-02 -3.78875999e+01] [-1.44540759e-02 -2.69083481e-04 -9.99895498e-01 3.41924815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.691858064 meters 0.01725111977311475 Centerline is valid? [True, True] Translation: X:98.79, Y:-37.99, Z:0.34 [[-3.71917549e-01 -9.28248008e-01 5.74207764e-03 9.87943740e+01] [-9.28148485e-01 3.71961772e-01 1.35951920e-02 -3.79881554e+01] [-1.47555432e-02 -2.73210185e-04 -9.99891094e-01 3.41251673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721858064 meters 0.01715895124988922 Centerline is valid? [True, True] Translation: X:98.73, Y:-38.09, Z:0.34 [[-2.98237207e-01 -9.54480041e-01 4.73490850e-03 9.87297683e+01] [-9.54374740e-01 2.98274650e-01 1.41805793e-02 -3.80857367e+01] [-1.49473831e-02 -2.89700685e-04 -9.99888240e-01 3.39316519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.751858064 meters 0.017145166216548092 Centerline is valid? [True, True] Translation: X:98.67, Y:-38.18, Z:0.34 [[-2.22752922e-01 -9.74867957e-01 3.68817843e-03 9.86742823e+01] [-9.74756098e-01 2.22783244e-01 1.47707715e-02 -3.81849995e+01] [-1.52212162e-02 -3.04841903e-04 -9.99884104e-01 3.39245125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781858064 meters 0.01698937075009304 Centerline is valid? [True, True] Translation: X:98.62, Y:-38.30, Z:0.34 [[-1.43828004e-01 -9.89599368e-01 2.56833797e-03 9.86223429e+01] [-9.89482414e-01 1.43850501e-01 1.52179541e-02 -3.82985537e+01] [-1.54291344e-02 -3.52557300e-04 -9.99880902e-01 3.36290441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.811858064 meters 0.016992342331797246 Centerline is valid? [True, True] Translation: X:98.58, Y:-38.42, Z:0.34 [[-6.53540643e-02 -9.97861107e-01 1.43432742e-03 9.85804386e+01] [-9.97731741e-01 6.53686934e-02 1.60719242e-02 -3.84160134e+01] [-1.61313082e-02 -3.80708432e-04 -9.99869810e-01 3.36130545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.841858064 meters 0.0172317425718847 Centerline is valid? [True, True] Translation: X:98.55, Y:-38.53, Z:0.34 [[ 1.33859461e-02 -9.99910388e-01 1.82789763e-04 9.85482227e+01] [-9.99767222e-01 -1.33809355e-02 1.69249284e-02 -3.85290288e+01] [-1.69209658e-02 -4.09303392e-04 -9.99856746e-01 3.35658232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.871858064 meters 0.017658325064884572 Centerline is valid? [True, True] Translation: X:98.52, Y:-38.65, Z:0.34 [[ 9.30744644e-02 -9.95658343e-01 -1.26829731e-03 9.85235191e+01] [-9.95485698e-01 -9.30819507e-02 1.85465623e-02 -3.86529476e+01] [-1.85840951e-02 -4.63639527e-04 -9.99827193e-01 3.38400064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.901858064 meters 0.017337829947693176 Centerline is valid? [True, True] Translation: X:98.51, Y:-38.77, Z:0.33 [[ 1.70773198e-01 -9.85306293e-01 -2.83248998e-03 9.85115578e+01] [-9.85119007e-01 -1.70795980e-01 1.92165512e-02 -3.87739304e+01] [-1.94179668e-02 -4.91332190e-04 -9.99811333e-01 3.34751692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.931858064 meters 0.01727609222404394 Centerline is valid? [True, True] Translation: X:98.51, Y:-38.90, Z:0.33 [[ 2.46900570e-01 -9.69031003e-01 -4.36163738e-03 9.85074136e+01] [-9.68841630e-01 -2.46938574e-01 1.91634152e-02 -3.88950704e+01] [-1.96470000e-02 -5.05722262e-04 -9.99806851e-01 3.34358778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.961858064 meters 0.01727216204362798 Centerline is valid? [True, True] Translation: X:98.51, Y:-39.02, Z:0.33 [[ 3.21540795e-01 -9.46878088e-01 -5.77961015e-03 9.85147130e+01] [-9.46694990e-01 -3.21592317e-01 1.86273458e-02 -3.90193015e+01] [-1.94965038e-02 -5.17923598e-04 -9.99809791e-01 3.32247369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.991858064 meters 0.017188399759591143 Centerline is valid? [True, True] Translation: X:98.53, Y:-39.13, Z:0.33 [[ 3.93551203e-01 -9.19273946e-01 -7.27070526e-03 9.85278626e+01] [-9.19091910e-01 -3.93618016e-01 1.83007749e-02 -3.91324558e+01] [-1.96853061e-02 -5.19845575e-04 -9.99806090e-01 3.29458300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.021858064 meters 0.01719293949536999 Centerline is valid? [True, True] Translation: X:98.55, Y:-39.25, Z:0.33 [[ 4.62933500e-01 -8.86350158e-01 -8.71615167e-03 9.85506346e+01] [-8.86171580e-01 -4.63015260e-01 1.77988870e-02 -3.92475673e+01] [-1.98117576e-02 -5.15695182e-04 -9.99803595e-01 3.28997014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.051858064 meters 0.017197166391404454 Centerline is valid? [True, True] Translation: X:98.58, Y:-39.36, Z:0.33 [[ 5.29155263e-01 -8.48461718e-01 -1.03643989e-02 9.85827023e+01] [-8.48279821e-01 -5.29256511e-01 1.75752811e-02 -3.93614530e+01] [-2.03973788e-02 -5.08142056e-04 -9.99791823e-01 3.28468589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.081858064 meters 0.01729823169112557 Centerline is valid? [True, True] Translation: X:98.62, Y:-39.47, Z:0.33 [[ 5.92318432e-01 -8.05617350e-01 -1.18135400e-02 9.86230741e+01] [-8.05440081e-01 -5.92436018e-01 1.69068150e-02 -3.94710932e+01] [-2.06191901e-02 -4.99119549e-04 -9.99787277e-01 3.28203077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.111858064 meters 0.01715459173679076 Centerline is valid? [True, True] Translation: X:98.67, Y:-39.57, Z:0.33 [[ 6.50856079e-01 -7.59069521e-01 -1.41360163e-02 9.86673822e+01] [-7.58874695e-01 -6.51009403e-01 1.72033356e-02 -3.95685007e+01] [-2.22612072e-02 -4.69430548e-04 -9.99752078e-01 3.26873094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141858064 meters 0.017033632351377326 Centerline is valid? [True, True] Translation: X:98.72, Y:-39.67, Z:0.33 [[ 7.06185047e-01 -7.07852546e-01 -1.57306321e-02 9.87218344e+01] [-7.07662812e-01 -7.06360089e-01 1.63941942e-02 -3.96670584e+01] [-2.27161628e-02 -4.45351508e-04 -9.99741855e-01 3.26351989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.171858064 meters 0.017075058704368876 Centerline is valid? [True, True] Translation: X:98.78, Y:-39.76, Z:0.33 [[ 7.57132634e-01 -6.53027212e-01 -1.74824186e-02 9.87782310e+01] [-6.52840502e-01 -7.57334332e-01 1.56201661e-02 -3.97561014e+01] [-2.34404293e-02 -4.13306609e-04 -9.99725150e-01 3.25675628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201858064 meters 0.016799918701837075 Centerline is valid? [True, True] Translation: X:98.78, Y:-39.76, Z:0.33 [[ 8.03613606e-01 -5.94834702e-01 -1.94126245e-02 9.87768272e+01] [-5.94651184e-01 -8.03847975e-01 1.47784602e-02 -3.97612711e+01] [-2.43955399e-02 -3.32431609e-04 -9.99702329e-01 3.25323972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.231858064 meters 0.016836939421616882 Centerline is valid? [True, True] Translation: X:98.77, Y:-39.77, Z:0.33 [[ 8.46557325e-01 -5.31902671e-01 -2.04998554e-02 9.87737629e+01] [-5.31738695e-01 -8.46805449e-01 1.32095018e-02 -3.97661015e+01] [-2.43855586e-02 -2.82034159e-04 -9.99702588e-01 3.25213589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.261858064 meters 0.016775764685908582 Centerline is valid? [True, True] Translation: X:98.77, Y:-39.77, Z:0.32 [[ 8.84593770e-01 -4.65865474e-01 -2.15225954e-02 9.87716672e+01] [-4.65721260e-01 -8.84855529e-01 1.15931477e-02 -3.97734206e+01] [-2.44452347e-02 -2.31695995e-04 -9.99701144e-01 3.24000334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.291858064 meters 0.016682096270712737 Centerline is valid? [True, True] Translation: X:98.77, Y:-39.78, Z:0.32 [[ 9.16991405e-01 -3.98296736e-01 -2.20561301e-02 9.87697219e+01] [-3.98177560e-01 -9.17256609e-01 9.74391562e-03 -3.97794907e+01] [-2.41121009e-02 -1.52830815e-04 -9.99709249e-01 3.22481227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.321858064 meters 0.016561479977131973 Centerline is valid? [True, True] Translation: X:98.77, Y:-39.79, Z:0.32 [[ 9.44892669e-01 -3.26583942e-01 -2.28204616e-02 9.87675771e+01] [-3.26485664e-01 -9.45168194e-01 8.01227180e-03 -3.97890346e+01] [-2.41858538e-02 -1.20183307e-04 -9.99707472e-01 3.21291771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.351858064 meters 0.016967927713610928 Centerline is valid? [True, True] Translation: X:98.77, Y:-39.80, Z:0.32 [[ 9.67417263e-01 -2.52159867e-01 -2.27868540e-02 9.87656928e+01] [-2.52087201e-01 -9.67685584e-01 6.05430003e-03 -3.97969476e+01] [-2.35771616e-02 -1.12760110e-04 -9.99722014e-01 3.22399846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.381858064 meters 0.01660905207609741 Centerline is valid? [True, True] Translation: X:98.76, Y:-39.81, Z:0.32 [[ 9.84257973e-01 -1.75347544e-01 -2.21242145e-02 9.87621493e+01] [-1.75300330e-01 -9.84506588e-01 4.07085055e-03 -3.98058405e+01] [-2.24952486e-02 -1.28385011e-04 -9.99746942e-01 3.21171199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.411858064 meters 0.016517966733534974 Centerline is valid? [True, True] Translation: X:98.76, Y:-39.81, Z:0.32 [[ 9.95051024e-01 -9.68491506e-02 -2.22194007e-02 9.87582786e+01] [-9.68216802e-02 -9.95299061e-01 2.31133791e-03 -3.98138805e+01] [-2.23387997e-02 -1.48579446e-04 -9.99750447e-01 3.21498286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.441858064 meters 0.01620940137520153 Centerline is valid? [True, True] Translation: X:98.75, Y:-39.82, Z:0.32 [[ 9.99610283e-01 -1.74972140e-02 -2.17515603e-02 9.87548889e+01] [-1.74892147e-02 -9.99846896e-01 5.57952134e-04 -3.98238322e+01] [-2.17579927e-02 -1.77316983e-04 -9.99763251e-01 3.20851293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.471858064 meters 0.01598636029474607 Centerline is valid? [True, True] Translation: X:98.75, Y:-39.83, Z:0.32 [[ 9.97818512e-01 6.28250644e-02 -2.02787904e-02 9.87524837e+01] [ 6.28167339e-02 -9.98024528e-01 -1.04815553e-03 -3.98333340e+01] [-2.03045807e-02 -2.27978391e-04 -9.99793815e-01 3.20481360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501858064 meters 0.015955963689238573 Centerline is valid? [True, True] Translation: X:98.75, Y:-39.84, Z:0.32 [[ 9.89738895e-01 1.41565630e-01 -1.93930997e-02 9.87510276e+01] [ 1.41543352e-01 -9.89928841e-01 -2.52356995e-03 -3.98409664e+01] [-1.95550395e-02 -2.47289007e-04 -9.99808751e-01 3.19653934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.531858064 meters 0.015816138048759244 Centerline is valid? [True, True] Translation: X:98.75, Y:-39.85, Z:0.32 [[ 9.75384420e-01 2.19729263e-01 -1.85548945e-02 9.87512888e+01] [ 2.19694787e-01 -9.75560853e-01 -3.90167914e-03 -3.98507343e+01] [-1.89587418e-02 -2.70776539e-04 -9.99820230e-01 3.19331433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561858064 meters 0.015806137655241703 Centerline is valid? [True, True] Translation: X:98.75, Y:-39.86, Z:0.32 [[ 9.54860788e-01 2.96530437e-01 -1.76231426e-02 9.87508468e+01] [ 2.96485586e-01 -9.55023358e-01 -5.16557276e-03 -3.98601893e+01] [-1.83622623e-02 -2.92604871e-04 -9.99831357e-01 3.20597127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.591858064 meters 0.015904050967238372 Centerline is valid? [True, True] Translation: X:98.75, Y:-39.87, Z:0.32 [[ 9.28510289e-01 3.70922534e-01 -1.68854129e-02 9.87503728e+01] [ 3.70867118e-01 -9.28663762e-01 -6.41856979e-03 -3.98678486e+01] [-1.80616632e-02 -3.02536329e-04 -9.99836829e-01 3.21518200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.621858064 meters 0.015874312963429043 Centerline is valid? [True, True] Translation: X:98.75, Y:-39.87, Z:0.32 [[ 8.96412776e-01 4.42928722e-01 -1.60711757e-02 9.87512698e+01] [ 4.42863746e-01 -8.96556775e-01 -7.59287538e-03 -3.98737919e+01] [-1.77718241e-02 -3.10990582e-04 -9.99842020e-01 3.21990309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.651858064 meters 0.015845560711042303 Centerline is valid? [True, True] Translation: X:98.75, Y:-39.88, Z:0.32 [[ 8.59089336e-01 5.11601750e-01 -1.51380976e-02 9.87541162e+01] [ 5.11528621e-01 -8.59222645e-01 -8.65536617e-03 -3.98826141e+01] [-1.74350968e-02 -3.07837431e-04 -9.99847950e-01 3.21364606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.681858064 meters 0.015856891613608926 Centerline is valid? [True, True] Translation: X:98.76, Y:-39.89, Z:0.32 [[ 8.16554441e-01 5.77091612e-01 -1.42869673e-02 9.87561468e+01] [ 5.77009741e-01 -8.16679362e-01 -9.72517597e-03 -3.98914472e+01] [-1.72801888e-02 -3.02583653e-04 -9.99850641e-01 3.22456425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.711858064 meters 0.01590427455370927 Centerline is valid? [True, True] Translation: X:98.76, Y:-39.90, Z:0.32 [[ 7.69170082e-01 6.38909029e-01 -1.31391652e-02 9.87592784e+01] [ 6.38822319e-01 -7.69282241e-01 -1.05299184e-02 -3.98981204e+01] [-1.68353864e-02 -2.94293750e-04 -9.99858232e-01 3.22244388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.741858064 meters 0.01607024006576181 Centerline is valid? [True, True] Translation: X:98.76, Y:-39.90, Z:0.32 [[ 7.17204781e-01 6.96759413e-01 -1.19842374e-02 9.87625288e+01] [ 6.96668727e-01 -7.17304844e-01 -1.12447822e-02 -3.99048111e+01] [-1.64312594e-02 -2.84231842e-04 -9.99864957e-01 3.22072281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.771858064 meters 0.015912745511081915 Centerline is valid? [True, True] Translation: X:98.77, Y:-39.91, Z:0.32 [[ 6.61948449e-01 7.49480477e-01 -1.01619979e-02 9.87672201e+01] [ 7.49398067e-01 -6.62026396e-01 -1.11170065e-02 -3.99123149e+01] [-1.50594902e-02 -2.56496379e-04 -9.99886567e-01 3.20537820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.801858064 meters 0.015904752773278474 Centerline is valid? [True, True] Translation: X:98.77, Y:-39.92, Z:0.32 [[ 6.02019047e-01 7.98431533e-01 -8.95293606e-03 9.87717708e+01] [ 7.98349210e-01 -6.02085566e-01 -1.14678141e-02 -3.99191789e+01] [-1.45466979e-02 -2.43726927e-04 -9.99894161e-01 3.19925269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.831858064 meters 0.015977755067732698 Centerline is valid? [True, True] Translation: X:98.78, Y:-39.93, Z:0.32 [[ 5.38597364e-01 8.42527259e-01 -7.79083218e-03 9.87762323e+01] [ 8.42445214e-01 -5.38653659e-01 -1.17599912e-02 -3.99251075e+01] [-1.41046734e-02 -2.29449014e-04 -9.99900498e-01 3.19626086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.861858064 meters 0.016276781808893522 Centerline is valid? [True, True] Translation: X:98.78, Y:-39.93, Z:0.32 [[ 4.72115535e-01 8.81511236e-01 -6.69795847e-03 9.87795318e+01] [ 8.81428842e-01 -4.72162997e-01 -1.20540463e-02 -3.99308448e+01] [-1.37883054e-02 -2.12871252e-04 -9.99904914e-01 3.19430105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.891858064 meters 0.016508150136857008 Centerline is valid? [True, True] Translation: X:98.79, Y:-39.94, Z:0.32 [[ 4.05020016e-01 9.14289285e-01 -5.82147779e-03 9.87858589e+01] [ 9.14200422e-01 -4.05061820e-01 -1.27479729e-02 -3.99368490e+01] [-1.40133934e-02 -1.58813253e-04 -9.99901795e-01 3.19516909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921858064 meters 0.017093823141545127 Centerline is valid? [True, True] Translation: X:98.79, Y:-39.94, Z:0.32 [[ 3.34313213e-01 9.42449288e-01 -4.90056714e-03 9.87905273e+01] [ 9.42353348e-01 -3.34349107e-01 -1.34477693e-02 -3.99429290e+01] [-1.43123408e-02 -1.22298900e-04 -9.99897566e-01 3.20582857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.951858064 meters 0.017778088724132557 Centerline is valid? [True, True] Translation: X:98.80, Y:-39.95, Z:0.32 [[ 2.61246384e-01 9.65263362e-01 -4.11933647e-03 9.87959141e+01] [ 9.65147983e-01 -2.61278848e-01 -1.49243268e-02 -3.99482647e+01] [-1.54822013e-02 -7.68428803e-05 -9.99880141e-01 3.20965722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.981858064 meters 0.017584511936015124 Centerline is valid? [True, True] Translation: X:98.80, Y:-39.95, Z:0.32 [[ 1.86660860e-01 9.82419627e-01 -3.06581667e-03 9.88032884e+01] [ 9.82290161e-01 -1.86686032e-01 -1.59488219e-02 -3.99529654e+01] [-1.62407808e-02 -3.45007450e-05 -9.99868109e-01 3.20439273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.011858064 meters 0.019209900771341538 Centerline is valid? [True, True] Translation: X:98.81, Y:-39.96, Z:0.32 [[ 1.13046384e-01 9.93587823e-01 -1.93712475e-03 9.88073155e+01] [ 9.93432766e-01 -1.13062964e-01 -1.75529489e-02 -3.99575522e+01] [-1.76594133e-02 5.98942137e-05 -9.99844059e-01 3.21024238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.041858064 meters 0.019153084205774926 Centerline is valid? [True, True] Translation: X:98.81, Y:-39.96, Z:0.32 [[ 3.61557286e-02 9.99346009e-01 -5.63147512e-04 9.88146607e+01] [ 9.99179600e-01 -3.61599848e-02 -1.82368406e-02 -3.99614233e+01] [-1.82452773e-02 9.66807530e-05 -9.99833536e-01 3.19909617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.071858064 meters 0.01982343547239498 Centerline is valid? [True, True] Translation: X:98.82, Y:-39.97, Z:0.32 [[-4.04459848e-02 9.99181307e-01 9.15611492e-04 9.88222053e+01] [ 9.99001399e-01 4.04560772e-02 -1.89607448e-02 -3.99651739e+01] [-1.89822638e-02 1.47811167e-04 -9.99819810e-01 3.19488999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.101858064 meters 0.02011055733100624 Centerline is valid? [True, True] Translation: X:98.83, Y:-39.97, Z:0.32 [[-1.18693465e-01 9.92928020e-01 2.41013486e-03 9.88305726e+01] [ 9.92747993e-01 1.18717839e-01 -1.89075957e-02 -3.99683197e+01] [-1.90600076e-02 1.48448491e-04 -9.99818331e-01 3.19592457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.131858064 meters 0.02000419226359996 Centerline is valid? [True, True] Translation: X:98.84, Y:-39.97, Z:0.32 [[-1.96717225e-01 9.80451851e-01 4.06225114e-03 9.88415943e+01] [ 9.80259008e-01 1.96759101e-01 -1.94456344e-02 -3.99704574e+01] [-1.98647932e-02 1.56767030e-04 -9.99802663e-01 3.19168176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.161858064 meters 0.020049195497321846 Centerline is valid? [True, True] Translation: X:98.85, Y:-39.97, Z:0.32 [[-2.73826820e-01 9.61761787e-01 5.75651539e-03 9.88512830e+01] [ 9.61560875e-01 2.73887279e-01 -1.96581070e-02 -3.99721618e+01] [-2.04830524e-02 1.52323050e-04 -9.99790189e-01 3.18989820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.191858064 meters 0.01947956934135984 Centerline is valid? [True, True] Translation: X:98.86, Y:-39.97, Z:0.32 [[-3.50975087e-01 9.36353598e-01 7.64375084e-03 9.88620259e+01] [ 9.36138620e-01 3.51058294e-01 -2.00638437e-02 -3.99722413e+01] [-2.14702544e-02 1.13701079e-04 -9.99769481e-01 3.17990161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.221858064 meters 0.019346096733027434 Centerline is valid? [True, True] Translation: X:98.87, Y:-39.97, Z:0.32 [[-4.24994288e-01 9.05146611e-01 9.45874680e-03 9.88708289e+01] [ 9.04926899e-01 4.25099525e-01 -1.99424687e-02 -3.99724642e+01] [-2.20717668e-02 8.40390988e-05 -9.99756385e-01 3.17162825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.251858064 meters 0.0190945367316418 Centerline is valid? [True, True] Translation: X:98.88, Y:-39.97, Z:0.32 [[-4.96175130e-01 8.68152833e-01 1.09954164e-02 9.88787877e+01] [ 8.67941748e-01 4.96296944e-01 -1.91433054e-02 -3.99719468e+01] [-2.20763064e-02 4.49488566e-05 -9.99756288e-01 3.16294846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281858064 meters 0.020440764512220416 Centerline is valid? [True, True] Translation: X:98.89, Y:-39.97, Z:0.32 [[-5.63792553e-01 8.25825432e-01 1.22602320e-02 9.88860203e+01] [ 8.25630631e-01 5.63925843e-01 -1.79361334e-02 -3.99712641e+01] [-2.17259768e-02 1.01646661e-05 -9.99763963e-01 3.16434591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.311858064 meters 0.018153878448163848 Centerline is valid? [True, True] Translation: X:98.90, Y:-39.97, Z:0.31 [[-6.30083893e-01 7.76416698e-01 1.30919117e-02 9.88989164e+01] [ 7.76246142e-01 6.30219884e-01 -1.62734414e-02 -3.99651752e+01] [-2.08857547e-02 -9.10873913e-05 -9.99781865e-01 3.13794939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.341858064 meters 0.01809481924224231 Centerline is valid? [True, True] Translation: X:98.91, Y:-39.96, Z:0.31 [[-6.90375964e-01 7.23308686e-01 1.43378023e-02 9.89081137e+01] [ 7.23148809e-01 6.90524821e-01 -1.52076190e-02 -3.99614300e+01] [-2.09004113e-02 -1.30609955e-04 -9.99781554e-01 3.13622288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.371858064 meters 0.017944603204126233 Centerline is valid? [True, True] Translation: X:98.92, Y:-39.96, Z:0.31 [[-7.46450692e-01 6.65269213e-01 1.51075872e-02 9.89155591e+01] [ 6.65128075e-01 7.46603537e-01 -1.37040787e-02 -3.99577420e+01] [-2.03962797e-02 -1.80938638e-04 -9.99791958e-01 3.12726120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.401858064 meters 0.017753773904754643 Centerline is valid? [True, True] Translation: X:98.93, Y:-39.93, Z:0.31 [[-7.94201947e-01 6.07440052e-01 1.61198438e-02 9.89328264e+01] [ 6.07308893e-01 7.94365487e-01 -1.26246575e-02 -3.99325460e+01] [-2.04737702e-02 -2.36803109e-04 -9.99790362e-01 3.10855789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.431858064 meters 0.017685078107022655 Centerline is valid? [True, True] Translation: X:98.95, Y:-39.91, Z:0.31 [[-8.36741700e-01 5.47329046e-01 1.71534977e-02 9.89488112e+01] [ 5.47206834e-01 8.36917456e-01 -1.15694552e-02 -3.99074438e+01] [-2.06883605e-02 -2.94134419e-04 -9.99785930e-01 3.10699984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.461858064 meters 0.017685078107022655 Centerline is valid? [True, True] Translation: X:98.96, Y:-39.88, Z:0.31 [[-8.73401075e-01 4.86671729e-01 1.79217763e-02 9.89644135e+01] [ 4.86562382e-01 8.73584880e-01 -1.03201799e-02 -3.98846062e+01] [-2.06787326e-02 -2.93594026e-04 -9.99786129e-01 3.10601812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.491858064 meters 0.01779554757303324 Centerline is valid? [True, True] Translation: X:98.98, Y:-39.86, Z:0.31 [[-9.06828479e-01 4.21086608e-01 1.86595614e-02 9.89780511e+01] [ 4.20989533e-01 9.07020367e-01 -9.04803043e-03 -3.98579677e+01] [-2.07346066e-02 -3.49531652e-04 -9.99784954e-01 3.10276394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.521858064 meters 0.01782229546041225 Centerline is valid? [True, True] Translation: X:98.98, Y:-39.83, Z:0.31 [[-9.35231944e-01 3.53507441e-01 1.93313207e-02 9.89773325e+01] [ 3.53423080e-01 9.35431627e-01 -7.73287830e-03 -3.98258820e+01] [-2.08167588e-02 -3.99899889e-04 -9.99783228e-01 3.10128032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.551858064 meters 0.018267413329651656 Centerline is valid? [True, True] Translation: X:99.00, Y:-39.80, Z:0.31 [[-9.59143119e-01 2.82195974e-01 2.02461998e-02 9.89961491e+01] [ 2.82122214e-01 9.59356653e-01 -6.47058895e-03 -3.97999406e+01] [-2.12493006e-02 -4.94318169e-04 -9.99774086e-01 3.09750333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.581858064 meters 0.018214450122752586 Centerline is valid? [True, True] Translation: X:99.01, Y:-39.77, Z:0.31 [[-9.77102101e-01 2.11774622e-01 2.05667985e-02 9.90063298e+01] [ 2.11716300e-01 9.77318387e-01 -4.99786430e-03 -3.97733259e+01] [-2.11587311e-02 -5.29097229e-04 -9.99775989e-01 3.09228358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.611858064 meters 0.018580270132168192 Centerline is valid? [True, True] Translation: X:99.01, Y:-39.74, Z:0.31 [[-9.89782500e-01 1.40994298e-01 2.12417095e-02 9.90104778e+01] [ 1.40949831e-01 9.90010253e-01 -3.58374821e-03 -3.97445393e+01] [-2.15347983e-02 -5.53115901e-04 -9.99767946e-01 3.09587610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641858064 meters 0.018320225062376308 Centerline is valid? [True, True] Translation: X:99.01, Y:-39.72, Z:0.31 [[-9.97322074e-01 6.99119724e-02 2.14708570e-02 9.90087197e+01] [ 6.98836432e-02 9.97553006e-01 -2.06784063e-03 -3.97168737e+01] [-2.15628848e-02 -5.61841393e-04 -9.99767336e-01 3.08205551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.671858064 meters 0.018418894141900358 Centerline is valid? [True, True] Translation: X:99.01, Y:-39.69, Z:0.31 [[-9.99762334e-01 -7.92029648e-04 2.17864083e-02 9.90091605e+01] [-8.03943610e-04 9.99999532e-01 -5.38099813e-04 -3.96892858e+01] [-2.17859719e-02 -5.55486969e-04 -9.99762503e-01 3.07968540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701858064 meters 0.018318023382275294 Centerline is valid? [True, True] Translation: X:99.00, Y:-39.66, Z:0.31 [[-9.97180691e-01 -7.17296347e-02 2.20347160e-02 9.90040337e+01] [-7.17243833e-02 9.97423958e-01 1.02956116e-03 -3.96624664e+01] [-2.20518037e-02 -5.53767912e-04 -9.99756676e-01 3.07126783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.731858064 meters 0.01826362691377791 Centerline is valid? [True, True] Translation: X:98.97, Y:-38.98, Z:-0.65 [[-9.99687398e-01 -2.02918839e-02 1.46063444e-02 9.89655677e+01] [ 2.02892959e-02 -9.99794098e-01 -3.25361207e-04 -3.89757757e+01] [ 1.46099391e-02 -2.89070546e-05 9.99893269e-01 -6.48439512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.761858064 meters 0.018148262092756457 Centerline is valid? [True, True] Translation: X:98.91, Y:-39.67, Z:0.31 [[-9.96870039e-01 -7.58810023e-02 2.21855728e-02 9.89054337e+01] [-7.58737634e-02 9.97116746e-01 1.16907797e-03 -3.96667752e+01] [-2.22103170e-02 -5.17884104e-04 -9.99753186e-01 3.07446859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.791858064 meters 0.01803950830478921 Centerline is valid? [True, True] Translation: X:98.90, Y:-39.64, Z:0.31 [[-9.89049057e-01 -1.45884333e-01 2.23545159e-02 9.88966105e+01] [-1.45858307e-01 9.89301531e-01 2.79911754e-03 -3.96407137e+01] [-2.25237042e-02 -4.92127272e-04 -9.99746188e-01 3.07073334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.821858064 meters 0.01804497933558686 Centerline is valid? [True, True] Translation: X:98.88, Y:-39.62, Z:0.31 [[-9.76265602e-01 -2.15384994e-01 2.26887368e-02 9.88756752e+01] [-2.15338075e-01 9.76529099e-01 4.52021378e-03 -3.96172961e+01] [-2.31297979e-02 -4.72819679e-04 -9.99732359e-01 3.06003188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.851858064 meters 0.017989205829228447 Centerline is valid? [True, True] Translation: X:98.83, Y:-39.60, Z:0.31 [[-9.58253098e-01 -2.85069867e-01 2.20492673e-02 9.88339865e+01] [-2.85005693e-01 9.58506625e-01 6.06678423e-03 -3.95993804e+01] [-2.28638261e-02 -4.70651909e-04 -9.99738478e-01 3.05276884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.881858064 meters 0.01761604363040488 Centerline is valid? [True, True] Translation: X:98.79, Y:-39.59, Z:0.30 [[-9.34696265e-01 -3.54818603e-01 2.11341381e-02 9.87869060e+01] [-3.54739296e-01 9.34935044e-01 7.51632919e-03 -3.95864621e+01] [-2.24259797e-02 -4.71624443e-04 -9.99748395e-01 3.02678690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.911858064 meters 0.017759680084173068 Centerline is valid? [True, True] Translation: X:98.72, Y:-39.58, Z:0.30 [[-9.05727821e-01 -4.23364720e-01 2.04799547e-02 9.87231391e+01] [-4.23268567e-01 9.05959204e-01 9.03556078e-03 -3.95818322e+01] [-2.23793411e-02 -4.84762296e-04 -9.99749434e-01 3.01427096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.941858064 meters 0.01775429919260055 Centerline is valid? [True, True] Translation: X:98.65, Y:-39.59, Z:0.30 [[-8.71740034e-01 -4.89564980e-01 1.98857423e-02 9.86505831e+01] [-4.89450400e-01 8.71966679e-01 1.06026593e-02 -3.95872540e+01] [-2.25303953e-02 -4.90321915e-04 -9.99746038e-01 3.00267044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.971858064 meters 0.017820805832182044 Centerline is valid? [True, True] Translation: X:98.57, Y:-39.60, Z:0.30 [[-8.32727879e-01 -5.53365911e-01 1.87202490e-02 9.85689172e+01] [-5.53239260e-01 8.32938130e-01 1.18487461e-02 -3.96036024e+01] [-2.21495014e-02 -4.89995511e-04 -9.99754550e-01 2.99463503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001858064 meters 0.017796775545338827 Centerline is valid? [True, True] Translation: X:98.49, Y:-39.63, Z:0.30 [[-7.89042393e-01 -6.14091183e-01 1.74390725e-02 9.84856273e+01] [-6.13954561e-01 7.89234939e-01 1.29617862e-02 -3.96285170e+01] [-2.17232440e-02 -4.79399279e-04 -9.99763908e-01 2.98877336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.031858064 meters 0.017686777289565817 Centerline is valid? [True, True] Translation: X:98.40, Y:-39.66, Z:0.30 [[-7.41549523e-01 -6.70709779e-01 1.58964478e-02 9.84013134e+01] [-6.70568307e-01 7.41719758e-01 1.37820985e-02 -3.96631733e+01] [-2.10344977e-02 -4.39545515e-04 -9.99778654e-01 2.98075545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061858064 meters 0.01789133629934598 Centerline is valid? [True, True] Translation: X:98.31, Y:-39.71, Z:0.30 [[-6.89785534e-01 -7.23858229e-01 1.50060092e-02 9.83143898e+01] [-7.23699720e-01 6.89948620e-01 1.51531456e-02 -3.97080066e+01] [-2.13221045e-02 -4.07424012e-04 -9.99772575e-01 2.99823016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.091858064 meters 0.017503720267600935 Centerline is valid? [True, True] Translation: X:98.23, Y:-39.76, Z:0.30 [[-6.33867821e-01 -7.73323614e-01 1.34971508e-02 9.82292951e+01] [-7.73160855e-01 6.34011393e-01 1.58696335e-02 -3.97640335e+01] [-2.08297097e-02 -3.76218671e-04 -9.99782967e-01 2.96944871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.121858064 meters 0.01741784631988346 Centerline is valid? [True, True] Translation: X:98.15, Y:-39.83, Z:0.30 [[-5.75022311e-01 -8.18052842e-01 1.17851690e-02 9.81471696e+01] [-8.17892561e-01 5.75142975e-01 1.61962078e-02 -3.98281762e+01] [-2.00275110e-02 -3.25821272e-04 -9.99799376e-01 2.96234636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.151858064 meters 0.017474488555645328 Centerline is valid? [True, True] Translation: X:98.07, Y:-39.90, Z:0.30 [[-5.11926615e-01 -8.58966213e-01 1.04012275e-02 9.80657935e+01] [-8.58800739e-01 5.12032181e-01 1.68622592e-02 -3.99035493e+01] [-1.98098741e-02 -3.00342555e-04 -9.99803720e-01 2.95874274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.181858064 meters 0.01737251861282595 Centerline is valid? [True, True] Translation: X:97.99, Y:-39.98, Z:0.29 [[-4.45731225e-01 -8.95123649e-01 8.79364168e-03 9.79903261e+01] [-8.94961581e-01 4.45817874e-01 1.70350148e-02 -3.99846337e+01] [-1.91688072e-02 -2.76933458e-04 -9.99816223e-01 2.93796703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.211858064 meters 0.017533776306275197 Centerline is valid? [True, True] Translation: X:97.92, Y:-40.08, Z:0.29 [[-3.76736231e-01 -9.26291053e-01 7.39572019e-03 9.79181784e+01] [-9.26125852e-01 3.76808728e-01 1.74953834e-02 -4.00780232e+01] [-1.89925890e-02 -2.58222879e-04 -9.99819591e-01 2.94069099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.241858064 meters 0.017644574853197995 Centerline is valid? [True, True] Translation: X:97.85, Y:-40.17, Z:0.29 [[-3.05794946e-01 -9.52077159e-01 6.20754370e-03 9.78544911e+01] [-9.51896085e-01 3.05857859e-01 1.85691429e-02 -4.01734048e+01] [-1.95778828e-02 -2.30586493e-04 -9.99808308e-01 2.93190922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.271858064 meters 0.017740514622333604 Centerline is valid? [True, True] Translation: X:97.80, Y:-40.27, Z:0.29 [[-2.32025754e-01 -9.72697569e-01 4.84653269e-03 9.77975518e+01] [-9.72505022e-01 2.32076259e-01 1.93543853e-02 -4.02748826e+01] [-1.99507287e-02 -2.22561528e-04 -9.99800940e-01 2.94020844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.301858064 meters 0.017747945612746997 Centerline is valid? [True, True] Translation: X:97.75, Y:-40.38, Z:0.29 [[-1.56804536e-01 -9.87623891e-01 3.37442432e-03 9.77478935e+01] [-9.87423810e-01 1.56840694e-01 1.98800351e-02 -4.03827618e+01] [-2.01632447e-02 -2.14707226e-04 -9.99796678e-01 2.93044847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.331858064 meters 0.017778730454292607 Centerline is valid? [True, True] Translation: X:97.71, Y:-40.50, Z:0.29 [[-8.06313987e-02 -9.96742322e-01 1.82213605e-03 9.77057015e+01] [-9.96543118e-01 8.06517138e-02 1.99277593e-02 -4.04986366e+01] [-2.00097995e-02 -2.09034042e-04 -9.99799762e-01 2.92817619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361858064 meters 0.01790820843270258 Centerline is valid? [True, True] Translation: X:97.67, Y:-40.62, Z:0.29 [[-3.71589673e-03 -9.99993056e-01 2.81482599e-04 9.76729225e+01] [-9.99797709e-01 3.72073467e-03 1.97660397e-02 -4.06196724e+01] [-1.97669497e-02 -2.07977096e-04 -9.99804593e-01 2.92896372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391858064 meters 0.01794485762177262 Centerline is valid? [True, True] Translation: X:97.65, Y:-40.74, Z:0.29 [[ 7.30693003e-02 -9.97326103e-01 -1.23387391e-03 9.76493336e+01] [-9.97133295e-01 -7.30794365e-02 1.96109017e-02 -4.07398465e+01] [-1.96486350e-02 -2.02618105e-04 -9.99806926e-01 2.92547684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421858064 meters 0.018123985517156656 Centerline is valid? [True, True] Translation: X:97.63, Y:-40.85, Z:0.29 [[ 1.48882689e-01 -9.88851285e-01 -2.66091799e-03 9.76340033e+01] [-9.88669929e-01 -1.48906346e-01 1.89386429e-02 -4.08517201e+01] [-1.91237289e-02 -1.88866481e-04 -9.99817107e-01 2.92800587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451858064 meters 0.01824070685193133 Centerline is valid? [True, True] Translation: X:97.63, Y:-40.98, Z:0.29 [[ 2.23906733e-01 -9.74602620e-01 -3.93812749e-03 9.76297286e+01] [-9.74437521e-01 -2.23941291e-01 1.79392090e-02 -4.09753606e+01] [-1.83655095e-02 -1.79250501e-04 -9.99831324e-01 2.91944512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.481858064 meters 0.01813954716087032 Centerline is valid? [True, True] Translation: X:97.63, Y:-41.09, Z:0.29 [[ 2.98137166e-01 -9.54509512e-01 -5.08158325e-03 9.76324598e+01] [-9.54360366e-01 -2.98180414e-01 1.68740188e-02 -4.10906619e+01] [-1.76216401e-02 -1.81110510e-04 -9.99844710e-01 2.89825372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.511858064 meters 0.018474495535834815 Centerline is valid? [True, True] Translation: X:97.65, Y:-41.21, Z:0.29 [[ 3.70353322e-01 -9.28870068e-01 -6.22999217e-03 9.76467820e+01] [-9.28730520e-01 -3.70405676e-01 1.61014226e-02 -4.12108400e+01] [-1.72637540e-02 -1.77231495e-04 -9.99850955e-01 2.90719245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.541858064 meters 0.018317709343779316 Centerline is valid? [True, True] Translation: X:97.67, Y:-41.33, Z:0.29 [[ 4.40786059e-01 -8.97582897e-01 -7.25215527e-03 9.76677361e+01] [-8.97454572e-01 -4.40845676e-01 1.51782976e-02 -4.13273391e+01] [-1.68208616e-02 -1.81902067e-04 -9.99858503e-01 2.88861835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.571858064 meters 0.018400561638341306 Centerline is valid? [True, True] Translation: X:97.70, Y:-41.44, Z:0.29 [[ 5.09043504e-01 -8.60702008e-01 -8.17100680e-03 9.76957585e+01] [-8.60584894e-01 -5.09109041e-01 1.41994644e-02 -4.14406834e+01] [-1.63814410e-02 -1.96300107e-04 -9.99865796e-01 2.88787186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.601858064 meters 0.018366834899522066 Centerline is valid? [True, True] Translation: X:97.73, Y:-41.55, Z:0.29 [[ 5.73883405e-01 -8.18885927e-01 -9.14742454e-03 9.77318962e+01] [-8.18776198e-01 -5.73956267e-01 1.34067795e-02 -4.15495021e+01] [-1.62288447e-02 -2.04234777e-04 -9.99868283e-01 2.88464528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.631858064 meters 0.01869676116457625 Centerline is valid? [True, True] Translation: X:97.77, Y:-41.65, Z:0.29 [[ 6.35590148e-01 -7.71965924e-01 -9.68376964e-03 9.77745750e+01] [-7.71870963e-01 -6.35663875e-01 1.21100995e-02 -4.16543933e+01] [-1.55042067e-02 -2.22439357e-04 -9.99879778e-01 2.90274674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.661858064 meters 0.018659557821706727 Centerline is valid? [True, True] Translation: X:97.82, Y:-41.75, Z:0.29 [[ 6.93069095e-01 -7.20795869e-01 -1.04185256e-02 9.78246816e+01] [-7.20709379e-01 -6.93147359e-01 1.11682067e-02 -4.17542567e+01] [-1.52715708e-02 -2.31609823e-04 -9.99883356e-01 2.89590859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.691858064 meters 0.018729085208760734 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.84, Z:0.29 [[ 7.45974911e-01 -6.65891890e-01 -1.04605727e-02 9.78764662e+01] [-6.65822002e-01 -7.46048213e-01 9.65018086e-03 -4.18433727e+01] [-1.42300688e-02 -2.33913327e-04 -9.99898720e-01 2.91479526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721858064 meters 0.018611436207093945 Centerline is valid? [True, True] Translation: X:97.87, Y:-41.85, Z:0.29 [[ 7.95367094e-01 -6.06053616e-01 -9.49742646e-03 9.78745530e+01] [-6.06006838e-01 -7.95423761e-01 7.53348780e-03 -4.18515548e+01] [-1.21201762e-02 -2.36382920e-04 -9.99926520e-01 2.89989957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.751858064 meters 0.018537414762303184 Centerline is valid? [True, True] Translation: X:97.87, Y:-41.86, Z:0.29 [[ 8.40012312e-01 -5.42481341e-01 -9.65971412e-03 9.78735459e+01] [-5.42442303e-01 -8.40067819e-01 6.51206643e-03 -4.18601322e+01] [-1.16474895e-02 -2.30378412e-04 -9.99932139e-01 2.90005777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781858064 meters 0.01847939688496131 Centerline is valid? [True, True] Translation: X:97.87, Y:-41.87, Z:0.29 [[ 8.79373308e-01 -4.76032636e-01 -9.77318217e-03 9.78737822e+01] [-4.76000448e-01 -8.79427587e-01 5.54005658e-03 -4.18685602e+01] [-1.12320537e-02 -2.19738783e-04 -9.99936894e-01 2.90227266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811858064 meters 0.01847512944137078 Centerline is valid? [True, True] Translation: X:97.87, Y:-41.88, Z:0.29 [[ 9.13545852e-01 -4.06617415e-01 -9.81089115e-03 9.78735744e+01] [-4.06591475e-01 -9.13598508e-01 4.59774353e-03 -4.18751130e+01] [-1.08327381e-02 -2.11224826e-04 -9.99941302e-01 2.90529228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.841858064 meters 0.01844279328957142 Centerline is valid? [True, True] Translation: X:97.87, Y:-41.88, Z:0.29 [[ 9.41837168e-01 -3.35958824e-01 -8.62656236e-03 9.78746080e+01] [-3.35942792e-01 -9.41876653e-01 3.28816181e-03 -4.18810798e+01] [-9.22984466e-03 -1.98881559e-04 -9.99957384e-01 2.91463979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.871858064 meters 0.01859770569837137 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.89, Z:0.29 [[ 9.64888982e-01 -2.62527323e-01 -8.28595499e-03 9.78770389e+01] [-2.62515937e-01 -9.64924540e-01 2.45247892e-03 -4.18874723e+01] [-8.63916404e-03 -1.91174652e-04 -9.99962663e-01 2.92107368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.901858064 meters 0.01848348464477172 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.89, Z:0.29 [[ 9.82183401e-01 -1.87747303e-01 -8.16804698e-03 9.78796024e+01] [-1.87739281e-01 -9.82217347e-01 1.74489747e-03 -4.18943780e+01] [-8.35039723e-03 -1.80346062e-04 -9.99965119e-01 2.92293377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.931858064 meters 0.018800730691607342 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.90, Z:0.29 [[ 9.93531238e-01 -1.13322305e-01 -7.33030778e-03 9.78781752e+01] [-1.13317982e-01 -9.93558266e-01 1.00377177e-03 -4.18985096e+01] [-7.39683762e-03 -1.66622918e-04 -9.99972629e-01 2.92752314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.961858064 meters 0.01904684202957693 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.90, Z:0.29 [[ 9.99322011e-01 -3.62675595e-02 -6.33898666e-03 9.78768365e+01] [-3.62657345e-02 -9.99342101e-01 4.02642498e-04 -4.19029047e+01] [-6.34941911e-03 -1.72481503e-04 -9.99979827e-01 2.93089123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.991858064 meters 0.01891654040303816 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.91, Z:0.29 [[ 9.99120970e-01 4.14721759e-02 -6.11108105e-03 9.78767148e+01] [ 4.14724482e-02 -9.99139645e-01 -8.22255581e-05 -4.19108817e+01] [-6.10923342e-03 -1.71288212e-04 -9.99981324e-01 2.93115128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.021858064 meters 0.01889460456573561 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.92, Z:0.29 [[ 9.92852997e-01 1.19263656e-01 -4.37109093e-03 9.78766647e+01] [ 1.19263360e-01 -9.92862600e-01 -3.29441712e-04 -4.19171702e+01] [-4.37918313e-03 -1.94223799e-04 -9.99990392e-01 2.93860985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.051858064 meters 0.018722101366335484 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.92, Z:0.29 [[ 9.80448245e-01 1.96738902e-01 -3.87853909e-03 9.78781581e+01] [ 1.96738168e-01 -9.80455896e-01 -5.73571149e-04 -4.19244322e+01] [-3.91558028e-03 -2.00699849e-04 -9.99992314e-01 2.94152465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.081858064 meters 0.01843698400120016 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.93, Z:0.29 [[ 9.61904092e-01 2.73375327e-01 -2.53937974e-03 9.78808626e+01] [ 2.73374974e-01 -9.61907418e-01 -4.92079736e-04 -4.19326452e+01] [-2.57717067e-03 -2.20869358e-04 -9.99996655e-01 2.94025394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.111858064 meters 0.018142794029460157 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.94, Z:0.29 [[ 9.37102873e-01 3.49051234e-01 -1.20029470e-03 9.78821287e+01] [ 3.49051266e-01 -9.37103611e-01 -1.89393421e-04 -4.19403818e+01] [-1.19090851e-03 -2.41483266e-04 -9.99999262e-01 2.94297673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141858064 meters 0.01799142347177052 Centerline is valid? [True, True] Translation: X:97.88, Y:-41.95, Z:0.29 [[ 9.06519165e-01 4.22163829e-01 -8.39451577e-04 9.78847422e+01] [ 4.22163884e-01 -9.06519521e-01 -1.19296402e-04 -4.19461885e+01] [-8.11341867e-04 -2.46241663e-04 -9.99999641e-01 2.94305533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.171858064 meters 0.01775477288310801 Centerline is valid? [True, True] Translation: X:97.89, Y:-41.95, Z:0.29 [[ 8.69954827e-01 4.93131231e-01 -4.32965382e-04 9.78865477e+01] [ 4.93131294e-01 -8.69954898e-01 4.36150411e-05 -4.19514922e+01] [-3.55152416e-04 -2.51451895e-04 -9.99999905e-01 2.93793276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201858064 meters 0.017523873897492527 Centerline is valid? [True, True] Translation: X:97.89, Y:-41.96, Z:0.29 [[ 8.27955215e-01 5.60794213e-01 -1.14340324e-04 9.78892911e+01] [ 5.60794223e-01 -8.27955184e-01 2.30127940e-04 -4.19561115e+01] [ 3.43857533e-05 -2.54657021e-04 -9.99999967e-01 2.93714997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.231858064 meters 0.017129739315781423 Centerline is valid? [True, True] Translation: X:97.89, Y:-41.96, Z:0.29 [[ 7.79430262e-01 6.26488397e-01 8.68836187e-04 9.78922733e+01] [ 6.26487599e-01 -7.79430702e-01 1.03397497e-03 -4.19602830e+01] [ 1.32497092e-03 -2.61596282e-04 -9.99999088e-01 2.93139078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.261858064 meters 0.016923843531529186 Centerline is valid? [True, True] Translation: X:97.89, Y:-41.96, Z:0.29 [[ 7.26822777e-01 6.86823715e-01 1.35460835e-03 9.78940499e+01] [ 6.86821807e-01 -7.26823992e-01 1.64015514e-03 -4.19639397e+01] [ 2.11105929e-03 -2.61727559e-04 -9.99997737e-01 2.92543565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.291858064 meters 0.016838858521315034 Centerline is valid? [True, True] Translation: X:97.90, Y:-41.97, Z:0.29 [[ 6.69760651e-01 7.42575059e-01 1.71810026e-03 9.79008952e+01] [ 7.42571564e-01 -6.69762805e-01 2.29289688e-03 -4.19703028e+01] [ 2.85336768e-03 -2.59879712e-04 -9.99995895e-01 2.93170441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.321858064 meters 0.016699059686016843 Centerline is valid? [True, True] Translation: X:97.91, Y:-41.98, Z:0.29 [[ 6.07558594e-01 7.94272985e-01 1.72606178e-03 9.79064152e+01] [ 7.94268532e-01 -6.07560994e-01 2.67178237e-03 -4.19766868e+01] [ 3.17081237e-03 -2.52307785e-04 -9.99994941e-01 2.93381315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.351858064 meters 0.016699059686016843 Centerline is valid? [True, True] Translation: X:97.91, Y:-41.98, Z:0.29 [[ 5.43488346e-01 8.39415341e-01 1.51757287e-03 9.79112947e+01] [ 8.39410687e-01 -5.43490407e-01 2.80654655e-03 -4.19809210e+01] [ 3.18064452e-03 -2.51458457e-04 -9.99994910e-01 2.93294175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.381858064 meters 0.016587578743560122 Centerline is valid? [True, True] Translation: X:97.92, Y:-41.99, Z:0.29 [[ 4.75163682e-01 8.79896434e-01 1.31970088e-03 9.79195322e+01] [ 8.79891475e-01 -4.75165450e-01 2.96447215e-03 -4.19862839e+01] [ 3.23550474e-03 -2.47415948e-04 -9.99994735e-01 2.93984296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.411858064 meters 0.016547331625256283 Centerline is valid? [True, True] Translation: X:97.93, Y:-41.99, Z:0.29 [[ 4.03832357e-01 9.14832494e-01 9.67140517e-04 9.79265408e+01] [ 9.14828260e-01 -4.03833442e-01 2.79380560e-03 -4.19907150e+01] [ 2.94642783e-03 -2.43461624e-04 -9.99995630e-01 2.93752544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.441858064 meters 0.016460976375846155 Centerline is valid? [True, True] Translation: X:97.94, Y:-41.99, Z:0.29 [[ 3.30474325e-01 9.43814542e-01 9.11165114e-04 9.79350616e+01] [ 9.43808704e-01 -3.30475494e-01 3.32844956e-03 -4.19948188e+01] [ 3.44255683e-03 -2.40001554e-04 -9.99994046e-01 2.93908555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.471858064 meters 0.016392526026807137 Centerline is valid? [True, True] Translation: X:97.94, Y:-42.00, Z:0.29 [[ 2.54478871e-01 9.67078013e-01 7.87848540e-04 9.79431770e+01] [ 9.67070126e-01 -2.54479984e-01 3.91278517e-03 -4.19988565e+01] [ 3.98446019e-03 -2.33816369e-04 -9.99992035e-01 2.93711725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501858064 meters 0.016490272495522325 Centerline is valid? [True, True] Translation: X:97.95, Y:-42.00, Z:0.29 [[ 1.77409456e-01 9.84136982e-01 5.34727608e-04 9.79511218e+01] [ 9.84127787e-01 -1.77410113e-01 4.26039366e-03 -4.20016442e+01] [ 4.28767705e-03 -2.29593823e-04 -9.99990782e-01 2.93940034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.531858064 meters 0.016287956286882725 Centerline is valid? [True, True] Translation: X:97.96, Y:-42.00, Z:0.29 [[ 9.93372356e-02 9.95053813e-01 1.50848707e-04 9.79591523e+01] [ 9.95046527e-01 -9.93370866e-02 3.81465443e-03 -4.20039168e+01] [ 3.81077130e-03 -2.28835744e-04 -9.99992713e-01 2.94128076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561858064 meters 0.016233131562864347 Centerline is valid? [True, True] Translation: X:97.97, Y:-42.01, Z:0.29 [[ 2.02339166e-02 9.99795260e-01 -1.64047651e-04 9.79654015e+01] [ 9.99790234e-01 -2.02332934e-02 3.17822973e-03 -4.20061379e+01] [ 3.17425979e-03 -2.28321275e-04 -9.99994936e-01 2.94621956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.591858064 meters 0.016198360394841675 Centerline is valid? [True, True] Translation: X:97.97, Y:-42.01, Z:0.29 [[-5.81599008e-02 9.98307195e-01 -4.13784675e-04 9.79711783e+01] [ 9.98302125e-01 5.81609275e-02 3.18961230e-03 -4.20073803e+01] [ 3.20827901e-03 -2.27574585e-04 -9.99994828e-01 2.94812351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.621858064 meters 0.016340425219320717 Centerline is valid? [True, True] Translation: X:97.98, Y:-42.01, Z:0.29 [[-1.36282759e-01 9.90669772e-01 -6.41610633e-04 9.79771154e+01] [ 9.90665269e-01 1.36284080e-01 2.99575828e-03 -4.20092638e+01] [ 3.05524849e-03 -2.27351166e-04 -9.99995307e-01 2.94343627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.651858064 meters 0.016225001187001337 Centerline is valid? [True, True] Translation: X:97.97, Y:-42.01, Z:0.30 [[-2.13233248e-01 9.77001032e-01 -7.52190657e-04 9.79739296e+01] [ 9.76998194e-01 2.13234450e-01 2.36610926e-03 -4.20125079e+01] [ 2.47208415e-03 -2.30355751e-04 -9.99996918e-01 2.95276987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.681858064 meters 0.01602544440324766 Centerline is valid? [True, True] Translation: X:97.98, Y:-42.01, Z:0.30 [[-2.88879203e-01 9.57365214e-01 -8.07904059e-04 9.79810002e+01] [ 9.57363410e-01 2.88880239e-01 1.87318972e-03 -4.20123167e+01] [ 2.02671420e-03 -2.32332231e-04 -9.99997919e-01 2.97227870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.711858064 meters 0.015893035887656393 Centerline is valid? [True, True] Translation: X:97.99, Y:-42.01, Z:0.30 [[-3.62615854e-01 9.31938365e-01 -7.90950592e-04 9.79900351e+01] [ 9.31937363e-01 3.62616641e-01 1.38675616e-03 -4.20113601e+01] [ 1.57918312e-03 -2.34256639e-04 -9.99998726e-01 2.98105948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.741858064 meters 0.01583215570487563 Centerline is valid? [True, True] Translation: X:98.00, Y:-42.01, Z:0.30 [[-4.34229167e-01 9.00802186e-01 -6.73086232e-04 9.79985952e+01] [ 9.00801813e-01 4.34229624e-01 8.52301495e-04 -4.20110586e+01] [ 1.06002903e-03 -2.36223131e-04 -9.99999410e-01 2.98587087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.771858064 meters 0.015770779099169484 Centerline is valid? [True, True] Translation: X:98.01, Y:-42.01, Z:0.30 [[-5.03059199e-01 8.64251693e-01 -6.73674759e-04 9.80059704e+01] [ 8.64251452e-01 5.03059595e-01 6.86956427e-04 -4.20106810e+01] [ 9.32601806e-04 -2.36644639e-04 -9.99999537e-01 2.98103663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.801858064 meters 0.015589242497545373 Centerline is valid? [True, True] Translation: X:98.01, Y:-42.01, Z:0.30 [[-5.68530658e-01 8.22661759e-01 -7.22206983e-04 9.80104709e+01] [ 8.22661553e-01 5.68531067e-01 6.28741906e-04 -4.20101546e+01] [ 9.27839029e-04 -2.36672868e-04 -9.99999542e-01 2.97398796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.831858064 meters 0.01552517238255697 Centerline is valid? [True, True] Translation: X:98.02, Y:-42.01, Z:0.30 [[-6.30723809e-01 7.76006619e-01 -1.09674910e-03 9.80177322e+01] [ 7.76006041e-01 6.30724719e-01 9.76449556e-04 -4.20079844e+01] [ 1.44947809e-03 -2.35213942e-04 -9.99998922e-01 2.97065676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.861858064 meters 0.015536971828328486 Centerline is valid? [True, True] Translation: X:98.02, Y:-42.01, Z:0.30 [[-6.89188758e-01 7.24581007e-01 -1.10501863e-03 9.80248502e+01] [ 7.24580581e-01 6.89189604e-01 8.20190909e-04 -4.20070309e+01] [ 1.35586210e-03 -2.35408685e-04 -9.99999053e-01 2.96728480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.891858064 meters 0.015390365295850215 Centerline is valid? [True, True] Translation: X:98.03, Y:-42.01, Z:0.30 [[-7.42692063e-01 6.69631995e-01 -1.22086695e-03 9.80289282e+01] [ 6.69631581e-01 7.42693029e-01 7.81756547e-04 -4.20066361e+01] [ 1.43021857e-03 -2.36926681e-04 -9.99998949e-01 2.97026399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921858064 meters 0.01521348194455847 Centerline is valid? [True, True] Translation: X:98.05, Y:-41.99, Z:0.30 [[-7.87470608e-01 6.16351101e-01 -1.16694004e-03 9.80489141e+01] [ 6.16350806e-01 7.87471443e-01 6.40516462e-04 -4.19895745e+01] [ 1.31371499e-03 -2.14856549e-04 -9.99999114e-01 2.96979028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.951858064 meters 0.015319930306514866 Centerline is valid? [True, True] Translation: X:98.06, Y:-41.97, Z:0.30 [[-8.28334495e-01 5.60233047e-01 -9.47073648e-04 9.80641447e+01] [ 5.60232960e-01 8.28335008e-01 3.80439673e-04 -4.19692666e+01] [ 9.97629136e-04 -2.15450568e-04 -9.99999479e-01 2.97018424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.981858064 meters 0.015385153432553176 Centerline is valid? [True, True] Translation: X:98.08, Y:-41.96, Z:0.30 [[-8.63977465e-01 5.03529904e-01 -7.59390142e-04 9.80843136e+01] [ 5.03529914e-01 8.63977771e-01 1.91461908e-04 -4.19560370e+01] [ 7.52502998e-04 -2.16956879e-04 -9.99999693e-01 2.96415387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.011858064 meters 0.01546470810960219 Centerline is valid? [True, True] Translation: X:98.10, Y:-41.93, Z:0.30 [[-8.96626300e-01 4.42787787e-01 -5.03591729e-04 9.80959151e+01] [ 4.42787839e-01 8.96626416e-01 8.00122231e-06 -4.19336031e+01] [ 4.55076491e-04 -2.15810187e-04 -9.99999873e-01 2.96210267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.041858064 meters 0.015639378902777407 Centerline is valid? [True, True] Translation: X:98.12, Y:-41.91, Z:0.30 [[-9.25187173e-01 3.79510179e-01 -8.48318996e-04 9.81153649e+01] [ 3.79510226e-01 9.25187536e-01 1.10475707e-04 -4.19139933e+01] [ 8.26780817e-04 -2.19735028e-04 -9.99999634e-01 2.96185917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.071858064 meters 0.01575920076433329 Centerline is valid? [True, True] Translation: X:98.13, Y:-41.89, Z:0.30 [[-9.48996234e-01 3.15286728e-01 -6.53982991e-04 9.81260905e+01] [ 3.15286803e-01 9.48996434e-01 -1.30531751e-05 -4.18909019e+01] [ 6.16512034e-04 -2.18579621e-04 -9.99999786e-01 2.96819785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.101858064 meters 0.015793773671496418 Centerline is valid? [True, True] Translation: X:98.14, Y:-41.87, Z:0.30 [[-9.68752520e-01 2.48028517e-01 -6.39833682e-04 9.81373045e+01] [ 2.48028605e-01 9.68752707e-01 -6.17584528e-05 -4.18666341e+01] [ 6.04522754e-04 -2.18525712e-04 -9.99999793e-01 2.97068336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.131858064 meters 0.015926090868357078 Centerline is valid? [True, True] Translation: X:98.33, Y:-41.12, Z:-0.67 [[-9.57565542e-01 -2.88151386e-01 -6.08364509e-03 9.83294057e+01] [ 2.88146025e-01 -9.57584865e-01 1.75909211e-03 -4.11170523e+01] [-6.33249130e-03 -6.85321548e-05 9.99979947e-01 -6.73665252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.161858064 meters 0.015936711124821454 Centerline is valid? [True, True] Translation: X:98.09, Y:-41.86, Z:0.30 [[-9.69632938e-01 2.44564015e-01 6.38231116e-04 9.80868175e+01] [ 2.44563820e-01 9.69633127e-01 -3.69107408e-04 -4.18590210e+01] [-7.09120423e-04 -2.01810461e-04 -9.99999728e-01 2.97807594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.191858064 meters 0.01603214864130272 Centerline is valid? [True, True] Translation: X:98.10, Y:-41.83, Z:0.30 [[-9.84655868e-01 1.74500710e-01 1.52455444e-03 9.80953993e+01] [ 1.74500199e-01 9.84657030e-01 -4.63280790e-04 -4.18335778e+01] [-1.58200608e-03 -1.90137095e-04 -9.99998731e-01 2.98268146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.221858064 meters 0.015520717692266272 Centerline is valid? [True, True] Translation: X:98.09, Y:-41.80, Z:0.30 [[-9.94664887e-01 1.03123775e-01 2.69265685e-03 9.80948190e+01] [ 1.03122909e-01 9.94668515e-01 -4.58674395e-04 -4.18045858e+01] [-2.72560123e-03 -1.78552707e-04 -9.99996270e-01 2.98707707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.251858064 meters 0.015177089768379195 Centerline is valid? [True, True] Translation: X:98.17, Y:-41.03, Z:-0.68 [[-9.88682488e-01 -1.50004125e-01 -2.38738844e-03 9.81744029e+01] [ 1.50003950e-01 -9.88685365e-01 2.53316678e-04 -4.10276081e+01] [-2.39837456e-03 -1.07667932e-04 9.99997118e-01 -6.76588985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281858064 meters 0.0149618694643899 Centerline is valid? [True, True] Translation: X:98.03, Y:-41.80, Z:0.30 [[-9.95508640e-01 9.45926145e-02 3.84512414e-03 9.80279851e+01] [ 9.45911976e-02 9.95516049e-01 -5.49122025e-04 -4.17982075e+01] [-3.87982568e-03 -1.82940823e-04 -9.99992457e-01 2.99267672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.311858064 meters 0.014803170048263075 Centerline is valid? [True, True] Translation: X:98.03, Y:-41.77, Z:0.30 [[-9.99746515e-01 2.22435008e-02 3.48316247e-03 9.80331326e+01] [ 2.22427126e-02 9.99752565e-01 -2.64882056e-04 -4.17702147e+01] [-3.48819252e-03 -1.87339931e-04 -9.99993899e-01 2.99176379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.341858064 meters 0.014647371859236782 Centerline is valid? [True, True] Translation: X:98.03, Y:-41.74, Z:0.30 [[-9.98672486e-01 -5.14101948e-02 3.20260872e-03 9.80276428e+01] [-5.14105611e-02 9.98677602e-01 -3.20944136e-05 -4.17426811e+01] [-3.19672362e-03 -1.96699719e-04 -9.99994871e-01 2.98219612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.371858064 meters 0.014512405443747252 Centerline is valid? [True, True] Translation: X:97.98, Y:-40.96, Z:-0.68 [[-9.99942879e-01 -1.04654432e-02 -2.17118696e-03 9.79842587e+01] [ 1.04657397e-02 -9.99945225e-01 -1.25272357e-04 -4.09636406e+01] [-2.16975701e-03 -1.47988279e-04 9.99997635e-01 -6.75981762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.401858064 meters 0.01450170412328574 Centerline is valid? [True, True] Translation: X:97.93, Y:-41.75, Z:0.30 [[-9.98158784e-01 -6.05336143e-02 3.83702563e-03 9.79251333e+01] [-6.05339824e-02 9.98166137e-01 2.02291802e-05 -4.17475118e+01] [-3.83121360e-03 -2.12078508e-04 -9.99992638e-01 2.97857008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.431858064 meters 0.014432509552306771 Centerline is valid? [True, True] Translation: X:97.92, Y:-41.72, Z:0.30 [[-9.91115418e-01 -1.32929750e-01 4.46210355e-03 9.79170915e+01] [-1.32929356e-01 9.91125440e-01 3.86254897e-04 -4.17205474e+01] [-4.47384911e-03 -2.10321366e-04 -9.99989970e-01 2.98158025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.461858064 meters 0.014577875587903641 Centerline is valid? [True, True] Translation: X:97.90, Y:-41.70, Z:0.30 [[-9.78500361e-01 -2.06167745e-01 5.64833644e-03 9.78963996e+01] [-2.06165646e-01 9.78516637e-01 9.57690536e-04 -4.16964387e+01] [-5.72443607e-03 -2.27392394e-04 -9.99983589e-01 2.98498612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.491858064 meters 0.014610729337161257 Centerline is valid? [True, True] Translation: X:97.85, Y:-41.68, Z:0.30 [[-9.60899992e-01 -2.76836815e-01 5.70825617e-03 9.78522021e+01] [-2.76833371e-01 9.60916918e-01 1.40055381e-03 -4.16795915e+01] [-5.87288478e-03 -2.34443655e-04 -9.99982727e-01 2.98394590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.521858064 meters 0.014556844915128205 Centerline is valid? [True, True] Translation: X:97.82, Y:-41.66, Z:0.30 [[-9.37477956e-01 -3.47999554e-01 5.60282959e-03 9.78160502e+01] [-3.47994894e-01 9.37494667e-01 1.81769666e-03 -4.16631635e+01] [-5.88518049e-03 -2.45705534e-04 -9.99982652e-01 2.97915322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.551858064 meters 0.014595774677038457 Centerline is valid? [True, True] Translation: X:97.75, Y:-41.66, Z:0.30 [[-9.08777849e-01 -4.17237173e-01 5.99680041e-03 9.77495321e+01] [-4.17229922e-01 9.08797599e-01 2.47303331e-03 -4.16611892e+01] [-6.48171924e-03 -2.54606673e-04 -9.99978961e-01 2.97735915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.581858064 meters 0.01457075499025318 Centerline is valid? [True, True] Translation: X:97.67, Y:-41.67, Z:0.30 [[-8.75142875e-01 -4.83829893e-01 5.79515897e-03 9.76723199e+01] [-4.83821206e-01 8.75162024e-01 2.91067185e-03 -4.16693305e+01] [-6.47997311e-03 -2.56567074e-04 -9.99978972e-01 2.97329493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.611858064 meters 0.0145762134499087 Centerline is valid? [True, True] Translation: X:97.59, Y:-41.69, Z:0.30 [[-8.36546676e-01 -5.47869834e-01 5.32022922e-03 9.75856359e+01] [-5.47860664e-01 8.36563554e-01 3.17997968e-03 -4.16906149e+01] [-6.19292481e-03 -2.54542884e-04 -9.99980791e-01 2.96525353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641858064 meters 0.014547007212853173 Centerline is valid? [True, True] Translation: X:97.51, Y:-41.71, Z:0.30 [[-7.92939271e-01 -6.09279306e-01 5.10291030e-03 9.75105342e+01] [-6.09268722e-01 7.92955650e-01 3.60015073e-03 -4.17111533e+01] [-6.23987889e-03 -2.54342746e-04 -9.99980499e-01 2.95527574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.671858064 meters 0.01449825113740942 Centerline is valid? [True, True] Translation: X:97.43, Y:-41.74, Z:0.30 [[-7.44931403e-01 -6.67123622e-01 4.82462145e-03 9.74296789e+01] [-6.67111768e-01 7.44946985e-01 3.98480845e-03 -4.17434923e+01] [-6.25244705e-03 -2.50152789e-04 -9.99980422e-01 2.95679931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701858064 meters 0.014359375668099816 Centerline is valid? [True, True] Translation: X:97.34, Y:-41.79, Z:0.30 [[-6.92392635e-01 -7.21504230e-01 4.90769322e-03 9.73396004e+01] [-7.21488619e-01 6.92409982e-01 4.75278049e-03 -4.17920761e+01] [-6.82728700e-03 -2.50054603e-04 -9.99976663e-01 2.95787908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.731858064 meters 0.014342526249507171 Centerline is valid? [True, True] Translation: X:97.25, Y:-41.85, Z:0.30 [[-6.35891553e-01 -7.71763101e-01 4.86300741e-03 9.72523421e+01] [-7.71743448e-01 6.35910100e-01 5.51320425e-03 -4.18492018e+01] [-7.34732314e-03 -2.47194095e-04 -9.99972978e-01 2.96026395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.761858064 meters 0.014308329923694608 Centerline is valid? [True, True] Translation: X:97.16, Y:-41.92, Z:0.30 [[-5.75561698e-01 -8.17744575e-01 4.74779043e-03 9.71635894e+01] [-8.17720177e-01 5.75581229e-01 6.32155390e-03 -4.19207297e+01] [-7.90215545e-03 -2.43919731e-04 -9.99968748e-01 2.96290084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.791858064 meters 0.014061392680629017 Centerline is valid? [True, True] Translation: X:97.08, Y:-42.00, Z:0.30 [[-5.12818706e-01 -8.58484652e-01 4.59101419e-03 9.70844500e+01] [-8.58454164e-01 5.12839205e-01 7.23857871e-03 -4.19964314e+01] [-8.56866079e-03 -2.29096681e-04 -9.99963262e-01 2.95233764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.821858064 meters 0.014141258029675113 Centerline is valid? [True, True] Translation: X:97.01, Y:-42.07, Z:0.29 [[-4.46380755e-01 -8.94835003e-01 3.81302545e-03 9.70113629e+01] [-8.94806416e-01 4.46396987e-01 7.15592339e-03 -4.20740725e+01] [-8.10549380e-03 -2.17653152e-04 -9.99967126e-01 2.94650753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.851858064 meters 0.014176150755948079 Centerline is valid? [True, True] Translation: X:96.94, Y:-42.18, Z:0.29 [[-3.78498619e-01 -9.25596434e-01 3.16823966e-03 9.69370214e+01] [-9.25568235e-01 3.78511827e-01 7.22761188e-03 -4.21762767e+01] [-7.88906796e-03 -1.96780874e-04 -9.99968861e-01 2.93141059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.881858064 meters 0.014263027882327592 Centerline is valid? [True, True] Translation: X:96.87, Y:-42.27, Z:0.29 [[-3.07402415e-01 -9.51576451e-01 2.45219815e-03 9.68737291e+01] [-9.51550831e-01 3.07412139e-01 6.98520917e-03 -4.22725395e+01] [-7.40079603e-03 -1.86121019e-04 -9.99972596e-01 2.92319657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.911858064 meters 0.014243142580415495 Centerline is valid? [True, True] Translation: X:96.81, Y:-42.40, Z:0.29 [[-2.34406325e-01 -9.72136811e-01 1.92246466e-03 9.68115845e+01] [-9.72109951e-01 2.34414144e-01 7.22861622e-03 -4.23965636e+01] [-7.47785683e-03 -1.74413665e-04 -9.99972025e-01 2.91602373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.941858064 meters 0.014661304439886924 Centerline is valid? [True, True] Translation: X:96.77, Y:-42.48, Z:0.29 [[-1.61912705e-01 -9.86804182e-01 1.33516407e-03 9.67693258e+01] [-9.86777801e-01 1.61918142e-01 7.21718398e-03 -4.24815091e+01] [-7.33813462e-03 -1.48956476e-04 -9.99973064e-01 2.90816963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.971858064 meters 0.014695726233351619 Centerline is valid? [True, True] Translation: X:96.73, Y:-42.59, Z:0.29 [[-8.69259971e-02 -9.96214447e-01 8.03648186e-04 9.67285941e+01] [-9.96184553e-01 8.69296153e-02 7.71866725e-03 -4.25922873e+01] [-7.75930866e-03 -1.29629062e-04 -9.99969888e-01 2.89807344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001858064 meters 0.01484405270068006 Centerline is valid? [True, True] Translation: X:96.70, Y:-42.72, Z:0.29 [[-1.15765829e-02 -9.99932968e-01 2.03247146e-04 9.66971715e+01] [-9.99902906e-01 1.15778110e-02 7.75450062e-03 -4.27182139e+01] [-7.75633398e-03 -1.13456792e-04 -9.99969913e-01 2.89229573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.031858064 meters 0.01555039262930417 Centerline is valid? [True, True] Translation: X:95.88, Y:-42.82, Z:-0.68 [[-5.00215739e-02 9.98748096e-01 2.86425881e-04 9.58769472e+01] [-9.98746705e-01 -5.00219859e-02 1.67955198e-03 -4.28205795e+01] [ 1.69177693e-03 -2.02053072e-04 9.99998549e-01 -6.81063867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061858064 meters 0.015821185365494643 Centerline is valid? [True, True] Translation: X:96.70, Y:-43.01, Z:0.29 [[-6.76078445e-03 -9.99977137e-01 1.32923146e-04 9.66954353e+01] [-9.99952609e-01 6.76154969e-03 7.00439313e-03 -4.30069390e+01] [-7.00513175e-03 -8.55616541e-05 -9.99975460e-01 2.87811382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.091858064 meters 0.01648561015337831 Centerline is valid? [True, True] Translation: X:96.67, Y:-43.13, Z:0.29 [[ 6.93638774e-02 -9.97591361e-01 -3.59892072e-04 9.66738210e+01] [-9.97570770e-01 -6.93647582e-02 6.41002029e-03 -4.31287616e+01] [-6.41954469e-03 -8.56060496e-05 -9.99979391e-01 2.87223820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.121858064 meters 0.016459601227167275 Centerline is valid? [True, True] Translation: X:96.66, Y:-43.25, Z:0.29 [[ 1.45265541e-01 -9.89392400e-01 -7.75724136e-04 9.66603203e+01] [-9.89374890e-01 -1.45267586e-01 5.88689639e-03 -4.32533486e+01] [-5.93713812e-03 -8.76812088e-05 -9.99982371e-01 2.86728945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.151858064 meters 0.016631545673664875 Centerline is valid? [True, True] Translation: X:96.66, Y:-43.38, Z:0.29 [[ 2.20699327e-01 -9.75341350e-01 -1.02826468e-03 9.66559816e+01] [-9.75328531e-01 -2.20701700e-01 5.00167455e-03 -4.33754120e+01] [-5.10527977e-03 -1.00970330e-04 -9.99986963e-01 2.85268811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.181858064 meters 0.016522370372472943 Centerline is valid? [True, True] Translation: X:96.66, Y:-43.50, Z:0.28 [[ 2.95627478e-01 -9.55302550e-01 -1.19661319e-03 9.66630095e+01] [-9.55293063e-01 -2.95629877e-01 4.25903062e-03 -4.35046641e+01] [-4.42241742e-03 -1.15970199e-04 -9.99990214e-01 2.83936470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.211858064 meters 0.016180894074658555 Centerline is valid? [True, True] Translation: X:96.67, Y:-43.62, Z:0.28 [[ 3.68682503e-01 -9.29554426e-01 -1.33479274e-03 9.66748088e+01] [-9.29547042e-01 -3.68684898e-01 3.70712802e-03 -4.36208611e+01] [-3.93809518e-03 -1.26000595e-04 -9.99992238e-01 2.83368417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.241858064 meters 0.016039620805726525 Centerline is valid? [True, True] Translation: X:96.70, Y:-43.75, Z:0.28 [[ 4.40716157e-01 -8.97644829e-01 -1.74079915e-03 9.67000849e+01] [-8.97636657e-01 -4.40719577e-01 3.83223984e-03 -4.37479868e+01] [-4.20719454e-03 -1.26324885e-04 -9.99991142e-01 2.83282569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.271858064 meters 0.016039620805726525 Centerline is valid? [True, True] Translation: X:96.73, Y:-43.86, Z:0.28 [[ 5.08586289e-01 -8.61008639e-01 -2.02717634e-03 9.67325033e+01] [-8.61000786e-01 -5.08590314e-01 3.67965035e-03 -4.38620717e+01] [-4.19921299e-03 -1.26019299e-04 -9.99991175e-01 2.82884275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.301858064 meters 0.015392536123421185 Centerline is valid? [True, True] Translation: X:96.77, Y:-43.97, Z:0.28 [[ 5.74578865e-01 -8.18445159e-01 -2.57862496e-03 9.67650185e+01] [-8.18435935e-01 -5.74584638e-01 3.88765473e-03 -4.39658177e+01] [-4.66347048e-03 -1.23324906e-04 -9.99989118e-01 2.82877778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.331858064 meters 0.015575947205893845 Centerline is valid? [True, True] Translation: X:96.82, Y:-44.08, Z:0.28 [[ 6.36887041e-01 -7.70949830e-01 -3.35514051e-03 9.68167897e+01] [-7.70938149e-01 -6.36895867e-01 4.24559928e-03 -4.40786316e+01] [-5.41001917e-03 -1.17361343e-04 -9.99985359e-01 2.82974196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361858064 meters 0.014332510542189054 Centerline is valid? [True, True] Translation: X:96.86, Y:-44.18, Z:0.28 [[ 6.96758291e-01 -7.17295444e-01 -3.88971833e-03 9.68643699e+01] [-7.17283189e-01 -6.96769136e-01 4.19495662e-03 -4.41808374e+01] [-5.71925895e-03 -1.32841234e-04 -9.99983636e-01 2.82730013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.391858064 meters 0.01401218378617729 Centerline is valid? [True, True] Translation: X:96.92, Y:-44.27, Z:0.28 [[ 7.50776958e-01 -6.60543694e-01 -3.99842265e-03 9.69159093e+01] [-6.60533283e-01 -7.50787591e-01 3.71157175e-03 -4.42705940e+01] [-5.45362143e-03 -1.45471305e-04 -9.99985118e-01 2.82530951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421858064 meters 0.013888712038218311 Centerline is valid? [True, True] Translation: X:96.91, Y:-44.28, Z:0.28 [[ 8.01016419e-01 -5.98626144e-01 -4.40868407e-03 9.69098735e+01] [-5.98615992e-01 -8.01028536e-01 3.48985550e-03 -4.42799993e+01] [-5.62060049e-03 -1.56322767e-04 -9.99984192e-01 2.82464597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.451858064 meters 0.01368675562636817 Centerline is valid? [True, True] Translation: X:96.90, Y:-44.29, Z:0.28 [[ 8.46111527e-01 -5.32985271e-01 -4.68883592e-03 9.69043040e+01] [-5.32976007e-01 -8.46124503e-01 3.14672980e-03 -4.42884004e+01] [-5.64449960e-03 -1.63447316e-04 -9.99984056e-01 2.82643124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.481858064 meters 0.013562038984046053 Centerline is valid? [True, True] Translation: X:96.90, Y:-44.30, Z:0.28 [[ 8.85920649e-01 -4.63811388e-01 -4.85794748e-03 9.68984990e+01] [-4.63803341e-01 -8.85933952e-01 2.73752367e-03 -4.42964675e+01] [-5.57351526e-03 -1.72096470e-04 -9.99984453e-01 2.82186797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.511858064 meters 0.013455343974974162 Centerline is valid? [True, True] Translation: X:96.89, Y:-44.30, Z:0.28 [[ 9.19629000e-01 -3.92757694e-01 -4.88838997e-03 9.68949393e+01] [-3.92751128e-01 -9.19641976e-01 2.27770896e-03 -4.43048423e+01] [-5.39015633e-03 -1.74726538e-04 -9.99985458e-01 2.81922501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.541858064 meters 0.013486120643766713 Centerline is valid? [True, True] Translation: X:96.89, Y:-44.31, Z:0.28 [[ 9.47609505e-01 -3.19393594e-01 -4.89475162e-03 9.68920190e+01] [-3.19388365e-01 -9.47622130e-01 1.83612391e-03 -4.43117948e+01] [-5.22482117e-03 -1.76601752e-04 -9.99986335e-01 2.81497582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.571858064 meters 0.013408538060709468 Centerline is valid? [True, True] Translation: X:96.89, Y:-44.32, Z:0.28 [[ 9.69752720e-01 -2.44042598e-01 -4.78255450e-03 9.68912533e+01] [-2.44038716e-01 -9.69764496e-01 1.38796726e-03 -4.43190486e+01] [-4.97667469e-03 -1.78856564e-04 -9.99987600e-01 2.80963655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.601858064 meters 0.013332834393027572 Centerline is valid? [True, True] Translation: X:96.89, Y:-44.33, Z:0.28 [[ 9.86035753e-01 -1.66446720e-01 -5.38368099e-03 9.68897564e+01] [-1.66443231e-01 -9.86050433e-01 1.09285036e-03 -4.43267209e+01] [-5.49048233e-03 -1.81512275e-04 -9.99984911e-01 2.81736645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.631858064 meters 0.013366041275149336 Centerline is valid? [True, True] Translation: X:96.89, Y:-44.33, Z:0.28 [[ 9.96090477e-01 -8.81433721e-02 -5.87425949e-03 9.68864709e+01] [-8.81407541e-02 -9.96107782e-01 7.03589788e-04 -4.43310584e+01] [-5.91341237e-03 -1.83077427e-04 -9.99982499e-01 2.82215235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.661858064 meters 0.01330299587638803 Centerline is valid? [True, True] Translation: X:96.88, Y:-44.34, Z:0.28 [[ 9.99934094e-01 -9.42394431e-03 -6.55724162e-03 9.68833455e+01] [-9.42253801e-03 -9.99955577e-01 2.45326720e-04 -4.43359351e+01] [-6.55926228e-03 -1.83524693e-04 -9.99978471e-01 2.82732465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.691858064 meters 0.013138994399990663 Centerline is valid? [True, True] Translation: X:96.88, Y:-44.34, Z:0.28 [[ 9.97495262e-01 7.03885470e-02 -6.97534780e-03 9.68806542e+01] [ 7.03881733e-02 -9.97519632e-01 -2.99364500e-04 -4.43416547e+01] [-6.97911820e-03 -1.92367319e-04 -9.99975627e-01 2.83297745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.721858064 meters 0.013217354941163125 Centerline is valid? [True, True] Translation: X:96.88, Y:-44.34, Z:0.28 [[ 9.88821599e-01 1.48927039e-01 -7.25135890e-03 9.68791093e+01] [ 1.48924487e-01 -9.88848168e-01 -8.93680382e-04 -4.43448363e+01] [-7.30358614e-03 -1.96214437e-04 -9.99973309e-01 2.83445235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.751858064 meters 0.013243480017841336 Centerline is valid? [True, True] Translation: X:96.88, Y:-44.35, Z:0.28 [[ 9.74022174e-01 2.26330263e-01 -7.44428217e-03 9.68768749e+01] [ 2.26325209e-01 -9.74050601e-01 -1.52555440e-03 -4.43481229e+01] [-7.59638664e-03 -1.98904902e-04 -9.99971127e-01 2.83660636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781858064 meters 0.013261817177641574 Centerline is valid? [True, True] Translation: X:96.87, Y:-44.35, Z:0.28 [[ 9.53441593e-01 3.01474929e-01 -7.87375991e-03 9.68739146e+01] [ 3.01466329e-01 -9.53474084e-01 -2.28543040e-03 -4.43487985e+01] [-8.19642599e-03 -1.94649102e-04 -9.99966390e-01 2.83788651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.811858064 meters 0.013188137687372092 Centerline is valid? [True, True] Translation: X:96.87, Y:-44.35, Z:0.28 [[ 9.27173510e-01 3.74550817e-01 -7.80819585e-03 9.68716266e+01] [ 3.74539237e-01 -9.27206368e-01 -2.95136192e-03 -4.43485898e+01] [-8.34524394e-03 -1.88051123e-04 -9.99965160e-01 2.83893365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.841858064 meters 0.013334151307769056 Centerline is valid? [True, True] Translation: X:96.87, Y:-44.35, Z:0.28 [[ 8.95741006e-01 4.44497865e-01 -8.34860099e-03 9.68675059e+01] [ 4.44480331e-01 -8.95779894e-01 -3.95169627e-03 -4.43474599e+01] [-9.23502946e-03 -1.71092543e-04 -9.99957342e-01 2.83780180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.871858064 meters 0.013350218897756916 Centerline is valid? [True, True] Translation: X:96.87, Y:-44.35, Z:0.28 [[ 8.58660998e-01 5.12475187e-01 -8.39480712e-03 9.68693857e+01] [ 5.12452514e-01 -8.58702019e-01 -4.82332989e-03 -4.43544172e+01] [-9.68047470e-03 -1.60334753e-04 -9.99953130e-01 2.82775434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.901858064 meters 0.013423502803814403 Centerline is valid? [True, True] Translation: X:96.87, Y:-44.36, Z:0.28 [[ 8.16600573e-01 5.77142827e-01 -8.34635109e-03 9.68712139e+01] [ 5.77114502e-01 -8.16643212e-01 -5.71968169e-03 -4.43611063e+01] [-1.01170642e-02 -1.46104911e-04 -9.99948811e-01 2.82878224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.931858064 meters 0.013872535457347427 Centerline is valid? [True, True] Translation: X:96.87, Y:-44.37, Z:0.28 [[ 7.71004540e-01 6.36773326e-01 -8.46944759e-03 9.68718309e+01] [ 6.36736415e-01 -7.71051049e-01 -6.85695879e-03 -4.43673471e+01] [-1.08967049e-02 -1.06059331e-04 -9.99940624e-01 2.83621269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.961858064 meters 0.013938420657835288 Centerline is valid? [True, True] Translation: X:96.87, Y:-44.37, Z:0.28 [[ 7.20198365e-01 6.93720307e-01 -8.15174356e-03 9.68743629e+01] [ 6.93677122e-01 -7.20244493e-01 -7.74084411e-03 -4.43744586e+01] [-1.12412292e-02 -7.97347421e-05 -9.99936812e-01 2.83007255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.991858064 meters 0.014416134672318951 Centerline is valid? [True, True] Translation: X:96.88, Y:-44.38, Z:0.28 [[ 6.65583828e-01 7.46286504e-01 -7.39066663e-03 9.68767961e+01] [ 7.46241381e-01 -6.65624858e-01 -8.20671554e-03 -4.43805672e+01] [-1.10439725e-02 -5.29641277e-05 -9.99939012e-01 2.82896750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.021858064 meters 0.01456640414886576 Centerline is valid? [True, True] Translation: X:96.88, Y:-44.39, Z:0.28 [[ 6.07170640e-01 7.94542660e-01 -6.76570841e-03 9.68807380e+01] [ 7.94493753e-01 -6.07208334e-01 -8.81562612e-03 -4.43882051e+01] [-1.11125856e-02 -2.27237158e-05 -9.99938253e-01 2.81955056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.051858064 meters 0.015578218418603398 Centerline is valid? [True, True] Translation: X:96.88, Y:-44.40, Z:0.28 [[ 5.47273895e-01 8.36932766e-01 -5.90157966e-03 9.68845650e+01] [ 8.36883574e-01 -5.47305713e-01 -9.07412449e-03 -4.43950706e+01] [-1.08244004e-02 2.70963746e-05 -9.99941414e-01 2.81506451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.081858064 meters 0.0164561614396172 Centerline is valid? [True, True] Translation: X:96.89, Y:-44.40, Z:0.28 [[ 4.82078771e-01 8.76112546e-01 -5.18317351e-03 9.68887370e+01] [ 8.76060722e-01 -4.82106631e-01 -9.52925750e-03 -4.44027558e+01] [-1.08475444e-02 5.30780115e-05 -9.99941162e-01 2.81684807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.111858064 meters 0.016845716234430423 Centerline is valid? [True, True] Translation: X:96.89, Y:-44.41, Z:0.28 [[ 4.13686156e-01 9.10408330e-01 -4.52061750e-03 9.68940890e+01] [ 9.10351844e-01 -4.13710848e-01 -1.01417296e-02 -4.44094043e+01] [-1.11033436e-02 8.01406530e-05 -9.99938353e-01 2.81583356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141858064 meters 0.016955619821287852 Centerline is valid? [True, True] Translation: X:96.90, Y:-44.42, Z:0.28 [[ 3.42524226e-01 9.39501501e-01 -3.75301674e-03 9.69014672e+01] [ 9.39441852e-01 -3.42544771e-01 -1.05871067e-02 -4.44167447e+01] [-1.12321789e-02 1.00599512e-04 -9.99936912e-01 2.81246265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.171858064 meters 0.017258785673396667 Centerline is valid? [True, True] Translation: X:96.91, Y:-44.42, Z:0.28 [[ 2.69751095e-01 9.62925377e-01 -3.01072086e-03 9.69102986e+01] [ 9.62859733e-01 -2.69767863e-01 -1.12443481e-02 -4.44233480e+01] [-1.16396638e-02 1.34273323e-04 -9.99932248e-01 2.81057329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201858064 meters 0.01743902501759836 Centerline is valid? [True, True] Translation: X:96.92, Y:-44.43, Z:0.28 [[ 1.93403594e-01 9.81116872e-01 -2.17540225e-03 9.69192349e+01] [ 9.81046224e-01 -1.93415775e-01 -1.17747499e-02 -4.44296326e+01] [-1.19731629e-02 1.43108790e-04 -9.99928309e-01 2.81043445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.231858064 meters 0.01716380114549287 Centerline is valid? [True, True] Translation: X:96.93, Y:-44.44, Z:0.28 [[ 1.15495322e-01 9.93307270e-01 -1.22414634e-03 9.69306803e+01] [ 9.93238785e-01 -1.15501734e-01 -1.16647178e-02 -4.44356643e+01] [-1.17280400e-02 1.31350711e-04 -9.99931216e-01 2.80736873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.261858064 meters 0.01716103091134571 Centerline is valid? [True, True] Translation: X:96.94, Y:-44.44, Z:0.28 [[ 3.57305325e-02 9.99361415e-01 -3.01515188e-04 9.69420118e+01] [ 9.99297675e-01 -3.57316590e-02 -1.12874236e-02 -4.44414897e+01] [-1.12909893e-02 1.02002230e-04 -9.99936250e-01 2.80716587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.291858064 meters 0.01681073317481668 Centerline is valid? [True, True] Translation: X:96.95, Y:-44.45, Z:0.28 [[-4.37570825e-02 9.99042035e-01 5.74957728e-04 9.69531982e+01] [ 9.98979878e-01 4.37607738e-02 -1.11444146e-02 -4.44453034e+01] [-1.11588992e-02 8.67241330e-05 -9.99937734e-01 2.80546438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.321858064 meters 0.016862321692239928 Centerline is valid? [True, True] Translation: X:96.96, Y:-44.45, Z:0.28 [[-1.22791447e-01 9.92431431e-01 1.45436146e-03 9.69634683e+01] [ 9.92369159e-01 1.22800035e-01 -1.11176792e-02 -4.44482725e+01] [-1.12121299e-02 7.81075431e-05 -9.99937139e-01 2.80698534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.351858064 meters 0.016728708704117325 Centerline is valid? [True, True] Translation: X:96.97, Y:-44.45, Z:0.28 [[-2.01790973e-01 9.79425940e-01 2.28720245e-03 9.69736034e+01] [ 9.79366166e-01 2.01803927e-01 -1.08207572e-02 -4.44514474e+01] [-1.10596967e-02 5.64775739e-05 -9.99938838e-01 2.80480842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.381858064 meters 0.016828498581322494 Centerline is valid? [True, True] Translation: X:96.98, Y:-44.45, Z:0.28 [[-2.78511215e-01 9.60428352e-01 2.98044535e-03 9.69817756e+01] [ 9.60374858e-01 2.78527159e-01 -1.01367272e-02 -4.44534408e+01] [-1.05657351e-02 3.91525843e-05 -9.99944180e-01 2.79959375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.411858064 meters 0.016759791450801115 Centerline is valid? [True, True] Translation: X:96.99, Y:-44.46, Z:0.28 [[-3.53364012e-01 9.35478943e-01 3.60864397e-03 9.69899334e+01] [ 9.35430899e-01 3.53382437e-01 -9.48079485e-03 -4.44552688e+01] [-1.01443153e-02 2.54653651e-05 -9.99948545e-01 2.79645652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.441858064 meters 0.016033626617397285 Centerline is valid? [True, True] Translation: X:97.00, Y:-44.45, Z:0.28 [[-4.27041828e-01 9.04222819e-01 4.04620510e-03 9.70021542e+01] [ 9.04182153e-01 4.27060996e-01 -8.57555605e-03 -4.44542883e+01] [-9.48218985e-03 -3.61468689e-06 -9.99955043e-01 2.78828255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.471858064 meters 0.016453077930740734 Centerline is valid? [True, True] Translation: X:97.01, Y:-44.45, Z:0.28 [[-4.97427738e-01 8.67493067e-01 4.62863658e-03 9.70112230e+01] [ 8.67455227e-01 4.97449272e-01 -8.10247058e-03 -4.44549753e+01] [-9.33134895e-03 -1.52586128e-05 -9.99956462e-01 2.79061566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501858064 meters 0.015311963856438331 Centerline is valid? [True, True] Translation: X:97.02, Y:-44.45, Z:0.28 [[-5.64773630e-01 8.25231319e-01 4.90085125e-03 9.70241392e+01] [ 8.25199708e-01 5.64794892e-01 -7.22306500e-03 -4.44502776e+01] [-8.72867520e-03 -3.52156171e-05 -9.99961904e-01 2.77993771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.531858064 meters 0.015089092582708232 Centerline is valid? [True, True] Translation: X:97.04, Y:-44.45, Z:0.28 [[-6.29524780e-01 7.76965695e-01 4.78124866e-03 9.70361878e+01] [ 7.76942427e-01 6.29542933e-01 -6.01339778e-03 -4.44457512e+01] [-7.68220509e-03 -7.08279768e-05 -9.99970489e-01 2.77531483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561858064 meters 0.01489683151492466 Centerline is valid? [True, True] Translation: X:97.04, Y:-44.44, Z:0.28 [[-6.89670971e-01 7.24105575e-01 5.00675188e-03 9.70443005e+01] [ 7.24085568e-01 6.89689139e-01 -5.38354001e-03 -4.44412451e+01] [-7.35135373e-03 -8.75544843e-05 -9.99972975e-01 2.77342743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.591858064 meters 0.014532875285577604 Centerline is valid? [True, True] Translation: X:97.05, Y:-44.43, Z:0.28 [[-7.45101401e-01 6.66933527e-01 4.85517056e-03 9.70534379e+01] [ 6.66918443e-01 7.45117212e-01 -4.48666126e-03 -4.44346458e+01] [-6.60997597e-03 -1.05014802e-04 -9.99978148e-01 2.76745238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.621858064 meters 0.014455353497772647 Centerline is valid? [True, True] Translation: X:97.07, Y:-44.41, Z:0.28 [[-7.91135770e-01 6.11618739e-01 5.16836345e-03 9.70732818e+01] [ 6.11604903e-01 7.91152646e-01 -4.11502370e-03 -4.44124199e+01] [-6.60579003e-03 -9.45460184e-05 -9.99978177e-01 2.76616533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.651858064 meters 0.014272243294142374 Centerline is valid? [True, True] Translation: X:97.09, Y:-44.39, Z:0.28 [[-8.33326619e-01 5.52750100e-01 5.83721633e-03 9.70907205e+01] [ 5.52735693e-01 8.33347056e-01 -3.99209588e-03 -4.43861157e+01] [-7.07105845e-03 -1.00281946e-04 -9.99974995e-01 2.77620595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.681858064 meters 0.01418579528711342 Centerline is valid? [True, True] Translation: X:97.11, Y:-44.36, Z:0.28 [[-8.70520303e-01 4.92083760e-01 6.92641183e-03 9.71074172e+01] [ 4.92067326e-01 8.70547853e-01 -4.02274129e-03 -4.43620240e+01] [-8.00929861e-03 -9.36170212e-05 -9.99967921e-01 2.78106531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.711858064 meters 0.014256644580572735 Centerline is valid? [True, True] Translation: X:97.12, Y:-44.34, Z:0.28 [[-9.02969441e-01 4.29646366e-01 7.08445662e-03 9.71197904e+01] [ 4.29632356e-01 9.02997227e-01 -3.47086161e-03 -4.43350148e+01] [-7.88848776e-03 -9.03701795e-05 -9.99968881e-01 2.78215235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.741858064 meters 0.014303019729251026 Centerline is valid? [True, True] Translation: X:97.13, Y:-44.31, Z:0.28 [[-9.30935651e-01 3.65111579e-01 7.23521612e-03 9.71329409e+01] [ 3.65099828e-01 9.30963763e-01 -2.93057717e-03 -4.43098602e+01] [-7.80571168e-03 -8.66026079e-05 -9.99969531e-01 2.77847047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.771858064 meters 0.014391665157453909 Centerline is valid? [True, True] Translation: X:97.39, Y:-43.66, Z:-0.69 [[-9.12863395e-01 -4.08257697e-01 2.46467903e-03 9.73874840e+01] [ 4.08255691e-01 -9.12866706e-01 -1.29129857e-03 -4.36624188e+01] [ 2.77710601e-03 -1.72559956e-04 9.99996129e-01 -6.85814169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.801858064 meters 0.014497458352988195 Centerline is valid? [True, True] Translation: X:97.09, Y:-44.29, Z:0.28 [[-9.31697398e-01 3.63173790e-01 6.68997605e-03 9.70907062e+01] [ 3.63163809e-01 9.31721413e-01 -2.69372810e-03 -4.42934327e+01] [-7.21148538e-03 -8.01822771e-05 -9.99973994e-01 2.76745496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.831858064 meters 0.014908796075742341 Centerline is valid? [True, True] Translation: X:97.10, Y:-44.27, Z:0.28 [[-9.54690575e-01 2.97534354e-01 6.26213255e-03 9.71003556e+01] [ 2.97527419e-01 9.54711109e-01 -2.03291800e-03 -4.42664020e+01] [-6.58339045e-03 -7.76515256e-05 -9.99978326e-01 2.76704428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861858064 meters 0.014750063216704431 Centerline is valid? [True, True] Translation: X:97.11, Y:-44.24, Z:0.28 [[-9.73232888e-01 2.29730656e-01 6.44761352e-03 9.71079888e+01] [ 2.29725123e-01 9.73254242e-01 -1.59608219e-03 -4.42380284e+01] [-6.64183622e-03 -7.21808649e-05 -9.99977940e-01 2.76745215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.891858064 meters 0.014891588600933692 Centerline is valid? [True, True] Translation: X:97.11, Y:-44.21, Z:0.28 [[-9.86955950e-01 1.60856146e-01 6.57667397e-03 9.71122827e+01] [ 1.60852128e-01 9.86977860e-01 -1.13888594e-03 -4.42095941e+01] [-6.67422840e-03 -6.61582562e-05 -9.99977725e-01 2.77261176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921858064 meters 0.01493318285235786 Centerline is valid? [True, True] Translation: X:97.21, Y:-43.53, Z:-0.69 [[-9.80145923e-01 -1.98262555e-01 2.43512938e-03 9.72132251e+01] [ 1.98261589e-01 -9.80148938e-01 -6.34396255e-04 -4.35294563e+01] [ 2.51256649e-03 -1.39008284e-04 9.99996834e-01 -6.86927769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.951858064 meters 0.015078208373830834 Centerline is valid? [True, True] Translation: X:97.06, Y:-44.20, Z:0.28 [[-9.87366504e-01 1.58295128e-01 7.07380376e-03 9.70555906e+01] [ 1.58290719e-01 9.87391842e-01 -1.18247100e-03 -4.42011326e+01] [-7.17179553e-03 -4.78147814e-05 -9.99974281e-01 2.77886499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.981858064 meters 0.015160139690608457 Centerline is valid? [True, True] Translation: X:97.16, Y:-43.52, Z:-0.69 [[-9.81199718e-01 -1.92980783e-01 2.35160617e-03 9.71579373e+01] [ 1.92979782e-01 -9.81202520e-01 -6.47430706e-04 -4.35224967e+01] [ 2.43234358e-03 -1.81446380e-04 9.99997025e-01 -6.87106611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.011858064 meters 0.015375900532032034 Centerline is valid? [True, True] Translation: X:97.00, Y:-44.19, Z:0.28 [[-9.88074280e-01 1.53827610e-01 6.80320853e-03 9.69982770e+01] [ 1.53823587e-01 9.88097699e-01 -1.11383166e-03 -4.41927125e+01] [-6.89357276e-03 -5.40544787e-05 -9.99976238e-01 2.77560165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.041858064 meters 0.014941609615104096 Centerline is valid? [True, True] Translation: X:97.00, Y:-44.16, Z:0.28 [[-9.96656226e-01 8.14457199e-02 6.55455217e-03 9.69978064e+01] [ 8.14434998e-02 9.96677776e-01 -6.05358169e-04 -4.41621208e+01] [-6.58208031e-03 -6.95083199e-05 -9.99978335e-01 2.77260279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.071858064 meters 0.014699863633929588 Centerline is valid? [True, True] Translation: X:97.05, Y:-43.49, Z:-0.69 [[-9.92499036e-01 -1.22239217e-01 1.79907711e-03 9.70476971e+01] [ 1.22238685e-01 -9.92500651e-01 -4.03401892e-04 -4.34850226e+01] [ 1.83489673e-03 -1.80459170e-04 9.99998300e-01 -6.86898579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.101858064 meters 0.014316120061101577 Centerline is valid? [True, True] Translation: X:96.93, Y:-44.15, Z:0.28 [[-9.97376469e-01 7.20626186e-02 6.86718111e-03 9.69284077e+01] [ 7.20602209e-02 9.97400105e-01 -5.96261443e-04 -4.41536307e+01] [-6.89229532e-03 -9.98465454e-05 -9.99976243e-01 2.77508825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.131858064 meters 0.014078377277623061 Centerline is valid? [True, True] Translation: X:96.92, Y:-44.12, Z:0.28 [[-9.99972984e-01 -8.97659546e-04 7.29551191e-03 9.69239363e+01] [-8.98421594e-04 9.99999591e-01 -1.01177645e-04 -4.41246298e+01] [-7.29541810e-03 -1.07729357e-04 -9.99973382e-01 2.77721946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.161858064 meters 0.014078377277623061 Centerline is valid? [True, True] Translation: X:96.92, Y:-43.45, Z:-0.69 [[-9.98628260e-01 -5.22849444e-02 2.80753830e-03 9.69228374e+01] [ 5.22842980e-02 -9.98632195e-01 -3.03217852e-04 -4.34540312e+01] [ 2.81955186e-03 -1.56011747e-04 9.99996013e-01 -6.88023023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.191858064 meters 0.01401193098288074 Centerline is valid? [True, True] Translation: X:96.85, Y:-44.12, Z:0.28 [[-9.99946213e-01 -7.54832187e-03 7.11294797e-03 9.68451959e+01] [-7.54899864e-03 9.99971504e-01 -6.83025884e-05 -4.41244380e+01] [-7.11222970e-03 -1.21994549e-04 -9.99974700e-01 2.77654542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.221858064 meters 0.014089175829598621 Centerline is valid? [True, True] Translation: X:96.84, Y:-43.46, Z:-0.69 [[-9.98709430e-01 -5.07429050e-02 2.15243700e-03 9.68389070e+01] [ 5.07423820e-02 -9.98711731e-01 -2.96957422e-04 -4.34561773e+01] [ 2.16473257e-03 -1.87354397e-04 9.99997639e-01 -6.88354666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.251858064 meters 0.01389958561662082 Centerline is valid? [True, True] Translation: X:96.76, Y:-44.12, Z:0.28 [[-9.99852268e-01 -1.57434079e-02 6.89836733e-03 9.67638491e+01] [-1.57440177e-02 9.99876055e-01 -3.40973630e-05 -4.41241278e+01] [-6.89697550e-03 -1.42700343e-04 -9.99976205e-01 2.77707482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281858064 meters 0.013871089355213926 Centerline is valid? [True, True] Translation: X:96.76, Y:-43.46, Z:-0.69 [[-9.98887543e-01 -4.70865690e-02 2.55553412e-03 9.67574895e+01] [ 4.70860665e-02 -9.98890803e-01 -2.56469017e-04 -4.34572435e+01] [ 2.56477578e-03 -1.35853657e-04 9.99996702e-01 -6.88652647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.311858064 meters 0.013921260831111656 Centerline is valid? [True, True] Translation: X:96.69, Y:-44.13, Z:0.28 [[-9.99694444e-01 -2.37371948e-02 6.89664101e-03 9.66858086e+01] [-2.37377378e-02 9.99718220e-01 3.13003170e-06 -4.41258153e+01] [-6.89477197e-03 -1.60581580e-04 -9.99976218e-01 2.77714305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.341858064 meters 0.013936067990327582 Centerline is valid? [True, True] Translation: X:96.67, Y:-43.46, Z:-0.69 [[-9.99002707e-01 -4.45804752e-02 2.48431738e-03 9.66660447e+01] [ 4.45800042e-02 -9.99005787e-01 -2.44671621e-04 -4.34576524e+01] [ 2.49275502e-03 -1.33676732e-04 9.99996884e-01 -6.89057261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.371858064 meters 0.014204271992261989 Centerline is valid? [True, True] Translation: X:96.60, Y:-44.13, Z:0.28 [[-9.99477914e-01 -3.15515633e-02 6.95687582e-03 9.65975112e+01] [-3.15520251e-02 9.99502110e-01 4.33853941e-05 -4.41280625e+01] [-6.95478094e-03 -1.76140777e-04 -9.99975800e-01 2.77613599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.401858064 meters 0.01407705057920374 Centerline is valid? [True, True] Translation: X:96.58, Y:-43.46, Z:-0.69 [[-9.99153021e-01 -4.11008171e-02 1.99079812e-03 9.65822340e+01] [ 4.11004022e-02 -9.99154990e-01 -2.48900294e-04 -4.34588087e+01] [ 1.99934589e-03 -1.66866877e-04 9.99997987e-01 -6.88557338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.431858064 meters 0.014174860642066585 Centerline is valid? [True, True] Translation: X:96.52, Y:-44.13, Z:0.28 [[-9.99226356e-01 -3.88261570e-02 6.26245403e-03 9.65150848e+01] [-3.88265551e-02 9.99245963e-01 5.80367663e-05 -4.41307476e+01] [-6.25998525e-03 -1.85157650e-04 -9.99980389e-01 2.76283872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.461858064 meters 0.014370275816329782 Centerline is valid? [True, True] Translation: X:96.50, Y:-43.46, Z:-0.69 [[-9.99248070e-01 -3.87240512e-02 1.93440964e-03 9.64972066e+01] [ 3.87237324e-02 -9.99249935e-01 -2.02000428e-04 -4.34609472e+01] [ 1.94078098e-03 -1.26940977e-04 9.99998109e-01 -6.89013752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.491858064 meters 0.014464782014039392 Centerline is valid? [True, True] Translation: X:96.43, Y:-44.13, Z:0.28 [[-9.98880163e-01 -4.67996925e-02 6.94320044e-03 9.64328303e+01] [-4.67999880e-02 9.98904273e-01 1.19999546e-04 -4.41336147e+01] [-6.94120853e-03 -2.05076532e-04 -9.99975888e-01 2.76997512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.521858064 meters 0.014426617705558024 Centerline is valid? [True, True] Translation: X:96.41, Y:-43.46, Z:-0.69 [[-9.99390850e-01 -3.47899598e-02 2.75452798e-03 9.64076683e+01] [ 3.47895427e-02 -9.99394641e-01 -1.99210682e-04 -4.34601837e+01] [ 2.75979104e-03 -1.03260564e-04 9.99996186e-01 -6.88649286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.551858064 meters 0.014562059681345977 Centerline is valid? [True, True] Translation: X:96.34, Y:-44.14, Z:0.28 [[-9.98561043e-01 -5.31887019e-02 6.84146809e-03 9.63444101e+01] [-5.31888907e-02 9.98584457e-01 1.54476001e-04 -4.41413210e+01] [-6.84000008e-03 -2.09636382e-04 -9.99976585e-01 2.75565832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.581858064 meters 0.014309516358494997 Centerline is valid? [True, True] Translation: X:96.32, Y:-43.46, Z:-0.69 [[-9.99588354e-01 -2.85975405e-02 2.30293880e-03 9.63170549e+01] [ 2.85971824e-02 -9.99590999e-01 -1.88261696e-04 -4.34590140e+01] [ 2.30738072e-03 -1.22326638e-04 9.99997331e-01 -6.87462579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.611858064 meters 0.014379999981522468 Centerline is valid? [True, True] Translation: X:96.25, Y:-44.15, Z:0.27 [[-9.98356394e-01 -5.69440829e-02 6.47156548e-03 9.62529783e+01] [-5.69441437e-02 9.98377350e-01 1.75011529e-04 -4.41514620e+01] [-6.47103027e-03 -1.93793875e-04 -9.99979044e-01 2.74340775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641858064 meters 0.014281898079964389 Centerline is valid? [True, True] Translation: X:96.23, Y:-43.46, Z:-0.69 [[-9.99776767e-01 -2.09812230e-02 2.49096835e-03 9.62269742e+01] [ 2.09809312e-02 -9.99779866e-01 -1.43198137e-04 -4.34564735e+01] [ 2.49342447e-03 -9.09033347e-05 9.99996887e-01 -6.87250119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.671858064 meters 0.014316321070006391 Centerline is valid? [True, True] Translation: X:96.17, Y:-44.16, Z:0.27 [[-9.98080076e-01 -6.15347105e-02 7.04570074e-03 9.61661655e+01] [-6.15344958e-02 9.98104927e-01 2.47455235e-04 -4.41604290e+01] [-7.04757570e-03 -1.86573503e-04 -9.99975148e-01 2.73545426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701858064 meters 0.014335506959627526 Centerline is valid? [True, True] Translation: X:96.16, Y:-44.14, Z:0.27 [[-9.91312946e-01 -1.31299158e-01 7.69249325e-03 9.61589450e+01] [-1.31296573e-01 9.91342776e-01 8.42378577e-04 -4.41385150e+01] [-7.73650121e-03 -1.74937211e-04 -9.99970058e-01 2.73795609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.731858064 meters 0.014305570085359817 Centerline is valid? [True, True] Translation: X:96.14, Y:-44.12, Z:0.27 [[-9.79508810e-01 -2.01234911e-01 8.18551443e-03 9.61420843e+01] [-2.01229343e-01 9.79542996e-01 1.50664489e-03 -4.41161722e+01] [-8.32125288e-03 -1.71393754e-04 -9.99965363e-01 2.73396860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.761858064 meters 0.014355524020160984 Centerline is valid? [True, True] Translation: X:96.11, Y:-44.10, Z:0.27 [[-9.62650539e-01 -2.70632252e-01 7.88190970e-03 9.61131929e+01] [-2.70624589e-01 9.62682791e-01 2.04337380e-03 -4.40971894e+01] [-8.14078169e-03 -1.65983688e-04 -9.99966850e-01 2.73573690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.791858064 meters 0.0145173499296129 Centerline is valid? [True, True] Translation: X:96.06, Y:-44.09, Z:0.27 [[-9.40612604e-01 -3.39386951e-01 8.02666515e-03 9.60589544e+01] [-3.39376033e-01 9.40646837e-01 2.72688900e-03 -4.40900334e+01] [-8.47572773e-03 -1.59111618e-04 -9.99964068e-01 2.74084695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.821858064 meters 0.014443170876660767 Centerline is valid? [True, True] Translation: X:96.00, Y:-44.09, Z:0.27 [[-9.13146936e-01 -4.07559855e-01 7.59192187e-03 9.59958933e+01] [-4.07547194e-01 9.13178482e-01 3.21635244e-03 -4.40877641e+01] [-8.24363582e-03 -1.57064079e-04 -9.99966008e-01 2.73887090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.851858064 meters 0.014492440755916845 Centerline is valid? [True, True] Translation: X:95.93, Y:-44.09, Z:0.27 [[-8.80413420e-01 -4.74145882e-01 7.60879569e-03 9.59250364e+01] [-4.74129694e-01 8.80446284e-01 3.92104693e-03 -4.40938106e+01] [-8.55828414e-03 -1.55413639e-04 -9.99963365e-01 2.74137564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.881858064 meters 0.014522622369013923 Centerline is valid? [True, True] Translation: X:95.84, Y:-44.11, Z:0.27 [[-8.42540980e-01 -5.38582758e-01 7.30139204e-03 9.58446201e+01] [-5.38564121e-01 8.42572601e-01 4.48322838e-03 -4.41110473e+01] [-8.56654239e-03 -1.54964149e-04 -9.99963294e-01 2.74081937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.911858064 meters 0.014458750773285081 Centerline is valid? [True, True] Translation: X:95.76, Y:-44.14, Z:0.27 [[-7.99398998e-01 -6.00756159e-01 7.29930379e-03 9.57594650e+01] [-6.00732919e-01 7.99432307e-01 5.28647577e-03 -4.41411842e+01] [-9.01118214e-03 -1.58928642e-04 -9.99959386e-01 2.74052218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.941858064 meters 0.014536742746080529 Centerline is valid? [True, True] Translation: X:95.67, Y:-44.18, Z:0.27 [[-7.51567399e-01 -6.59619546e-01 6.96414631e-03 9.56735606e+01] [-6.59593197e-01 7.51599646e-01 5.89801318e-03 -4.41772130e+01] [-9.12469468e-03 -1.60749110e-04 -9.99958356e-01 2.74825793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.971858064 meters 0.01447625101999891 Centerline is valid? [True, True] Translation: X:95.59, Y:-44.22, Z:0.27 [[-6.99243982e-01 -7.14853535e-01 6.50206341e-03 9.55853197e+01] [-7.14824761e-01 6.99274193e-01 6.41589619e-03 -4.42238715e+01] [-9.13315122e-03 -1.61559131e-04 -9.99958279e-01 2.74603925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001858064 meters 0.01447692745821924 Centerline is valid? [True, True] Translation: X:95.50, Y:-44.28, Z:0.27 [[-6.42218554e-01 -7.66496933e-01 6.14651933e-03 9.54978701e+01] [-7.66464306e-01 6.42247945e-01 7.07422104e-03 -4.42823858e+01] [-9.36995814e-03 -1.67891659e-04 -9.99956087e-01 2.74771805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.031858064 meters 0.014485743785846003 Centerline is valid? [True, True] Translation: X:95.41, Y:-44.35, Z:0.27 [[-5.81782071e-01 -8.13327605e-01 5.27529605e-03 9.54091172e+01] [-8.13296749e-01 5.81805963e-01 7.08658339e-03 -4.43546607e+01] [-8.83291260e-03 -1.67533968e-04 -9.99960975e-01 2.74046144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061858064 meters 0.014510862506632692 Centerline is valid? [True, True] Translation: X:95.32, Y:-44.44, Z:0.27 [[-5.17731135e-01 -8.55532689e-01 4.27658570e-03 9.53248705e+01] [-8.55506125e-01 5.17748771e-01 6.74395695e-03 -4.44358864e+01] [-7.98387262e-03 -1.67088767e-04 -9.99968114e-01 2.72672589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.091858064 meters 0.014457563383446639 Centerline is valid? [True, True] Translation: X:95.26, Y:-44.51, Z:0.27 [[-4.50730671e-01 -8.92655095e-01 2.95694268e-03 9.52556055e+01] [-8.92638206e-01 4.50740341e-01 5.49343456e-03 -4.45086899e+01] [-6.23655570e-03 -1.63420558e-04 -9.99980539e-01 2.70576457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.121858064 meters 0.01445280950220754 Centerline is valid? [True, True] Translation: X:95.18, Y:-44.60, Z:0.27 [[-3.80719115e-01 -9.24687682e-01 2.37633882e-03 9.51821747e+01] [-9.24672258e-01 3.80726496e-01 5.34331639e-03 -4.46043231e+01] [-5.84563400e-03 -1.63031889e-04 -9.99982901e-01 2.70345727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.151858064 meters 0.014502156352631369 Centerline is valid? [True, True] Translation: X:95.12, Y:-44.70, Z:0.27 [[-3.08190809e-01 -9.51322664e-01 1.90127946e-03 9.51185722e+01] [-9.51307704e-01 3.08196630e-01 5.33762820e-03 -4.46993068e+01] [-5.66377460e-03 -1.63693838e-04 -9.99983947e-01 2.70268643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.181858064 meters 0.01451082774739981 Centerline is valid? [True, True] Translation: X:95.06, Y:-44.82, Z:0.27 [[-2.33782072e-01 -9.72287780e-01 1.55451116e-03 9.50595090e+01] [-9.72270726e-01 2.33787182e-01 5.76106851e-03 -4.48150918e+01] [-5.96484130e-03 -1.64571161e-04 -9.99982197e-01 2.69409865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.211858064 meters 0.014570792176388922 Centerline is valid? [True, True] Translation: X:95.01, Y:-44.93, Z:0.27 [[-1.57948772e-01 -9.87446721e-01 1.07633052e-03 9.50103046e+01] [-9.87430348e-01 1.57952354e-01 5.68875759e-03 -4.49260732e+01] [-5.78735397e-03 -1.64269144e-04 -9.99983240e-01 2.68647735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.241858064 meters 0.014616907859060715 Centerline is valid? [True, True] Translation: X:94.97, Y:-45.04, Z:0.27 [[-8.13545317e-02 -9.96685043e-01 6.05089679e-04 9.49694298e+01] [-9.96670332e-01 8.13566199e-02 5.41752774e-03 -4.50421235e+01] [-5.44879692e-03 -1.62334499e-04 -9.99985142e-01 2.67458435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.271858064 meters 0.014631818754641573 Centerline is valid? [True, True] Translation: X:94.94, Y:-45.17, Z:0.27 [[-4.76681657e-03 -9.99988621e-01 1.87798584e-04 9.49382647e+01] [-9.99969379e-01 4.76789025e-03 6.20549126e-03 -4.51738050e+01] [-6.20631606e-03 -1.58212395e-04 -9.99980728e-01 2.67168175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.301858064 meters 0.01469717910216685 Centerline is valid? [True, True] Translation: X:94.92, Y:-45.27, Z:0.27 [[ 7.22507533e-02 -9.97386448e-01 -3.20696036e-04 9.49152209e+01] [-9.97364797e-01 -7.22512985e-02 6.57350460e-03 -4.52745272e+01] [-6.57949511e-03 -1.55089722e-04 -9.99978343e-01 2.67197722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.331858064 meters 0.01480746260988624 Centerline is valid? [True, True] Translation: X:94.90, Y:-45.39, Z:0.27 [[ 1.48642078e-01 -9.88890623e-01 -9.32053212e-04 9.49017851e+01] [-9.88864362e-01 -1.48644925e-01 7.20831322e-03 -4.53915560e+01] [-7.26677832e-03 -1.49784454e-04 -9.99973585e-01 2.67216561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.361858064 meters 0.015067994992263795 Centerline is valid? [True, True] Translation: X:94.90, Y:-45.52, Z:0.27 [[ 2.22863330e-01 -9.74848235e-01 -1.68931461e-03 9.49008481e+01] [-9.74815518e-01 -2.22869693e-01 7.98781963e-03 -4.55190668e+01] [-8.16340890e-03 -1.33421990e-04 -9.99966670e-01 2.67271646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.391858064 meters 0.01499953009694763 Centerline is valid? [True, True] Translation: X:94.90, Y:-45.63, Z:0.27 [[ 2.96807824e-01 -9.54934186e-01 -2.41183801e-03 9.49016266e+01] [-9.54899157e-01 -2.96817596e-01 8.18011052e-03 -4.56252768e+01] [-8.52734314e-03 -1.24858714e-04 -9.99963634e-01 2.66826093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421858064 meters 0.015128602960911784 Centerline is valid? [True, True] Translation: X:94.91, Y:-45.74, Z:0.27 [[ 3.68710338e-01 -9.29539168e-01 -3.10187509e-03 9.49144508e+01] [-9.29503633e-01 -3.68723368e-01 8.12859343e-03 -4.57421509e+01] [-8.69957980e-03 -1.13892269e-04 -9.99962151e-01 2.67022536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.451858064 meters 0.015284400180255151 Centerline is valid? [True, True] Translation: X:94.94, Y:-45.86, Z:0.27 [[ 4.38777565e-01 -8.98587743e-01 -3.78387520e-03 9.49387821e+01] [-8.98552214e-01 -4.38793867e-01 7.99132407e-03 -4.58629722e+01] [-8.84124708e-03 -1.06404278e-04 -9.99960910e-01 2.67344903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.481858064 meters 0.015380698779952712 Centerline is valid? [True, True] Translation: X:94.97, Y:-45.98, Z:0.27 [[ 5.05621475e-01 -8.62744768e-01 -4.28828732e-03 9.49692729e+01] [-8.62712119e-01 -5.05639650e-01 7.50619524e-03 -4.59768968e+01] [-8.64425877e-03 -9.57360632e-05 -9.99962633e-01 2.66579892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.511858064 meters 0.015385313821542066 Centerline is valid? [True, True] Translation: X:95.01, Y:-46.10, Z:0.27 [[ 5.70225568e-01 -8.21474967e-01 -4.65614055e-03 9.50144146e+01] [-8.21446224e-01 -5.70244570e-01 6.87251451e-03 -4.60974484e+01] [-8.30073749e-03 -9.41144167e-05 -9.99965544e-01 2.66360880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.541858064 meters 0.01550857695754619 Centerline is valid? [True, True] Translation: X:95.05, Y:-46.19, Z:0.27 [[ 6.31850529e-01 -7.75072720e-01 -5.21409876e-03 9.50525223e+01] [-7.75045090e-01 -6.31872035e-01 6.54519785e-03 -4.61927508e+01] [-8.36764749e-03 -9.44250837e-05 -9.99964986e-01 2.66773216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.571858064 meters 0.01536107678272866 Centerline is valid? [True, True] Translation: X:95.10, Y:-46.29, Z:0.27 [[ 6.89748835e-01 -7.24023592e-01 -6.03191586e-03 9.51034400e+01] [-7.23994702e-01 -6.89775202e-01 6.46854793e-03 -4.62935727e+01] [-8.84404729e-03 -9.45982655e-05 -9.99960886e-01 2.66576209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.601858064 meters 0.015348080961500234 Centerline is valid? [True, True] Translation: X:95.16, Y:-46.39, Z:0.27 [[ 7.43513797e-01 -6.68687463e-01 -6.65659841e-03 9.51620239e+01] [-6.68659477e-01 -7.43543588e-01 6.11856587e-03 -4.63898505e+01] [-9.04087935e-03 -9.82405324e-05 -9.99959126e-01 2.66157276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.631858064 meters 0.015432134801910892 Centerline is valid? [True, True] Translation: X:95.16, Y:-46.40, Z:0.27 [[ 7.93902820e-01 -6.08002488e-01 -7.16145925e-03 9.51555838e+01] [-6.07976527e-01 -7.93935113e-01 5.61951701e-03 -4.63974024e+01] [-9.10241428e-03 -1.07351274e-04 -9.99958566e-01 2.67160056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.661858064 meters 0.015410014086832935 Centerline is valid? [True, True] Translation: X:95.15, Y:-46.40, Z:0.27 [[ 8.39446281e-01 -5.43394127e-01 -7.26389349e-03 9.51513190e+01] [-5.43372581e-01 -8.39477700e-01 4.84031837e-03 -4.64019200e+01] [-8.72807718e-03 -1.16186701e-04 -9.99961903e-01 2.67345018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.691858064 meters 0.015428842993427328 Centerline is valid? [True, True] Translation: X:95.14, Y:-46.41, Z:0.27 [[ 8.79750378e-01 -4.75367523e-01 -8.06162555e-03 9.51448699e+01] [-4.75346298e-01 -8.79787306e-01 4.49377315e-03 -4.64109460e+01] [-9.22870963e-03 -1.21334770e-04 -9.99957407e-01 2.66470013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721858064 meters 0.015458213699122262 Centerline is valid? [True, True] Translation: X:95.14, Y:-46.42, Z:0.27 [[ 9.14304497e-01 -4.04930145e-01 -8.88058961e-03 9.51385614e+01] [-4.04909756e-01 -9.14347616e-01 4.06531200e-03 -4.64193736e+01] [-9.76611331e-03 -1.21095673e-04 -9.99952303e-01 2.66524131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751858064 meters 0.015636132156152345 Centerline is valid? [True, True] Translation: X:95.13, Y:-46.43, Z:0.27 [[ 9.43161913e-01 -3.32198448e-01 -9.47613982e-03 9.51341786e+01] [-3.32180402e-01 -9.43209508e-01 3.46460225e-03 -4.64267082e+01] [-1.00889207e-02 -1.19892945e-04 -9.99949098e-01 2.67354407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781858064 meters 0.015545850610752372 Centerline is valid? [True, True] Translation: X:95.13, Y:-46.44, Z:0.27 [[ 9.65921444e-01 -2.58638992e-01 -1.00814689e-02 9.51302994e+01] [-2.58623761e-01 -9.65974048e-01 2.80883981e-03 -4.64363349e+01] [-1.04649128e-02 -1.05811184e-04 -9.99945236e-01 2.65637161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811858064 meters 0.015454373255187726 Centerline is valid? [True, True] Translation: X:95.12, Y:-46.44, Z:0.27 [[ 9.82981147e-01 -1.83430870e-01 -1.00588702e-02 9.51247709e+01] [-1.83420292e-01 -9.83032607e-01 1.97214597e-03 -4.64445435e+01] [-1.02499499e-02 -9.35813987e-05 -9.99947464e-01 2.65333962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.841858064 meters 0.015657853365491907 Centerline is valid? [True, True] Translation: X:95.12, Y:-46.45, Z:0.27 [[ 9.94153846e-01 -1.07449580e-01 -1.06168974e-02 9.51191828e+01] [-1.07442660e-01 -9.94210532e-01 1.22160077e-03 -4.64530184e+01] [-1.06866917e-02 -7.37513974e-05 -9.99942893e-01 2.65479966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.871858064 meters 0.016051061706398136 Centerline is valid? [True, True] Translation: X:95.11, Y:-46.46, Z:0.26 [[ 9.99399344e-01 -3.29914345e-02 -1.06073516e-02 9.51133456e+01] [-3.29892106e-02 -9.99455634e-01 3.84608049e-04 -4.64601607e+01] [-1.06142661e-02 -3.44488752e-05 -9.99943666e-01 2.64699877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.901858064 meters 0.01621684121829555 Centerline is valid? [True, True] Translation: X:95.11, Y:-46.47, Z:0.26 [[ 9.99006648e-01 4.32195486e-02 -1.08529918e-02 9.51095099e+01] [ 4.32170861e-02 -9.99065599e-01 -4.61426255e-04 -4.64686447e+01] [-1.08627934e-02 -8.06678626e-06 -9.99940998e-01 2.63813817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.931858064 meters 0.016591157148118547 Centerline is valid? [True, True] Translation: X:95.11, Y:-46.48, Z:0.26 [[ 9.92842282e-01 1.18956922e-01 -1.06514985e-02 9.51059268e+01] [ 1.18949905e-01 -9.92899416e-01 -1.29214356e-03 -4.64779288e+01] [-1.07295761e-02 1.59000245e-05 -9.99942436e-01 2.63202062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.961858064 meters 0.017479032656253637 Centerline is valid? [True, True] Translation: X:95.10, Y:-46.49, Z:0.26 [[ 9.81302360e-01 1.92177561e-01 -1.06519567e-02 9.51018156e+01] [ 1.92165524e-01 -9.81360169e-01 -2.15181448e-03 -4.64869764e+01] [-1.08669365e-02 6.46417875e-05 -9.99940951e-01 2.62996458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.991858064 meters 0.017803655668161583 Centerline is valid? [True, True] Translation: X:95.10, Y:-46.50, Z:0.26 [[ 9.63690123e-01 2.66819152e-01 -1.04349007e-02 9.50996277e+01] [ 2.66802582e-01 -9.63746613e-01 -2.97470134e-03 -4.64962734e+01] [-1.08503074e-02 8.26318579e-05 -9.99941130e-01 2.63320107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.021858064 meters 0.01825114802442 Centerline is valid? [True, True] Translation: X:95.10, Y:-46.51, Z:0.26 [[ 9.40203483e-01 3.40457341e-01 -1.03057878e-02 9.50971814e+01] [ 3.40435750e-01 -9.40259958e-01 -3.83543524e-03 -4.65054527e+01] [-1.09959217e-02 9.76309574e-05 -9.99939538e-01 2.63632599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.051858064 meters 0.018546179391057977 Centerline is valid? [True, True] Translation: X:95.10, Y:-46.52, Z:0.26 [[ 9.10921916e-01 4.12450547e-01 -1.02863671e-02 9.50968814e+01] [ 4.12422851e-01 -9.10979985e-01 -4.78102106e-03 -4.65150462e+01] [-1.13426093e-02 1.12804031e-04 -9.99935664e-01 2.64401979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.081858064 meters 0.018546179391057977 Centerline is valid? [True, True] Translation: X:95.10, Y:-46.52, Z:0.26 [[ 8.75849365e-01 4.82483540e-01 -9.87542056e-03 9.50958374e+01] [ 4.82451413e-01 -8.75905030e-01 -5.56893967e-03 -4.65230149e+01] [-1.13368523e-02 1.13141666e-04 -9.99935729e-01 2.64349634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.111858064 meters 0.01873256878449638 Centerline is valid? [True, True] Translation: X:95.09, Y:-46.53, Z:0.26 [[ 8.35200423e-01 5.49869560e-01 -9.14992384e-03 9.50947526e+01] [ 5.49835215e-01 -8.35250535e-01 -6.14649213e-03 -4.65317402e+01] [-1.10222477e-02 1.02602487e-04 -9.99939248e-01 2.64362040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141858064 meters 0.0185154034312321 Centerline is valid? [True, True] Translation: X:95.10, Y:-46.54, Z:0.26 [[ 7.89114981e-01 6.14184233e-01 -8.67610170e-03 9.50952435e+01] [ 6.14145780e-01 -7.89162669e-01 -6.87330891e-03 -4.65402565e+01] [-1.10683335e-02 9.54397835e-05 -9.99938740e-01 2.64334555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.171858064 meters 0.017435616371388508 Centerline is valid? [True, True] Translation: X:95.10, Y:-46.55, Z:0.26 [[ 7.36983604e-01 6.75861317e-01 -8.16378274e-03 9.51014809e+01] [ 6.75818790e-01 -7.37028815e-01 -7.58207897e-03 -4.65539177e+01] [-1.11413770e-02 7.06301063e-05 -9.99937930e-01 2.64208761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20185806399999 meters 0.017898731287818635 Centerline is valid? [True, True] Translation: X:95.10, Y:-46.56, Z:0.26 [[ 6.80608952e-01 7.32605488e-01 -7.78802419e-03 9.51036669e+01] [ 7.32556530e-01 -6.80653506e-01 -8.46960502e-03 -4.65628539e+01] [-1.15058251e-02 5.93210191e-05 -9.99933804e-01 2.64968655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.231858064 meters 0.0166761339324056 Centerline is valid? [True, True] Translation: X:95.11, Y:-46.57, Z:0.26 [[ 6.19605558e-01 7.84881039e-01 -7.12089243e-03 9.51118399e+01] [ 7.84828509e-01 -6.19646475e-01 -9.08062606e-03 -4.65744454e+01] [-1.15396471e-02 3.77269912e-05 -9.99933415e-01 2.63409863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.261858064 meters 0.01643802651554447 Centerline is valid? [True, True] Translation: X:95.12, Y:-46.58, Z:0.26 [[ 5.54366024e-01 8.32250013e-01 -6.18290384e-03 9.51177590e+01] [ 8.32198121e-01 -5.54400502e-01 -9.29357749e-03 -4.65849408e+01] [-1.11623850e-02 6.64263875e-06 -9.99937699e-01 2.63001715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.291858064 meters 0.015803298342317237 Centerline is valid? [True, True] Translation: X:95.13, Y:-46.59, Z:0.26 [[ 4.82473242e-01 8.75897304e-01 -4.84587884e-03 9.51276398e+01] [ 8.75854507e-01 -4.82497573e-01 -8.65876954e-03 -4.65948452e+01] [-9.92231768e-03 -6.66602142e-05 -9.99950770e-01 2.61546822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.321858064 meters 0.0155399143466518 Centerline is valid? [True, True] Translation: X:95.14, Y:-46.60, Z:0.26 [[ 4.09834380e-01 9.12152220e-01 -3.75613189e-03 9.51362539e+01] [ 9.12116106e-01 -4.09851580e-01 -8.11732696e-03 -4.66033106e+01] [-8.94369439e-03 -9.92687283e-05 -9.99959999e-01 2.60033036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.351858064 meters 0.015317531332879584 Centerline is valid? [True, True] Translation: X:95.15, Y:-46.61, Z:0.26 [[ 3.34833946e-01 9.42272938e-01 -2.81770520e-03 9.51469440e+01] [ 9.42242601e-01 -3.34845779e-01 -7.56210646e-03 -4.66113809e+01] [-8.06906496e-03 -1.22911933e-04 -9.99967437e-01 2.58811459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.381858064 meters 0.015300449898845488 Centerline is valid? [True, True] Translation: X:95.16, Y:-46.62, Z:0.26 [[ 2.55765831e-01 9.66737064e-01 -1.81327223e-03 9.51591803e+01] [ 9.66716890e-01 -2.55772212e-01 -6.24742023e-03 -4.66190193e+01] [-6.50339734e-03 -1.55044260e-04 -9.99978841e-01 2.57816449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.411858064 meters 0.015288991218880839 Centerline is valid? [True, True] Translation: X:95.17, Y:-46.62, Z:0.26 [[ 1.77908848e-01 9.84046094e-01 -1.31423952e-03 9.51686259e+01] [ 9.84025617e-01 -1.77913627e-01 -6.35034825e-03 -4.66243050e+01] [-6.48285651e-03 -1.63462211e-04 -9.99978973e-01 2.57436458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.441858064 meters 0.015429423587836335 Centerline is valid? [True, True] Translation: X:95.18, Y:-46.63, Z:0.26 [[ 9.90874916e-02 9.95078419e-01 -7.80825175e-04 9.51788297e+01] [ 9.95059551e-01 -9.90904230e-02 -6.13007034e-03 -4.66283614e+01] [-6.17727300e-03 -1.69554255e-04 -9.99980906e-01 2.57033603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.471858064 meters 0.015548434156982765 Centerline is valid? [True, True] Translation: X:95.19, Y:-46.63, Z:0.26 [[ 1.98328207e-02 9.99803267e-01 -2.94152745e-04 9.51881263e+01] [ 9.99785135e-01 -1.98342333e-02 -6.02393855e-03 -4.66324945e+01] [-6.02858774e-03 -1.74617849e-04 -9.99981813e-01 2.56902405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501858064 meters 0.015540897353228604 Centerline is valid? [True, True] Translation: X:95.20, Y:-46.63, Z:0.26 [[-5.79307476e-02 9.98320592e-01 1.56275369e-04 9.51988763e+01] [ 9.98304905e-01 5.79307138e-02 -5.59897248e-03 -4.66349574e+01] [-5.59862266e-03 -1.68342194e-04 -9.99984313e-01 2.56963315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.531858064 meters 0.01556257164825666 Centerline is valid? [True, True] Translation: X:95.21, Y:-46.64, Z:0.26 [[-1.35646870e-01 9.90757070e-01 5.95646791e-04 9.52095114e+01] [ 9.90741395e-01 1.35648076e-01 -5.57564192e-03 -4.66376825e+01] [-5.60490499e-03 -1.66186442e-04 -9.99984279e-01 2.57547838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561858064 meters 0.015385133385849606 Centerline is valid? [True, True] Translation: X:95.22, Y:-46.64, Z:0.26 [[-2.11256892e-01 9.77429941e-01 1.11214777e-03 9.52170410e+01] [ 9.77412194e-01 2.11259761e-01 -5.89200696e-03 -4.66397219e+01] [-5.99397608e-03 -1.57700289e-04 -9.99982024e-01 2.58829901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.591858064 meters 0.01533899950474386 Centerline is valid? [True, True] Translation: X:95.22, Y:-46.64, Z:0.26 [[-2.86130732e-01 9.58188951e-01 1.77180319e-03 9.52237867e+01] [ 9.58167158e-01 2.86136177e-01 -6.46422357e-03 -4.66414312e+01] [-6.70092459e-03 -1.51929398e-04 -9.99977537e-01 2.59132840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.621858064 meters 0.015344686069341825 Centerline is valid? [True, True] Translation: X:95.23, Y:-46.64, Z:0.26 [[-3.58811428e-01 9.33407153e-01 2.33370331e-03 9.52316809e+01] [ 9.33384786e-01 3.58818990e-01 -6.46322289e-03 -4.66425315e+01] [-6.87019554e-03 -1.40835072e-04 -9.99976390e-01 2.59387808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.651858064 meters 0.015383498728500363 Centerline is valid? [True, True] Translation: X:95.24, Y:-46.64, Z:0.26 [[-4.28037834e-01 9.03756932e-01 2.64955230e-03 9.52380434e+01] [ 9.03737840e-01 4.28046017e-01 -5.87576023e-03 -4.66432964e+01] [-6.44438935e-03 -1.20547008e-04 -9.99979227e-01 2.59018059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.681858064 meters 0.015467748060819618 Centerline is valid? [True, True] Translation: X:95.25, Y:-46.64, Z:0.26 [[-4.96354889e-01 8.68114587e-01 2.98136895e-03 9.52457600e+01] [ 8.68097545e-01 4.96363830e-01 -5.44071507e-03 -4.66447999e+01] [-6.20300782e-03 -1.12406463e-04 -9.99980755e-01 2.58784762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.711858064 meters 0.015535868038565942 Centerline is valid? [True, True] Translation: X:95.26, Y:-46.64, Z:0.26 [[-5.61809704e-01 8.27259952e-01 3.29058917e-03 9.52557024e+01] [ 8.27244649e-01 5.61819330e-01 -5.03292444e-03 -4.66429043e+01] [-6.01225344e-03 -1.05423499e-04 -9.99981921e-01 2.58646853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.741858064 meters 0.01567446242609792 Centerline is valid? [True, True] Translation: X:95.27, Y:-46.64, Z:0.26 [[-6.22874064e-01 7.82311192e-01 4.13510973e-03 9.52677808e+01] [ 7.82293051e-01 6.22887784e-01 -5.32832953e-03 -4.66379654e+01] [-6.74412116e-03 -8.40106665e-05 -9.99977255e-01 2.59296677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.771858064 meters 0.015926686571932473 Centerline is valid? [True, True] Translation: X:95.28, Y:-46.63, Z:0.26 [[-6.81326508e-01 7.31964916e-01 4.64226243e-03 9.52770772e+01] [ 7.31947182e-01 6.81342319e-01 -5.09575972e-03 -4.66347404e+01] [-6.89288719e-03 -7.39852807e-05 -9.99976241e-01 2.60011146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.801858064 meters 0.01604256066832195 Centerline is valid? [True, True] Translation: X:95.28, Y:-46.63, Z:0.26 [[-7.35722939e-01 6.77264680e-01 4.93048761e-03 9.52830340e+01] [ 6.77248865e-01 7.35739457e-01 -4.62890199e-03 -4.66339736e+01] [-6.76254610e-03 -6.64222371e-05 -9.99977132e-01 2.59651430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.831858064 meters 0.01604107136050053 Centerline is valid? [True, True] Translation: X:95.30, Y:-46.61, Z:0.26 [[-7.80899546e-01 6.24637092e-01 4.94000033e-03 9.53006878e+01] [ 6.24624203e-01 7.80915169e-01 -4.01285903e-03 -4.66128715e+01] [-6.36430178e-03 -4.79960226e-05 -9.99979746e-01 2.58842740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861858064 meters 0.016233473520510563 Centerline is valid? [True, True] Translation: X:95.33, Y:-46.60, Z:0.26 [[-8.22061687e-01 5.69373724e-01 5.30517874e-03 9.53260303e+01] [ 5.69361565e-01 8.22078805e-01 -3.72126784e-03 -4.65976690e+01] [-6.48006713e-03 -3.85468524e-05 -9.99979003e-01 2.58121224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.891858064 meters 0.016546963523377884 Centerline is valid? [True, True] Translation: X:95.35, Y:-46.58, Z:0.26 [[-8.59350321e-01 5.11361262e-01 5.16579491e-03 9.53468347e+01] [ 5.11351782e-01 8.59365847e-01 -3.11391957e-03 -4.65761066e+01] [-6.03164556e-03 -3.44093530e-05 -9.99981809e-01 2.57769483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921858064 meters 0.017642165703284852 Centerline is valid? [True, True] Translation: X:95.72, Y:-45.94, Z:-0.69 [[-8.39557613e-01 -5.43265328e-01 2.40763328e-03 9.57226433e+01] [ 5.43262723e-01 -8.39561059e-01 -1.68608826e-03 -4.59393159e+01] [ 2.93734844e-03 -1.07590826e-04 9.99995680e-01 -6.93193477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95185806399999 meters 0.016875952000306293 Centerline is valid? [True, True] Translation: X:95.30, Y:-46.55, Z:0.26 [[-8.60815866e-01 5.08889935e-01 5.20364308e-03 9.53044661e+01] [ 5.08880432e-01 8.60831594e-01 -3.11012361e-03 -4.65505086e+01] [-6.06217097e-03 -2.92116147e-05 -9.99981624e-01 2.57702462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.981858064 meters 0.016559681084524835 Centerline is valid? [True, True] Translation: X:95.32, Y:-46.53, Z:0.26 [[-8.94674745e-01 4.46685430e-01 5.40617492e-03 9.53216314e+01] [ 4.46677082e-01 8.94691079e-01 -2.73100201e-03 -4.65259014e+01] [-6.05675527e-03 -2.85440916e-05 -9.99981657e-01 2.57018570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.011858064 meters 0.01696514921886047 Centerline is valid? [True, True] Translation: X:95.34, Y:-46.50, Z:0.26 [[-9.24205736e-01 3.81855024e-01 5.52251620e-03 9.53353185e+01] [ 3.81848002e-01 9.24222235e-01 -2.31584339e-03 -4.65025844e+01] [-5.98834870e-03 -3.15539602e-05 -9.99982069e-01 2.57106208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.041858064 meters 0.01707200828945266 Centerline is valid? [True, True] Translation: X:95.35, Y:-46.48, Z:0.26 [[-9.49039251e-01 3.15110268e-01 5.47895297e-03 9.53462425e+01] [ 3.15104799e-01 9.49055066e-01 -1.85699115e-03 -4.64759840e+01] [-5.78498505e-03 -3.59131139e-05 -9.99983266e-01 2.56934167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.071858064 meters 0.01650150344733083 Centerline is valid? [True, True] Translation: X:95.36, Y:-46.45, Z:0.26 [[-9.69109865e-01 2.46566975e-01 5.54934373e-03 9.53576557e+01] [ 2.46562702e-01 9.69125753e-01 -1.45218472e-03 -4.64458737e+01] [-5.73607272e-03 -3.90653542e-05 -9.99983548e-01 2.56467474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.101858064 meters 0.016421561776242415 Centerline is valid? [True, True] Translation: X:95.36, Y:-46.42, Z:0.26 [[-9.84203552e-01 1.76938009e-01 6.02565151e-03 9.53638361e+01] [ 1.76934477e-01 9.84221997e-01 -1.11853661e-03 -4.64168867e+01] [-6.12849040e-03 -3.47222081e-05 -9.99981220e-01 2.56875563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.131858064 meters 0.016390305018881078 Centerline is valid? [True, True] Translation: X:95.37, Y:-46.39, Z:0.26 [[-9.94315018e-01 1.06283639e-01 6.43682826e-03 9.53656474e+01] [ 1.06281206e-01 9.94335852e-01 -7.19807593e-04 -4.63877232e+01] [-6.47687288e-03 -3.16016313e-05 -9.99979024e-01 2.56738571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.161858064 meters 0.016351324654164858 Centerline is valid? [True, True] Translation: X:95.37, Y:-46.36, Z:0.26 [[-9.99370243e-01 3.49879749e-02 5.91268438e-03 9.53651487e+01] [ 3.49871191e-02 9.99387733e-01 -2.48151581e-04 -4.63579347e+01] [-5.91774655e-03 -4.11275131e-05 -9.99982489e-01 2.55829243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.191858064 meters 0.016112729266556717 Centerline is valid? [True, True] Translation: X:95.36, Y:-46.33, Z:0.26 [[-9.99322899e-01 -3.63353169e-02 5.78683565e-03 9.53607788e+01] [-3.63349587e-02 9.99339653e-01 1.67041888e-04 -4.63288738e+01] [-5.78908385e-03 -4.33356511e-05 -9.99983242e-01 2.55296583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221858064 meters 0.016126694744413236 Centerline is valid? [True, True] Translation: X:95.35, Y:-46.30, Z:0.26 [[-9.94106652e-01 -1.08225076e-01 6.26874376e-03 9.53503759e+01] [-1.08223187e-01 9.94126416e-01 6.40791068e-04 -4.63000805e+01] [-6.30127343e-03 -4.14087655e-05 -9.99980146e-01 2.55156742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.251858064 meters 0.01605268052281935 Centerline is valid? [True, True] Translation: X:95.33, Y:-46.27, Z:0.26 [[-9.83712126e-01 -1.79651981e-01 5.96811202e-03 9.53334104e+01] [-1.79648970e-01 9.83730229e-01 1.04109479e-03 -4.62734843e+01] [-6.05804695e-03 -4.80276153e-05 -9.99981649e-01 2.55038009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281858064 meters 0.01601966223497498 Centerline is valid? [True, True] Translation: X:95.30, Y:-46.25, Z:0.25 [[-9.68100563e-01 -2.50492354e-01 5.90606394e-03 9.53038080e+01] [-2.50488015e-01 9.68118576e-01 1.47514537e-03 -4.62510226e+01] [-6.08728285e-03 -5.13091712e-05 -9.99981471e-01 2.54938119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.311858064 meters 0.01600344020482466 Centerline is valid? [True, True] Translation: X:95.25, Y:-46.24, Z:0.26 [[-9.47010700e-01 -3.21139720e-01 6.32566196e-03 9.52496558e+01] [-3.21132908e-01 9.47031825e-01 2.09222711e-03 -4.62378733e+01] [-6.66250042e-03 -5.00167594e-05 -9.99977804e-01 2.55143460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.341858064 meters 0.015924726703487407 Centerline is valid? [True, True] Translation: X:95.19, Y:-46.23, Z:0.26 [[-9.20425799e-01 -3.90858950e-01 6.75495755e-03 9.51868669e+01] [-3.90848821e-01 9.20450585e-01 2.81430477e-03 -4.62304480e+01] [-7.31760083e-03 -4.98084758e-05 -9.99973225e-01 2.55608688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.371858064 meters 0.01575257870840247 Centerline is valid? [True, True] Translation: X:95.11, Y:-46.23, Z:0.26 [[-8.88766166e-01 -4.58312675e-01 6.64792696e-03 9.51107530e+01] [-4.58300288e-01 8.88791027e-01 3.37001290e-03 -4.62348651e+01] [-7.45313746e-03 -5.15933987e-05 -9.99972224e-01 2.55592939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.401858064 meters 0.01576874017054569 Centerline is valid? [True, True] Translation: X:95.03, Y:-46.25, Z:0.26 [[-8.51871356e-01 -5.23713488e-01 6.27493648e-03 9.50324438e+01] [-5.23699765e-01 8.51894465e-01 3.79163049e-03 -4.62471363e+01] [-7.33131168e-03 -5.62013569e-05 -9.99973124e-01 2.56025769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.431858064 meters 0.01569110755304325 Centerline is valid? [True, True] Translation: X:94.95, Y:-46.27, Z:0.26 [[-8.10256874e-01 -5.86043684e-01 6.04966393e-03 9.49480416e+01] [-5.86027854e-01 8.10279456e-01 4.30773766e-03 -4.62701922e+01] [-7.42644084e-03 -5.48975233e-05 -9.99972422e-01 2.56032578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.461858064 meters 0.01573689602964335 Centerline is valid? [True, True] Translation: X:94.86, Y:-46.30, Z:0.26 [[-7.63834779e-01 -6.45387947e-01 5.55237974e-03 9.48635747e+01] [-6.45371432e-01 7.63854957e-01 4.61735954e-03 -4.63018505e+01] [-7.22120098e-03 -5.64474601e-05 -9.99973925e-01 2.55844599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.491858064 meters 0.01565102384106537 Centerline is valid? [True, True] Translation: X:94.77, Y:-46.35, Z:0.26 [[-7.13065499e-01 -7.01078948e-01 5.08949889e-03 9.47734387e+01] [-7.01061648e-01 7.13083659e-01 4.92551355e-03 -4.63471313e+01] [-7.08241235e-03 -5.58387095e-05 -9.99974918e-01 2.55450326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.521858064 meters 0.015687514525547865 Centerline is valid? [True, True] Translation: X:94.69, Y:-46.40, Z:0.26 [[-6.57909229e-01 -7.53084560e-01 4.36952617e-03 9.46859362e+01] [-7.53068556e-01 6.57923736e-01 4.90993037e-03 -4.64024007e+01] [-6.57240773e-03 -6.02642672e-05 -9.99978400e-01 2.55069286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.551858064 meters 0.01555449144383312 Centerline is valid? [True, True] Translation: X:94.60, Y:-46.46, Z:0.25 [[-5.98299995e-01 -8.01262650e-01 3.90921600e-03 9.46022796e+01] [-8.01246244e-01 5.98312762e-01 5.12781026e-03 -4.64624070e+01] [-6.44765667e-03 -6.42757867e-05 -9.99979212e-01 2.54607467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.581858064 meters 0.01557611413702723 Centerline is valid? [True, True] Translation: X:94.52, Y:-46.54, Z:0.25 [[-5.34513317e-01 -8.45153177e-01 3.40886043e-03 9.45194396e+01] [-8.45136848e-01 5.34524182e-01 5.25428841e-03 -4.65354099e+01] [-6.26279688e-03 -7.24664302e-05 -9.99980386e-01 2.54826324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.611858064 meters 0.01550425841796042 Centerline is valid? [True, True] Translation: X:94.44, Y:-46.62, Z:0.25 [[-4.66925784e-01 -8.84290593e-01 3.23398281e-03 9.44389574e+01] [-8.84270538e-01 4.66936977e-01 5.95608264e-03 -4.66193908e+01] [-6.77697401e-03 -7.86671601e-05 -9.99977033e-01 2.54908365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641858064 meters 0.015345147963747724 Centerline is valid? [True, True] Translation: X:94.37, Y:-46.71, Z:0.25 [[-3.94557808e-01 -9.18866598e-01 2.88289069e-03 9.43653158e+01] [-9.18843925e-01 3.94568327e-01 6.45584389e-03 -4.67063039e+01] [-7.06955667e-03 -1.01722986e-04 -9.99975005e-01 2.54458935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.671858064 meters 0.015212870637575544 Centerline is valid? [True, True] Translation: X:94.30, Y:-46.81, Z:0.25 [[-3.20716072e-01 -9.47171956e-01 2.54680334e-03 9.42959100e+01] [-9.47144946e-01 3.20726163e-01 7.15404080e-03 -4.68064601e+01] [-7.59293329e-03 -1.17776045e-04 -9.99971166e-01 2.54628627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70185806399999 meters 0.015252459362380405 Centerline is valid? [True, True] Translation: X:94.23, Y:-46.91, Z:0.25 [[-2.44834683e-01 -9.69562446e-01 2.15452709e-03 9.42348962e+01] [-9.69529656e-01 2.44844125e-01 7.97502681e-03 -4.69090701e+01] [-8.25980980e-03 -1.36314752e-04 -9.99965878e-01 2.54702153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.731858064 meters 0.015351258655938026 Centerline is valid? [True, True] Translation: X:94.18, Y:-47.02, Z:0.25 [[-1.65524912e-01 -9.86204223e-01 1.65349604e-03 9.41813186e+01] [-9.86164974e-01 1.65533079e-01 8.80016455e-03 -4.70164016e+01] [-8.95246773e-03 -1.73973411e-04 -9.99959911e-01 2.54773663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.761858064 meters 0.015441392296024413 Centerline is valid? [True, True] Translation: X:94.14, Y:-47.13, Z:0.25 [[-8.81363449e-02 -9.96107953e-01 9.64521569e-04 9.41378333e+01] [-9.96068906e-01 8.81414319e-02 8.82167819e-03 -4.71281939e+01] [-8.87235812e-03 -1.83219472e-04 -9.99960623e-01 2.54813377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.791858064 meters 0.0156380427938481 Centerline is valid? [True, True] Translation: X:94.10, Y:-47.24, Z:0.25 [[-1.05456591e-02 -9.99944353e-01 2.81263604e-04 9.41034356e+01] [-9.99905894e-01 1.05477209e-02 8.77209853e-03 -4.72392012e+01] [-8.77457708e-03 -1.88729575e-04 -9.99961485e-01 2.54724432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.821858064 meters 0.015584047615693068 Centerline is valid? [True, True] Translation: X:94.08, Y:-47.36, Z:0.25 [[ 6.68118110e-02 -9.97765523e-01 -3.78623260e-04 9.40799988e+01] [-9.97729422e-01 -6.68126152e-02 8.48974913e-03 -4.73572434e+01] [-8.49607579e-03 -1.89451948e-04 -9.99963890e-01 2.53441870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.851858064 meters 0.0156503898438812 Centerline is valid? [True, True] Translation: X:94.07, Y:-47.48, Z:0.25 [[ 1.42853509e-01 -9.89743318e-01 -1.01981979e-03 9.40652811e+01] [-9.89708091e-01 -1.42857031e-01 8.35247737e-03 -4.74792848e+01] [-8.41249709e-03 -1.83856800e-04 -9.99964597e-01 2.53227166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.881858064 meters 0.015512520888518103 Centerline is valid? [True, True] Translation: X:94.06, Y:-47.59, Z:0.25 [[ 2.17952481e-01 -9.75958058e-01 -1.60782953e-03 9.40586844e+01] [-9.75925222e-01 -2.17958341e-01 8.00772311e-03 -4.75943604e+01] [-8.16564175e-03 -1.76181737e-04 -9.99966645e-01 2.52971531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.911858064 meters 0.015491375232726718 Centerline is valid? [True, True] Translation: X:94.06, Y:-47.71, Z:0.25 [[ 2.90313731e-01 -9.56928559e-01 -2.38121138e-03 9.40642698e+01] [-9.56891704e-01 -2.90323452e-01 8.39998320e-03 -4.77139970e+01] [-8.72950533e-03 -1.60069047e-04 -9.99961884e-01 2.52753909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.941858064 meters 0.015359840452122648 Centerline is valid? [True, True] Translation: X:94.08, Y:-47.84, Z:0.25 [[ 3.61969028e-01 -9.32185057e-01 -3.07287553e-03 9.40792844e+01] [-9.32147870e-01 -3.61982040e-01 8.32769676e-03 -4.78381128e+01] [-8.87528023e-03 -1.49993920e-04 -9.99960603e-01 2.52339525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.971858064 meters 0.015359840452122648 Centerline is valid? [True, True] Translation: X:94.10, Y:-47.95, Z:0.25 [[ 4.32550135e-01 -9.01602281e-01 -3.70229275e-03 9.40990779e+01] [-9.01566244e-01 -4.32565954e-01 8.06248941e-03 -4.79544061e+01] [-8.87064464e-03 -1.49568720e-04 -9.99960644e-01 2.52113902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001858064 meters 0.015431790915277518 Centerline is valid? [True, True] Translation: X:94.13, Y:-48.07, Z:0.25 [[ 4.99379834e-01 -8.66373268e-01 -4.14036770e-03 9.41305360e+01] [-8.66341184e-01 -4.99396979e-01 7.45725700e-03 -4.80701246e+01] [-8.52845524e-03 -1.37032705e-04 -9.99963623e-01 2.51915111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.031858064 meters 0.015334774889693228 Centerline is valid? [True, True] Translation: X:94.16, Y:-48.17, Z:0.25 [[ 5.63249545e-01 -8.26271208e-01 -5.08333161e-03 9.41623659e+01] [-8.26235533e-01 -5.63272469e-01 7.67922605e-03 -4.81693874e+01] [-9.20842413e-03 -1.25291381e-04 -9.99957594e-01 2.51592646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061858064 meters 0.015402437809952225 Centerline is valid? [True, True] Translation: X:94.21, Y:-48.27, Z:0.25 [[ 6.22429151e-01 -7.82655055e-01 -5.74602368e-03 9.42075080e+01] [-7.82620276e-01 -6.22455665e-01 7.37890953e-03 -4.82702572e+01] [-9.35178584e-03 -9.58937506e-05 -9.99956266e-01 2.51266650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.091858064 meters 0.015526104244330262 Centerline is valid? [True, True] Translation: X:94.26, Y:-48.37, Z:0.25 [[ 6.79337617e-01 -7.33796946e-01 -6.51487028e-03 9.42573122e+01] [-7.33762069e-01 -6.79368851e-01 7.15478094e-03 -4.83675123e+01] [-9.67615634e-03 -8.01471360e-05 -9.99953182e-01 2.51429880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.121858064 meters 0.015608538020274369 Centerline is valid? [True, True] Translation: X:94.31, Y:-48.46, Z:0.25 [[ 7.32532005e-01 -6.80691628e-01 -7.46784037e-03 9.43108701e+01] [-6.80655344e-01 -7.32570067e-01 7.02844811e-03 -4.84575657e+01] [-1.02549221e-02 -6.55377322e-05 -9.99947415e-01 2.51817859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.151858064 meters 0.015926233463107953 Centerline is valid? [True, True] Translation: X:94.31, Y:-48.46, Z:0.25 [[ 7.81992278e-01 -6.23227196e-01 -8.71431585e-03 9.43104340e+01] [-6.23187983e-01 -7.82040831e-01 6.99120691e-03 -4.84594347e+01] [-1.11720611e-02 -3.64129019e-05 -9.99937590e-01 2.52714142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.181858064 meters 0.015845165873866786 Centerline is valid? [True, True] Translation: X:94.31, Y:-48.47, Z:0.25 [[ 8.27658679e-01 -5.61151546e-01 -9.48968553e-03 9.43077652e+01] [-5.61114385e-01 -8.27713080e-01 6.45792878e-03 -4.84660030e+01] [-1.14786136e-02 -2.01617506e-05 -9.99934118e-01 2.51446490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.211858064 meters 0.01598029640916966 Centerline is valid? [True, True] Translation: X:94.31, Y:-48.47, Z:0.25 [[ 8.68572493e-01 -4.95463959e-01 -9.86355555e-03 9.43059165e+01] [-4.95431871e-01 -8.68628497e-01 5.63881526e-03 -4.84730440e+01] [-1.13615952e-02 -1.10000508e-05 -9.99935455e-01 2.50830370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.241858064 meters 0.016249951980108625 Centerline is valid? [True, True] Translation: X:94.30, Y:-48.48, Z:0.25 [[ 9.04131602e-01 -4.27129657e-01 -1.03103358e-02 9.43037014e+01] [-4.27101931e-01 -9.04190387e-01 4.86669633e-03 -4.84797774e+01] [-1.14012168e-02 3.43036986e-06 -9.99935004e-01 2.50501648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.271858064 meters 0.016713773838165157 Centerline is valid? [True, True] Translation: X:94.30, Y:-48.49, Z:0.25 [[ 9.34518990e-01 -3.55762003e-01 -1.03756416e-02 9.43015753e+01] [-3.55740176e-01 -9.34576587e-01 3.94082621e-03 -4.84855715e+01] [-1.10988280e-02 8.25565061e-06 -9.99938406e-01 2.51926411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.301858064 meters 0.016365757294645244 Centerline is valid? [True, True] Translation: X:94.30, Y:-48.49, Z:0.25 [[ 9.59400813e-01 -2.81855152e-01 -1.03804332e-02 9.42999595e+01] [-2.81838747e-01 -9.59456968e-01 3.04092255e-03 -4.84930326e+01] [-1.08166786e-02 8.14471787e-06 -9.99941498e-01 2.50867270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.331858064 meters 0.016293873212078196 Centerline is valid? [True, True] Translation: X:94.30, Y:-48.50, Z:0.25 [[ 9.78431285e-01 -2.06339919e-01 -9.80094156e-03 9.42994892e+01] [-2.06329595e-01 -9.78480372e-01 2.06406679e-03 -4.84995521e+01] [-1.00159283e-02 2.67677961e-06 -9.99949839e-01 2.50230989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361858064 meters 0.016684362378310762 Centerline is valid? [True, True] Translation: X:94.30, Y:-48.50, Z:0.25 [[ 9.91531937e-01 -1.29575352e-01 -8.63983536e-03 9.42960218e+01] [-1.29570358e-01 -9.91569578e-01 1.13764883e-03 -4.85042962e+01] [-8.71440915e-03 -8.54858796e-06 -9.99962029e-01 2.49811270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.391858064 meters 0.016579031087994738 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.51, Z:0.25 [[ 9.98616346e-01 -5.18933999e-02 -8.51283021e-03 9.42924128e+01] [-5.18914515e-02 -9.98652630e-01 4.49738745e-04 -4.85101830e+01] [-8.52469875e-03 -7.37334581e-06 -9.99963664e-01 2.49718312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421858064 meters 0.01673909617152133 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.52, Z:0.25 [[ 9.99598509e-01 2.68999675e-02 -8.90019319e-03 9.42881546e+01] [ 2.68989565e-02 -9.99638130e-01 -2.33294828e-04 -4.85154685e+01] [-8.90324810e-03 -6.20474798e-06 -9.99960365e-01 2.50678959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45185806399999 meters 0.01643122314428363 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.53, Z:0.25 [[ 9.94237368e-01 1.06747340e-01 -9.85198092e-03 9.42862476e+01] [ 1.06742198e-01 -9.94286179e-01 -1.04779191e-03 -4.85262497e+01] [-9.90753746e-03 -9.86822659e-06 -9.99950919e-01 2.51267455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.481858064 meters 0.016131639977618392 Centerline is valid? [True, True] Translation: X:94.28, Y:-48.54, Z:0.25 [[ 9.82620436e-01 1.85352291e-01 -1.00799933e-02 9.42848462e+01] [ 1.85342720e-01 -9.82672136e-01 -1.88370744e-03 -4.85364252e+01] [-1.02544781e-02 -1.72839550e-05 -9.99947421e-01 2.51151383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.511858064 meters 0.016148738231437924 Centerline is valid? [True, True] Translation: X:94.28, Y:-48.55, Z:0.25 [[ 9.64830632e-01 2.62700025e-01 -9.51572522e-03 9.42840252e+01] [ 2.62687566e-01 -9.64877555e-01 -2.55862238e-03 -4.85456849e+01] [-9.85365985e-03 -3.10254554e-05 -9.99951451e-01 2.50707968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.541858064 meters 0.016023298304130296 Centerline is valid? [True, True] Translation: X:94.28, Y:-48.55, Z:0.25 [[ 9.41017782e-01 3.38246185e-01 -8.66329599e-03 9.42839641e+01] [ 3.38232285e-01 -9.41057658e-01 -3.06672234e-03 -4.85546989e+01] [-9.18996817e-03 -4.43661473e-05 -9.99957770e-01 2.50175204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.571858064 meters 0.01589118656759335 Centerline is valid? [True, True] Translation: X:94.28, Y:-48.56, Z:0.25 [[ 9.10882072e-01 4.12591815e-01 -7.86417251e-03 9.42843040e+01] [ 4.12577051e-01 -9.10916017e-01 -3.49100894e-03 -4.85630442e+01] [-8.60396241e-03 -6.46796491e-05 -9.99962983e-01 2.49357428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.601858064 meters 0.015941379766270546 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.57, Z:0.25 [[ 8.75431046e-01 4.83285786e-01 -7.43855035e-03 9.42850373e+01] [ 4.83269032e-01 -8.75462645e-01 -4.02481071e-03 -4.85703647e+01] [-8.45730678e-03 -7.13767816e-05 -9.99964234e-01 2.49123809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.631858064 meters 0.015826516989173655 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.58, Z:0.25 [[ 8.34656476e-01 5.50731049e-01 -6.62411255e-03 9.42865816e+01] [ 5.50714444e-01 -8.34682758e-01 -4.27725124e-03 -4.85794675e+01] [-7.88464759e-03 -7.79590212e-05 -9.99968913e-01 2.48528757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.661858064 meters 0.015825412254259662 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.59, Z:0.25 [[ 7.88894711e-01 6.14506056e-01 -5.23853826e-03 9.42866726e+01] [ 6.14493218e-01 -7.88912099e-01 -3.97314053e-03 -4.85871544e+01] [-6.57426513e-03 -8.46566885e-05 -9.99978386e-01 2.47510852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.691858064 meters 0.01586572916336134 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.60, Z:0.25 [[ 7.38338111e-01 6.74414935e-01 -4.61839585e-03 9.42866604e+01] [ 6.74402468e-01 -7.38352550e-01 -4.10156179e-03 -4.85951986e+01] [-6.17615888e-03 -8.63181727e-05 -9.99980924e-01 2.47364835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721858064 meters 0.01580006482096518 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.60, Z:0.25 [[ 6.83256150e-01 7.30167513e-01 -4.05414628e-03 9.42872506e+01] [ 7.30155415e-01 -6.83268172e-01 -4.20420121e-03 -4.86018817e+01] [-5.83984026e-03 -8.76105309e-05 -9.99982944e-01 2.46978353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.751858064 meters 0.015809858453397777 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.61, Z:0.25 [[ 6.24252589e-01 7.81214798e-01 -3.48503276e-03 9.42876257e+01] [ 7.81203395e-01 -6.24262311e-01 -4.22179242e-03 -4.86083952e+01] [-5.47370132e-03 -8.70545761e-05 -9.99985015e-01 2.46956013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781858064 meters 0.01583240970034578 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.61, Z:0.25 [[ 5.61133155e-01 8.27718993e-01 -3.29409570e-03 9.42863919e+01] [ 8.27705617e-01 -5.61142817e-01 -4.70642673e-03 -4.86141108e+01] [-5.74405693e-03 -8.56094397e-05 -9.99983499e-01 2.47338592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.811858064 meters 0.015749692955727642 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.62, Z:0.25 [[ 4.94177530e-01 8.69354639e-01 -3.32865079e-03 9.42892209e+01] [ 8.69336054e-01 -4.94188733e-01 -5.68513227e-03 -4.86213631e+01] [-6.58737783e-03 -8.42515226e-05 -9.99978299e-01 2.47951100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.841858064 meters 0.015712973384104496 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.63, Z:0.25 [[ 4.23999090e-01 9.05657105e-01 -3.15908200e-03 9.42946108e+01] [ 9.05633454e-01 -4.24010850e-01 -6.54570595e-03 -4.86294210e+01] [-7.26765014e-03 -8.55969799e-05 -9.99973587e-01 2.48183093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.871858064 meters 0.015683655434685743 Centerline is valid? [True, True] Translation: X:94.30, Y:-48.64, Z:0.25 [[ 3.51046564e-01 9.36353600e-01 -2.87157136e-03 9.42998543e+01] [ 9.36324318e-01 -3.51058297e-01 -7.40562595e-03 -4.86369066e+01] [-7.94237347e-03 -8.90025586e-05 -9.99968455e-01 2.48364707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.901858064 meters 0.015663788555709702 Centerline is valid? [True, True] Translation: X:94.30, Y:-48.65, Z:0.25 [[ 2.75204253e-01 9.61382799e-01 -2.39439095e-03 9.43037816e+01] [ 9.61349513e-01 -2.75214651e-01 -8.00068082e-03 -4.86454886e+01] [-8.35068839e-03 -1.00025182e-04 -9.99965127e-01 2.49111222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.931858064 meters 0.01556195881507832 Centerline is valid? [True, True] Translation: X:94.31, Y:-48.65, Z:0.25 [[ 1.98552419e-01 9.80088521e-01 -1.85150238e-03 9.43082719e+01] [ 9.80050634e-01 -1.98561025e-01 -8.61821107e-03 -4.86526856e+01] [-8.81424595e-03 -1.03399427e-04 -9.99961148e-01 2.49405888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.961858064 meters 0.015709615724218345 Centerline is valid? [True, True] Translation: X:94.31, Y:-48.66, Z:0.25 [[ 1.21047892e-01 9.92645776e-01 -1.33067569e-03 9.43121528e+01] [ 9.92594806e-01 -1.21055162e-01 -1.00597367e-02 -4.86588717e+01] [-1.01468403e-02 -1.03111849e-04 -9.99948514e-01 2.50792436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.991858064 meters 0.015653979260937895 Centerline is valid? [True, True] Translation: X:94.32, Y:-48.67, Z:0.25 [[ 4.34797999e-02 9.99054153e-01 -5.54063467e-04 9.43159328e+01] [ 9.98998895e-01 -4.34832227e-02 -1.05079979e-02 -4.86664595e+01] [-1.05221514e-02 -9.66231433e-05 -9.99944636e-01 2.51381826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.021858064 meters 0.01559395248271832 Centerline is valid? [True, True] Translation: X:94.32, Y:-48.67, Z:0.25 [[-3.41147663e-02 9.99417884e-01 2.76922170e-04 9.43204461e+01] [ 9.99360920e-01 3.41157786e-02 -1.06707329e-02 -4.86726858e+01] [-1.06739687e-02 -8.72843634e-05 -9.99943028e-01 2.51480601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.051858064 meters 0.01557408902598437 Centerline is valid? [True, True] Translation: X:94.32, Y:-48.68, Z:0.25 [[-1.11203149e-01 9.93797143e-01 1.04769981e-03 9.43242141e+01] [ 9.93746266e-01 1.11208057e-01 -1.00561432e-02 -4.86793781e+01] [-1.01102791e-02 -7.71270138e-05 -9.99948887e-01 2.51223931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.081858064 meters 0.015772090915940444 Centerline is valid? [True, True] Translation: X:94.33, Y:-48.69, Z:0.25 [[-1.85641308e-01 9.82616425e-01 1.50537781e-03 9.43257509e+01] [ 9.82581625e-01 1.85647403e-01 -8.26996368e-03 -4.86865711e+01] [-8.40567163e-03 -5.60903041e-05 -9.99964670e-01 2.49743039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.111858064 meters 0.015788447388434174 Centerline is valid? [True, True] Translation: X:94.33, Y:-48.69, Z:0.25 [[-2.60715608e-01 9.65413215e-01 2.16686488e-03 9.43312628e+01] [ 9.65378476e-01 2.60724609e-01 -8.19002575e-03 -4.86922067e+01] [-8.47171409e-03 -4.34228317e-05 -9.99964113e-01 2.48614506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141858064 meters 0.015868704724467813 Centerline is valid? [True, True] Translation: X:94.34, Y:-48.70, Z:0.25 [[-3.34002533e-01 9.42568573e-01 2.60631133e-03 9.43389861e+01] [ 9.42539060e-01 3.34012700e-01 -7.45896060e-03 -4.86972796e+01] [-7.90112293e-03 -3.47615075e-05 -9.99968785e-01 2.48097837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.171858064 meters 0.016226012129360576 Centerline is valid? [True, True] Translation: X:94.35, Y:-48.70, Z:0.25 [[-4.04342782e-01 9.14601954e-01 3.19075934e-03 9.43456815e+01] [ 9.14573227e-01 4.04355371e-01 -7.24883252e-03 -4.87026788e+01] [-7.91999707e-03 -1.28300416e-05 -9.99968636e-01 2.47609368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20185806399999 meters 0.016113768132584975 Centerline is valid? [True, True] Translation: X:94.36, Y:-48.70, Z:0.25 [[-4.73460085e-01 8.80807961e-01 3.58936075e-03 9.43571385e+01] [ 8.80782562e-01 4.73473691e-01 -6.68894831e-03 -4.87043348e+01] [-7.59114680e-03 -5.50367924e-06 -9.99971187e-01 2.46998678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.231858064 meters 0.01641463699936348 Centerline is valid? [True, True] Translation: X:94.37, Y:-48.71, Z:0.25 [[-5.40066422e-01 8.41611172e-01 4.34691956e-03 9.43668374e+01] [ 8.41584054e-01 5.40083916e-01 -6.75600723e-03 -4.87072226e+01] [-8.03363249e-03 9.60553865e-06 -9.99967730e-01 2.47005389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.261858064 meters 0.016321049855310302 Centerline is valid? [True, True] Translation: X:94.38, Y:-48.71, Z:0.25 [[-6.03574027e-01 7.97284797e-01 5.94526079e-03 9.43788592e+01] [ 7.97246852e-01 6.03603305e-01 -7.77865154e-03 -4.87069782e+01] [-9.79037968e-03 4.48484161e-05 -9.99952072e-01 2.47242936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.291858064 meters 0.01639203770118207 Centerline is valid? [True, True] Translation: X:94.39, Y:-48.70, Z:0.25 [[-6.63890128e-01 7.47796177e-01 7.12573576e-03 9.43908591e+01] [ 7.47754121e-01 6.63928365e-01 -7.93101923e-03 -4.87047124e+01] [-1.06617640e-02 6.29729068e-05 -9.99943160e-01 2.47770639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.321858064 meters 0.01663454246031865 Centerline is valid? [True, True] Translation: X:94.40, Y:-48.70, Z:0.25 [[-7.20488232e-01 6.93416477e-01 8.38432891e-03 9.44024000e+01] [ 6.93370758e-01 7.20537010e-01 -7.96297922e-03 -4.87037022e+01] [-1.15628803e-02 7.62156734e-05 -9.99933145e-01 2.48840464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.351858064 meters 0.016521176931746862 Centerline is valid? [True, True] Translation: X:94.44, Y:-48.69, Z:0.25 [[-7.67811424e-01 6.40603638e-01 9.62266261e-03 9.44357370e+01] [ 6.40554942e-01 7.67871714e-01 -7.89923656e-03 -4.86935311e+01] [-1.24492501e-02 9.87200177e-05 -9.99922500e-01 2.49454342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.381858064 meters 0.016390229406911427 Centerline is valid? [True, True] Translation: X:94.46, Y:-48.67, Z:0.25 [[-8.11333392e-01 5.84497571e-01 1.00357377e-02 9.44555418e+01] [ 5.84454283e-01 8.11395453e-01 -7.11413391e-03 -4.86714709e+01] [-1.23011460e-02 9.34955047e-05 -9.99924334e-01 2.49288755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.411858064 meters 0.016470729046978137 Centerline is valid? [True, True] Translation: X:94.48, Y:-48.65, Z:0.25 [[-8.50992140e-01 5.25073652e-01 1.04898899e-02 9.44751447e+01] [ 5.25034998e-01 8.51056786e-01 -6.37170559e-03 -4.86500879e+01] [-1.22731067e-02 8.52879321e-05 -9.99924679e-01 2.49400363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.441858064 meters 0.016203340413120416 Centerline is valid? [True, True] Translation: X:94.90, Y:-47.96, Z:-0.70 [[-8.30421277e-01 -5.57096509e-01 6.63189491e-03 9.49011872e+01] [ 5.57076085e-01 -8.30447714e-01 -4.77819088e-03 -4.79615432e+01] [ 8.16935542e-03 -2.73441325e-04 9.99966593e-01 -6.99242630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.471858064 meters 0.01621335668816055 Centerline is valid? [True, True] Translation: X:94.44, Y:-48.63, Z:0.25 [[-8.53145330e-01 5.21593648e-01 9.11657015e-03 9.44409171e+01] [ 5.21564580e-01 8.53194036e-01 -5.50689506e-03 -4.86279669e+01] [-1.06505648e-02 5.66982827e-05 -9.99943280e-01 2.47939600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501858064 meters 0.015914906539683787 Centerline is valid? [True, True] Translation: X:94.46, Y:-48.60, Z:0.25 [[-8.88110676e-01 4.59535386e-01 9.30894482e-03 9.44598258e+01] [ 4.59510730e-01 8.88159460e-01 -4.76045754e-03 -4.86045363e+01] [-1.04554261e-02 4.97468660e-05 -9.99945339e-01 2.47167839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.531858064 meters 0.01601974191367493 Centerline is valid? [True, True] Translation: X:94.48, Y:-48.58, Z:0.25 [[-9.18631898e-01 3.95012360e-01 8.98174357e-03 9.44758598e+01] [ 3.94993860e-01 9.18675805e-01 -3.82318853e-03 -4.85800388e+01] [-9.76151722e-03 3.56306268e-05 -9.99952355e-01 2.47006577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561858064 meters 0.0156383651444345 Centerline is valid? [True, True] Translation: X:94.49, Y:-48.55, Z:0.25 [[-9.45061816e-01 3.26765893e-01 9.06727874e-03 9.44867894e+01] [ 3.26750973e-01 9.45105312e-01 -3.12263482e-03 -4.85511514e+01] [-9.58990386e-03 1.16592150e-05 -9.99954016e-01 2.46922809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.591858064 meters 0.015558612829886688 Centerline is valid? [True, True] Translation: X:94.48, Y:-48.52, Z:0.25 [[-9.66226917e-01 2.57504044e-01 9.85966377e-03 9.44838800e+01] [ 2.57490675e-01 9.66277221e-01 -2.62398047e-03 -4.85197900e+01] [-1.02028541e-02 3.41092188e-06 -9.99947950e-01 2.46840718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.621858064 meters 0.015175501117413203 Centerline is valid? [True, True] Translation: X:94.51, Y:-48.49, Z:0.25 [[-9.82573335e-01 1.85570224e-01 1.06457701e-02 9.45066151e+01] [ 1.85559110e-01 9.82631005e-01 -2.03106428e-03 -4.84934808e+01] [-1.08377688e-02 -2.02499861e-05 -9.99941269e-01 2.47964698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.651858064 meters 0.015079481734058058 Centerline is valid? [True, True] Translation: X:94.51, Y:-48.46, Z:0.25 [[-9.93446462e-01 1.13778410e-01 1.08904042e-02 9.45098691e+01] [ 1.13771171e-01 9.93506151e-01 -1.28399872e-03 -4.84644049e+01] [-1.09657749e-02 -3.65699477e-05 -9.99939873e-01 2.48269274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.681858064 meters 0.014976790022540412 Centerline is valid? [True, True] Translation: X:94.60, Y:-47.69, Z:-0.70 [[-9.85149763e-01 -1.71489828e-01 8.43702396e-03 9.46028548e+01] [ 1.71482597e-01 -9.85185884e-01 -1.57858970e-03 -4.76871070e+01] [ 8.58274899e-03 -1.08344490e-04 9.99963162e-01 -6.99814152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.711858064 meters 0.014979854561515751 Centerline is valid? [True, True] Translation: X:94.44, Y:-48.46, Z:0.25 [[-9.94259897e-01 1.06463977e-01 1.06149945e-02 9.44448341e+01] [ 1.06457175e-01 9.94316558e-01 -1.20543755e-03 -4.84552769e+01] [-1.06830005e-02 -6.84758856e-05 -9.99942933e-01 2.48292678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.741858064 meters 0.014868790193105021 Centerline is valid? [True, True] Translation: X:94.44, Y:-48.43, Z:0.25 [[-9.99365099e-01 3.42281544e-02 9.89097388e-03 9.44429375e+01] [ 3.42256590e-02 9.99414042e-01 -4.21499603e-04 -4.84262403e+01] [-9.89960534e-03 -8.27068933e-05 -9.99950994e-01 2.46834538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.771858064 meters 0.01488876334928766 Centerline is valid? [True, True] Translation: X:94.44, Y:-48.40, Z:0.25 [[-9.99151324e-01 -4.01011508e-02 9.40906236e-03 9.44421301e+01] [-4.01004397e-02 9.99195619e-01 2.64288891e-04 -4.83967051e+01] [-9.41209218e-03 -1.13242943e-04 -9.99955699e-01 2.46843170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.801858064 meters 0.014949494246585844 Centerline is valid? [True, True] Translation: X:94.43, Y:-48.37, Z:0.25 [[-9.93603012e-01 -1.12521037e-01 9.59534837e-03 9.44306830e+01] [-1.12517023e-01 9.93649335e-01 9.58822307e-04 -4.83692237e+01] [-9.64229921e-03 -1.26951303e-04 -9.99953504e-01 2.46746489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.831858064 meters 0.015047356751464146 Centerline is valid? [True, True] Translation: X:94.42, Y:-48.34, Z:0.25 [[-9.82743412e-01 -1.84713730e-01 9.80934098e-03 9.44203051e+01] [-1.84705973e-01 9.82792357e-01 1.69881395e-03 -4.83426043e+01] [-9.95433960e-03 -1.42345650e-04 -9.99950444e-01 2.46326202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.861858064 meters 0.015011285126090203 Centerline is valid? [True, True] Translation: X:94.40, Y:-48.32, Z:0.24 [[-9.66367038e-01 -2.56994633e-01 9.40780097e-03 9.43974512e+01] [-2.56984088e-01 9.66412817e-01 2.33375997e-03 -4.83196915e+01] [-9.69158322e-03 -1.62386433e-04 -9.99953022e-01 2.44867541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.891858064 meters 0.015185263924328741 Centerline is valid? [True, True] Translation: X:94.35, Y:-48.30, Z:0.25 [[-9.44803544e-01 -3.27515352e-01 8.94184090e-03 9.43483569e+01] [-3.27502363e-01 9.44845842e-01 2.92173107e-03 -4.83049976e+01] [-9.40557298e-03 -1.68012159e-04 -9.99955753e-01 2.45100824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921858064 meters 0.015185263924328741 Centerline is valid? [True, True] Translation: X:94.29, Y:-48.30, Z:0.24 [[-9.18097439e-01 -3.96259278e-01 8.69919757e-03 9.42875854e+01] [-3.96243225e-01 9.18138637e-01 3.57083673e-03 -4.82984371e+01] [-9.40204659e-03 -1.68622036e-04 -9.99955786e-01 2.44990961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95185806399999 meters 0.015204387054915048 Centerline is valid? [True, True] Translation: X:94.22, Y:-48.30, Z:0.24 [[-8.85974741e-01 -4.63663759e-01 8.04218984e-03 9.42185144e+01] [-4.63646373e-01 8.86011224e-01 4.01881555e-03 -4.83003751e+01] [-8.98884960e-03 -1.68163084e-04 -9.99959585e-01 2.44914025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.981858064 meters 0.015156112431454143 Centerline is valid? [True, True] Translation: X:94.14, Y:-48.31, Z:0.24 [[-8.48625919e-01 -5.28937731e-01 7.67635288e-03 9.41408503e+01] [-5.28917916e-01 8.48660620e-01 4.58157616e-03 -4.83142821e+01] [-8.93798689e-03 -1.72116283e-04 -9.99960041e-01 2.43975049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.011858064 meters 0.014977983672845982 Centerline is valid? [True, True] Translation: X:94.06, Y:-48.34, Z:0.24 [[-8.06528296e-01 -5.91148542e-01 7.45040586e-03 9.40566566e+01] [-5.91125284e-01 8.06562689e-01 5.24660982e-03 -4.83387650e+01] [-9.11074513e-03 -1.72584003e-04 -9.99958481e-01 2.43632072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.041858064 meters 0.014971659873051482 Centerline is valid? [True, True] Translation: X:93.97, Y:-48.37, Z:0.24 [[-7.59683738e-01 -6.50250245e-01 7.43219798e-03 9.39693036e+01] [-6.50221357e-01 7.59720073e-01 6.13167399e-03 -4.83728528e+01] [-9.63351250e-03 -1.74440837e-04 -9.99953581e-01 2.44157797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.071858064 meters 0.015059316538924256 Centerline is valid? [True, True] Translation: X:93.88, Y:-48.42, Z:0.24 [[-7.08501465e-01 -7.05673694e-01 7.09306828e-03 9.38822530e+01] [-7.05640724e-01 7.08536949e-01 6.82349875e-03 -4.84155358e+01] [-9.84086453e-03 -1.70698978e-04 -9.99951563e-01 2.44664733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.101858064 meters 0.015017599375596536 Centerline is valid? [True, True] Translation: X:93.79, Y:-48.47, Z:0.24 [[-6.53101021e-01 -7.57243111e-01 6.47518956e-03 9.37945431e+01] [-7.57208362e-01 6.53133099e-01 7.25616313e-03 -4.84698718e+01] [-9.72384016e-03 -1.64060136e-04 -9.99952709e-01 2.44807573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.131858064 meters 0.015109613512405756 Centerline is valid? [True, True] Translation: X:93.71, Y:-48.53, Z:0.25 [[-5.93878260e-01 -8.04529456e-01 6.40060148e-03 9.37089561e+01] [-8.04485644e-01 5.93912728e-01 8.39757213e-03 -4.85342076e+01] [-1.05574928e-02 -1.62056481e-04 -9.99944255e-01 2.45963582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.161858064 meters 0.01485607687045963 Centerline is valid? [True, True] Translation: X:93.62, Y:-48.61, Z:0.25 [[-5.31072179e-01 -8.47304931e-01 6.05759297e-03 9.36234482e+01] [-8.47253175e-01 5.31106702e-01 9.36639140e-03 -4.86126070e+01] [-1.11534178e-02 -1.58084989e-04 -9.99937786e-01 2.45299975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.191858064 meters 0.01488882568697786 Centerline is valid? [True, True] Translation: X:93.55, Y:-48.69, Z:0.25 [[-4.65277882e-01 -8.85148640e-01 5.32710544e-03 9.35487446e+01] [-8.85094181e-01 4.65308354e-01 9.81970750e-03 -4.86884048e+01] [-1.11706474e-02 -1.46097316e-04 -9.99937596e-01 2.46158539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.221858064 meters 0.014691454144322335 Centerline is valid? [True, True] Translation: X:93.47, Y:-48.80, Z:0.24 [[-3.98140506e-01 -9.17313735e-01 4.43279846e-03 9.34720460e+01] [-9.17260114e-01 3.98165165e-01 9.91890834e-03 -4.87950490e+01] [-1.08637368e-02 -1.16910038e-04 -9.99940981e-01 2.43049857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.251858064 meters 0.014621857499074716 Centerline is valid? [True, True] Translation: X:93.40, Y:-48.91, Z:0.24 [[-3.27969310e-01 -9.44681694e-01 3.55371340e-03 9.33998631e+01] [-9.44629410e-01 3.27988548e-01 9.93933161e-03 -4.89095734e+01] [-1.05550819e-02 -9.71464597e-05 -9.99944289e-01 2.42511131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281858064 meters 0.014636920527123983 Centerline is valid? [True, True] Translation: X:93.35, Y:-48.98, Z:0.24 [[-2.55722317e-01 -9.66746718e-01 2.62277518e-03 9.33522226e+01] [-9.66698982e-01 2.55735755e-01 9.60744071e-03 -4.89778640e+01] [-9.95869917e-03 -7.85970969e-05 -9.99950408e-01 2.41724296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.311858064 meters 0.014646325251070898 Centerline is valid? [True, True] Translation: X:93.30, Y:-49.09, Z:0.24 [[-1.83887161e-01 -9.82945842e-01 1.72736078e-03 9.33028726e+01] [-9.82904829e-01 1.83895268e-01 8.97929633e-03 -4.90867264e+01] [-9.14381547e-03 -4.66539418e-05 -9.99958193e-01 2.40848566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.341858064 meters 0.014816544404668603 Centerline is valid? [True, True] Translation: X:93.26, Y:-49.19, Z:0.24 [[-1.09125007e-01 -9.94027530e-01 1.00143094e-03 9.32606459e+01] [-9.93988542e-01 1.09129597e-01 8.80393007e-03 -4.91941597e+01] [-8.86063461e-03 -3.46819438e-05 -9.99960743e-01 2.40146774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.371858064 meters 0.014857448793010859 Centerline is valid? [True, True] Translation: X:93.23, Y:-49.31, Z:0.24 [[-3.30342646e-02 -9.99454172e-01 3.07732468e-04 9.32265526e+01] [-9.99418123e-01 3.30356867e-02 8.48870917e-03 -4.93055136e+01] [-8.49424195e-03 -2.71351415e-05 -9.99963923e-01 2.39811973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.401858064 meters 0.015031725738409623 Centerline is valid? [True, True] Translation: X:93.20, Y:-49.43, Z:0.24 [[ 4.31646790e-02 -9.99067923e-01 -3.09896771e-04 9.32005175e+01] [-9.99038188e-01 -4.31657852e-02 7.70803194e-03 -4.94260836e+01] [-7.71422439e-03 -2.31160159e-05 -9.99970245e-01 2.38910610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.431858064 meters 0.0150267492858658 Centerline is valid? [True, True] Translation: X:93.18, Y:-49.55, Z:0.24 [[ 1.19875798e-01 -9.92788546e-01 -8.34712902e-04 9.31837073e+01] [-9.92763051e-01 -1.19878702e-01 7.11484591e-03 -4.95486277e+01] [-7.16360182e-03 -2.42257042e-05 -9.99974341e-01 2.38555899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.461858064 meters 0.015160409121115678 Centerline is valid? [True, True] Translation: X:93.18, Y:-49.68, Z:0.24 [[ 1.96318616e-01 -9.80539234e-01 -1.34604061e-03 9.31773358e+01] [-9.80515289e-01 -1.96323229e-01 6.85252644e-03 -4.96805870e+01] [-6.98343007e-03 -2.54651105e-05 -9.99975615e-01 2.38406885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.491858064 meters 0.015323509952504892 Centerline is valid? [True, True] Translation: X:93.18, Y:-49.82, Z:0.24 [[ 2.71473541e-01 -9.62444204e-01 -1.80837607e-03 9.31825845e+01] [-9.62422196e-01 -2.71479563e-01 6.50873083e-03 -4.98156371e+01] [-6.75522741e-03 -2.65269321e-05 -9.99977183e-01 2.38969654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.521858064 meters 0.015180129635426731 Centerline is valid? [True, True] Translation: X:93.19, Y:-49.93, Z:0.24 [[ 3.45577865e-01 -9.38386254e-01 -2.67899548e-03 9.31879421e+01] [-9.38357615e-01 -3.45588248e-01 7.33140539e-03 -4.99256179e+01] [-7.80551939e-03 -1.97156178e-05 -9.99969536e-01 2.39572810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.551858064 meters 0.015114368026467692 Centerline is valid? [True, True] Translation: X:93.20, Y:-50.04, Z:0.24 [[ 4.17730453e-01 -9.08564173e-01 -3.52325539e-03 9.32040903e+01] [-9.08531466e-01 -4.17745310e-01 7.70921798e-03 -5.00374760e+01] [-8.47614267e-03 -1.93867393e-05 -9.99964077e-01 2.40340203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.581858064 meters 0.014932068245380148 Centerline is valid? [True, True] Translation: X:93.23, Y:-50.15, Z:0.24 [[ 4.88316490e-01 -8.72655313e-01 -4.43959884e-03 9.32288460e+01] [-8.72618664e-01 -4.88336671e-01 7.99772199e-03 -5.01513035e+01] [-9.14727350e-03 -3.13427245e-05 -9.99958162e-01 2.40758776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.611858064 meters 0.01499744792143482 Centerline is valid? [True, True] Translation: X:93.26, Y:-50.26, Z:0.24 [[ 5.55151583e-01 -8.31734044e-01 -5.02004908e-03 9.32644323e+01] [-8.31699344e-01 -5.55174278e-01 7.59747170e-03 -5.02642074e+01] [-9.10607798e-03 -4.25769080e-05 -9.99958538e-01 2.41339073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641858064 meters 0.014783789127342007 Centerline is valid? [True, True] Translation: X:93.31, Y:-50.37, Z:0.24 [[ 6.18361143e-01 -7.85874964e-01 -5.48063765e-03 9.33063617e+01] [-7.85843324e-01 -6.18385428e-01 7.05213553e-03 -5.03723866e+01] [-8.93124322e-03 -5.38440763e-05 -9.99960114e-01 2.41886836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.671858064 meters 0.014805002786778121 Centerline is valid? [True, True] Translation: X:93.36, Y:-50.48, Z:0.24 [[ 6.77709512e-01 -7.35306998e-01 -5.78235957e-03 9.33562161e+01] [-7.35279411e-01 -6.77734177e-01 6.36973432e-03 -5.04771488e+01] [-8.60261293e-03 -6.51796003e-05 -9.99962995e-01 2.41663348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70185806399999 meters 0.014754452501912561 Centerline is valid? [True, True] Translation: X:93.41, Y:-50.58, Z:0.24 [[ 7.33639439e-01 -6.79520856e-01 -4.95772466e-03 9.34101345e+01] [-6.79504537e-01 -7.33656185e-01 4.71018237e-03 -5.05756954e+01] [-6.83793252e-03 -8.67791560e-05 -9.99976617e-01 2.40287607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.731858064 meters 0.01473279208372949 Centerline is valid? [True, True] Translation: X:93.41, Y:-50.58, Z:0.24 [[ 7.84801130e-01 -6.19727898e-01 -4.95166209e-03 9.34057795e+01] [-6.19714819e-01 -7.84816746e-01 4.02724882e-03 -5.05812831e+01] [-6.38194577e-03 -9.19710492e-05 -9.99979631e-01 2.38983796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.761858064 meters 0.014773855536406932 Centerline is valid? [True, True] Translation: X:93.40, Y:-50.59, Z:0.24 [[ 8.31379726e-01 -5.55682307e-01 -4.99247768e-03 9.34019908e+01] [-5.55671580e-01 -8.31394710e-01 3.45413330e-03 -5.05861140e+01] [-6.07012030e-03 -9.75184365e-05 -9.99981572e-01 2.38234609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.791858064 meters 0.014882340157826702 Centerline is valid? [True, True] Translation: X:93.40, Y:-50.59, Z:0.24 [[ 8.72686707e-01 -4.88261036e-01 -4.36714048e-03 9.33978476e+01] [-4.88254342e-01 -8.72697628e-01 2.55876672e-03 -5.05910712e+01] [-5.06053923e-03 -1.00726396e-04 -9.99987190e-01 2.37355338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.821858064 meters 0.01488234751652018 Centerline is valid? [True, True] Translation: X:93.40, Y:-50.60, Z:0.24 [[ 9.08311679e-01 -4.18276608e-01 -3.81738442e-03 9.33950279e+01] [-4.18272447e-01 -9.08319695e-01 1.86853583e-03 -5.05952007e+01] [-4.24897029e-03 -1.00506197e-04 -9.99990968e-01 2.37328645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.851858064 meters 0.01488723023302819 Centerline is valid? [True, True] Translation: X:93.39, Y:-50.60, Z:0.24 [[ 9.38244975e-01 -3.45950187e-01 -3.85158441e-03 9.33917123e+01] [-3.45946831e-01 -9.38252875e-01 1.52695430e-03 -5.06038507e+01] [-4.14201027e-03 -1.00213777e-04 -9.99991417e-01 2.37075477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.881858064 meters 0.014978003224684918 Centerline is valid? [True, True] Translation: X:93.39, Y:-50.62, Z:0.24 [[ 9.62264164e-01 -2.72090668e-01 -3.78773874e-03 9.33886193e+01] [-2.72088161e-01 -9.62271614e-01 1.17213068e-03 -5.06152769e+01] [-3.96375929e-03 -9.73004836e-05 -9.99992140e-01 2.38314325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.911858064 meters 0.01490441988405326 Centerline is valid? [True, True] Translation: X:93.39, Y:-50.62, Z:0.24 [[ 9.80519200e-01 -1.96370175e-01 -4.56640378e-03 9.33868379e+01] [-1.96367588e-01 -9.80529829e-01 1.01267444e-03 -5.06244248e+01] [-4.67635417e-03 -9.62530372e-05 -9.99989061e-01 2.38733986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.941858064 meters 0.014973625630589599 Centerline is valid? [True, True] Translation: X:93.38, Y:-50.63, Z:0.24 [[ 9.92879605e-01 -1.19012408e-01 -5.11233484e-03 9.33817474e+01] [-1.19010330e-01 -9.92892762e-01 7.09875856e-04 -5.06344513e+01] [-5.16048429e-03 -9.64006060e-05 -9.99986680e-01 2.39100466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.971858064 meters 0.01499434390060541 Centerline is valid? [True, True] Translation: X:93.38, Y:-50.64, Z:0.24 [[ 9.99143416e-01 -4.09538658e-02 -5.93431053e-03 9.33771917e+01] [-4.09525688e-02 -9.99161034e-01 3.39972732e-04 -5.06435877e+01] [-5.94325504e-03 -9.66562569e-05 -9.99982334e-01 2.39396322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001858064 meters 0.014837856724915496 Centerline is valid? [True, True] Translation: X:93.37, Y:-50.65, Z:0.24 [[ 9.99293501e-01 3.69308452e-02 -6.97219387e-03 9.33744911e+01] [ 3.69306030e-02 -9.99317819e-01 -1.63525929e-04 -5.06534693e+01] [-6.97347672e-03 -9.40769251e-05 -9.99975681e-01 2.38800615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.031858064 meters 0.01496125391130524 Centerline is valid? [True, True] Translation: X:93.37, Y:-50.66, Z:0.24 [[ 9.93359938e-01 1.14832828e-01 -7.03245404e-03 9.33713052e+01] [ 1.14830608e-01 -9.93384826e-01 -7.20035088e-04 -5.06629748e+01] [-7.06861680e-03 -9.22869641e-05 -9.99975013e-01 2.38798081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061858064 meters 0.015002655394664603 Centerline is valid? [True, True] Translation: X:93.37, Y:-50.67, Z:0.24 [[ 9.81359182e-01 1.92051833e-01 -7.08873566e-03 9.33702572e+01] [ 1.92047489e-01 -9.81384779e-01 -1.29484173e-03 -5.06738907e+01] [-7.20545401e-03 -9.06690621e-05 -9.99974036e-01 2.38762320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.091858064 meters 0.015027981984068984 Centerline is valid? [True, True] Translation: X:93.37, Y:-50.68, Z:0.24 [[ 9.63420453e-01 2.67919770e-01 -6.32678061e-03 9.33700108e+01] [ 2.67914590e-01 -9.63441222e-01 -1.66829710e-03 -5.06843685e+01] [-6.54245102e-03 -8.77652920e-05 -9.99978594e-01 2.38831582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.121858064 meters 0.014992524583464095 Centerline is valid? [True, True] Translation: X:93.37, Y:-50.69, Z:0.24 [[ 9.40003215e-01 3.41124647e-01 -5.28497239e-03 9.33702644e+01] [ 3.41119729e-01 -9.40018069e-01 -1.83329973e-03 -5.06940786e+01] [-5.59335326e-03 -7.95007066e-05 -9.99984354e-01 2.37856340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.151858064 meters 0.015023859716544135 Centerline is valid? [True, True] Translation: X:93.37, Y:-50.70, Z:0.24 [[ 9.10830543e-01 4.12751316e-01 -4.90645288e-03 9.33708823e+01] [ 4.12745765e-01 -9.10843755e-01 -2.14195413e-03 -5.07023587e+01] [-5.35310635e-03 -7.41604006e-05 -9.99985669e-01 2.36978632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.181858064 meters 0.015117809281254278 Centerline is valid? [True, True] Translation: X:93.37, Y:-50.71, Z:0.24 [[ 8.76877140e-01 4.80700299e-01 -3.70188455e-03 9.33708849e+01] [ 4.80696338e-01 -8.76884951e-01 -1.95256248e-03 -5.07100618e+01] [-4.18472422e-03 -6.73249481e-05 -9.99991242e-01 2.35612647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.211858064 meters 0.015215574656923128 Centerline is valid? [True, True] Translation: X:93.37, Y:-50.72, Z:0.23 [[ 8.37345054e-01 5.46665622e-01 -3.15556219e-03 9.33722805e+01] [ 5.46662027e-01 -8.37350998e-01 -1.98352000e-03 -5.07177048e+01] [-3.72663534e-03 -6.41353644e-05 -9.99993054e-01 2.34971326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.241858064 meters 0.015370017949215335 Centerline is valid? [True, True] Translation: X:93.37, Y:-50.73, Z:0.23 [[ 7.92857140e-01 6.09402399e-01 -2.50435650e-03 9.33732322e+01] [ 6.09399611e-01 -7.92861092e-01 -1.84474800e-03 -5.07253571e+01] [-3.10980068e-03 -6.35322553e-05 -9.99995163e-01 2.34817837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.271858064 meters 0.01539022942794258 Centerline is valid? [True, True] Translation: X:93.38, Y:-50.74, Z:0.23 [[ 7.43891336e-01 6.68298629e-01 -1.61912362e-03 9.33794405e+01] [ 6.68297241e-01 -7.43893095e-01 -1.36366924e-03 -5.07367313e+01] [-2.11579317e-03 -6.76341171e-05 -9.99997759e-01 2.34775015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.301858064 meters 0.015608506678166602 Centerline is valid? [True, True] Translation: X:93.38, Y:-50.75, Z:0.23 [[ 6.89525908e-01 7.24259009e-01 -1.70555770e-03 9.33831635e+01] [ 7.24257019e-01 -6.89528015e-01 -1.69914043e-03 -5.07457890e+01] [-2.40664758e-03 -6.36607891e-05 -9.99997102e-01 2.34572962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.331858064 meters 0.015616875558151612 Centerline is valid? [True, True] Translation: X:93.38, Y:-50.75, Z:0.23 [[ 6.30579097e-01 7.76123532e-01 -1.50532560e-03 9.33843016e+01] [ 7.76121561e-01 -6.30580891e-01 -1.75007945e-03 -5.07518357e+01] [-2.30750740e-03 -6.47521317e-05 -9.99997336e-01 2.34507610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361858064 meters 0.015341125603316217 Centerline is valid? [True, True] Translation: X:93.39, Y:-50.76, Z:0.23 [[ 5.67600085e-01 8.23303021e-01 -1.50974014e-03 9.33911247e+01] [ 8.23300397e-01 -5.67602089e-01 -2.07942457e-03 -5.07600967e+01] [-2.56892818e-03 -6.26880932e-05 -9.99996698e-01 2.34171720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.391858064 meters 0.015418436250761707 Centerline is valid? [True, True] Translation: X:93.40, Y:-50.77, Z:0.23 [[ 5.00821151e-01 8.65549690e-01 -1.38142298e-03 9.33953383e+01] [ 8.65546740e-01 -5.00823052e-01 -2.26099090e-03 -5.07677441e+01] [-2.64884845e-03 -6.33340947e-05 -9.99996490e-01 2.33948201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421858064 meters 0.01516084096219986 Centerline is valid? [True, True] Translation: X:93.40, Y:-50.78, Z:0.23 [[ 4.30591886e-01 9.02545647e-01 -1.40812663e-03 9.34043360e+01] [ 9.02541281e-01 -4.30594184e-01 -2.80812569e-03 -5.07761160e+01] [-3.14079276e-03 -6.17362758e-05 -9.99995066e-01 2.34019036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45185806399999 meters 0.015122682108225427 Centerline is valid? [True, True] Translation: X:93.41, Y:-50.78, Z:0.23 [[ 3.57573165e-01 9.33884489e-01 -1.09241922e-03 9.34138047e+01] [ 9.33880684e-01 -3.57574828e-01 -2.66660200e-03 -5.07836072e+01] [-2.88091986e-03 -6.66838948e-05 -9.99995848e-01 2.34382321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.481858064 meters 0.014916347129208486 Centerline is valid? [True, True] Translation: X:93.42, Y:-50.79, Z:0.23 [[ 2.80959495e-01 9.59719293e-01 -8.00318146e-04 9.34243153e+01] [ 9.59716125e-01 -2.80960625e-01 -2.46724517e-03 -5.07906738e+01] [-2.59272068e-03 -7.48822731e-05 -9.99996636e-01 2.34052329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.511858064 meters 0.014800160146263302 Centerline is valid? [True, True] Translation: X:93.43, Y:-50.80, Z:0.23 [[ 2.03859632e-01 9.78999969e-01 -5.57555440e-04 9.34313195e+01] [ 9.78997285e-01 -2.03860380e-01 -2.29363379e-03 -5.07950028e+01] [-2.35913088e-03 -7.82659195e-05 -9.99997214e-01 2.33271546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.541858064 meters 0.014793095083326893 Centerline is valid? [True, True] Translation: X:93.44, Y:-50.80, Z:0.23 [[ 1.25811423e-01 9.92054111e-01 -3.54946275e-04 9.34384161e+01] [ 9.92051761e-01 -1.25811898e-01 -2.16117200e-03 -5.07985562e+01] [-2.18865603e-03 -8.02249512e-05 -9.99997602e-01 2.32669301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.571858064 meters 0.014630261094146127 Centerline is valid? [True, True] Translation: X:93.45, Y:-50.80, Z:0.23 [[ 4.59648062e-02 9.98943048e-01 -1.55955819e-04 9.34523392e+01] [ 9.98941845e-01 -4.59649932e-02 -1.55221244e-03 -5.08018751e+01] [-1.55774033e-03 -8.44436497e-05 -9.99998783e-01 2.31735126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.601858064 meters 0.0145923353842158 Centerline is valid? [True, True] Translation: X:93.46, Y:-50.81, Z:0.23 [[-3.35701207e-02 9.99436364e-01 -3.07519971e-05 9.34645530e+01] [ 9.99435012e-01 3.35700246e-02 -1.64604186e-03 -5.08054607e+01] [-1.64408175e-03 -8.59924465e-05 -9.99998645e-01 2.31309809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.631858064 meters 0.01460709375103515 Centerline is valid? [True, True] Translation: X:93.48, Y:-50.81, Z:0.23 [[-1.12675720e-01 9.93631813e-01 4.66006412e-05 9.34766223e+01] [ 9.93631115e-01 1.12675697e-01 -1.18083338e-03 -5.08064125e+01] [-1.17856437e-03 -8.67474044e-05 -9.99999302e-01 2.31299036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.661858064 meters 0.014662763935475394 Centerline is valid? [True, True] Translation: X:93.49, Y:-50.81, Z:0.23 [[-1.91825919e-01 9.81428963e-01 -7.96911577e-05 9.34898107e+01] [ 9.81428966e-01 1.91825917e-01 -3.64972144e-05 -5.08077207e+01] [-2.05325939e-05 -8.52123222e-05 -9.99999996e-01 2.30667580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.691858064 meters 0.01471679742458357 Centerline is valid? [True, True] Translation: X:93.50, Y:-50.81, Z:0.23 [[-2.68307624e-01 9.63333260e-01 -2.22749183e-04 9.34985593e+01] [ 9.63333139e-01 2.68307704e-01 4.89453164e-04 -5.08077943e+01] [ 5.31271834e-04 -8.32576543e-05 -9.99999855e-01 2.30229456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721858064 meters 0.014594731434087042 Centerline is valid? [True, True] Translation: X:93.51, Y:-50.81, Z:0.23 [[-3.42554802e-01 9.39497824e-01 -2.14226426e-04 9.35063767e+01] [ 9.39497765e-01 3.42554859e-01 3.43340077e-04 -5.08071656e+01] [ 3.95951559e-04 -8.36524565e-05 -9.99999918e-01 2.30348626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.751858064 meters 0.014512904291710158 Centerline is valid? [True, True] Translation: X:93.51, Y:-50.81, Z:0.23 [[-4.14815437e-01 9.09905574e-01 -4.20677633e-06 9.35132621e+01] [ 9.09905557e-01 4.14815428e-01 -1.95295821e-04 -5.08060922e+01] [-1.75955720e-04 -8.48394903e-05 -9.99999981e-01 2.30116941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781858064 meters 0.014448686150053515 Centerline is valid? [True, True] Translation: X:93.52, Y:-50.80, Z:0.23 [[-4.83337639e-01 8.75433927e-01 4.06873460e-04 9.35224858e+01] [ 8.75433456e-01 4.83337803e-01 -9.12263350e-04 -5.08032586e+01] [-9.95283611e-04 -8.47405751e-05 -9.99999501e-01 2.31318675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.811858064 meters 0.014448686150053515 Centerline is valid? [True, True] Translation: X:93.53, Y:-50.80, Z:0.23 [[-5.50448425e-01 8.34869035e-01 4.75519752e-04 9.35311050e+01] [ 8.34868581e-01 5.50448624e-01 -8.74678545e-04 -5.08004341e+01] [-9.91991225e-04 -8.44689274e-05 -9.99999504e-01 2.31290116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.841858064 meters 0.014422342096867713 Centerline is valid? [True, True] Translation: X:93.54, Y:-50.80, Z:0.23 [[-6.13386529e-01 7.89782473e-01 7.81682890e-04 9.35395115e+01] [ 7.89781652e-01 6.13387022e-01 -1.14189389e-03 -5.07973889e+01] [-1.38132192e-03 -8.30635230e-05 -9.99999043e-01 2.31567891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.871858064 meters 0.01436347279880792 Centerline is valid? [True, True] Translation: X:93.55, Y:-50.79, Z:0.23 [[-6.72530336e-01 7.40068879e-01 1.00047026e-03 9.35471748e+01] [ 7.40067876e-01 6.72531076e-01 -1.22130709e-03 -5.07928836e+01] [-1.57669871e-03 -8.09501704e-05 -9.99998754e-01 2.31895337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.901858064 meters 0.014402515035643234 Centerline is valid? [True, True] Translation: X:93.55, Y:-50.79, Z:0.23 [[-7.27374658e-01 6.86240192e-01 7.10700445e-04 9.35546038e+01] [ 6.86239753e-01 7.27375001e-01 -7.80304648e-04 -5.07874049e+01] [-1.05242215e-03 -7.98629285e-05 -9.99999443e-01 2.32045654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.931858064 meters 0.014531223620152923 Centerline is valid? [True, True] Translation: X:93.57, Y:-50.77, Z:0.23 [[-7.71831466e-01 6.35827053e-01 3.84789529e-04 9.35743630e+01] [ 6.35826925e-01 7.71831558e-01 -4.09192119e-04 -5.07681786e+01] [-5.57168120e-04 -7.11678100e-05 -9.99999842e-01 2.31570671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.961858064 meters 0.014722832465586621 Centerline is valid? [True, True] Translation: X:93.59, Y:-50.75, Z:0.23 [[-8.13648960e-01 5.81356422e-01 2.82018796e-04 9.35919654e+01] [ 5.81356355e-01 8.13649006e-01 -2.88983201e-04 -5.07472683e+01] [-3.97466553e-04 -7.11774621e-05 -9.99999918e-01 2.31555543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.991858064 meters 0.014945548641836025 Centerline is valid? [True, True] Translation: X:93.61, Y:-50.73, Z:0.23 [[-8.51477098e-01 5.24391755e-01 1.99806119e-04 9.36095875e+01] [ 5.24391719e-01 8.51477118e-01 -2.06822851e-04 -5.07266051e+01] [-2.78586536e-04 -7.13282471e-05 -9.99999959e-01 2.31170583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.021858064 meters 0.015657985218490465 Centerline is valid? [True, True] Translation: X:93.63, Y:-50.70, Z:0.23 [[-8.84467516e-01 4.66600829e-01 9.38114873e-04 9.36252471e+01] [ 4.66600497e-01 8.84468012e-01 -5.59711545e-04 -5.07048030e+01] [-1.09089447e-03 -5.73218144e-05 -9.99999403e-01 2.31693994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.051858064 meters 0.015505993509790398 Centerline is valid? [True, True] Translation: X:93.64, Y:-50.68, Z:0.23 [[-9.14591352e-01 4.04377182e-01 1.32387995e-03 9.36395684e+01] [ 4.04376681e-01 9.14592309e-01 -6.38601443e-04 -5.06789559e+01] [-1.46904627e-03 -4.87131779e-05 -9.99998920e-01 2.32223191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.081858064 meters 0.015941544152326792 Centerline is valid? [True, True] Translation: X:93.66, Y:-50.65, Z:0.23 [[-9.40069810e-01 3.40978758e-01 1.49599773e-03 9.36567782e+01] [ 3.40978254e-01 9.40071000e-01 -5.87929477e-04 -5.06546718e+01] [-1.60681554e-03 -4.25920578e-05 -9.99998708e-01 2.33014201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.111858064 meters 0.0160467219289224 Centerline is valid? [True, True] Translation: X:93.66, Y:-50.62, Z:0.23 [[-9.61462317e-01 2.74925902e-01 2.44165791e-03 9.36637719e+01] [ 2.74924958e-01 9.61465417e-01 -7.20882125e-04 -5.06245855e+01] [-2.54575881e-03 -2.18283005e-05 -9.99996759e-01 2.34471497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141858064 meters 0.016251055266879567 Centerline is valid? [True, True] Translation: X:93.67, Y:-50.60, Z:0.24 [[-9.78519529e-01 2.06135694e-01 2.75793742e-03 9.36684177e+01] [ 2.06134830e-01 9.78523416e-01 -5.97069853e-04 -5.05957483e+01] [-2.82178376e-03 -1.57375509e-05 -9.99996019e-01 2.35265468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.171858064 meters 0.01625762984895812 Centerline is valid? [True, True] Translation: X:93.67, Y:-50.57, Z:0.24 [[-9.90722322e-01 1.35867161e-01 3.06500325e-03 9.36723516e+01] [ 1.35866477e-01 9.90727063e-01 -4.31330163e-04 -5.05663808e+01] [-3.09518528e-03 -1.08972257e-05 -9.99995210e-01 2.35507151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20185806399999 meters 0.016380680115420963 Centerline is valid? [True, True] Translation: X:93.76, Y:-49.89, Z:-0.70 [[-9.86673909e-01 -1.62705174e-01 1.27453821e-03 9.37554865e+01] [ 1.62704947e-01 -9.86674729e-01 -2.80445508e-04 -4.98918491e+01] [ 1.30318458e-03 -6.93345934e-05 9.99999148e-01 -6.99788792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.231858064 meters 0.016303617831034452 Centerline is valid? [True, True] Translation: X:93.61, Y:-50.56, Z:0.23 [[-9.91351279e-01 1.31193025e-01 3.32149504e-03 9.36112768e+01] [ 1.31192263e-01 9.91356843e-01 -4.47397813e-04 -5.05577706e+01] [-3.35148231e-03 -7.77394404e-06 -9.99994384e-01 2.34807868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.261858064 meters 0.01638419365221199 Centerline is valid? [True, True] Translation: X:93.62, Y:-50.53, Z:0.23 [[-9.98196241e-01 5.99598086e-02 3.01420040e-03 9.36166340e+01] [ 5.99594862e-02 9.98200792e-01 -1.97286432e-04 -5.05274833e+01] [-3.02060648e-03 -1.62006674e-05 -9.99995438e-01 2.34575906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.291858064 meters 0.016250084968189134 Centerline is valid? [True, True] Translation: X:93.61, Y:-50.50, Z:0.23 [[-9.99928359e-01 -1.16916309e-02 2.56575323e-03 9.36115660e+01] [-1.16916601e-02 9.99931650e-01 3.59489713e-06 -5.04973675e+01] [-2.56561989e-03 -2.64032752e-05 -9.99996708e-01 2.34469357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.321858064 meters 0.01584103362717682 Centerline is valid? [True, True] Translation: X:93.59, Y:-49.83, Z:-0.70 [[-9.99806429e-01 -1.96748522e-02 7.16712330e-05 9.35946630e+01] [ 1.96748453e-02 -9.99806427e-01 -9.58712172e-05 -4.98323629e+01] [ 7.35436114e-05 -9.44425389e-05 9.99999993e-01 -6.99158602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.351858064 meters 0.015791809500681327 Centerline is valid? [True, True] Translation: X:93.53, Y:-50.49, Z:0.23 [[-9.99825014e-01 -1.86350059e-02 1.63641858e-03 9.35275839e+01] [-1.86350579e-02 9.99826352e-01 -1.65028608e-05 -5.04948334e+01] [-1.63582689e-03 -4.69947280e-05 -9.99998661e-01 2.33866601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.381858064 meters 0.016186760125312623 Centerline is valid? [True, True] Translation: X:93.52, Y:-50.47, Z:0.23 [[-9.95888684e-01 -9.05610071e-02 2.10554303e-03 9.35176386e+01] [-9.05608870e-02 9.95890909e-01 1.52498823e-04 -5.04680995e+01] [-2.11070161e-03 -3.88079930e-05 -9.99997772e-01 2.34053872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.411858064 meters 0.015700302415936018 Centerline is valid? [True, True] Translation: X:93.50, Y:-50.44, Z:0.23 [[-9.86741407e-01 -1.62274734e-01 2.88205133e-03 9.35012887e+01] [-1.62274126e-01 9.86745616e-01 4.45207741e-04 -5.04401852e+01] [-2.91609748e-03 -2.83774462e-05 -9.99995748e-01 2.34618384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.441858064 meters 0.015353240142115613 Centerline is valid? [True, True] Translation: X:93.47, Y:-50.41, Z:0.24 [[-9.72107443e-01 -2.34516189e-01 3.04559446e-03 9.34729497e+01] [-2.34515138e-01 9.72112214e-01 7.02927795e-04 -5.04146556e+01] [-3.12550752e-03 -3.09166615e-05 -9.99995115e-01 2.35592920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.471858064 meters 0.015169226321730508 Centerline is valid? [True, True] Translation: X:93.43, Y:-50.40, Z:0.24 [[-9.52193663e-01 -3.05481582e-01 2.86909492e-03 9.34293273e+01] [-3.05480312e-01 9.52197984e-01 8.81847336e-04 -5.03967506e+01] [-3.00133452e-03 -3.67625656e-05 -9.99995495e-01 2.35828076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501858064 meters 0.015084308874307277 Centerline is valid? [True, True] Translation: X:93.37, Y:-50.39, Z:0.24 [[-9.26638977e-01 -3.75941337e-01 2.88416151e-03 9.33668907e+01] [-3.75939653e-01 9.26643464e-01 1.12581352e-03 -5.03891895e+01] [-3.09582926e-03 -4.10479899e-05 -9.99995207e-01 2.35928056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.531858064 meters 0.014658596185142647 Centerline is valid? [True, True] Translation: X:93.30, Y:-50.39, Z:0.24 [[-8.94817834e-01 -4.46420131e-01 3.17962848e-03 9.32982810e+01] [-4.46417507e-01 8.94823482e-01 1.53144072e-03 -5.03862264e+01] [-3.52887220e-03 -4.90813523e-05 -9.99993772e-01 2.36649767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561858064 meters 0.014546497544420025 Centerline is valid? [True, True] Translation: X:93.22, Y:-50.40, Z:0.24 [[-8.58190815e-01 -5.13319969e-01 3.33667922e-03 9.32213109e+01] [-5.13316338e-01 8.58197300e-01 1.93169261e-03 -5.03961962e+01] [-3.85510549e-03 -5.50110999e-05 -9.99992568e-01 2.37299395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.591858064 meters 0.0145269984384993 Centerline is valid? [True, True] Translation: X:93.14, Y:-50.42, Z:0.24 [[-8.16448899e-01 -5.77405985e-01 3.67759908e-03 9.31384767e+01] [-5.77400460e-01 8.16457179e-01 2.52655031e-03 -5.04156571e+01] [-4.46144744e-03 -6.06481794e-05 -9.99990046e-01 2.36634518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.621858064 meters 0.014537408962421925 Centerline is valid? [True, True] Translation: X:93.06, Y:-50.44, Z:0.24 [[-7.68531758e-01 -6.39804384e-01 3.04736442e-03 9.30551798e+01] [-6.39799749e-01 7.68537796e-01 2.43658736e-03 -5.04421049e+01] [-3.90095401e-03 -7.71082278e-05 -9.99992388e-01 2.36211573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.651858064 meters 0.014656888618636088 Centerline is valid? [True, True] Translation: X:92.97, Y:-50.48, Z:0.24 [[-7.17142875e-01 -6.96921388e-01 2.58378128e-03 9.29693393e+01] [-6.96917274e-01 7.17147525e-01 2.39596045e-03 -5.04800893e+01] [-3.52274843e-03 -8.24358410e-05 -9.99993792e-01 2.36035146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.681858064 meters 0.014740635743253676 Centerline is valid? [True, True] Translation: X:92.88, Y:-50.53, Z:0.24 [[-6.61504445e-01 -7.49938732e-01 1.94086095e-03 9.28832818e+01] [-7.49935874e-01 6.61507287e-01 2.07215720e-03 -5.05281753e+01] [-2.83788460e-03 -8.47800537e-05 -9.99995970e-01 2.36169572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.711858064 meters 0.014908191037064611 Centerline is valid? [True, True] Translation: X:92.80, Y:-50.59, Z:0.24 [[-6.01855008e-01 -7.98603804e-01 1.58561434e-03 9.27987918e+01] [-7.98601404e-01 6.01857090e-01 1.95976630e-03 -5.05870939e+01] [-2.51939005e-03 -8.67786809e-05 -9.99996823e-01 2.35615915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.741858064 meters 0.014906880770712548 Centerline is valid? [True, True] Translation: X:92.72, Y:-50.65, Z:0.24 [[-5.39852862e-01 -8.41758220e-01 1.40951463e-03 9.27185987e+01] [-8.41755754e-01 5.39854695e-01 2.03941683e-03 -5.06541147e+01] [-2.47762897e-03 -8.54820405e-05 -9.99996927e-01 2.35595292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.771858064 meters 0.014917671644990086 Centerline is valid? [True, True] Translation: X:92.64, Y:-50.73, Z:0.24 [[-4.74894762e-01 -8.80041788e-01 1.18992363e-03 9.26428668e+01] [-8.80039451e-01 4.74896246e-01 2.03007451e-03 -5.07294128e+01] [-2.35164067e-03 -8.31079833e-05 -9.99997231e-01 2.35417818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.801858064 meters 0.014904344900092521 Centerline is valid? [True, True] Translation: X:92.57, Y:-50.81, Z:0.24 [[-4.07519935e-01 -9.13195739e-01 1.02244721e-03 9.25718443e+01] [-9.13193340e-01 4.07521210e-01 2.09442772e-03 -5.08130967e+01] [-2.32929139e-03 -8.01709385e-05 -9.99997284e-01 2.35648547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.831858064 meters 0.014787350139554086 Centerline is valid? [True, True] Translation: X:92.51, Y:-50.90, Z:0.24 [[-3.38934345e-01 -9.40809735e-01 7.43194572e-04 9.25084862e+01] [-9.40807931e-01 3.38935151e-01 1.84381594e-03 -5.09046123e+01] [-1.98657476e-03 -7.42707989e-05 -9.99998024e-01 2.35270516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.861858064 meters 0.014866220940881344 Centerline is valid? [True, True] Translation: X:92.45, Y:-51.00, Z:0.23 [[-2.67432314e-01 -9.63576502e-01 5.30976555e-04 9.24498072e+01] [-9.63575100e-01 2.67432832e-01 1.64552366e-03 -5.10029629e+01] [-1.72758850e-03 -7.15695850e-05 -9.99998505e-01 2.34966113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.891858064 meters 0.014955708284869394 Centerline is valid? [True, True] Translation: X:92.40, Y:-51.11, Z:0.24 [[-1.95105472e-01 -9.80782181e-01 4.10210286e-04 9.24000291e+01] [-9.80780680e-01 1.95105892e-01 1.71733418e-03 -5.11064512e+01] [-1.76436520e-03 -6.72650281e-05 -9.99998441e-01 2.35837084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921858064 meters 0.01497761863673164 Centerline is valid? [True, True] Translation: X:92.36, Y:-51.22, Z:0.24 [[-1.20356395e-01 -9.92730699e-01 3.13587450e-04 9.23566544e+01] [-9.92728565e-01 1.20356787e-01 2.05936539e-03 -5.12153994e+01] [-2.08213762e-03 -6.34494244e-05 -9.99997830e-01 2.36061055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95185806399999 meters 0.014983428170046395 Centerline is valid? [True, True] Translation: X:92.32, Y:-51.33, Z:0.24 [[-4.48274061e-02 -9.98994731e-01 1.75086893e-04 9.23215532e+01] [-9.98991306e-01 4.48277110e-02 2.61669861e-03 -5.13302013e+01] [-2.62191687e-03 -5.76104720e-05 -9.99996561e-01 2.35901351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.981858064 meters 0.015225939084557789 Centerline is valid? [True, True] Translation: X:92.30, Y:-51.45, Z:0.24 [[ 3.12188958e-02 -9.99512571e-01 -7.78802551e-06 9.22955453e+01] [-9.99510303e-01 -3.12188416e-02 2.13023732e-03 -5.14463872e+01] [-2.12944211e-03 -5.87194452e-05 -9.99997731e-01 2.35762174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.011858064 meters 0.015182601728185979 Centerline is valid? [True, True] Translation: X:92.28, Y:-51.56, Z:0.23 [[ 1.06832924e-01 -9.94276983e-01 -8.45736303e-05 9.22789718e+01] [-9.94276039e-01 -1.06832940e-01 1.37156721e-03 -5.15633478e+01] [-1.37275296e-03 -6.24390022e-05 -9.99999056e-01 2.34363960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.041858064 meters 0.015296520923498735 Centerline is valid? [True, True] Translation: X:92.27, Y:-51.68, Z:0.23 [[ 1.82680032e-01 -9.83172400e-01 -1.93798618e-04 9.22700676e+01] [-9.83171432e-01 -1.82680125e-01 1.38094333e-03 -5.16842892e+01] [-1.39310853e-03 -6.17335077e-05 -9.99999028e-01 2.34270597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.071858064 meters 0.015277759530255241 Centerline is valid? [True, True] Translation: X:92.27, Y:-51.80, Z:0.23 [[ 2.57625201e-01 -9.66244813e-01 -4.66373226e-04 9.22699424e+01] [-9.66242814e-01 -2.57625617e-01 1.96622369e-03 -5.18038977e+01] [-2.02000313e-03 -5.59189944e-05 -9.99997958e-01 2.34683904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.101858064 meters 0.015268248855261752 Centerline is valid? [True, True] Translation: X:92.28, Y:-51.92, Z:0.24 [[ 3.31276073e-01 -9.43533588e-01 -7.29350843e-04 9.22792893e+01] [-9.43530935e-01 -3.31276872e-01 2.23822901e-03 -5.19243501e+01] [-2.35346131e-03 -5.33066339e-05 -9.99997229e-01 2.35267169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.131858064 meters 0.015278138553408564 Centerline is valid? [True, True] Translation: X:92.30, Y:-52.04, Z:0.24 [[ 4.03050322e-01 -9.15176873e-01 -1.31493686e-03 9.22974915e+01] [-9.15171625e-01 -4.03052465e-01 3.09960140e-03 -5.20419432e+01] [-3.36667206e-03 -4.59024409e-05 -9.99994332e-01 2.35534423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.161858064 meters 0.015236459506766413 Centerline is valid? [True, True] Translation: X:92.33, Y:-52.16, Z:0.24 [[ 4.72505788e-01 -8.81325785e-01 -1.77231033e-03 9.23270447e+01] [-8.81319232e-01 -4.72509109e-01 3.39903847e-03 -5.21632673e+01] [-3.83309302e-03 -4.40941691e-05 -9.99992653e-01 2.36140713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.191858064 meters 0.015307753669777338 Centerline is valid? [True, True] Translation: X:92.36, Y:-52.27, Z:0.24 [[ 5.38637643e-01 -8.42535011e-01 -2.06017066e-03 9.23559145e+01] [-8.42528536e-01 -5.38641581e-01 3.30347411e-03 -5.22656488e+01] [-3.89298618e-03 -4.36229366e-05 -9.99992421e-01 2.36058478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221858064 meters 0.015350442021394805 Centerline is valid? [True, True] Translation: X:92.40, Y:-52.37, Z:0.24 [[ 6.01158091e-01 -7.99126584e-01 -2.37726729e-03 9.23959173e+01] [-7.99120066e-01 -6.01162790e-01 3.22792128e-03 -5.23690706e+01] [-4.00864235e-03 -4.07689964e-05 -9.99991965e-01 2.35641975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.251858064 meters 0.015423909141925294 Centerline is valid? [True, True] Translation: X:92.44, Y:-52.47, Z:0.24 [[ 6.60224101e-01 -7.51065347e-01 -2.23163655e-03 9.24427259e+01] [-7.51060829e-01 -6.60227872e-01 2.60564195e-03 -5.24680711e+01] [-3.43039603e-03 -4.42128226e-05 -9.99994115e-01 2.35053397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281858064 meters 0.015345074472525384 Centerline is valid? [True, True] Translation: X:92.50, Y:-52.56, Z:0.23 [[ 7.15183650e-01 -6.98934838e-01 -1.56188851e-03 9.24956923e+01] [-6.98933009e-01 -7.15185353e-01 1.59973383e-03 -5.25623168e+01] [-2.23514949e-03 -5.24480383e-05 -9.99997501e-01 2.34116874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.311858064 meters 0.01535086270806142 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.57, Z:0.23 [[ 7.67582248e-01 -6.40949334e-01 -1.20192931e-03 9.24910428e+01] [-6.40948425e-01 -7.67583187e-01 1.08083961e-03 -5.25733146e+01] [-1.61534416e-03 -5.92586008e-05 -9.99998694e-01 2.33286179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.341858064 meters 0.01544123296586295 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.58, Z:0.23 [[ 8.15667247e-01 -5.78521034e-01 -5.97032650e-04 9.24874731e+01] [-5.78520817e-01 -8.15667462e-01 5.05063827e-04 -5.25832124e+01] [-7.79170153e-04 -6.65682045e-05 -9.99999694e-01 2.32836303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.371858064 meters 0.015349994403200805 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.59, Z:0.23 [[ 8.58773458e-01 -5.12355040e-01 -6.78068638e-04 9.24859878e+01] [-5.12354818e-01 -8.58773724e-01 4.82011410e-04 -5.25925829e+01] [-8.29268504e-04 -6.65268721e-05 -9.99999654e-01 2.32309591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.401858064 meters 0.015313417848454998 Centerline is valid? [True, True] Translation: X:92.48, Y:-52.60, Z:0.23 [[ 8.96683254e-01 -4.42672188e-01 -6.89068872e-04 9.24846873e+01] [-4.42671999e-01 -8.96683517e-01 4.15284770e-04 -5.26012519e+01] [-8.01711717e-04 -6.73474043e-05 -9.99999676e-01 2.32340123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.431858064 meters 0.015312466997523316 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.61, Z:0.23 [[ 9.29004150e-01 -3.70066889e-01 -1.33678967e-03 9.24853471e+01] [-3.70066404e-01 -9.29005110e-01 6.02368001e-04 -5.26097077e+01] [-1.46480089e-03 -6.49014256e-05 -9.99998925e-01 2.32536279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.461858064 meters 0.01521503754406111 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.62, Z:0.23 [[ 9.56130088e-01 -2.92934469e-01 -2.15692377e-03 9.24866803e+01] [-2.92933560e-01 -9.56132518e-01 7.32792215e-04 -5.26198985e+01] [-2.27696505e-03 -6.88093269e-05 -9.99997405e-01 2.33100268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.491858064 meters 0.01529182108933874 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.63, Z:0.23 [[ 9.76505136e-01 -2.15485441e-01 -1.93481825e-03 9.24878377e+01] [-2.15484870e-01 -9.76507050e-01 5.01362748e-04 -5.26306385e+01] [-1.99740003e-03 -7.26592396e-05 -9.99998003e-01 2.32880644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.521858064 meters 0.015353597964089517 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.64, Z:0.23 [[ 9.90563109e-01 -1.37043151e-01 -1.97538937e-03 9.24894402e+01] [-1.37042726e-01 -9.90565076e-01 3.49363853e-04 -5.26405656e+01] [-2.00462965e-03 -7.53541997e-05 -9.99997988e-01 2.32798561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.551858064 meters 0.015539585254664109 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.65, Z:0.23 [[ 9.98406911e-01 -5.63765913e-02 -2.30639499e-03 9.24885822e+01] [-5.63762508e-02 -9.98409572e-01 2.12438649e-04 -5.26499674e+01] [-2.31470340e-03 -8.20743130e-05 -9.99997318e-01 2.33237078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.581858064 meters 0.01564493419537797 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.66, Z:0.23 [[ 9.99721390e-01 2.33987429e-02 -3.10488088e-03 9.24891386e+01] [ 2.33989093e-02 -9.99726208e-01 1.72620854e-05 -5.26575308e+01] [-3.10362688e-03 -8.99081020e-05 -9.99995180e-01 2.34073321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.611858064 meters 0.015894029894934485 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.66, Z:0.24 [[ 9.94607688e-01 1.03634780e-01 -3.92170590e-03 9.24888471e+01] [ 1.03634381e-01 -9.94615414e-01 -3.05388027e-04 -5.26633759e+01] [-3.93223796e-03 -1.02682284e-04 -9.99992263e-01 2.35505653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641858064 meters 0.01600836770991703 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.67, Z:0.24 [[ 9.83332453e-01 1.81776244e-01 -3.83189034e-03 9.24900679e+01] [ 1.81775276e-01 -9.83339914e-01 -6.02240487e-04 -5.26677528e+01] [-3.87752373e-03 -1.04340308e-04 -9.99992477e-01 2.35554946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.671858064 meters 0.016041684316223586 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.67, Z:0.24 [[ 9.66050669e-01 2.58336046e-01 -2.93140433e-03 9.24906771e+01] [ 2.58335160e-01 -9.66055111e-01 -6.83520728e-04 -5.26706015e+01] [-3.00847618e-03 -9.69691490e-05 -9.99995470e-01 2.35298974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70185806399999 meters 0.016041684316223586 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.67, Z:0.24 [[ 9.42869786e-01 3.33149142e-01 -2.86624023e-03 9.24918813e+01] [ 3.33147913e-01 -9.42874138e-01 -9.10179679e-04 -5.26746814e+01] [-3.00572936e-03 -9.67010292e-05 -9.99995478e-01 2.35274035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.731858064 meters 0.01605531254324773 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.68, Z:0.24 [[ 9.14307276e-01 4.05012348e-01 -2.68376336e-03 9.24914812e+01] [ 4.05010899e-01 -9.14311210e-01 -1.08749271e-03 -5.26761186e+01] [-2.89424290e-03 -9.26509159e-05 -9.99995807e-01 2.36004294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.761858064 meters 0.01583036678999279 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.68, Z:0.24 [[ 8.80165727e-01 4.74660268e-01 -2.43389427e-03 9.24929260e+01] [ 4.74658730e-01 -8.80169087e-01 -1.21150107e-03 -5.26792783e+01] [-2.71728992e-03 -8.89474446e-05 -9.99996304e-01 2.36394889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.791858064 meters 0.01568310279746705 Centerline is valid? [True, True] Translation: X:92.50, Y:-52.68, Z:0.24 [[ 8.40894313e-01 5.41193113e-01 -2.60181727e-03 9.24960040e+01] [ 5.41190842e-01 -8.40898333e-01 -1.57027122e-03 -5.26845121e+01] [-3.03768377e-03 -8.76475362e-05 -9.99995382e-01 2.36394012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.821858064 meters 0.015518616866142886 Centerline is valid? [True, True] Translation: X:92.50, Y:-52.69, Z:0.24 [[ 7.97614446e-01 6.03164706e-01 -1.87930144e-03 9.24965909e+01] [ 6.03163256e-01 -7.97616657e-01 -1.32500752e-03 -5.26873762e+01] [-2.29815991e-03 -7.66804346e-05 -9.99997356e-01 2.35302620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.851858064 meters 0.01551212197029315 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.69, Z:0.23 [[ 7.49010022e-01 6.62556917e-01 -1.52289149e-03 9.24945775e+01] [ 6.62555740e-01 -7.49011567e-01 -1.25067428e-03 -5.26856575e+01] [-1.96930623e-03 -7.22329316e-05 -9.99998058e-01 2.34824574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.881858064 meters 0.015501671851517351 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.68, Z:0.23 [[ 6.95893907e-01 7.18143096e-01 -1.47104490e-03 9.24918729e+01] [ 7.18141697e-01 -6.95895459e-01 -1.41879814e-03 -5.26842039e+01] [-2.04259355e-03 -6.90856991e-05 -9.99997912e-01 2.34929197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.911858064 meters 0.015476523761104586 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.69, Z:0.24 [[ 6.38765474e-01 7.69400330e-01 -1.34247594e-03 9.24941305e+01] [ 7.69398842e-01 -6.38766881e-01 -1.51435183e-03 -5.26882919e+01] [-2.02267197e-03 -6.55837716e-05 -9.99997952e-01 2.35197492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.941858064 meters 0.015589498355368778 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.69, Z:0.24 [[ 5.78512509e-01 8.15671052e-01 -2.00277789e-03 9.24935223e+01] [ 8.15666490e-01 -5.78515974e-01 -2.72853549e-03 -5.26919183e+01] [-3.38422642e-03 -5.51069026e-05 -9.99994272e-01 2.36863749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.971858064 meters 0.015620904155352082 Centerline is valid? [True, True] Translation: X:92.49, Y:-52.70, Z:0.24 [[ 5.13510211e-01 8.58081422e-01 -1.88047626e-03 9.24949944e+01] [ 8.58076030e-01 -5.13513652e-01 -3.04224841e-03 -5.26961398e+01] [-3.57614707e-03 -5.13659846e-05 -9.99993604e-01 2.36988190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001858064 meters 0.01574988306337936 Centerline is valid? [True, True] Translation: X:92.50, Y:-52.70, Z:0.24 [[ 4.45360552e-01 8.95350272e-01 -1.36716981e-03 9.24953304e+01] [ 8.95346406e-01 -4.45362647e-01 -2.63165979e-03 -5.27008931e+01] [-2.96514367e-03 -5.20531244e-05 -9.99995603e-01 2.36545010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.031858064 meters 0.015765690309673376 Centerline is valid? [True, True] Translation: X:92.50, Y:-52.71, Z:0.24 [[ 3.74724260e-01 9.27135771e-01 -9.96118095e-04 9.25027822e+01] [ 9.27132854e-01 -3.74725580e-01 -2.32604457e-03 -5.27068631e+01] [-2.52983006e-03 -5.19084829e-05 -9.99996799e-01 2.35961401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061858064 meters 0.015974376145109534 Centerline is valid? [True, True] Translation: X:92.51, Y:-52.71, Z:0.24 [[ 3.02860867e-01 9.53034337e-01 -9.20142923e-04 9.25075182e+01] [ 9.53030366e-01 -3.02862262e-01 -2.75178685e-03 -5.27129596e+01] [-2.90122393e-03 -4.35155931e-05 -9.99995790e-01 2.36072325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.091858064 meters 0.016170191301495492 Centerline is valid? [True, True] Translation: X:92.51, Y:-52.72, Z:0.24 [[ 2.28331907e-01 9.73583070e-01 -7.38928301e-04 9.25130374e+01] [ 9.73578505e-01 -2.28333100e-01 -2.98166049e-03 -5.27194632e+01] [-3.07161597e-03 -3.85964836e-05 -9.99995282e-01 2.36742131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.121858064 meters 0.016204074098781263 Centerline is valid? [True, True] Translation: X:92.52, Y:-52.72, Z:0.24 [[ 1.52680850e-01 9.88275396e-01 -5.46630897e-04 9.25191170e+01] [ 9.88269772e-01 -1.52681826e-01 -3.33447397e-03 -5.27239991e+01] [-3.37883919e-03 -3.11084708e-05 -9.99994291e-01 2.37388693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.151858064 meters 0.016574530623491818 Centerline is valid? [True, True] Translation: X:92.52, Y:-52.73, Z:0.24 [[ 7.63417397e-02 9.97081680e-01 -2.50641389e-04 9.25231693e+01] [ 9.97077597e-01 -7.63421444e-02 -2.85367112e-03 -5.27293523e+01] [-2.86447769e-03 -3.20546956e-05 -9.99995897e-01 2.37871109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.181858064 meters 0.016708028420284408 Centerline is valid? [True, True] Translation: X:92.53, Y:-52.73, Z:0.24 [[-1.35088204e-03 9.99999087e-01 -2.79939389e-05 9.25284236e+01] [ 9.99995357e-01 1.35080053e-03 -2.73159610e-03 -5.27334721e+01] [-2.73155579e-03 -3.16838731e-05 -9.99996269e-01 2.38362200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.211858064 meters 0.016879819488765865 Centerline is valid? [True, True] Translation: X:92.53, Y:-52.74, Z:0.24 [[-7.76756343e-02 9.96978654e-01 2.41872976e-04 9.25338922e+01] [ 9.96973113e-01 7.76760090e-02 -3.32413032e-03 -5.27378750e+01] [-3.33287470e-03 -1.70630770e-05 -9.99994446e-01 2.39019289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.241858064 meters 0.017176558365717947 Centerline is valid? [True, True] Translation: X:92.54, Y:-52.74, Z:0.24 [[-1.54751261e-01 9.87953300e-01 5.69281057e-04 9.25394571e+01] [ 9.87946423e-01 1.54752308e-01 -3.68636976e-03 -5.27425049e+01] [-3.73005872e-03 -8.05118539e-06 -9.99993043e-01 2.39042804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.271858064 meters 0.017372609754079924 Centerline is valid? [True, True] Translation: X:92.54, Y:-52.75, Z:0.24 [[-2.31183977e-01 9.72909706e-01 8.19682314e-04 9.25439704e+01] [ 9.72903460e-01 2.31185430e-01 -3.48635351e-03 -5.27463014e+01] [-3.58140578e-03 -8.51731176e-06 -9.99993587e-01 2.38931034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.301858064 meters 0.01682250264264731 Centerline is valid? [True, True] Translation: X:92.55, Y:-52.75, Z:0.24 [[-3.07698286e-01 9.51483511e-01 9.45054524e-04 9.25536854e+01] [ 9.51478832e-01 3.07699737e-01 -2.98402312e-03 -5.27479319e+01] [-3.13004182e-03 -1.89794235e-05 -9.99995101e-01 2.37587104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.331858064 meters 0.016552811418819063 Centerline is valid? [True, True] Translation: X:92.56, Y:-52.75, Z:0.24 [[-3.82387935e-01 9.24001371e-01 9.66245494e-04 9.25649893e+01] [ 9.23998221e-01 3.82389155e-01 -2.41286383e-03 -5.27482705e+01] [-2.59897129e-03 -2.98409014e-05 -9.99996622e-01 2.37167446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361858064 meters 0.01649284953807128 Centerline is valid? [True, True] Translation: X:92.58, Y:-52.75, Z:0.24 [[-4.55216522e-01 8.90380329e-01 8.87715609e-04 9.25756362e+01] [ 8.90378456e-01 4.55217386e-01 -1.82676537e-03 -5.27482743e+01] [-2.03061953e-03 -4.11709239e-05 -9.99997937e-01 2.36635903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.391858064 meters 0.01619077564633728 Centerline is valid? [True, True] Translation: X:92.59, Y:-52.75, Z:0.24 [[-5.26826141e-01 8.49972649e-01 8.44197323e-04 9.25856820e+01] [ 8.49971397e-01 5.26826815e-01 -1.45988576e-03 -5.27492607e+01] [-1.68560876e-03 -5.15624052e-05 -9.99998578e-01 2.35759208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421858064 meters 0.01607597026962847 Centerline is valid? [True, True] Translation: X:92.60, Y:-52.75, Z:0.24 [[-5.93062955e-01 8.05155538e-01 9.44317689e-04 9.25975485e+01] [ 8.05154368e-01 5.93063704e-01 -1.37331464e-03 -5.27470233e+01] [-1.66577244e-03 -5.41405268e-05 -9.99998611e-01 2.35730667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45185806399999 meters 0.016080919778772827 Centerline is valid? [True, True] Translation: X:92.61, Y:-52.75, Z:0.24 [[-6.55399852e-01 7.55281473e-01 9.64309023e-04 9.26082101e+01] [ 7.55280525e-01 6.55400559e-01 -1.19822758e-03 -5.27455546e+01] [-1.53700777e-03 -5.69943557e-05 -9.99998817e-01 2.36272147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.481858064 meters 0.0160564163866534 Centerline is valid? [True, True] Translation: X:92.62, Y:-52.74, Z:0.24 [[-7.13365270e-01 7.00791235e-01 1.27949125e-03 9.26173036e+01] [ 7.00789961e-01 7.13366415e-01 -1.33732216e-03 -5.27421209e+01] [-1.84992974e-03 -5.73445575e-05 -9.99998287e-01 2.36675320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.511858064 meters 0.016032813828040587 Centerline is valid? [True, True] Translation: X:92.64, Y:-52.73, Z:0.24 [[-7.61870930e-01 6.47726731e-01 1.66358207e-03 9.26421558e+01] [ 6.47725037e-01 7.61872745e-01 -1.48244086e-03 -5.27276303e+01] [-2.22765441e-03 -5.18848417e-05 -9.99997517e-01 2.37368381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.541858064 meters 0.01610065904017754 Centerline is valid? [True, True] Translation: X:92.66, Y:-52.71, Z:0.24 [[-8.06884313e-01 5.90706936e-01 1.73818599e-03 9.26609655e+01] [ 5.90705414e-01 8.06886184e-01 -1.34177181e-03 -5.27086041e+01] [-2.19511217e-03 -5.58987556e-05 -9.99997589e-01 2.37282791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.571858064 meters 0.01601306503746865 Centerline is valid? [True, True] Translation: X:92.68, Y:-52.69, Z:0.24 [[-8.47095187e-01 5.31439311e-01 1.41486996e-03 9.26789165e+01] [ 5.31438455e-01 8.47096367e-01 -9.55733010e-04 -5.26879169e+01] [-1.70644530e-03 -5.76805280e-05 -9.99998542e-01 2.37348405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.601858064 meters 0.01606675295888087 Centerline is valid? [True, True] Translation: X:93.09, Y:-52.04, Z:-0.71 [[-8.09322594e-01 -5.87364398e-01 5.94256227e-05 9.30944283e+01] [ 5.87364392e-01 -8.09322595e-01 -9.10647865e-05 -5.20372010e+01] [ 1.01582713e-04 -3.87962945e-05 9.99999994e-01 -7.11760921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.631858064 meters 0.016025755325527465 Centerline is valid? [True, True] Translation: X:92.64, Y:-52.67, Z:0.24 [[-8.49461196e-01 5.27648974e-01 1.49574906e-03 9.26419192e+01] [ 5.27648032e-01 8.49462510e-01 -9.98621974e-04 -5.26693113e+01] [-1.79750461e-03 -5.90615683e-05 -9.99998383e-01 2.38052508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.661858064 meters 0.01600125063071673 Centerline is valid? [True, True] Translation: X:92.66, Y:-52.65, Z:0.24 [[-8.84713468e-01 4.66132523e-01 1.59709062e-03 9.26583657e+01] [ 4.66131642e-01 8.84714908e-01 -9.08125518e-04 -5.26486662e+01] [-1.83627672e-03 -5.89764044e-05 -9.99998312e-01 2.38283257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.691858064 meters 0.016064032174139674 Centerline is valid? [True, True] Translation: X:92.67, Y:-52.63, Z:0.24 [[-9.15263663e-01 4.02851476e-01 1.76512358e-03 9.26721856e+01] [ 4.02850604e-01 9.15265363e-01 -8.40468293e-04 -5.26264725e+01] [-1.95414036e-03 -5.81689903e-05 -9.99998089e-01 2.38179008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.721858064 meters 0.015999392156492216 Centerline is valid? [True, True] Translation: X:92.69, Y:-52.61, Z:0.24 [[-9.41276761e-01 3.37628405e-01 2.26266307e-03 9.26886733e+01] [ 3.37627284e-01 9.41279479e-01 -8.72036456e-04 -5.26071326e+01] [-2.42422259e-03 -5.68908636e-05 -9.99997060e-01 2.37971815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.751858064 meters 0.016036974514905593 Centerline is valid? [True, True] Translation: X:92.70, Y:-52.58, Z:0.24 [[-9.62553631e-01 2.71080690e-01 2.40141062e-03 9.27041795e+01] [ 2.71079705e-01 9.62556625e-01 -7.32769839e-04 -5.25848968e+01] [-2.51013346e-03 -5.43565872e-05 -9.99996848e-01 2.38025543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781858064 meters 0.016002393333035103 Centerline is valid? [True, True] Translation: X:92.93, Y:-51.82, Z:-0.71 [[-9.43274446e-01 -3.32012562e-01 9.88846232e-04 9.29274113e+01] [ 3.32012343e-01 -9.43274964e-01 -3.83096994e-04 -5.18205843e+01] [ 1.05994691e-03 -3.30564506e-05 9.99999438e-01 -7.12184403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.811858064 meters 0.015994563640455116 Centerline is valid? [True, True] Translation: X:92.64, Y:-52.57, Z:0.24 [[-9.62855891e-01 2.70001649e-01 2.76444476e-03 9.26448621e+01] [ 2.70000398e-01 9.62859859e-01 -8.23343436e-04 -5.25731241e+01] [-2.88407698e-03 -4.63598925e-05 -9.99995840e-01 2.38013782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.841858064 meters 0.01612382957706201 Centerline is valid? [True, True] Translation: X:92.88, Y:-51.80, Z:-0.71 [[-9.46455226e-01 -3.22830856e-01 1.65638442e-03 9.28828489e+01] [ 3.22830331e-01 -9.46456675e-01 -5.82373689e-04 -5.18016096e+01] [ 1.75570429e-03 -1.64594897e-05 9.99998459e-01 -7.12802827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.871858064 meters 0.016431408136782743 Centerline is valid? [True, True] Translation: X:92.60, Y:-52.57, Z:0.24 [[-9.62185568e-01 2.72376635e-01 3.14659456e-03 9.26045503e+01] [ 2.72375097e-01 9.62190713e-01 -9.15748098e-04 -5.25704820e+01] [-3.27705245e-03 -2.40656073e-05 -9.99994630e-01 2.38475048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.901858064 meters 0.01658708855763757 Centerline is valid? [True, True] Translation: X:92.62, Y:-52.55, Z:0.24 [[-9.78655470e-01 2.05488998e-01 2.78263752e-03 9.26238776e+01] [ 2.05488104e-01 9.78659425e-01 -6.06839905e-04 -5.25483773e+01] [-2.84795336e-03 -2.20882859e-05 -9.99995944e-01 2.38174346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.931858064 meters 0.01696174580227208 Centerline is valid? [True, True] Translation: X:92.62, Y:-52.52, Z:0.24 [[-9.90282250e-01 1.39052511e-01 2.33769537e-03 9.26191695e+01] [ 1.39052077e-01 9.90285009e-01 -3.48023744e-04 -5.25212345e+01] [-2.36337825e-03 -1.95803399e-05 -9.99997207e-01 2.38262038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.961858064 meters 0.017031799972118553 Centerline is valid? [True, True] Translation: X:92.64, Y:-52.50, Z:0.24 [[-9.97578307e-01 6.95146013e-02 2.28964738e-03 9.26417128e+01] [ 6.95143771e-02 9.97580934e-01 -1.77449868e-04 -5.24951640e+01] [-2.29644393e-03 -1.78567280e-05 -9.99997363e-01 2.38559864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.991858064 meters 0.01739967933624422 Centerline is valid? [True, True] Translation: X:92.63, Y:-52.47, Z:0.24 [[-9.99997847e-01 -9.49578792e-04 1.84512891e-03 9.26345701e+01] [-9.49621892e-04 9.99999549e-01 -2.24825633e-05 -5.24677209e+01] [-1.84510673e-03 -2.42346897e-05 -9.99998297e-01 2.38587776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.021858064 meters 0.01798957724760726 Centerline is valid? [True, True] Translation: X:92.63, Y:-51.64, Z:-0.71 [[-9.99558440e-01 -2.97082748e-02 5.86710432e-04 9.26264423e+01] [ 2.97082490e-02 -9.99558611e-01 -5.25325966e-05 -5.16404661e+01] [ 5.88012117e-04 -3.50792607e-05 9.99999827e-01 -7.13084850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.051858064 meters 0.017778694861509743 Centerline is valid? [True, True] Translation: X:92.54, Y:-52.47, Z:0.24 [[-9.99983533e-01 -5.22662821e-03 2.36998419e-03 9.25372540e+01] [-5.22664222e-03 9.99986341e-01 2.83011278e-07 -5.24695612e+01] [-2.36995330e-03 -1.21040528e-05 -9.99997192e-01 2.38297058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.081858064 meters 0.017605268719086613 Centerline is valid? [True, True] Translation: X:92.52, Y:-52.44, Z:0.24 [[-9.97111867e-01 -7.59110162e-02 2.33282690e-03 9.25225626e+01] [-7.59108307e-02 9.97114596e-01 1.68069882e-04 -5.24413649e+01] [-2.33885411e-03 -9.50235452e-06 -9.99997265e-01 2.38359130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.111858064 meters 0.017821430611871084 Centerline is valid? [True, True] Translation: X:92.45, Y:-51.62, Z:-0.71 [[-9.98816070e-01 4.86450453e-02 3.42537658e-04 9.24503435e+01] [-4.86450709e-02 -9.98816126e-01 -6.69579340e-05 -5.16212088e+01] [ 3.38874965e-04 -8.35414292e-05 9.99999939e-01 -7.13152108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141858064 meters 0.017806099646555665 Centerline is valid? [True, True] Translation: X:92.41, Y:-52.45, Z:0.24 [[-9.96600715e-01 -8.23639879e-02 1.78533581e-03 9.24070875e+01] [-8.23638960e-02 9.96602314e-01 1.25065411e-04 -5.24500101e+01] [-1.78957068e-03 -2.24069344e-05 -9.99998398e-01 2.37966769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.171858064 meters 0.017784128670471144 Centerline is valid? [True, True] Translation: X:92.33, Y:-51.63, Z:-0.71 [[-9.98489218e-01 5.49474825e-02 2.37074524e-04 9.23261676e+01] [-5.49474929e-02 -9.98489245e-01 -3.74457041e-05 -5.16336206e+01] [ 2.34658816e-04 -5.04157826e-05 9.99999971e-01 -7.12944589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20185806399999 meters 0.017560817884205156 Centerline is valid? [True, True] Translation: X:92.29, Y:-52.46, Z:0.24 [[-9.95924980e-01 -9.01758925e-02 1.32044218e-03 9.22940262e+01] [-9.01758572e-02 9.95925854e-01 8.63224109e-05 -5.24550501e+01] [-1.32284671e-03 -3.31013601e-05 -9.99999124e-01 2.37375044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.231858064 meters 0.017470794029592708 Centerline is valid? [True, True] Translation: X:92.28, Y:-52.43, Z:0.24 [[-9.86790955e-01 -1.61995263e-01 1.07043492e-03 9.22788745e+01] [-1.61995207e-01 9.86791535e-01 1.38859896e-04 -5.24272985e+01] [-1.07879077e-03 -3.63796380e-05 -9.99999417e-01 2.37260006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.261858064 meters 0.017108861843795523 Centerline is valid? [True, True] Translation: X:92.25, Y:-52.40, Z:0.24 [[-9.72379933e-01 -2.33401474e-01 1.00893526e-03 9.22457952e+01] [-2.33401389e-01 9.72380456e-01 2.02773312e-04 -5.24036912e+01] [-1.02839652e-03 -3.83141926e-05 -9.99999470e-01 2.36808770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.291858064 meters 0.016944992796682663 Centerline is valid? [True, True] Translation: X:92.20, Y:-52.39, Z:0.24 [[-9.52196304e-01 -3.05486751e-01 2.08888954e-04 9.21962157e+01] [-3.05486756e-01 9.52196325e-01 1.01404001e-05 -5.23867194e+01] [-2.02001052e-04 -5.41571572e-05 -9.99999978e-01 2.35223871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.321858064 meters 0.016864615652050812 Centerline is valid? [True, True] Translation: X:92.13, Y:-52.38, Z:0.23 [[-9.26875815e-01 -3.75367849e-01 -4.48753992e-04 9.21297490e+01] [-3.75367770e-01 9.26875921e-01 -2.52481114e-04 -5.23798815e+01] [ 5.10712563e-04 -6.55708533e-05 -9.99999867e-01 2.34487877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.351858064 meters 0.016834165923908875 Centerline is valid? [True, True] Translation: X:92.05, Y:-52.38, Z:0.23 [[-8.96151107e-01 -4.43747548e-01 -1.14286166e-03 9.20538770e+01] [-4.43747075e-01 8.96151833e-01 -6.52870022e-04 -5.23825614e+01] [ 1.31388704e-03 -7.79286762e-05 -9.99999134e-01 2.33947115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.381858064 meters 0.016538144005480565 Centerline is valid? [True, True] Translation: X:91.98, Y:-52.39, Z:0.23 [[-8.60214109e-01 -5.09930475e-01 -1.61157431e-03 9.19751215e+01] [-5.09929389e-01 8.60215614e-01 -1.05618962e-03 -5.23914472e+01] [ 1.92488466e-03 -8.67601115e-05 -9.99998144e-01 2.33514001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.411858064 meters 0.01627937236369973 Centerline is valid? [True, True] Translation: X:91.89, Y:-52.41, Z:0.23 [[-8.18918765e-01 -5.73905523e-01 -2.12282902e-03 9.18868688e+01] [-5.73903289e-01 8.18921511e-01 -1.60439933e-03 -5.24114898e+01] [ 2.65920398e-03 -9.55741623e-05 -9.99996460e-01 2.33372472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.441858064 meters 0.016366141546474134 Centerline is valid? [True, True] Translation: X:91.80, Y:-52.44, Z:0.23 [[-7.73133487e-01 -6.34240056e-01 -2.04039407e-03 9.17971551e+01] [-6.34237514e-01 7.73136173e-01 -1.79827179e-03 -5.24439988e+01] [ 2.71803846e-03 -9.62096802e-05 -9.99996301e-01 2.33469280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.471858064 meters 0.016291323945370344 Centerline is valid? [True, True] Translation: X:91.70, Y:-52.49, Z:0.23 [[-7.22874753e-01 -6.90976538e-01 -1.87475830e-03 9.17043992e+01] [-6.90973863e-01 7.22877178e-01 -1.92508642e-03 -5.24885199e+01] [ 2.68540954e-03 -9.61873798e-05 -9.99996390e-01 2.33715479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501858064 meters 0.016200175976617347 Centerline is valid? [True, True] Translation: X:91.61, Y:-52.54, Z:0.23 [[-6.68855858e-01 -7.43390500e-01 -1.55113994e-03 9.16129912e+01] [-7.43388166e-01 6.68857649e-01 -1.86531330e-03 -5.25399601e+01] [ 2.42414800e-03 -9.45266555e-05 -9.99997057e-01 2.34707910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.531858064 meters 0.01644488887369163 Centerline is valid? [True, True] Translation: X:91.53, Y:-52.60, Z:0.23 [[-6.10643563e-01 -7.91905161e-01 -8.09113556e-04 9.15262744e+01] [-7.91904284e-01 6.10644094e-01 -1.18141517e-03 -5.26021903e+01] [ 1.42964918e-03 -8.06830766e-05 -9.99998975e-01 2.34806738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561858064 meters 0.016393870218929095 Centerline is valid? [True, True] Translation: X:91.44, Y:-52.67, Z:0.24 [[-5.49095265e-01 -8.35759658e-01 -4.29136733e-04 9.14408208e+01] [-8.35759292e-01 5.49095427e-01 -7.86221204e-04 -5.26748269e+01] [ 8.92728983e-04 -7.30553280e-05 -9.99999599e-01 2.35291399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.591858064 meters 0.016393870218929095 Centerline is valid? [True, True] Translation: X:91.36, Y:-52.76, Z:0.24 [[-4.83444365e-01 -8.75375011e-01 -3.68751714e-04 9.13610753e+01] [-8.75374631e-01 4.83444500e-01 -8.18720837e-04 -5.27560596e+01] [ 8.94958750e-04 -7.30100794e-05 -9.99999597e-01 2.35183931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.621858064 meters 0.01675385960932235 Centerline is valid? [True, True] Translation: X:91.29, Y:-52.85, Z:0.24 [[-4.17020377e-01 -9.08896992e-01 5.13884255e-04 9.12852914e+01] [-9.08896405e-01 4.17020692e-01 1.03370781e-03 -5.28456222e+01] [-1.15383429e-03 -3.59903314e-05 -9.99999334e-01 2.37075540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.651858064 meters 0.016796927438891232 Centerline is valid? [True, True] Translation: X:91.22, Y:-52.94, Z:0.24 [[-3.46619529e-01 -9.38005469e-01 8.01860100e-04 9.12161145e+01] [-9.38003041e-01 3.46620456e-01 2.13404934e-03 -5.29407340e+01] [-2.27969107e-03 -1.24440359e-05 -9.99997401e-01 2.38266016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.681858064 meters 0.017212954270108986 Centerline is valid? [True, True] Translation: X:91.15, Y:-53.05, Z:0.24 [[-2.74160567e-01 -9.61683562e-01 8.42778637e-04 9.11536721e+01] [-9.61678943e-01 2.74161862e-01 2.98055593e-03 -5.30455973e+01] [-3.09740940e-03 6.66843352e-06 -9.99995203e-01 2.39428953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.711858064 meters 0.017365482672688004 Centerline is valid? [True, True] Translation: X:91.10, Y:-53.15, Z:0.24 [[-2.01281208e-01 -9.79533253e-01 6.94696292e-04 9.10999535e+01] [-9.79526997e-01 2.01282405e-01 3.50083985e-03 -5.31518279e+01] [-3.56901918e-03 2.41794997e-05 -9.99993631e-01 2.39273677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.741858064 meters 0.01778420756499256 Centerline is valid? [True, True] Translation: X:91.06, Y:-53.26, Z:0.24 [[-1.26144902e-01 -9.92011765e-01 3.49756577e-04 9.10564843e+01] [-9.92007717e-01 1.26145387e-01 2.83381970e-03 -5.32620302e+01] [-2.85530266e-03 1.05106855e-05 -9.99995924e-01 2.38740674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.771858064 meters 0.017697191888738497 Centerline is valid? [True, True] Translation: X:91.02, Y:-53.38, Z:0.24 [[-5.03074517e-02 -9.98733771e-01 1.19089586e-04 9.10181840e+01] [-9.98730843e-01 5.03075926e-02 2.41865695e-03 -5.33804270e+01] [-2.42158549e-03 2.73802571e-06 -9.99997068e-01 2.38519784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.801858064 meters 0.018154608557689356 Centerline is valid? [True, True] Translation: X:90.99, Y:-53.50, Z:0.24 [[ 2.71679839e-02 -9.99630880e-01 -6.74002311e-05 9.09913230e+01] [-9.99627978e-01 -2.71680675e-02 2.40881074e-03 -5.34998912e+01] [-2.40975273e-03 1.93262540e-06 -9.99997097e-01 2.38564694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.831858064 meters 0.01738495275082931 Centerline is valid? [True, True] Translation: X:90.97, Y:-53.62, Z:0.24 [[ 1.05127412e-01 -9.94458723e-01 -2.76255839e-04 9.09713518e+01] [-9.94455389e-01 -1.05127775e-01 2.57493347e-03 -5.36228826e+01] [-2.58970721e-03 4.02801531e-06 -9.99996647e-01 2.38474917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861858064 meters 0.0172301985108571 Centerline is valid? [True, True] Translation: X:90.96, Y:-53.75, Z:0.24 [[ 1.83805716e-01 -9.82962510e-01 -4.02429810e-04 9.09625394e+01] [-9.82960042e-01 -1.83806157e-01 2.20293425e-03 -5.37493448e+01] [-2.23937086e-03 -9.33948447e-06 -9.99997493e-01 2.38243556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.891858064 meters 0.016759187604301708 Centerline is valid? [True, True] Translation: X:90.96, Y:-53.87, Z:0.24 [[ 2.61279041e-01 -9.65263189e-01 -4.88206852e-04 9.09615213e+01] [-9.65261358e-01 -2.61279496e-01 1.88013011e-03 -5.38728258e+01] [-1.94237883e-03 -1.99913840e-05 -9.99998113e-01 2.38012962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921858064 meters 0.01593335531075674 Centerline is valid? [True, True] Translation: X:90.97, Y:-54.00, Z:0.24 [[ 3.39885194e-01 -9.40466840e-01 -4.22882333e-04 9.09666576e+01] [-9.40465966e-01 -3.39885455e-01 1.28264238e-03 -5.39964518e+01] [-1.35001418e-03 -3.82447123e-05 -9.99999088e-01 2.38065927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95185806399999 meters 0.015618149421365324 Centerline is valid? [True, True] Translation: X:90.98, Y:-54.12, Z:0.24 [[ 4.13615584e-01 -9.10451506e-01 -4.51939382e-04 9.09837281e+01] [-9.10450842e-01 -4.13615829e-01 1.09973819e-03 -5.41164924e+01] [-1.18818757e-03 -4.34002635e-05 -9.99999293e-01 2.37541305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.981858064 meters 0.015372130407937662 Centerline is valid? [True, True] Translation: X:91.01, Y:-54.23, Z:0.24 [[ 4.84460208e-01 -8.74813269e-01 -2.24774565e-04 9.10092201e+01] [-8.74813121e-01 -4.84460258e-01 5.11951473e-04 -5.42336531e+01] [-5.56756286e-04 -5.13843782e-05 -9.99999844e-01 2.37239610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.011858064 meters 0.015082827529249084 Centerline is valid? [True, True] Translation: X:91.04, Y:-54.35, Z:0.24 [[ 5.52436815e-01 -8.33554750e-01 2.10218781e-04 9.10432138e+01] [-8.33554725e-01 -5.52436852e-01 -2.13241426e-04 -5.43503528e+01] [ 2.93881005e-04 -5.74264444e-05 -9.99999955e-01 2.36254513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.041858064 meters 0.01511226933302213 Centerline is valid? [True, True] Translation: X:91.08, Y:-54.45, Z:0.24 [[ 6.15029525e-01 -7.88503908e-01 5.19852104e-04 9.10820427e+01] [-7.88503704e-01 -6.15029742e-01 -5.69977861e-04 -5.44540821e+01] [ 7.69154276e-04 -5.93520971e-05 -9.99999702e-01 2.35531807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.071858064 meters 0.015179540608268515 Centerline is valid? [True, True] Translation: X:91.13, Y:-54.56, Z:0.24 [[ 6.73414614e-01 -7.39264356e-01 9.84449467e-04 9.11284283e+01] [-7.39263699e-01 -6.73415331e-01 -9.88137633e-04 -5.45560815e+01] [ 1.39343829e-03 -6.23414314e-05 -9.99999027e-01 2.35435703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.101858064 meters 0.015250309984077868 Centerline is valid? [True, True] Translation: X:91.18, Y:-54.65, Z:0.24 [[ 7.27371962e-01 -6.86242861e-01 8.74543932e-04 9.11808801e+01] [-6.86242464e-01 -7.27372485e-01 -7.40640051e-04 -5.46493128e+01] [ 1.14437814e-03 -6.14283763e-05 -9.99999343e-01 2.35117296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.131858064 meters 0.015388403658739868 Centerline is valid? [True, True] Translation: X:91.18, Y:-54.66, Z:0.24 [[ 7.78369598e-01 -6.27805590e-01 9.54068790e-04 9.11767740e+01] [-6.27805216e-01 -7.78370180e-01 -6.87615241e-04 -5.46580777e+01] [ 1.17430739e-03 -6.37505650e-05 -9.99999308e-01 2.35261517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.161858064 meters 0.015583299576377073 Centerline is valid? [True, True] Translation: X:91.17, Y:-54.67, Z:0.24 [[ 8.23586930e-01 -5.67189491e-01 8.06622785e-04 9.11743323e+01] [-5.67189293e-01 -8.23587322e-01 -4.77310352e-04 -5.46668213e+01] [ 9.35049715e-04 -6.44012403e-05 -9.99999561e-01 2.35207047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.191858064 meters 0.01571777131844976 Centerline is valid? [True, True] Translation: X:91.17, Y:-54.68, Z:0.24 [[ 8.64654856e-01 -5.02366283e-01 3.13081398e-04 9.11723791e+01] [-5.02366274e-01 -8.64654910e-01 -1.13315985e-04 -5.46770638e+01] [ 3.27633498e-04 -5.93023191e-05 -9.99999945e-01 2.35344804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.221858064 meters 0.015965562990087705 Centerline is valid? [True, True] Translation: X:91.17, Y:-54.69, Z:0.24 [[ 9.00378190e-01 -4.35108160e-01 6.04984960e-05 9.11704255e+01] [-4.35108163e-01 -9.00378190e-01 3.31739811e-05 -5.46878949e+01] [ 4.00372565e-05 -5.61925185e-05 -9.99999998e-01 2.35984895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.251858064 meters 0.016278144233599297 Centerline is valid? [True, True] Translation: X:91.17, Y:-54.70, Z:0.24 [[ 9.30096375e-01 -3.67315437e-01 -3.21464564e-04 9.11697046e+01] [-3.67315396e-01 -9.30096429e-01 1.80026073e-04 -5.46984174e+01] [-3.65119399e-04 -4.93627146e-05 -9.99999932e-01 2.35340302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281858064 meters 0.016844347777436635 Centerline is valid? [True, True] Translation: X:91.17, Y:-54.71, Z:0.23 [[ 9.55468224e-01 -2.95093827e-01 -3.27260451e-04 9.11684310e+01] [-2.95093792e-01 -9.55468278e-01 1.52082241e-04 -5.47076560e+01] [-3.57565510e-04 -4.87372212e-05 -9.99999935e-01 2.34731122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.311858064 meters 0.01704269963496546 Centerline is valid? [True, True] Translation: X:91.17, Y:-54.72, Z:0.23 [[ 9.75280543e-01 -2.20969872e-01 -4.21045204e-04 9.11690828e+01] [-2.20969831e-01 -9.75280633e-01 1.42923806e-04 -5.47177091e+01] [-4.42219089e-04 -4.63525195e-05 -9.99999901e-01 2.34000327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.341858064 meters 0.01715380024719458 Centerline is valid? [True, True] Translation: X:91.17, Y:-54.73, Z:0.23 [[ 9.89465652e-01 -1.44766884e-01 -5.23260704e-04 9.11669969e+01] [-1.44766840e-01 -9.89465789e-01 1.20958651e-04 -5.47287682e+01] [-5.35259372e-04 -4.39336320e-05 -9.99999856e-01 2.33765806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.371858064 meters 0.01733858432872036 Centerline is valid? [True, True] Translation: X:91.17, Y:-54.74, Z:0.23 [[ 9.97756450e-01 -6.69293647e-02 -1.58944830e-03 9.11652375e+01] [-6.69292454e-02 -9.97757716e-01 1.28237101e-04 -5.47408466e+01] [-1.59446713e-03 -2.15688194e-05 -9.99998729e-01 2.33461120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.401858064 meters 0.017506628279855968 Centerline is valid? [True, True] Translation: X:91.16, Y:-54.75, Z:0.23 [[ 9.99921417e-01 1.22090482e-02 -2.84590079e-03 9.11638277e+01] [ 1.22089919e-02 -9.99925467e-01 -3.71565092e-05 -5.47516517e+01] [-2.84614232e-03 2.40800962e-06 -9.99995950e-01 2.33339300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.431858064 meters 0.016974083431798234 Centerline is valid? [True, True] Translation: X:91.16, Y:-54.76, Z:0.23 [[ 9.95748912e-01 9.20585124e-02 -3.05516505e-03 9.11649798e+01] [ 9.20580728e-02 -9.95753599e-01 -2.84493291e-04 -5.47645990e+01] [-3.06838162e-03 2.03127811e-06 -9.99995293e-01 2.32944335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.461858064 meters 0.016282908203314513 Centerline is valid? [True, True] Translation: X:91.17, Y:-54.78, Z:0.23 [[ 9.84775772e-01 1.73788335e-01 -3.78080780e-03 9.11667330e+01] [ 1.73787052e-01 -9.84783029e-01 -6.67778336e-04 -5.47783874e+01] [-3.83932744e-03 5.56484532e-07 -9.99992630e-01 2.32268360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.491858064 meters 0.015928586818504575 Centerline is valid? [True, True] Translation: X:91.17, Y:-54.79, Z:0.23 [[ 9.67592848e-01 2.52481448e-01 -4.14717415e-03 9.11701234e+01] [ 2.52479139e-01 -9.67601736e-01 -1.07982156e-03 -5.47896839e+01] [-4.28544782e-03 -2.24733955e-06 -9.99990817e-01 2.31798775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.521858064 meters 0.015877538473630676 Centerline is valid? [True, True] Translation: X:91.17, Y:-54.80, Z:0.23 [[ 9.44198168e-01 3.29351224e-01 -4.19418399e-03 9.11724553e+01] [ 3.29348018e-01 -9.44207483e-01 -1.45336245e-03 -5.48000652e+01] [-4.43884661e-03 -9.08401774e-06 -9.99990148e-01 2.31763053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.551858064 meters 0.015597720138681576 Centerline is valid? [True, True] Translation: X:91.18, Y:-54.81, Z:0.23 [[ 9.14835767e-01 4.03803998e-01 -4.22496259e-03 9.11769527e+01] [ 4.03799767e-01 -9.14845523e-01 -1.84860977e-03 -5.48095391e+01] [-4.61166412e-03 -1.48645743e-05 -9.99989366e-01 2.32117308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.581858064 meters 0.015410756817514566 Centerline is valid? [True, True] Translation: X:91.18, Y:-54.82, Z:0.23 [[ 8.79422778e-01 4.76018967e-01 -4.63905851e-03 9.11834861e+01] [ 4.76012465e-01 -8.79435013e-01 -2.48815196e-03 -5.48207339e+01] [-5.26415801e-03 -2.01121722e-05 -9.99986144e-01 2.31851641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.611858064 meters 0.015180838228586613 Centerline is valid? [True, True] Translation: X:91.19, Y:-54.83, Z:0.23 [[ 8.38999318e-01 5.44109621e-01 -4.98639105e-03 9.11904819e+01] [ 5.44100158e-01 -8.39014136e-01 -3.20899469e-03 -5.48298200e+01] [-5.92969746e-03 -2.07518059e-05 -9.99982419e-01 2.31770797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641858064 meters 0.014995658434674873 Centerline is valid? [True, True] Translation: X:91.20, Y:-54.84, Z:0.23 [[ 7.93468775e-01 6.08590184e-01 -5.02898015e-03 9.11973789e+01] [ 6.08578139e-01 -7.93484711e-01 -3.82904816e-03 -5.48392470e+01] [-6.32073999e-03 -2.22972235e-05 -9.99980024e-01 2.31624513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.671858064 meters 0.014944918570191023 Centerline is valid? [True, True] Translation: X:91.20, Y:-54.84, Z:0.23 [[ 7.43326423e-01 6.68912386e-01 -4.69566275e-03 9.12040149e+01] [ 6.68899233e-01 -7.43341254e-01 -4.19482519e-03 -5.48447935e+01] [-6.29645036e-03 -2.28008020e-05 -9.99980177e-01 2.31714329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70185806399999 meters 0.014861234927488578 Centerline is valid? [True, True] Translation: X:91.21, Y:-54.85, Z:0.23 [[ 6.88554574e-01 7.25170218e-01 -4.55569480e-03 9.12109329e+01] [ 7.25154557e-01 -6.88569644e-01 -4.76591367e-03 -5.48501561e+01] [-6.59301181e-03 -2.19911861e-05 -9.99978266e-01 2.31668038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.731858064 meters 0.014721644042083074 Centerline is valid? [True, True] Translation: X:91.22, Y:-54.86, Z:0.23 [[ 6.29563197e-01 7.76937339e-01 -4.30727801e-03 9.12170692e+01] [ 7.76919392e-01 -6.29577931e-01 -5.28079590e-03 -5.48551336e+01] [-6.81461469e-03 -2.18130579e-05 -9.99976780e-01 2.31658218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.761858064 meters 0.014738041659483085 Centerline is valid? [True, True] Translation: X:91.22, Y:-54.86, Z:0.23 [[ 5.67092101e-01 8.23645624e-01 -3.79936361e-03 9.12227499e+01] [ 8.23627374e-01 -5.67104828e-01 -5.48287634e-03 -5.48585404e+01] [-6.67058455e-03 -1.99640122e-05 -9.99977751e-01 2.32105248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.791858064 meters 0.014582669429798082 Centerline is valid? [True, True] Translation: X:91.23, Y:-54.86, Z:0.23 [[ 5.01063502e-01 8.65403426e-01 -3.50388035e-03 9.12289860e+01] [ 8.65382502e-01 -5.01075752e-01 -6.01793804e-03 -5.48606639e+01] [-6.96365368e-03 -1.68276333e-05 -9.99975753e-01 2.32846429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.821858064 meters 0.014647944889254881 Centerline is valid? [True, True] Translation: X:91.23, Y:-54.86, Z:0.23 [[ 4.32181535e-01 9.01780607e-01 -3.29509822e-03 9.12329447e+01] [ 9.01754568e-01 -4.32194096e-01 -6.85291503e-03 -5.48624604e+01] [-7.60394787e-03 -9.66653366e-06 -9.99971090e-01 2.34994454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.851858064 meters 0.014623463800494122 Centerline is valid? [True, True] Translation: X:91.24, Y:-54.87, Z:0.24 [[ 3.60256170e-01 9.32848996e-01 -2.87117686e-03 9.12419104e+01] [ 9.32819530e-01 -3.60267611e-01 -7.41435556e-03 -5.48650806e+01] [-7.95086617e-03 -7.22251138e-06 -9.99968391e-01 2.35272768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.881858064 meters 0.014723417144380123 Centerline is valid? [True, True] Translation: X:91.25, Y:-54.87, Z:0.24 [[ 2.86032560e-01 9.58216930e-01 -2.38518075e-03 9.12487254e+01] [ 9.58183778e-01 -2.86042505e-01 -7.97080744e-03 -5.48683198e+01] [-8.32002571e-03 -5.53103867e-06 -9.99965388e-01 2.36948382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.911858064 meters 0.014618447849470194 Centerline is valid? [True, True] Translation: X:91.26, Y:-54.87, Z:0.24 [[ 2.09807421e-01 9.77740851e-01 -1.91708337e-03 9.12569466e+01] [ 9.77700193e-01 -2.09816179e-01 -8.91642847e-03 -5.48701451e+01] [-9.12019146e-03 -3.59991796e-06 -9.99958410e-01 2.37278139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.941858064 meters 0.014850825442386877 Centerline is valid? [True, True] Translation: X:91.26, Y:-54.87, Z:0.24 [[ 1.32718075e-01 9.91153144e-01 -1.16508920e-03 9.12617934e+01] [ 9.91115212e-01 -1.32723188e-01 -8.67129297e-03 -5.48714816e+01] [-8.74921364e-03 -3.90032544e-06 -9.99961725e-01 2.39316337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.971858064 meters 0.014637122982878012 Centerline is valid? [True, True] Translation: X:91.27, Y:-54.87, Z:0.24 [[ 5.50050327e-02 9.98485975e-01 -4.51589322e-04 9.12688252e+01] [ 9.98452986e-01 -5.50068862e-02 -8.11646031e-03 -5.48720183e+01] [-8.12901231e-03 -4.44454302e-06 -9.99966959e-01 2.38703102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001858064 meters 0.014771351319453951 Centerline is valid? [True, True] Translation: X:91.27, Y:-54.87, Z:0.24 [[-2.31182255e-02 9.99732724e-01 1.70692771e-04 9.12741670e+01] [ 9.99703689e-01 2.31188550e-02 -7.61927209e-03 -5.48739123e+01] [-7.62118186e-03 -5.50185721e-06 -9.99970958e-01 2.39115065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031858064 meters 0.014767229327746309 Centerline is valid? [True, True] Translation: X:91.28, Y:-54.87, Z:0.24 [[-1.01380988e-01 9.94847362e-01 7.88978380e-04 9.12794349e+01] [ 9.94816912e-01 1.01384058e-01 -7.78359033e-03 -5.48742822e+01] [-7.82347413e-03 -4.21904351e-06 -9.99969396e-01 2.39465654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061858064 meters 0.014817818948247834 Centerline is valid? [True, True] Translation: X:91.29, Y:-54.87, Z:0.24 [[-1.79227553e-01 9.83806883e-01 1.22539803e-03 9.12861678e+01] [ 9.83783456e-01 1.79231741e-01 -6.78935171e-03 -5.48746660e+01] [-6.89904117e-03 -1.13125829e-05 -9.99976201e-01 2.39415814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.091858064 meters 0.014788380802240252 Centerline is valid? [True, True] Translation: X:91.29, Y:-54.88, Z:0.24 [[-2.56428161e-01 9.66562007e-01 1.57665304e-03 9.12924474e+01] [ 9.66543266e-01 2.56433007e-01 -6.01892987e-03 -5.48757429e+01] [-6.22197481e-03 -1.95197373e-05 -9.99980643e-01 2.39302534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.121858064 meters 0.014733612792018843 Centerline is valid? [True, True] Translation: X:91.30, Y:-54.87, Z:0.24 [[-3.33128850e-01 9.42880120e-01 1.49933547e-03 9.13003280e+01] [ 9.42870076e-01 3.33132223e-01 -4.35217483e-03 -5.48747578e+01] [-4.60305608e-03 -3.61564516e-05 -9.99989405e-01 2.39500890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.151858064 meters 0.014612377892830476 Centerline is valid? [True, True] Translation: X:91.31, Y:-54.87, Z:0.24 [[-4.07150624e-01 9.13359706e-01 1.55483442e-03 9.13088128e+01] [ 9.13352634e-01 4.07153591e-01 -3.59444525e-03 -5.48731881e+01] [-3.91607787e-03 -4.33685128e-05 -9.99992331e-01 2.39651946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.181858064 meters 0.01468239279112263 Centerline is valid? [True, True] Translation: X:91.32, Y:-54.87, Z:0.24 [[-4.79970448e-01 8.77283579e-01 1.37545057e-03 9.13153483e+01] [ 8.77279651e-01 4.79972415e-01 -2.62555462e-03 -5.48724500e+01] [-2.96353429e-03 -5.35338267e-05 -9.99995607e-01 2.39617879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.211858064 meters 0.014688133481774286 Centerline is valid? [True, True] Translation: X:91.32, Y:-54.87, Z:0.24 [[-5.48321924e-01 8.36266233e-01 1.36211519e-03 9.13239629e+01] [ 8.36263393e-01 5.48323613e-01 -2.18018486e-03 -5.48693729e+01] [-2.57009490e-03 -5.63560887e-05 -9.99996696e-01 2.39288211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.241858064 meters 0.014813204382666043 Centerline is valid? [True, True] Translation: X:91.33, Y:-54.87, Z:0.24 [[-6.13159677e-01 7.89957669e-01 1.44661898e-03 9.13317015e+01] [ 7.89955239e-01 6.13161380e-01 -1.96002151e-03 -5.48673754e+01] [-2.43534492e-03 -5.90419124e-05 -9.99997033e-01 2.39207425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.271858064 meters 0.014835978376007147 Centerline is valid? [True, True] Translation: X:91.34, Y:-54.86, Z:0.24 [[-6.74444354e-01 7.38323587e-01 1.75911900e-03 9.13374687e+01] [ 7.38320823e-01 6.74446645e-01 -2.02134000e-03 -5.48648714e+01] [-2.67883490e-03 -6.44871620e-05 -9.99996410e-01 2.39550598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.301858064 meters 0.014896910534990272 Centerline is valid? [True, True] Translation: X:91.34, Y:-54.86, Z:0.24 [[-7.30424824e-01 6.82990126e-01 2.01578392e-03 9.13439654e+01] [ 6.82987273e-01 7.30427603e-01 -1.97525237e-03 -5.48615556e+01] [-2.82146208e-03 -6.60186027e-05 -9.99996017e-01 2.40589456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.331858064 meters 0.015016384407938486 Centerline is valid? [True, True] Translation: X:91.36, Y:-54.84, Z:0.24 [[-7.77111601e-01 6.29357604e-01 2.56230916e-03 9.13630208e+01] [ 6.29353905e-01 7.77115823e-01 -2.15884253e-03 -5.48429796e+01] [-3.34989495e-03 -6.50622935e-05 -9.99994387e-01 2.41573198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361858064 meters 0.014917669262099092 Centerline is valid? [True, True] Translation: X:91.38, Y:-54.82, Z:0.24 [[-8.19474055e-01 5.73106332e-01 3.37707443e-03 9.13785670e+01] [ 5.73101120e-01 8.19481011e-01 -2.44516649e-03 -5.48227742e+01] [-4.16878877e-03 -6.83453561e-05 -9.99991308e-01 2.42325085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.391858064 meters 0.014897656618065788 Centerline is valid? [True, True] Translation: X:91.40, Y:-54.80, Z:0.24 [[-8.57448390e-01 5.14556450e-01 3.73066755e-03 9.13958751e+01] [ 5.14551247e-01 8.57456504e-01 -2.31490942e-03 -5.48042517e+01] [-4.39003673e-03 -6.52957168e-05 -9.99990362e-01 2.42806575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421858064 meters 0.014730826038362215 Centerline is valid? [True, True] Translation: X:91.41, Y:-54.79, Z:0.24 [[-8.90047364e-01 4.55846510e-01 4.43281454e-03 9.14099869e+01] [ 4.55840579e-01 8.90058401e-01 -2.32595012e-03 -5.47867775e+01] [-5.00574007e-03 -4.95490301e-05 -9.99987470e-01 2.44340969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45185806399999 meters 0.014782815315985912 Centerline is valid? [True, True] Translation: X:91.42, Y:-54.76, Z:0.24 [[-9.19157567e-01 3.93865638e-01 4.38480196e-03 9.14197210e+01] [ 3.93860961e-01 9.19168025e-01 -1.91985947e-03 -5.47641987e+01] [-4.78653643e-03 -3.76510460e-05 -9.99988544e-01 2.43801882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.481858064 meters 0.014908764206795273 Centerline is valid? [True, True] Translation: X:91.44, Y:-54.75, Z:0.24 [[-9.43706201e-01 3.30758193e-01 4.19809532e-03 9.14436969e+01] [ 3.30754791e-01 9.43715538e-01 -1.50042564e-03 -5.47470147e+01] [-4.45808586e-03 -2.74208417e-05 -9.99990062e-01 2.43934606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.511858064 meters 0.014908764206795273 Centerline is valid? [True, True] Translation: X:91.45, Y:-54.72, Z:0.24 [[-9.64776596e-01 2.63035541e-01 4.29223683e-03 9.14530510e+01] [ 2.63032809e-01 9.64786144e-01 -1.19916206e-03 -5.47207164e+01] [-4.45651286e-03 -2.79243788e-05 -9.99990069e-01 2.43917903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.541858064 meters 0.015168191521052053 Centerline is valid? [True, True] Translation: X:91.45, Y:-54.70, Z:0.24 [[-9.80234085e-01 1.97788060e-01 4.58493298e-03 9.14543547e+01] [ 1.97785856e-01 9.80244808e-01 -9.33874767e-04 -5.46974859e+01] [-4.67906603e-03 -8.58098552e-06 -9.99989053e-01 2.43873524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.571858064 meters 0.015640292240950898 Centerline is valid? [True, True] Translation: X:91.47, Y:-54.67, Z:0.24 [[-9.91562682e-01 1.29534684e-01 4.92072639e-03 9.14669152e+01] [ 1.29533095e-01 9.91574892e-01 -6.41622268e-04 -5.46740815e+01] [-4.96238107e-03 1.18822154e-06 -9.99987687e-01 2.44307006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.601858064 meters 0.015741220270182186 Centerline is valid? [True, True] Translation: X:91.46, Y:-54.65, Z:0.24 [[-9.98111099e-01 6.11964789e-02 5.40595052e-03 9.14633966e+01] [ 6.11956812e-02 9.98125739e-01 -3.12996521e-04 -5.46484090e+01] [-5.41497264e-03 1.84155232e-05 -9.99985339e-01 2.44038022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.631858064 meters 0.01606355307973926 Centerline is valid? [True, True] Translation: X:91.47, Y:-54.62, Z:0.24 [[-9.99954105e-01 -8.46030819e-03 4.49567548e-03 9.14681473e+01] [-8.46015739e-03 9.99964211e-01 5.25594046e-05 -5.46225066e+01] [-4.49595925e-03 1.45228702e-05 -9.99989893e-01 2.44085280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.661858064 meters 0.01636562216221829 Centerline is valid? [True, True] Translation: X:91.46, Y:-53.86, Z:-0.73 [[-9.99499004e-01 -3.15418546e-02 2.61788454e-03 9.14626584e+01] [ 3.15414526e-02 -9.99502426e-01 -1.94694094e-04 -5.38598270e+01] [ 2.62272296e-03 -1.12024672e-04 9.99996554e-01 -7.26755798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.691858064 meters 0.016291984372174825 Centerline is valid? [True, True] Translation: X:91.38, Y:-54.63, Z:0.24 [[-9.99930041e-01 -1.14913512e-02 2.80376874e-03 9.13754659e+01] [-1.14913049e-02 9.99933972e-01 3.26249489e-05 -5.46250055e+01] [-2.80395852e-03 4.03705137e-07 -9.99996069e-01 2.42167234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721858064 meters 0.016985419616959988 Centerline is valid? [True, True] Translation: X:91.36, Y:-53.86, Z:-0.73 [[-9.99734863e-01 -2.30042966e-02 1.00338772e-03 9.13603550e+01] [ 2.30041948e-02 -9.99735362e-01 -1.12872357e-04 -5.38598202e+01] [ 1.00571874e-03 -8.97603034e-05 9.99999490e-01 -7.25033952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.751858064 meters 0.01650337297748174 Centerline is valid? [True, True] Translation: X:91.27, Y:-54.63, Z:0.24 [[-9.99861800e-01 -1.65341450e-02 1.73319062e-03 9.12743659e+01] [-1.65341457e-02 9.99863302e-01 1.39368676e-05 -5.46262236e+01] [-1.73318413e-03 -1.47218848e-05 -9.99998498e-01 2.41396822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781858064 meters 0.016589241810720967 Centerline is valid? [True, True] Translation: X:91.26, Y:-53.87, Z:-0.72 [[-9.99876862e-01 -1.56840607e-02 -5.20188506e-04 9.12603059e+01] [ 1.56841079e-02 -9.99876993e-01 -8.68318016e-05 -5.38663815e+01] [-5.18762644e-04 -9.49798020e-05 9.99999861e-01 -7.24615000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811858064 meters 0.017840879271759633 Centerline is valid? [True, True] Translation: X:91.18, Y:-54.63, Z:0.24 [[-9.99769041e-01 -2.14873023e-02 4.00326002e-04 9.11764636e+01] [-2.14873153e-02 9.99769121e-01 -2.82456923e-05 -5.46282065e+01] [-3.99626651e-04 -3.68410998e-05 -9.99999919e-01 2.41707548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.841858064 meters 0.016853955633594615 Centerline is valid? [True, True] Translation: X:91.18, Y:-54.60, Z:0.24 [[-9.95751419e-01 -9.20812703e-02 3.89080685e-04 9.11762216e+01] [-9.20812771e-02 9.95751494e-01 3.84021354e-07 -5.45966635e+01] [-3.87463034e-04 -3.54446565e-05 -9.99999924e-01 2.42200625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.871858064 meters 0.01683689479178923 Centerline is valid? [True, True] Translation: X:91.16, Y:-54.57, Z:0.24 [[-9.86587357e-01 -1.63229816e-01 1.18896241e-03 9.11564506e+01] [-1.63229722e-01 9.86588074e-01 1.76155780e-04 -5.45708172e+01] [-1.20177001e-03 -2.02809369e-05 -9.99999278e-01 2.42530964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.901858064 meters 0.016953124701271773 Centerline is valid? [True, True] Translation: X:91.13, Y:-54.55, Z:0.24 [[-9.72007210e-01 -2.34944959e-01 1.68823730e-03 9.11287869e+01] [-2.34944626e-01 9.72008676e-01 3.95611843e-04 -5.45470620e+01] [-1.73392831e-03 -1.21047168e-05 -9.99998497e-01 2.42820960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.931858064 meters 0.016855419817514778 Centerline is valid? [True, True] Translation: X:91.07, Y:-54.53, Z:0.24 [[-9.52044277e-01 -3.05952178e-01 2.22679024e-03 9.10740686e+01] [-3.05951349e-01 9.52046882e-01 7.12378069e-04 -5.45320245e+01] [-2.33796233e-03 -3.07401376e-06 -9.99997267e-01 2.43197896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.961858064 meters 0.01814275494296968 Centerline is valid? [True, True] Translation: X:91.01, Y:-54.53, Z:0.24 [[-9.26721247e-01 -3.75741218e-01 2.50351955e-03 9.10116520e+01] [-3.75739842e-01 9.26724628e-01 1.01696004e-03 -5.45275355e+01] [-2.70218703e-03 1.76643400e-06 -9.99996349e-01 2.44293231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.991858064 meters 0.016902655927836248 Centerline is valid? [True, True] Translation: X:90.94, Y:-54.53, Z:0.24 [[-8.96308721e-01 -4.43423281e-01 2.54394263e-03 9.09381641e+01] [-4.43421481e-01 8.96312331e-01 1.26336678e-03 -5.45256059e+01] [-2.84037339e-03 4.32784831e-06 -9.99995966e-01 2.44683027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.021858064 meters 0.01708954739209527 Centerline is valid? [True, True] Translation: X:90.86, Y:-54.54, Z:0.24 [[-8.60966716e-01 -5.08655781e-01 2.36874711e-03 9.08569906e+01] [-5.08653841e-01 8.60969974e-01 1.40460320e-03 -5.45394244e+01] [-2.75387968e-03 4.44428470e-06 -9.99996208e-01 2.44710994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.051858064 meters 0.017269343681162803 Centerline is valid? [True, True] Translation: X:90.77, Y:-54.56, Z:0.24 [[-8.20794593e-01 -5.71219151e-01 2.21765955e-03 9.07718571e+01] [-5.71217046e-01 8.20797589e-01 1.55058625e-03 -5.45627758e+01] [-2.70597417e-03 5.94787124e-06 -9.99996339e-01 2.44130365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.081858064 meters 0.01811796145723909 Centerline is valid? [True, True] Translation: X:90.68, Y:-54.60, Z:0.24 [[-7.76927496e-01 -6.29588261e-01 1.51232700e-03 9.06833373e+01] [-6.29587076e-01 7.76928968e-01 1.22134005e-03 -5.45979109e+01] [-1.94391201e-03 -3.24887257e-06 -9.99998111e-01 2.43011878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.111858064 meters 0.01864193222504035 Centerline is valid? [True, True] Translation: X:90.59, Y:-54.64, Z:0.24 [[-7.27909422e-01 -6.85672189e-01 1.23381330e-03 9.05939546e+01] [-6.85671219e-01 7.27910467e-01 1.15352873e-03 -5.46423540e+01] [-1.68904818e-03 -6.32583979e-06 -9.99998574e-01 2.42256111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141858064 meters 0.018439055381064873 Centerline is valid? [True, True] Translation: X:90.50, Y:-54.70, Z:0.24 [[-6.74587518e-01 -7.38194321e-01 9.07562544e-04 9.05004057e+01] [-7.38193679e-01 6.74588129e-01 9.74206081e-04 -5.46985813e+01] [-1.33138432e-03 -1.27696708e-05 -9.99999114e-01 2.41509154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.171858064 meters 0.018496987143976195 Centerline is valid? [True, True] Translation: X:90.42, Y:-54.76, Z:0.24 [[-6.18169693e-01 -7.86044637e-01 -2.45434374e-04 9.04153667e+01] [-7.86044535e-01 6.18169739e-01 -4.04027432e-04 -5.47561879e+01] [ 4.69303699e-04 -5.68351649e-05 -9.99999888e-01 2.40230280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20185806399999 meters 0.018872139446921187 Centerline is valid? [True, True] Translation: X:90.33, Y:-54.83, Z:0.24 [[-5.57275425e-01 -8.30327337e-01 -7.83808045e-04 9.03326282e+01] [-8.30326287e-01 5.57275969e-01 -1.32334777e-03 -5.48267701e+01] [ 1.53560922e-03 -8.66527652e-05 -9.99998817e-01 2.39033903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.231858064 meters 0.019282727726983265 Centerline is valid? [True, True] Translation: X:90.25, Y:-54.91, Z:0.24 [[-4.92903268e-01 -8.70083600e-01 -9.47149954e-04 9.02514773e+01] [-8.70081568e-01 4.92904167e-01 -1.88365534e-03 -5.49107320e+01] [ 2.10579177e-03 -1.04362153e-04 -9.99997777e-01 2.37801154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.261858064 meters 0.020082675737185748 Centerline is valid? [True, True] Translation: X:90.18, Y:-55.00, Z:0.24 [[-4.26428734e-01 -9.04520739e-01 -8.76462719e-04 9.01768609e+01] [-9.04518246e-01 4.26429619e-01 -2.12679819e-03 -5.49987825e+01] [ 2.29748274e-03 -1.14151341e-04 -9.99997354e-01 2.37549209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.291858064 meters 0.020413033215523742 Centerline is valid? [True, True] Translation: X:90.11, Y:-55.10, Z:0.24 [[-3.55880729e-01 -9.34531186e-01 -6.07421973e-04 9.01082581e+01] [-9.34529280e-01 3.55881232e-01 -1.89039079e-03 -5.50950396e+01] [ 1.98279923e-03 -1.05100033e-04 -9.99998029e-01 2.37907199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.321858064 meters 0.019629043198479985 Centerline is valid? [True, True] Translation: X:90.04, Y:-55.20, Z:0.24 [[-2.83158666e-01 -9.59073073e-01 -9.76201819e-05 9.00430676e+01] [-9.59072920e-01 2.83158676e-01 -5.46707847e-04 -5.51974998e+01] [ 5.51974776e-04 -6.11801919e-05 -9.99999846e-01 2.38591593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.351858064 meters 0.01998017998817911 Centerline is valid? [True, True] Translation: X:89.99, Y:-55.31, Z:0.24 [[-2.08382724e-01 -9.78047359e-01 6.68609346e-05 8.99888960e+01] [-9.78047352e-01 2.08382731e-01 1.21815716e-04 -5.53071869e+01] [-1.33074204e-04 -4.00088693e-05 -9.99999990e-01 2.39042806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.381858064 meters 0.01982861920575947 Centerline is valid? [True, True] Translation: X:89.94, Y:-55.43, Z:0.24 [[-1.31957364e-01 -9.91255389e-01 8.91007402e-05 8.99420174e+01] [-9.91255292e-01 1.31957391e-01 4.38368096e-04 -5.54252902e+01] [-4.46292239e-04 -3.04756819e-05 -9.99999900e-01 2.39284917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.411858064 meters 0.019501069409928337 Centerline is valid? [True, True] Translation: X:89.90, Y:-55.54, Z:0.24 [[-5.42553831e-02 -9.98527090e-01 6.76030648e-05 8.99047217e+01] [-9.98526638e-01 5.42554229e-02 9.50420036e-04 -5.55372895e+01] [-9.52687986e-04 -1.59380579e-05 -9.99999546e-01 2.39058292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.441858064 meters 0.019407279627577774 Centerline is valid? [True, True] Translation: X:89.87, Y:-55.66, Z:0.24 [[ 2.44714930e-02 -9.99700523e-01 -1.01896599e-04 8.98739511e+01] [-9.99696619e-01 -2.44716822e-02 2.79401179e-03 -5.56596571e+01] [-2.79566862e-03 3.34920456e-05 -9.99996092e-01 2.39796182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.471858064 meters 0.01827857552535317 Centerline is valid? [True, True] Translation: X:89.85, Y:-55.78, Z:0.24 [[ 1.02515938e-01 -9.94731302e-01 -3.46296609e-04 8.98522212e+01] [-9.94726762e-01 -1.02516517e-01 3.00562709e-03 -5.57837247e+01] [-3.02529247e-03 3.63458240e-05 -9.99995423e-01 2.39967768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501858064 meters 0.018110658462871656 Centerline is valid? [True, True] Translation: X:89.84, Y:-55.90, Z:0.24 [[ 1.79860693e-01 -9.83691938e-01 -5.50376582e-04 8.98411460e+01] [-9.83687825e-01 -1.79861532e-01 2.84449207e-03 -5.59027573e+01] [-2.89709549e-03 2.97864292e-05 -9.99995803e-01 2.39963859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531858064 meters 0.01744463926337893 Centerline is valid? [True, True] Translation: X:89.84, Y:-56.03, Z:0.24 [[ 2.55296221e-01 -9.66862655e-01 -6.67478016e-04 8.98396722e+01] [-9.66859552e-01 -2.55297093e-01 2.44969536e-03 -5.60289966e+01] [-2.53892416e-03 1.99595268e-05 -9.99996777e-01 2.39389964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561858064 meters 0.01798146414890827 Centerline is valid? [True, True] Translation: X:89.85, Y:-56.15, Z:0.24 [[ 3.28682775e-01 -9.44440305e-01 -3.80003491e-04 8.98487984e+01] [-9.44439626e-01 -3.28682994e-01 1.13210080e-03 -5.61520839e+01] [-1.19410231e-03 -1.32116764e-05 -9.99999287e-01 2.38211415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.591858064 meters 0.018249854921017578 Centerline is valid? [True, True] Translation: X:89.86, Y:-56.26, Z:0.24 [[ 3.99798170e-01 -9.16603194e-01 -9.02719426e-05 8.98631661e+01] [-9.16603147e-01 -3.99798178e-01 2.94844161e-04 -5.62610464e+01] [-3.06345658e-04 -3.51346092e-05 -9.99999952e-01 2.37478048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.621858064 meters 0.017921709430254246 Centerline is valid? [True, True] Translation: X:89.89, Y:-56.38, Z:0.24 [[ 4.68538528e-01 -8.83443060e-01 -8.71802152e-05 8.98892824e+01] [-8.83443028e-01 -4.68538534e-01 2.41531131e-04 -5.63783229e+01] [-2.54226292e-04 -3.61478871e-05 -9.99999967e-01 2.36374601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.651858064 meters 0.018193452895214485 Centerline is valid? [True, True] Translation: X:89.92, Y:-56.49, Z:0.23 [[ 5.34901907e-01 -8.44914129e-01 2.51508986e-04 8.99221753e+01] [-8.44914078e-01 -5.34901964e-01 -2.99184810e-04 -5.64906156e+01] [ 3.87318124e-04 -5.24689581e-05 -9.99999924e-01 2.34956247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.681858064 meters 0.017821723618377992 Centerline is valid? [True, True] Translation: X:89.96, Y:-56.60, Z:0.23 [[ 5.98382686e-01 -8.01210206e-01 6.05607527e-04 8.99595804e+01] [-8.01209902e-01 -5.98382989e-01 -7.01552144e-04 -5.65952155e+01] [ 9.24475980e-04 -6.54220912e-05 -9.99999571e-01 2.34912487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.711858064 meters 0.01802611567420935 Centerline is valid? [True, True] Translation: X:90.01, Y:-56.70, Z:0.23 [[ 6.58435507e-01 -7.52636891e-01 6.27199700e-04 9.00086534e+01] [-7.52636637e-01 -6.58435803e-01 -6.21028742e-04 -5.66996074e+01] [ 8.80379880e-04 -6.31460980e-05 -9.99999610e-01 2.34880602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.741858064 meters 0.0170918765283121 Centerline is valid? [True, True] Translation: X:90.06, Y:-56.80, Z:0.24 [[ 7.15901976e-01 -6.98200562e-01 -5.78775923e-04 9.00554317e+01] [-6.98200306e-01 -7.15902210e-01 5.98792266e-04 -5.67982352e+01] [-8.32424059e-04 -2.45750405e-05 -9.99999653e-01 2.36060910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.771858064 meters 0.01678960222862001 Centerline is valid? [True, True] Translation: X:90.05, Y:-56.81, Z:0.24 [[ 7.69526805e-01 -6.38613116e-01 -1.33578195e-03 9.00503038e+01] [-6.38612131e-01 -7.69527964e-01 1.12177431e-03 -5.68122326e+01] [-1.74430135e-03 -1.01888372e-05 -9.99998479e-01 2.36701866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.801858064 meters 0.016284968582354037 Centerline is valid? [True, True] Translation: X:90.05, Y:-56.83, Z:0.24 [[ 8.19236552e-01 -5.73449157e-01 -2.74503549e-03 9.00450193e+01] [-5.73445969e-01 -8.19241151e-01 1.91226435e-03 -5.68279332e+01] [-3.34543242e-03 7.53268990e-06 -9.99994404e-01 2.38105896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.831858064 meters 0.016073354874920006 Centerline is valid? [True, True] Translation: X:90.04, Y:-56.84, Z:0.24 [[ 8.62343817e-01 -5.06313643e-01 -3.10417049e-03 9.00428751e+01] [-5.06310387e-01 -8.62349404e-01 1.81588945e-03 -5.68422449e+01] [-3.59628918e-03 5.75272591e-06 -9.99993533e-01 2.38906969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861858064 meters 0.01592629191500878 Centerline is valid? [True, True] Translation: X:90.04, Y:-56.86, Z:0.24 [[ 8.99919962e-01 -4.36038297e-01 -3.82957159e-03 9.00429464e+01] [-4.36034389e-01 -8.99928110e-01 1.84605139e-03 -5.68562923e+01] [-4.25128823e-03 8.52641630e-06 -9.99990963e-01 2.39640453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.891858064 meters 0.015808421845986746 Centerline is valid? [True, True] Translation: X:90.04, Y:-56.87, Z:0.24 [[ 9.31634258e-01 -3.63370697e-01 -4.39830882e-03 9.00441731e+01] [-3.63366695e-01 -9.31644641e-01 1.70543766e-03 -5.68696149e+01] [-4.71736691e-03 9.35478886e-06 -9.99988873e-01 2.40517173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921858064 meters 0.015880569992916697 Centerline is valid? [True, True] Translation: X:90.05, Y:-56.88, Z:0.24 [[ 9.57453099e-01 -2.88528462e-01 -5.90679130e-03 9.00454246e+01] [-2.88523099e-01 -9.57471319e-01 1.75939975e-03 -5.68839394e+01] [-6.16322016e-03 1.97029883e-05 -9.99981007e-01 2.42118322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95185806399999 meters 0.01582341333082373 Centerline is valid? [True, True] Translation: X:90.05, Y:-56.90, Z:0.24 [[ 9.77037401e-01 -2.12971028e-01 -6.42330882e-03 9.00491686e+01] [-2.12966594e-01 -9.77058514e-01 1.37452279e-03 -5.68967084e+01] [-6.56868211e-03 2.49900318e-05 -9.99978426e-01 2.42144492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.981858064 meters 0.016006836333510573 Centerline is valid? [True, True] Translation: X:90.05, Y:-56.91, Z:0.24 [[ 9.90619996e-01 -1.36507100e-01 -6.15099200e-03 9.00530306e+01] [-1.36504627e-01 -9.90639092e-01 8.22034137e-04 -5.69070086e+01] [-6.20562662e-03 2.53154155e-05 -9.99980745e-01 2.42469142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.011858064 meters 0.01604632110512706 Centerline is valid? [True, True] Translation: X:90.06, Y:-56.92, Z:0.24 [[ 9.98193011e-01 -5.97658774e-02 -6.22522060e-03 9.00562680e+01] [-5.97649224e-02 -9.98212422e-01 3.39491748e-04 -5.69167486e+01] [-6.23438256e-03 3.31715365e-05 -9.99980565e-01 2.42007541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041858064 meters 0.016481860704222893 Centerline is valid? [True, True] Translation: X:90.06, Y:-56.93, Z:0.24 [[ 9.99855695e-01 1.59030549e-02 -5.97338388e-03 9.00593791e+01] [ 1.59024959e-02 -9.99873537e-01 -1.41067856e-04 -5.69268739e+01] [-5.97487188e-03 4.60557870e-05 -9.99982149e-01 2.42084582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071858064 meters 0.016689279805185232 Centerline is valid? [True, True] Translation: X:90.06, Y:-56.94, Z:0.24 [[ 9.95627207e-01 9.31942402e-02 -6.42638287e-03 9.00638533e+01] [ 9.31919140e-02 -9.95647945e-01 -6.61132708e-04 -5.69364547e+01] [-6.46002866e-03 5.93547917e-05 -9.99979132e-01 2.42668294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101858064 meters 0.016788978157503732 Centerline is valid? [True, True] Translation: X:90.07, Y:-56.94, Z:0.24 [[ 9.85377958e-01 1.70249559e-01 -6.73560106e-03 9.00695229e+01] [ 1.70245098e-01 -9.85400976e-01 -1.23437068e-03 -5.69448598e+01] [-6.84741892e-03 6.96185941e-05 -9.99976554e-01 2.43036108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131858064 meters 0.016820446856736802 Centerline is valid? [True, True] Translation: X:90.08, Y:-56.95, Z:0.24 [[ 9.68913631e-01 2.47317342e-01 -6.36463235e-03 9.00754946e+01] [ 2.47311581e-01 -9.68934533e-01 -1.68912790e-03 -5.69543801e+01] [-6.58466269e-03 6.25717534e-05 -9.99978319e-01 2.42460889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161858064 meters 0.01673474120914132 Centerline is valid? [True, True] Translation: X:90.08, Y:-56.96, Z:0.24 [[ 9.46336980e-01 3.23139943e-01 -5.18618710e-03 9.00820419e+01] [ 3.23134851e-01 -9.46351190e-01 -1.81451699e-03 -5.69616645e+01] [-5.49429725e-03 4.13067338e-05 -9.99984905e-01 2.42295186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191858064 meters 0.016622353381490117 Centerline is valid? [True, True] Translation: X:90.09, Y:-56.97, Z:0.24 [[ 9.17636549e-01 3.97391946e-01 -4.77551129e-03 9.00878727e+01] [ 3.97386389e-01 -9.17648975e-01 -2.10169929e-03 -5.69681398e+01] [-5.21744141e-03 3.08728982e-05 -9.99986389e-01 2.42161388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221858064 meters 0.01644690533125573 Centerline is valid? [True, True] Translation: X:90.10, Y:-56.97, Z:0.24 [[ 8.82159192e-01 4.70930597e-01 -4.41955505e-03 9.00951698e+01] [ 4.70924621e-01 -8.82170263e-01 -2.37243747e-03 -5.69748752e+01] [-5.01605344e-03 1.15902287e-05 -9.99987419e-01 2.43028169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251858064 meters 0.015936611356999298 Centerline is valid? [True, True] Translation: X:90.10, Y:-56.98, Z:0.24 [[ 8.41440750e-01 5.40330218e-01 -4.55176940e-03 9.01039425e+01] [ 5.40322285e-01 -8.41453062e-01 -2.92809250e-03 -5.69796898e+01] [-5.41223716e-03 4.39390526e-06 -9.99985354e-01 2.42895587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281858064 meters 0.015696888460495412 Centerline is valid? [True, True] Translation: X:90.11, Y:-56.98, Z:0.24 [[ 7.93797957e-01 6.08158202e-01 -5.32962436e-03 9.01137350e+01] [ 6.08144624e-01 -7.93815848e-01 -4.06395525e-03 -5.69837127e+01] [-6.70226800e-03 -1.52230252e-05 -9.99977539e-01 2.44356707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311858064 meters 0.015614713810011631 Centerline is valid? [True, True] Translation: X:90.12, Y:-56.99, Z:0.25 [[ 7.42562185e-01 6.69754777e-01 -5.47164634e-03 9.01229873e+01] [ 6.69736851e-01 -7.42582344e-01 -4.90026335e-03 -5.69865451e+01] [-7.34512276e-03 -2.58129279e-05 -9.99973024e-01 2.45133258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341858064 meters 0.015593909793973335 Centerline is valid? [True, True] Translation: X:90.13, Y:-56.99, Z:0.25 [[ 6.86699926e-01 7.26924125e-01 -4.95255054e-03 9.01340487e+01] [ 7.26905613e-01 -6.86717784e-01 -5.18791945e-03 -5.69897409e+01] [-7.17222834e-03 -3.74928813e-05 -9.99974279e-01 2.45204312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371858064 meters 0.01563002852415558 Centerline is valid? [True, True] Translation: X:90.14, Y:-56.99, Z:0.25 [[ 6.26157095e-01 7.79683264e-01 -4.61533876e-03 9.01440601e+01] [ 7.79662687e-01 -6.26174102e-01 -5.66472429e-03 -5.69908716e+01] [-7.30669633e-03 -5.14001171e-05 -9.99973304e-01 2.45403819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401858064 meters 0.015578173599513618 Centerline is valid? [True, True] Translation: X:90.15, Y:-56.99, Z:0.25 [[ 5.63202723e-01 8.26307943e-01 -4.22799661e-03 9.01527592e+01] [ 8.26285340e-01 -5.63218591e-01 -6.11194708e-03 -5.69901307e+01] [-7.43163671e-03 -5.12663793e-05 -9.99972384e-01 2.45377766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.431858064 meters 0.015578173599513618 Centerline is valid? [True, True] Translation: X:90.16, Y:-56.99, Z:0.25 [[ 4.96769929e-01 8.67874232e-01 -3.73551721e-03 9.01613763e+01] [ 8.67850466e-01 -4.96783971e-01 -6.42295280e-03 -5.69897368e+01] [-7.43006031e-03 -5.11405448e-05 -9.99972395e-01 2.45363671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461858064 meters 0.015552935795770252 Centerline is valid? [True, True] Translation: X:90.17, Y:-56.99, Z:0.25 [[ 4.27024950e-01 9.04234505e-01 -3.10689966e-03 9.01680185e+01] [ 9.04211459e-01 -4.27036249e-01 -6.45591085e-03 -5.69885498e+01] [-7.16441612e-03 -5.24592733e-05 -9.99974334e-01 2.45660283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.491858064 meters 0.01551752405598659 Centerline is valid? [True, True] Translation: X:90.17, Y:-56.99, Z:0.24 [[ 3.55118555e-01 9.34818010e-01 -2.46985586e-03 9.01748298e+01] [ 9.34796373e-01 -3.55127140e-01 -6.36043488e-03 -5.69856263e+01] [-6.82296192e-03 -5.01038589e-05 -9.99976722e-01 2.44752984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52185806399999 meters 0.015523466020437238 Centerline is valid? [True, True] Translation: X:90.18, Y:-56.98, Z:0.24 [[ 2.81188780e-01 9.59650688e-01 -1.85110390e-03 9.01820512e+01] [ 9.59630981e-01 -2.81194869e-01 -6.15023004e-03 -5.69833126e+01] [-6.42259341e-03 -4.70009687e-05 -9.99979374e-01 2.44438501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.551858064 meters 0.015491001227250579 Centerline is valid? [True, True] Translation: X:90.19, Y:-56.98, Z:0.24 [[ 2.05100628e-01 9.78739972e-01 -1.34117568e-03 9.01898784e+01] [ 9.78720531e-01 -2.05105008e-01 -6.16913973e-03 -5.69810312e+01] [-6.31306550e-03 -4.73417414e-05 -9.99980071e-01 2.44289321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.581858064 meters 0.015561380685038552 Centerline is valid? [True, True] Translation: X:90.20, Y:-56.98, Z:0.24 [[ 1.27501959e-01 9.91837987e-01 -8.10866242e-04 9.01969246e+01] [ 9.91820284e-01 -1.27504528e-01 -5.92611370e-03 -5.69782088e+01] [-5.98113380e-03 -4.86424815e-05 -9.99982112e-01 2.44340918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.611858064 meters 0.015558139270263139 Centerline is valid? [True, True] Translation: X:90.20, Y:-56.98, Z:0.24 [[ 4.87925544e-02 9.98808886e-01 -3.11072255e-04 9.02007925e+01] [ 9.98794716e-01 -4.87935192e-02 -5.32046295e-03 -5.69759627e+01] [-5.32930398e-03 -5.10983469e-05 -9.99985798e-01 2.43824783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.641858064 meters 0.015599802042365765 Centerline is valid? [True, True] Translation: X:90.21, Y:-56.97, Z:0.24 [[-2.99318320e-02 9.99551938e-01 9.32734644e-05 9.02077459e+01] [ 9.99540231e-01 2.99319329e-02 -4.83796997e-03 -5.69724345e+01] [-4.83859411e-03 -5.15787243e-05 -9.99988293e-01 2.43028822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.671858064 meters 0.015627639424800884 Centerline is valid? [True, True] Translation: X:90.21, Y:-56.97, Z:0.24 [[-1.08452871e-01 9.94101498e-01 4.32329641e-04 9.02139562e+01] [ 9.94091574e-01 1.08453720e-01 -4.44214184e-03 -5.69695728e+01] [-4.46282762e-03 -5.19877830e-05 -9.99990040e-01 2.42901763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701858064 meters 0.015748898142396103 Centerline is valid? [True, True] Translation: X:90.22, Y:-56.97, Z:0.24 [[-1.87901346e-01 9.82187555e-01 8.30992479e-04 9.02182225e+01] [ 9.82176438e-01 1.87903173e-01 -4.67362848e-03 -5.69659981e+01] [-4.74652585e-03 -6.19998503e-05 -9.99988733e-01 2.42884546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.731858064 meters 0.015894213593908125 Centerline is valid? [True, True] Translation: X:90.22, Y:-56.96, Z:0.24 [[-2.65703466e-01 9.64053807e-01 1.38765837e-03 9.02230624e+01] [ 9.64039173e-01 2.65707079e-01 -5.31237844e-03 -5.69616219e+01] [-5.49012931e-03 -7.37603386e-05 -9.99984926e-01 2.42774854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761858064 meters 0.01601202888843137 Centerline is valid? [True, True] Translation: X:90.23, Y:-56.96, Z:0.24 [[-3.41669234e-01 9.39818490e-01 1.82775758e-03 9.02304175e+01] [ 9.39803736e-01 3.41674113e-01 -5.26672071e-03 -5.69558473e+01] [-5.57425896e-03 -8.17430307e-05 -9.99984460e-01 2.42513980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.791858064 meters 0.016228342867496637 Centerline is valid? [True, True] Translation: X:90.24, Y:-56.95, Z:0.24 [[-4.16484585e-01 9.09139300e-01 2.51483568e-03 9.02358585e+01] [ 9.09121215e-01 4.16492165e-01 -5.73519810e-03 -5.69512278e+01] [-6.26150334e-03 -1.02331136e-04 -9.99980391e-01 2.42977339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821858064 meters 0.01638319017102187 Centerline is valid? [True, True] Translation: X:90.24, Y:-56.95, Z:0.24 [[-4.87096394e-01 8.73342613e-01 3.12778554e-03 9.02406839e+01] [ 8.73323122e-01 4.87106423e-01 -5.83580594e-03 -5.69459224e+01] [-6.62022244e-03 -1.11032595e-04 -9.99978080e-01 2.43314831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.851858064 meters 0.016364285408065872 Centerline is valid? [True, True] Translation: X:90.24, Y:-56.94, Z:0.24 [[-5.55037116e-01 8.31816123e-01 3.96705318e-03 9.02433470e+01] [ 8.31793210e-01 5.55051278e-01 -6.17526385e-03 -5.69407354e+01] [-7.33860198e-03 -1.27732736e-04 -9.99973064e-01 2.42883640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881858064 meters 0.01667879382987474 Centerline is valid? [True, True] Translation: X:90.25, Y:-56.94, Z:0.24 [[-6.18424465e-01 7.85832649e-01 4.26948543e-03 9.02491749e+01] [ 7.85812526e-01 6.18439191e-01 -5.62507962e-03 -5.69352883e+01] [-7.06078833e-03 -1.23671728e-04 -9.99975065e-01 2.43159937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.911858064 meters 0.016449020300545198 Centerline is valid? [True, True] Translation: X:90.25, Y:-56.93, Z:0.24 [[-6.77948857e-01 7.35093993e-01 4.70843327e-03 9.02520602e+01] [ 7.35074998e-01 6.77965196e-01 -5.28584583e-03 -5.69308951e+01] [-7.07774740e-03 -1.22481556e-04 -9.99974945e-01 2.41786495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941858064 meters 0.01673758277767578 Centerline is valid? [True, True] Translation: X:90.26, Y:-56.93, Z:0.24 [[-7.33171644e-01 6.80027399e-01 4.69855680e-03 9.02563459e+01] [ 6.80012439e-01 7.33186691e-01 -4.51215863e-03 -5.69260940e+01] [-6.51331081e-03 -1.13109696e-04 -9.99978782e-01 2.42083176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.971858064 meters 0.01631619273533278 Centerline is valid? [True, True] Translation: X:90.27, Y:-56.91, Z:0.24 [[-7.79002609e-01 6.27002266e-01 4.80560297e-03 9.02720616e+01] [ 6.26989525e-01 7.79017425e-01 -3.99831990e-03 -5.69092719e+01] [-6.25060409e-03 -1.01638904e-04 -9.99980460e-01 2.41031426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001858064 meters 0.01597423001579625 Centerline is valid? [True, True] Translation: X:90.29, Y:-56.90, Z:0.24 [[-8.19656585e-01 5.72845675e-01 3.30385247e-03 9.02869829e+01] [ 5.72840696e-01 8.19663241e-01 -2.38933444e-03 -5.68960872e+01] [-4.07676632e-03 -6.58525616e-05 -9.99991688e-01 2.39843921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.031858064 meters 0.015737735469458357 Centerline is valid? [True, True] Translation: X:90.30, Y:-56.88, Z:0.24 [[-8.57265178e-01 5.14867733e-01 2.76273144e-03 9.03009817e+01] [ 5.14864855e-01 8.57269628e-01 -1.72247732e-03 -5.68781478e+01] [-3.25525375e-03 -5.41865006e-05 -9.99994700e-01 2.38898373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061858064 meters 0.015600966227477165 Centerline is valid? [True, True] Translation: X:90.31, Y:-56.86, Z:0.24 [[-8.90321270e-01 4.55326451e-01 2.42069181e-03 9.03122205e+01] [ 4.55324635e-01 8.90324560e-01 -1.28675051e-03 -5.68620253e+01] [-2.74109291e-03 -4.34207391e-05 -9.99996242e-01 2.38850435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.091858064 meters 0.015644527699759696 Centerline is valid? [True, True] Translation: X:90.33, Y:-56.84, Z:0.24 [[-9.19770476e-01 3.92450396e-01 2.22662824e-03 9.03269809e+01] [ 3.92449142e-01 9.19773170e-01 -9.93121988e-04 -5.68430064e+01] [-2.43774404e-03 -3.96059400e-05 -9.99997028e-01 2.38742081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121858064 meters 0.015551458271084628 Centerline is valid? [True, True] Translation: X:90.34, Y:-56.82, Z:0.24 [[-9.44931330e-01 3.27259936e-01 2.39080711e-03 9.03359236e+01] [ 3.27258788e-01 9.44934354e-01 -8.67597463e-04 -5.68211767e+01] [-2.54308566e-03 -3.74073876e-05 -9.99996766e-01 2.38676669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.151858064 meters 0.015565764146040084 Centerline is valid? [True, True] Translation: X:90.34, Y:-56.80, Z:0.24 [[-9.65383746e-01 2.60825668e-01 2.04803536e-03 9.03430464e+01] [ 2.60825006e-01 9.65385918e-01 -5.88282604e-04 -5.68013752e+01] [-2.13058370e-03 -3.37396277e-05 -9.99997730e-01 2.38744785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181858064 meters 0.015557867953704958 Centerline is valid? [True, True] Translation: X:90.34, Y:-56.77, Z:0.24 [[-9.81425942e-01 1.91831201e-01 1.97762823e-03 9.03362727e+01] [ 1.91830743e-01 9.81427934e-01 -4.20581933e-04 -5.67746677e+01] [-2.02158032e-03 -3.34001283e-05 -9.99997956e-01 2.38883958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.211858064 meters 0.015605668440300466 Centerline is valid? [True, True] Translation: X:90.35, Y:-56.75, Z:0.24 [[-9.92526482e-01 1.22001542e-01 2.60874384e-03 9.03514142e+01] [ 1.22001035e-01 9.92529910e-01 -3.53157311e-04 -5.67521290e+01] [-2.63234203e-03 -3.22485363e-05 -9.99996535e-01 2.38983004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241858064 meters 0.01576277762590656 Centerline is valid? [True, True] Translation: X:90.44, Y:-56.04, Z:-0.73 [[-9.82350772e-01 -1.87026405e-01 2.84344745e-03 9.04371158e+01] [ 1.87025764e-01 -9.82354886e-01 -4.92229828e-04 -5.60361428e+01] [ 2.88533447e-03 4.82555802e-05 9.99995836e-01 -7.29301289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27185806399999 meters 0.015745885031058053 Centerline is valid? [True, True] Translation: X:90.29, Y:-56.75, Z:0.24 [[-9.92952018e-01 1.18439161e-01 4.29596682e-03 9.02879898e+01] [ 1.18437932e-01 9.92961311e-01 -5.40237677e-04 -5.67549363e+01] [-4.32971414e-03 -2.76246638e-05 -9.99990626e-01 2.40521474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.301858064 meters 0.01582389409305279 Centerline is valid? [True, True] Translation: X:90.29, Y:-56.73, Z:0.24 [[-9.98815207e-01 4.84417871e-02 4.64502742e-03 9.02893065e+01] [ 4.84411579e-02 9.98826007e-01 -2.47940191e-04 -5.67306875e+01] [-4.65158485e-03 -2.26359271e-05 -9.99989181e-01 2.40662887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.331858064 meters 0.015911199877678632 Centerline is valid? [True, True] Translation: X:90.33, Y:-55.98, Z:-0.73 [[-9.94102362e-01 -1.08381938e-01 3.72156048e-03 9.03316155e+01] [ 1.08381057e-01 -9.94109327e-01 -4.38115343e-04 -5.59833355e+01] [ 3.74712178e-03 -3.21848367e-05 9.99992979e-01 -7.29536492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.361858064 meters 0.01595536720702021 Centerline is valid? [True, True] Translation: X:90.21, Y:-56.74, Z:0.24 [[-9.98886030e-01 4.69280681e-02 4.94525486e-03 9.02131386e+01] [ 4.69274653e-02 9.98898271e-01 -2.37922628e-04 -5.67378286e+01] [-4.95097178e-03 -5.58931342e-06 -9.99987744e-01 2.40360626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.391858064 meters 0.016018181027452984 Centerline is valid? [True, True] Translation: X:90.22, Y:-56.71, Z:0.24 [[-9.99713516e-01 -2.33519622e-02 5.25095476e-03 9.02153399e+01] [-2.33516324e-02 9.99727306e-01 1.24128884e-04 -5.67133899e+01] [-5.25242150e-03 1.47495835e-06 -9.99986206e-01 2.40450278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421858064 meters 0.016103533730841797 Centerline is valid? [True, True] Translation: X:90.20, Y:-55.94, Z:-0.73 [[-9.99514744e-01 -3.08409733e-02 4.37168145e-03 9.02011948e+01] [ 3.08404418e-02 -9.99524303e-01 -1.88945821e-04 -5.59429347e+01] [ 4.37542912e-03 -5.40295467e-05 9.99990426e-01 -7.29617534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.451858064 meters 0.015913809558596153 Centerline is valid? [True, True] Translation: X:90.12, Y:-56.71, Z:0.24 [[-9.99495631e-01 -3.15374342e-02 3.72480344e-03 9.01201507e+01] [-3.15372810e-02 9.99502571e-01 9.98689417e-05 -5.67143074e+01] [-3.72610023e-03 -1.76516020e-05 -9.99993058e-01 2.39890190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481858064 meters 0.015951503169288277 Centerline is valid? [True, True] Translation: X:90.09, Y:-55.95, Z:-0.73 [[-9.99624296e-01 -2.72987626e-02 2.45847851e-03 9.00851760e+01] [ 2.72985306e-02 -9.99627317e-01 -1.27871842e-04 -5.59471181e+01] [ 2.46105303e-03 -6.07109495e-05 9.99996970e-01 -7.29214577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.511858064 meters 0.01595436006861357 Centerline is valid? [True, True] Translation: X:90.02, Y:-56.72, Z:0.24 [[-9.99255782e-01 -3.84242736e-02 3.38491145e-03 9.00186027e+01] [-3.84241249e-02 9.99261515e-01 1.08981522e-04 -5.67165562e+01] [-3.38659928e-03 -2.11618445e-05 -9.99994265e-01 2.38787304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541858064 meters 0.015961452177354958 Centerline is valid? [True, True] Translation: X:90.01, Y:-56.69, Z:0.24 [[-9.93926367e-01 -1.09977352e-01 3.91898466e-03 9.00120529e+01] [-1.09976575e-01 9.93934093e-01 4.13831286e-04 -5.66893012e+01] [-3.94072453e-03 -1.96786827e-05 -9.99992235e-01 2.39499311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.571858064 meters 0.01592955142602416 Centerline is valid? [True, True] Translation: X:89.99, Y:-56.67, Z:0.24 [[-9.83510740e-01 -1.80800693e-01 4.21102289e-03 8.99868847e+01] [-1.80799121e-01 9.83519755e-01 7.54195992e-04 -5.66654578e+01] [-4.27798336e-03 -1.95893793e-05 -9.99990849e-01 2.39933416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601858064 meters 0.015898915804158763 Centerline is valid? [True, True] Translation: X:89.96, Y:-56.64, Z:0.24 [[-9.67572606e-01 -2.52555568e-01 4.35172875e-03 8.99623680e+01] [-2.52553117e-01 9.67582392e-01 1.11287401e-03 -5.66404354e+01] [-4.49171864e-03 -2.22562524e-05 -9.99989912e-01 2.39911321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.631858064 meters 0.016029671418746092 Centerline is valid? [True, True] Translation: X:89.91, Y:-56.63, Z:0.24 [[-9.46535034e-01 -3.22565452e-01 4.79154459e-03 8.99102134e+01] [-3.22561428e-01 9.46547162e-01 1.61118287e-03 -5.66252665e+01] [-5.05513486e-03 -2.05264369e-05 -9.99987223e-01 2.40778178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661858064 meters 0.016016151755480712 Centerline is valid? [True, True] Translation: X:89.85, Y:-56.62, Z:0.24 [[-9.20261552e-01 -3.91275247e-01 4.72832922e-03 8.98472642e+01] [-3.91270193e-01 9.20273699e-01 1.98877796e-03 -5.66185089e+01] [-5.12951661e-03 -1.98583952e-05 -9.99986844e-01 2.42190924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.691858064 meters 0.01608175486309901 Centerline is valid? [True, True] Translation: X:89.78, Y:-56.62, Z:0.24 [[-8.88658036e-01 -4.58543174e-01 5.00527513e-03 8.97763948e+01] [-4.58536019e-01 8.88672131e-01 2.56172130e-03 -5.66205066e+01] [-5.62270833e-03 -1.86047111e-05 -9.99984192e-01 2.42870062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721858064 meters 0.016220992676458344 Centerline is valid? [True, True] Translation: X:89.69, Y:-56.63, Z:0.24 [[-8.51817731e-01 -5.23810437e-01 5.40179745e-03 8.96942624e+01] [-5.23800041e-01 8.51834858e-01 3.30007087e-03 -5.66343345e+01] [-6.33005092e-03 -1.84028480e-05 -9.99979965e-01 2.43004859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.751858064 meters 0.016164523676766396 Centerline is valid? [True, True] Translation: X:89.61, Y:-56.65, Z:0.24 [[-8.09911723e-01 -5.86529849e-01 5.07310878e-03 8.96126353e+01] [-5.86518498e-01 8.09927611e-01 3.64917652e-03 -5.66548854e+01] [-6.24920183e-03 -1.99612966e-05 -9.99980473e-01 2.42987236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781858064 meters 0.016224233155451396 Centerline is valid? [True, True] Translation: X:89.52, Y:-56.69, Z:0.24 [[-7.63158765e-01 -6.46192053e-01 4.95281629e-03 8.95242373e+01] [-6.46178625e-01 7.63174836e-01 4.16581105e-03 -5.66887414e+01] [-6.47177876e-03 -2.12288079e-05 -9.99979058e-01 2.42990409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.811858064 meters 0.0162849542187274 Centerline is valid? [True, True] Translation: X:89.44, Y:-56.73, Z:0.24 [[-7.11915228e-01 -7.02246931e-01 5.09468322e-03 8.94355847e+01] [-7.02229150e-01 7.11933458e-01 4.99727294e-03 -5.67323196e+01] [-7.13639503e-03 -2.00003565e-05 -9.99974535e-01 2.43991968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841858064 meters 0.016359579709501165 Centerline is valid? [True, True] Translation: X:89.34, Y:-56.79, Z:0.24 [[-6.56716599e-01 -7.54123582e-01 4.57510197e-03 8.93446744e+01] [-7.54105472e-01 6.56732535e-01 5.22629976e-03 -5.67886229e+01] [-6.94589422e-03 -1.79116302e-05 -9.99975877e-01 2.44174166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.871858064 meters 0.016344081141048756 Centerline is valid? [True, True] Translation: X:89.25, Y:-56.86, Z:0.24 [[-5.97336095e-01 -8.01980598e-01 4.08773977e-03 8.92542795e+01] [-8.01962025e-01 5.97350081e-01 5.45803611e-03 -5.68582486e+01] [-6.81905075e-03 -1.79300848e-05 -9.99976750e-01 2.44388390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901858064 meters 0.016443315199936925 Centerline is valid? [True, True] Translation: X:89.18, Y:-56.92, Z:0.24 [[-5.34294193e-01 -8.45292925e-01 3.09603525e-03 8.91777711e+01] [-8.45278946e-01 5.34303163e-01 4.86136823e-03 -5.69242017e+01] [-5.76350160e-03 -1.96125952e-05 -9.99983391e-01 2.42911539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.931858064 meters 0.01650618899925958 Centerline is valid? [True, True] Translation: X:89.10, Y:-57.00, Z:0.24 [[-4.67863127e-01 -8.83797879e-01 2.32434492e-03 8.90991555e+01] [-8.83787208e-01 4.67868901e-01 4.34323239e-03 -5.70045774e+01] [-4.92602828e-03 -2.21880157e-05 -9.99987867e-01 2.42243579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961858064 meters 0.016457122679956044 Centerline is valid? [True, True] Translation: X:89.03, Y:-57.09, Z:0.24 [[-3.98469910e-01 -9.17179757e-01 1.73921704e-03 8.90253799e+01] [-9.17171285e-01 3.98473704e-01 3.94228087e-03 -5.70939934e+01] [-4.30881246e-03 -2.42796214e-05 -9.99990717e-01 2.41745268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.991858064 meters 0.016524838060199228 Centerline is valid? [True, True] Translation: X:88.96, Y:-57.19, Z:0.24 [[-3.26548516e-01 -9.45179593e-01 1.26656012e-03 8.89574593e+01] [-9.45172789e-01 3.26550971e-01 3.58636705e-03 -5.71906248e+01] [-3.80335739e-03 -2.59953270e-05 -9.99992767e-01 2.41840087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02185806399999 meters 0.016579500518742466 Centerline is valid? [True, True] Translation: X:88.90, Y:-57.30, Z:0.24 [[-2.51467756e-01 -9.67865109e-01 1.04796624e-03 8.88955675e+01] [-9.67857208e-01 2.51469938e-01 3.91104678e-03 -5.72964250e+01] [-4.04889772e-03 -3.07795200e-05 -9.99991803e-01 2.41728730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.051858064 meters 0.016739406525450837 Centerline is valid? [True, True] Translation: X:88.84, Y:-57.40, Z:0.24 [[-1.75256430e-01 -9.84522549e-01 7.31457055e-04 8.88436552e+01] [-9.84514768e-01 1.75257953e-01 3.91427403e-03 -5.74022695e+01] [-3.98188471e-03 -3.41285830e-05 -9.99992072e-01 2.42142941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.081858064 meters 0.016778981415481602 Centerline is valid? [True, True] Translation: X:88.80, Y:-57.52, Z:0.24 [[-9.74321225e-02 -9.95242063e-01 4.67238031e-04 8.87983423e+01] [-9.95232502e-01 9.74332347e-02 4.36263684e-03 -5.75220359e+01] [-4.38740420e-03 -3.99495076e-05 -9.99990374e-01 2.43117060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.111858064 meters 0.016765075930111596 Centerline is valid? [True, True] Translation: X:88.76, Y:-57.65, Z:0.24 [[-2.02072582e-02 -9.99795804e-01 1.30471693e-04 8.87626460e+01] [-9.99785851e-01 2.02076393e-02 4.46132925e-03 -5.76492063e+01] [-4.46305479e-03 -4.02925200e-05 -9.99990040e-01 2.43369656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.141858064 meters 0.016783271486904856 Centerline is valid? [True, True] Translation: X:88.74, Y:-57.75, Z:0.24 [[ 5.70526489e-02 -9.98371151e-01 -1.98427495e-04 8.87366893e+01] [-9.98362469e-01 -5.70529803e-02 4.16386056e-03 -5.77515334e+01] [-4.16839914e-03 -3.94567109e-05 -9.99991311e-01 2.43464202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.171858064 meters 0.016694614513414585 Centerline is valid? [True, True] Translation: X:88.72, Y:-57.87, Z:0.24 [[ 1.32456210e-01 -9.91188734e-01 -4.96797564e-04 8.87201291e+01] [-9.91180803e-01 -1.32457138e-01 3.96526356e-03 -5.78708056e+01] [-3.99612895e-03 -3.28075757e-05 -9.99992015e-01 2.43008644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201858064 meters 0.01668971427899826 Centerline is valid? [True, True] Translation: X:88.71, Y:-57.99, Z:0.24 [[ 2.07768417e-01 -9.78177644e-01 -8.83753837e-04 8.87123903e+01] [-9.78168196e-01 -2.07770294e-01 4.29949430e-03 -5.79916690e+01] [-4.38928701e-03 -2.88392284e-05 -9.99990367e-01 2.43426967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.231858064 meters 0.016670219213642874 Centerline is valid? [True, True] Translation: X:88.71, Y:-58.11, Z:0.24 [[ 2.81300698e-01 -9.59618832e-01 -1.27100937e-03 8.87131840e+01] [-9.59608662e-01 -2.81303568e-01 4.41794551e-03 -5.81101665e+01] [-4.59708318e-03 -2.30995515e-05 -9.99989433e-01 2.43492671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261858064 meters 0.016645371121757818 Centerline is valid? [True, True] Translation: X:88.72, Y:-58.23, Z:0.24 [[ 3.53203479e-01 -9.35545142e-01 -1.60903976e-03 8.87243765e+01] [-9.35535218e-01 -3.53207144e-01 4.30914761e-03 -5.82300543e+01] [-4.59972645e-03 -1.66925694e-05 -9.99989421e-01 2.44018892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.291858064 meters 0.016759247650217125 Centerline is valid? [True, True] Translation: X:88.75, Y:-58.35, Z:0.24 [[ 4.21469806e-01 -9.06839209e-01 -2.41884925e-03 8.87463248e+01] [-9.06824348e-01 -4.21476747e-01 5.19171293e-03 -5.83476033e+01] [-5.72753756e-03 5.32115376e-06 -9.99983598e-01 2.44202939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321858064 meters 0.016759247650217125 Centerline is valid? [True, True] Translation: X:88.77, Y:-58.46, Z:0.24 [[ 4.90009685e-01 -8.71712457e-01 -2.81072825e-03 8.87747722e+01] [-8.71698181e-01 -4.90017746e-01 4.98896016e-03 -5.84627575e+01] [-5.72624544e-03 5.46790405e-06 -9.99983605e-01 2.44139056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.351858064 meters 0.01697429826328876 Centerline is valid? [True, True] Translation: X:88.81, Y:-58.57, Z:0.24 [[ 5.54111379e-01 -8.32435511e-01 -3.42028792e-03 8.88096360e+01] [-8.32419867e-01 -5.54121935e-01 5.10353678e-03 -5.85706887e+01] [-6.14362181e-03 1.91878083e-05 -9.99981128e-01 2.44468252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381858064 meters 0.017407316405491365 Centerline is valid? [True, True] Translation: X:88.85, Y:-58.68, Z:0.24 [[ 6.13538946e-01 -7.89655434e-01 -3.77580858e-03 8.88535010e+01] [-7.89640886e-01 -6.13550563e-01 4.79343332e-03 -5.86764282e+01] [-6.10181015e-03 4.05748086e-05 -9.99981383e-01 2.44981815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.411858064 meters 0.0175177044034876 Centerline is valid? [True, True] Translation: X:88.90, Y:-58.77, Z:0.24 [[ 6.70787148e-01 -7.41638746e-01 -4.07086051e-03 8.89007542e+01] [-7.41625550e-01 -6.70799499e-01 4.42455892e-03 -5.87743683e+01] [-6.01215552e-03 5.11169019e-05 -9.99981926e-01 2.44355627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441858064 meters 0.018052690051913838 Centerline is valid? [True, True] Translation: X:88.96, Y:-58.87, Z:0.24 [[ 7.24392146e-01 -6.89374719e-01 -4.30304343e-03 8.89593455e+01] [-6.89363036e-01 -7.24404924e-01 4.01384455e-03 -5.88706842e+01] [-5.88418880e-03 5.87616200e-05 -9.99982686e-01 2.44106506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.471858064 meters 0.017879047318907427 Centerline is valid? [True, True] Translation: X:88.95, Y:-58.88, Z:0.24 [[ 7.75022606e-01 -6.31920567e-01 -4.04443091e-03 8.89543424e+01] [-6.31912336e-01 -7.75033157e-01 3.22578565e-03 -5.88795970e+01] [-5.17300835e-03 5.56689810e-05 -9.99986618e-01 2.43111131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501858064 meters 0.01827889611890127 Centerline is valid? [True, True] Translation: X:88.95, Y:-58.89, Z:0.24 [[ 8.20681249e-01 -5.71377605e-01 -3.14962247e-03 8.89501581e+01] [-5.71373590e-01 -8.20687292e-01 2.14241127e-03 -5.88872546e+01] [-3.80898096e-03 4.13743407e-05 -9.99992745e-01 2.41850107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.531858064 meters 0.01835832366117287 Centerline is valid? [True, True] Translation: X:88.95, Y:-58.90, Z:0.24 [[ 8.62458389e-01 -5.06115772e-01 -3.51458415e-03 8.89454144e+01] [-5.06111801e-01 -8.62465549e-01 2.00540887e-03 -5.88954904e+01] [-4.04617680e-03 4.91908068e-05 -9.99991813e-01 2.41367308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561858064 meters 0.018365140736485236 Centerline is valid? [True, True] Translation: X:88.94, Y:-58.91, Z:0.24 [[ 8.99261605e-01 -4.37397587e-01 -3.45200349e-03 8.89415081e+01] [-4.37394559e-01 -8.99268230e-01 1.62818883e-03 -5.89050621e+01] [-3.81644293e-03 4.57198422e-05 -9.99992716e-01 2.41075333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.591858064 meters 0.01826460700348364 Centerline is valid? [True, True] Translation: X:88.94, Y:-58.92, Z:0.24 [[ 9.30716262e-01 -3.65728206e-01 -3.18113297e-03 8.89370777e+01] [-3.65726206e-01 -9.30721697e-01 1.21012526e-03 -5.89166203e+01] [-3.40332642e-03 3.71404317e-05 -9.99994208e-01 2.40821542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621858064 meters 0.018312899160745896 Centerline is valid? [True, True] Translation: X:88.93, Y:-58.93, Z:0.24 [[ 9.56623990e-01 -2.91310139e-01 -2.99065070e-03 8.89348858e+01] [-2.91308812e-01 -9.56628665e-01 8.79704876e-04 -5.89272191e+01] [-3.11720913e-03 2.96561130e-05 -9.99995141e-01 2.40257374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.651858064 meters 0.017988900708991545 Centerline is valid? [True, True] Translation: X:88.93, Y:-58.94, Z:0.24 [[ 9.76868696e-01 -2.13828182e-01 -2.24924464e-03 8.89327969e+01] [-2.13827637e-01 -9.76871285e-01 4.83030295e-04 -5.89386317e+01] [-2.30050799e-03 9.09349118e-06 -9.99997354e-01 2.38852284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681858064 meters 0.018005340931742473 Centerline is valid? [True, True] Translation: X:88.93, Y:-58.95, Z:0.24 [[ 9.90757330e-01 -1.35632168e-01 -1.95660418e-03 8.89275752e+01] [-1.35631906e-01 -9.90759262e-01 2.66719561e-04 -5.89469836e+01] [-1.97469946e-03 1.12359408e-06 -9.99998050e-01 2.38269494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.711858064 meters 0.017727827737289776 Centerline is valid? [True, True] Translation: X:88.93, Y:-58.96, Z:0.24 [[ 9.98412210e-01 -5.62995069e-02 -1.85069088e-03 8.89250232e+01] [-5.62994040e-02 -9.98413925e-01 1.07688635e-04 -5.89563863e+01] [-1.85381837e-03 -3.32485406e-06 -9.99998282e-01 2.37724736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741858064 meters 0.017448416286299052 Centerline is valid? [True, True] Translation: X:88.92, Y:-58.97, Z:0.24 [[ 9.99730023e-01 2.31860263e-02 -1.51336476e-03 8.89225787e+01] [ 2.31860154e-02 -9.99731168e-01 -2.47020290e-05 -5.89683959e+01] [-1.51353066e-03 -1.03935388e-05 -9.99998855e-01 2.37242448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77185806399999 meters 0.017260557188861055 Centerline is valid? [True, True] Translation: X:88.92, Y:-58.98, Z:0.24 [[ 9.94642241e-01 1.03369118e-01 -1.27992472e-03 8.89217477e+01] [ 1.03369053e-01 -9.94643064e-01 -1.16713771e-04 -5.89804576e+01] [-1.28513284e-03 -1.62161596e-05 -9.99999174e-01 2.36315125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.801858064 meters 0.01714632857041356 Centerline is valid? [True, True] Translation: X:88.92, Y:-58.99, Z:0.24 [[ 9.83330275e-01 1.81825355e-01 -1.05360306e-03 8.89220053e+01] [ 1.81825272e-01 -9.83330840e-01 -1.74613134e-04 -5.89926461e+01] [-1.06778948e-03 -1.98692821e-05 -9.99999430e-01 2.36013756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.831858064 meters 0.01705889341629172 Centerline is valid? [True, True] Translation: X:88.92, Y:-59.00, Z:0.24 [[ 9.65798272e-01 2.59294243e-01 -4.40262818e-04 8.89232225e+01] [ 2.59294229e-01 -9.65798372e-01 -8.96589865e-05 -5.90036434e+01] [-4.48453172e-04 -2.75651136e-05 -9.99999899e-01 2.35415018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.861858064 meters 0.016837145315425704 Centerline is valid? [True, True] Translation: X:88.93, Y:-59.02, Z:0.23 [[ 9.41776452e-01 3.36239655e-01 9.40384861e-05 8.89258001e+01] [ 3.36239650e-01 -9.41776456e-01 6.88561849e-05 -5.90158845e+01] [ 1.11715412e-04 -3.32276658e-05 -9.99999993e-01 2.34307965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.891858064 meters 0.01673640549640622 Centerline is valid? [True, True] Translation: X:88.93, Y:-59.03, Z:0.23 [[ 9.12026977e-01 4.10130085e-01 3.28172654e-04 8.89286352e+01] [ 4.10130044e-01 -9.12027035e-01 1.85764855e-04 -5.90266358e+01] [ 3.75490089e-04 -3.48290939e-05 -9.99999929e-01 2.33847869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921858064 meters 0.016682905028720395 Centerline is valid? [True, True] Translation: X:88.93, Y:-59.04, Z:0.23 [[ 8.76408969e-01 4.81567502e-01 2.45509211e-04 8.89327071e+01] [ 4.81567472e-01 -8.76409002e-01 1.73418166e-04 -5.90360071e+01] [ 2.98679035e-04 -3.37559858e-05 -9.99999955e-01 2.33877994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.951858064 meters 0.016651588701823285 Centerline is valid? [True, True] Translation: X:88.94, Y:-59.05, Z:0.23 [[ 8.35281356e-01 5.49822738e-01 -1.16677655e-04 8.89356915e+01] [ 5.49822738e-01 -8.35281363e-01 -3.91566110e-05 -5.90450017e+01] [-1.18987865e-04 -3.14452403e-05 -9.99999992e-01 2.34143453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.981858064 meters 0.01647613353746364 Centerline is valid? [True, True] Translation: X:88.94, Y:-59.05, Z:0.24 [[ 7.88576516e-01 6.14935980e-01 -9.04839430e-04 8.89404593e+01] [ 6.14935617e-01 -7.88577035e-01 -6.68688794e-04 -5.90540512e+01] [-1.12473639e-03 -2.91057135e-05 -9.99999367e-01 2.35238951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.011858064 meters 0.016311749121520898 Centerline is valid? [True, True] Translation: X:88.94, Y:-59.06, Z:0.24 [[ 7.37898980e-01 6.74910314e-01 -1.07891305e-03 8.89429334e+01] [ 6.74909648e-01 -7.37899768e-01 -9.48205867e-04 -5.90600306e+01] [-1.43608361e-03 -2.84886869e-05 -9.99998968e-01 2.35564892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041858064 meters 0.01633548062795233 Centerline is valid? [True, True] Translation: X:88.95, Y:-59.06, Z:0.24 [[ 6.82848965e-01 7.30558797e-01 -1.06540059e-03 8.89459989e+01] [ 7.30557972e-01 -6.82849795e-01 -1.09872288e-03 -5.90635895e+01] [-1.53019025e-03 -2.80751143e-05 -9.99998829e-01 2.35632187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.071858064 meters 0.016465499413724365 Centerline is valid? [True, True] Translation: X:88.95, Y:-59.07, Z:0.23 [[ 6.25198493e-01 7.80465619e-01 -5.12786744e-04 8.89465196e+01] [ 7.80465392e-01 -6.25198702e-01 -5.95212959e-04 -5.90661088e+01] [-7.85136857e-04 -2.80860624e-05 -9.99999691e-01 2.34198155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101858064 meters 0.016725653218211126 Centerline is valid? [True, True] Translation: X:88.95, Y:-59.07, Z:0.23 [[ 5.63579886e-01 8.26061527e-01 -2.57963292e-04 8.89477331e+01] [ 8.26061463e-01 -5.63579944e-01 -3.26772587e-04 -5.90685368e+01] [-4.15317200e-04 -2.89310771e-05 -9.99999913e-01 2.33925160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.131858064 meters 0.016860303560665188 Centerline is valid? [True, True] Translation: X:88.95, Y:-59.07, Z:0.23 [[ 4.98268762e-01 8.67022515e-01 -4.45898729e-04 8.89492262e+01] [ 8.67022212e-01 -4.98268961e-01 -7.25554886e-04 -5.90716374e+01] [-8.51249919e-04 -2.50827673e-05 -9.99999637e-01 2.34658845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161858064 meters 0.01716110367972844 Centerline is valid? [True, True] Translation: X:88.95, Y:-59.08, Z:0.24 [[ 4.31273875e-01 9.02220789e-01 -7.02421454e-04 8.89500108e+01] [ 9.02219649e-01 -4.31274447e-01 -1.43432745e-03 -5.90751549e+01] [-1.59701646e-03 -1.51504811e-05 -9.99998725e-01 2.36425055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.191858064 meters 0.016886538651698552 Centerline is valid? [True, True] Translation: X:88.96, Y:-59.08, Z:0.24 [[ 3.60664170e-01 9.32695575e-01 -5.67228824e-04 8.89612046e+01] [ 9.32694479e-01 -3.60664616e-01 -1.42963870e-03 -5.90813545e+01] [-1.53799706e-03 -1.34317367e-05 -9.99998817e-01 2.36310988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221858064 meters 0.016915399469942843 Centerline is valid? [True, True] Translation: X:88.97, Y:-59.09, Z:0.24 [[ 2.87667147e-01 9.57730229e-01 -6.48942556e-04 8.89709736e+01] [ 9.57727811e-01 -2.87667879e-01 -2.15185427e-03 -5.90855045e+01] [-2.24757582e-03 -2.49255283e-06 -9.99997474e-01 2.36349904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.251858064 meters 0.017228406164268913 Centerline is valid? [True, True] Translation: X:88.98, Y:-59.09, Z:0.24 [[ 2.14021219e-01 9.76828790e-01 -6.57520916e-04 8.89805515e+01] [ 9.76823944e-01 -2.14022229e-01 -3.07688714e-03 -5.90889806e+01] [-3.14631604e-03 1.62369635e-05 -9.99995050e-01 2.37756579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281858064 meters 0.017344789001373078 Centerline is valid? [True, True] Translation: X:88.99, Y:-59.09, Z:0.24 [[ 1.38286274e-01 9.90392140e-01 -5.62436845e-04 8.89910892e+01] [ 9.90382706e-01 -1.38287412e-01 -4.32284045e-03 -5.90921078e+01] [-4.35908513e-03 4.07617757e-05 -9.99990498e-01 2.37996838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.311858064 meters 0.01780915202805442 Centerline is valid? [True, True] Translation: X:89.00, Y:-59.10, Z:0.24 [[ 6.13814448e-02 9.98114352e-01 -2.42472459e-04 8.89994945e+01] [ 9.98102729e-01 -6.13819003e-02 -4.81713479e-03 -5.90954738e+01] [-4.82293479e-03 5.36702708e-05 -9.99988368e-01 2.38531854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341858064 meters 0.018319269526826484 Centerline is valid? [True, True] Translation: X:89.01, Y:-59.10, Z:0.24 [[-1.36439611e-02 9.99906902e-01 1.72286761e-04 8.90074128e+01] [ 9.99889587e-01 1.36447389e-02 -5.88506053e-03 -5.90972979e+01] [-5.88686345e-03 9.19722017e-05 -9.99982668e-01 2.38644470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.371858064 meters 0.018802667491584876 Centerline is valid? [True, True] Translation: X:89.02, Y:-59.10, Z:0.24 [[-9.05589926e-02 9.95890870e-01 6.65671936e-04 8.90154105e+01] [ 9.95871942e-01 9.05613762e-02 -6.14102934e-03 -5.90999031e+01] [-6.17607922e-03 1.06798573e-04 -9.99980922e-01 2.39100923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401858064 meters 0.01907370710608983 Centerline is valid? [True, True] Translation: X:89.02, Y:-59.10, Z:0.24 [[-1.66823312e-01 9.85986091e-01 1.18744254e-03 8.90239428e+01] [ 9.85966034e-01 1.66827494e-01 -6.29015135e-03 -5.91006609e+01] [-6.40009981e-03 1.21434132e-04 -9.99979512e-01 2.39143039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.431858064 meters 0.019651227443963307 Centerline is valid? [True, True] Translation: X:89.03, Y:-59.10, Z:0.24 [[-2.41585547e-01 9.70378094e-01 1.66690819e-03 8.90326195e+01] [ 9.70358661e-01 2.41591260e-01 -6.14255607e-03 -5.91009078e+01] [-6.36331230e-03 1.33546040e-04 -9.99979745e-01 2.39178057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461858064 meters 0.020138151519170373 Centerline is valid? [True, True] Translation: X:89.04, Y:-59.10, Z:0.24 [[-3.15953931e-01 9.48772124e-01 2.13768666e-03 8.90406980e+01] [ 9.48753303e-01 3.15961132e-01 -5.97769062e-03 -5.91005013e+01] [-6.34689212e-03 1.39462434e-04 -9.99979849e-01 2.39371602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.491858064 meters 0.02040401199519447 Centerline is valid? [True, True] Translation: X:89.05, Y:-59.10, Z:0.24 [[-3.88617949e-01 9.21395265e-01 2.61832545e-03 8.90482436e+01] [ 9.21376813e-01 3.88626742e-01 -5.83302218e-03 -5.90992695e+01] [-6.39207031e-03 1.45647242e-04 -9.99979560e-01 2.39665034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52185806399999 meters 0.021039556514016643 Centerline is valid? [True, True] Translation: X:89.05, Y:-59.10, Z:0.24 [[-4.58658424e-01 8.88607751e-01 2.95197672e-03 8.90545022e+01] [ 8.88591348e-01 4.58667900e-01 -5.40122339e-03 -5.90993915e+01] [-6.15354593e-03 1.45784369e-04 -9.99981056e-01 2.39889352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.551858064 meters 0.02106036858777278 Centerline is valid? [True, True] Translation: X:89.06, Y:-59.10, Z:0.24 [[-5.24445394e-01 8.51438252e-01 3.15136015e-03 8.90622943e+01] [ 8.51424577e-01 5.24454840e-01 -4.82799960e-03 -5.90966393e+01] [-5.76348962e-03 1.51123330e-04 -9.99983380e-01 2.38421880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.581858064 meters 0.021556284385825308 Centerline is valid? [True, True] Translation: X:89.07, Y:-59.09, Z:0.24 [[-5.88674182e-01 8.08363901e-01 3.24194344e-03 8.90685097e+01] [ 8.08352953e-01 5.88683092e-01 -4.20949863e-03 -5.90945444e+01] [-5.31128402e-03 1.42611392e-04 -9.99985885e-01 2.37733418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.611858064 meters 0.02092260077904521 Centerline is valid? [True, True] Translation: X:89.08, Y:-59.09, Z:0.24 [[-6.49596843e-01 7.60272858e-01 3.02041260e-03 8.90784182e+01] [ 7.60265487e-01 6.49603854e-01 -3.35000533e-03 -5.90883823e+01] [-4.50898980e-03 1.20162572e-04 -9.99989827e-01 2.36510128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.641858064 meters 0.020351278930512744 Centerline is valid? [True, True] Translation: X:89.09, Y:-59.08, Z:0.24 [[-7.07308434e-01 7.06900681e-01 2.49127052e-03 8.90895387e+01] [ 7.06896708e-01 7.07312817e-01 -2.37131198e-03 -5.90787238e+01] [-3.43838962e-03 8.38219652e-05 -9.99994085e-01 2.35180204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.671858064 meters 0.021923479285602544 Centerline is valid? [True, True] Translation: X:89.11, Y:-59.06, Z:0.24 [[-7.56226539e-01 6.54305401e-01 2.42158389e-03 8.91061007e+01] [ 6.54302355e-01 7.56230412e-01 -1.99776331e-03 -5.90578633e+01] [-3.13842271e-03 7.36864110e-05 -9.99995072e-01 2.35197179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701858064 meters 0.020500354397316 Centerline is valid? [True, True] Translation: X:89.13, Y:-59.03, Z:0.24 [[-8.01642523e-01 5.97798517e-01 2.48946558e-03 8.91270013e+01] [ 5.97795888e-01 8.01646386e-01 -1.77414894e-03 -5.90333252e+01] [-3.05625470e-03 6.59590559e-05 -9.99995327e-01 2.35108846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.731858064 meters 0.019614901858154687 Centerline is valid? [True, True] Translation: X:89.14, Y:-59.01, Z:0.24 [[-8.42988058e-01 5.37924220e-01 2.94402976e-03 8.91423228e+01] [ 5.37921232e-01 8.42993196e-01 -1.79415288e-03 -5.90061673e+01] [-3.44691534e-03 7.12066635e-05 -9.99994057e-01 2.35146161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761858064 meters 0.018865639334248212 Centerline is valid? [True, True] Translation: X:89.16, Y:-58.98, Z:0.24 [[-8.79312053e-01 4.76235559e-01 3.16336648e-03 8.91632678e+01] [ 4.76232735e-01 8.79317740e-01 -1.64129758e-03 -5.89780636e+01] [-3.56324854e-03 6.32859252e-05 -9.99993650e-01 2.35611381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.791858064 meters 0.018783057144317897 Centerline is valid? [True, True] Translation: X:89.17, Y:-58.95, Z:0.24 [[-9.11695160e-01 4.10853350e-01 3.38541159e-03 8.91743255e+01] [ 4.10850739e-01 9.11701444e-01 -1.46551880e-03 -5.89504362e+01] [-3.68859794e-03 5.47924603e-05 -9.99993196e-01 2.36063097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821858064 meters 0.01799539164341229 Centerline is valid? [True, True] Translation: X:89.18, Y:-58.92, Z:0.24 [[-9.39188743e-01 3.43371597e-01 4.52233802e-03 8.91809100e+01] [ 3.43367975e-01 9.39199628e-01 -1.57872636e-03 -5.89199807e+01] [-4.78946798e-03 7.01040274e-05 -9.99988528e-01 2.36374219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.851858064 meters 0.018071558879409956 Centerline is valid? [True, True] Translation: X:89.18, Y:-58.89, Z:0.24 [[-9.61601231e-01 2.74400804e-01 5.22213468e-03 8.91843334e+01] [ 2.74397178e-01 9.61615408e-01 -1.41270477e-03 -5.88908225e+01] [-5.40933250e-03 7.44803712e-05 -9.99985367e-01 2.37427363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881858064 meters 0.017658399449657986 Centerline is valid? [True, True] Translation: X:89.19, Y:-58.86, Z:0.24 [[-9.79039011e-01 2.03585576e-01 5.96049479e-03 8.91883260e+01] [ 2.03582270e-01 9.79057152e-01 -1.16264777e-03 -5.88595815e+01] [-6.07236337e-03 7.51735381e-05 -9.99981560e-01 2.38450789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911858064 meters 0.01750173383029195 Centerline is valid? [True, True] Translation: X:89.19, Y:-58.83, Z:0.24 [[-9.91075187e-01 1.33167874e-01 6.02417677e-03 8.91895356e+01] [ 1.33165860e-01 9.91093493e-01 -7.35881634e-04 -5.88311111e+01] [-6.06851819e-03 7.29006544e-05 -9.99981584e-01 2.38593986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941858064 meters 0.017632648680456425 Centerline is valid? [True, True] Translation: X:89.19, Y:-58.80, Z:0.24 [[-9.98032527e-01 6.24138541e-02 5.96544476e-03 8.91861315e+01] [ 6.24131681e-02 9.98050352e-01 -3.01282503e-04 -5.88033423e+01] [-5.97261845e-03 7.16325694e-05 -9.99982161e-01 2.38160822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.971858064 meters 0.017617995477669283 Centerline is valid? [True, True] Translation: X:89.18, Y:-58.78, Z:0.24 [[-9.99956594e-01 -7.99362792e-03 4.78660097e-03 8.91798055e+01] [-7.99326968e-03 9.99968049e-01 9.39678528e-05 -5.87754492e+01] [-4.78719917e-03 5.57031817e-05 -9.99988540e-01 2.37242886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001858064 meters 0.01775033366766542 Centerline is valid? [True, True] Translation: X:89.17, Y:-58.75, Z:0.24 [[-9.96848200e-01 -7.91944608e-02 4.68011540e-03 8.91743617e+01] [-7.91933316e-02 9.96859185e-01 4.26391770e-04 -5.87479817e+01] [-4.69918389e-03 5.44139375e-05 -9.99988957e-01 2.37417963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.031858064 meters 0.017761359169376736 Centerline is valid? [True, True] Translation: X:89.16, Y:-58.72, Z:0.24 [[-9.88675749e-01 -1.49999181e-01 4.52859723e-03 8.91605012e+01] [-1.49997361e-01 9.88686119e-01 7.40921109e-04 -5.87219160e+01] [-4.58849879e-03 5.32531008e-05 -9.99989471e-01 2.37636281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061858064 meters 0.01738905780255197 Centerline is valid? [True, True] Translation: X:89.04, Y:-58.08, Z:-0.73 [[-9.93065877e-01 1.17481796e-01 4.26518864e-03 8.90354952e+01] [-1.17481006e-01 -9.93075034e-01 4.35999081e-04 -5.80758769e+01] [ 4.28687431e-03 -6.81028446e-05 9.99990809e-01 -7.31961595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.091858064 meters 0.017664720473823902 Centerline is valid? [True, True] Translation: X:89.04, Y:-58.74, Z:0.24 [[-9.87650124e-01 -1.56606171e-01 4.66256888e-03 8.90374808e+01] [-1.56604172e-01 9.87661128e-01 7.93059933e-04 -5.87436346e+01] [-4.72923612e-03 5.30880027e-05 -9.99988816e-01 2.37939580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121858064 meters 0.017346678662373907 Centerline is valid? [True, True] Translation: X:89.01, Y:-58.72, Z:0.24 [[-9.73555491e-01 -2.28399897e-01 4.81589710e-03 8.90085155e+01] [-2.28396837e-01 9.73567401e-01 1.18327600e-03 -5.87201036e+01] [-4.95886054e-03 5.20491836e-05 -9.99987703e-01 2.38119897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.151858064 meters 0.017211634948546658 Centerline is valid? [True, True] Translation: X:88.96, Y:-58.70, Z:0.24 [[-9.54022493e-01 -2.99697017e-01 4.77281328e-03 8.89645111e+01] [-2.99693026e-01 9.54034431e-01 1.54747632e-03 -5.87031963e+01] [-5.01720224e-03 4.59483589e-05 -9.99987413e-01 2.38513201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181858064 meters 0.01709204449575828 Centerline is valid? [True, True] Translation: X:88.90, Y:-58.70, Z:0.24 [[-9.28320282e-01 -3.71745698e-01 5.15657401e-03 8.88990008e+01] [-3.71739747e-01 9.28334603e-01 2.10367272e-03 -5.86981093e+01] [-5.56905737e-03 3.59785321e-05 -9.99984492e-01 2.39833641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.211858064 meters 0.0167065743112983 Centerline is valid? [True, True] Translation: X:88.83, Y:-58.70, Z:0.24 [[-8.97539718e-01 -4.40902470e-01 5.24087583e-03 8.88339260e+01] [-4.40894768e-01 8.97555018e-01 2.60617997e-03 -5.86961680e+01] [-5.85304559e-03 2.84753023e-05 -9.99982870e-01 2.39624309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241858064 meters 0.0167065743112983 Centerline is valid? [True, True] Translation: X:88.76, Y:-58.71, Z:0.24 [[-8.62316478e-01 -5.06344715e-01 5.03202594e-03 8.87579807e+01] [-5.06335901e-01 8.62331160e-01 2.98762703e-03 -5.87059268e+01] [-5.85204192e-03 2.83846289e-05 -9.99982876e-01 2.39588766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27185806399999 meters 0.016529242049573758 Centerline is valid? [True, True] Translation: X:88.68, Y:-58.73, Z:0.24 [[-8.21508777e-01 -5.70175765e-01 4.78813521e-03 8.86763607e+01] [-5.70165922e-01 8.21522730e-01 3.35035875e-03 -5.87258113e+01] [-5.84385527e-03 2.23175881e-05 -9.99982924e-01 2.39461891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.301858064 meters 0.01646759804628918 Centerline is valid? [True, True] Translation: X:88.59, Y:-58.76, Z:0.24 [[-7.75774371e-01 -6.30996636e-01 4.16777491e-03 8.85912562e+01] [-6.30987440e-01 7.75785566e-01 3.40672746e-03 -5.87570852e+01] [-5.38293319e-03 1.30382329e-05 -9.99985512e-01 2.39487601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.331858064 meters 0.016302068323980668 Centerline is valid? [True, True] Translation: X:88.51, Y:-58.80, Z:0.24 [[-7.25460290e-01 -6.88255438e-01 3.43802867e-03 8.85057428e+01] [-6.88247680e-01 7.25468436e-01 3.26797795e-03 -5.87990869e+01] [-4.74338488e-03 4.57297291e-06 -9.99988750e-01 2.38848991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.361858064 meters 0.016437246509746137 Centerline is valid? [True, True] Translation: X:88.42, Y:-58.85, Z:0.24 [[-6.71113175e-01 -7.41348592e-01 3.06147961e-03 8.84192660e+01] [-7.41340863e-01 6.71120157e-01 3.38508526e-03 -5.88512918e+01] [-4.56414887e-03 2.17537414e-06 -9.99989584e-01 2.39126200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.391858064 meters 0.016323165624610836 Centerline is valid? [True, True] Translation: X:88.34, Y:-58.91, Z:0.24 [[-6.12579516e-01 -7.90403285e-01 2.99724632e-03 8.83356045e+01] [-7.90393803e-01 6.12586849e-01 3.87155337e-03 -5.89106688e+01] [-4.89616217e-03 2.62937163e-06 -9.99988014e-01 2.39000482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421858064 meters 0.016256272813370665 Centerline is valid? [True, True] Translation: X:88.25, Y:-58.98, Z:0.24 [[-5.49862845e-01 -8.35250410e-01 2.75736441e-03 8.82534542e+01] [-8.35239920e-01 5.49869759e-01 4.18614932e-03 -5.89843132e+01] [-5.01267424e-03 -1.25285704e-06 -9.99987436e-01 2.38664018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.451858064 meters 0.01616355093607009 Centerline is valid? [True, True] Translation: X:88.18, Y:-59.06, Z:0.24 [[-4.83723826e-01 -8.75217833e-01 2.23745992e-03 8.81754428e+01] [-8.75208539e-01 4.83729000e-01 4.03338993e-03 -5.90629955e+01] [-4.61241904e-03 -7.19721846e-06 -9.99989363e-01 2.38831392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481858064 meters 0.016246088917238763 Centerline is valid? [True, True] Translation: X:88.10, Y:-59.15, Z:0.24 [[-4.14385980e-01 -9.10099628e-01 1.71082966e-03 8.81028312e+01] [-9.10092007e-01 4.14389511e-01 3.72443739e-03 -5.91488613e+01] [-4.09855895e-03 -1.36577576e-05 -9.99991601e-01 2.39211121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.511858064 meters 0.016210741442764014 Centerline is valid? [True, True] Translation: X:88.03, Y:-59.25, Z:0.24 [[-3.42636316e-01 -9.39467124e-01 1.37033556e-03 8.80343409e+01] [-9.39459813e-01 3.42639056e-01 3.70643216e-03 -5.92455529e+01] [-3.95160164e-03 -1.74169303e-05 -9.99992192e-01 2.39386573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.541858064 meters 0.016171189151740113 Centerline is valid? [True, True] Translation: X:87.97, Y:-59.36, Z:0.24 [[-2.67859916e-01 -9.63457376e-01 9.75027511e-04 8.79720898e+01] [-9.63451326e-01 2.67861690e-01 3.41441380e-03 -5.93573932e+01] [-3.55081467e-03 -2.48069548e-05 -9.99993696e-01 2.40036836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.571858064 meters 0.016166919452193416 Centerline is valid? [True, True] Translation: X:87.92, Y:-59.45, Z:0.24 [[-1.92224364e-01 -9.81350767e-01 6.83181294e-04 8.79231046e+01] [-9.81345066e-01 1.92225576e-01 3.34516190e-03 -5.94519302e+01] [-3.41410211e-03 -2.74149737e-05 -9.99994172e-01 2.40178998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601858064 meters 0.016097587398990348 Centerline is valid? [True, True] Translation: X:87.88, Y:-59.56, Z:0.24 [[-1.16022173e-01 -9.93246537e-01 4.14857570e-04 8.78792726e+01] [-9.93241017e-01 1.16022911e-01 3.31157199e-03 -5.95648082e+01] [-3.33734040e-03 -2.78377774e-05 -9.99994431e-01 2.40320842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.631858064 meters 0.016156687705112305 Centerline is valid? [True, True] Translation: X:87.84, Y:-59.68, Z:0.24 [[-3.86071227e-02 -9.99254454e-01 1.59710377e-04 8.78445869e+01] [-9.99248803e-01 3.86074415e-02 3.36091784e-03 -5.96774293e+01] [-3.36457813e-03 -2.98350355e-05 -9.99994339e-01 2.40060210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661858064 meters 0.016218250352133288 Centerline is valid? [True, True] Translation: X:87.82, Y:-59.80, Z:0.24 [[ 3.98599764e-02 -9.99205269e-01 -1.16592389e-04 8.78207056e+01] [-9.99198006e-01 -3.98601313e-02 3.80994924e-03 -5.98004700e+01] [-3.81156874e-03 -3.53656041e-05 -9.99992735e-01 2.40270795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.691858064 meters 0.01622200936299988 Centerline is valid? [True, True] Translation: X:87.80, Y:-59.92, Z:0.24 [[ 1.17021608e-01 -9.93129273e-01 -4.36460968e-04 8.78042565e+01] [-9.93121133e-01 -1.17022416e-01 4.02108526e-03 -5.99205106e+01] [-4.04453319e-03 -3.70952509e-05 -9.99991820e-01 2.40248592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721858064 meters 0.016339299037812217 Centerline is valid? [True, True] Translation: X:87.80, Y:-60.04, Z:0.24 [[ 1.93655591e-01 -9.81069281e-01 -7.60384434e-04 8.77957282e+01] [-9.81060908e-01 -1.93657080e-01 4.05344277e-03 -6.00356904e+01] [-4.12396201e-03 -3.89884138e-05 -9.99991496e-01 2.40333333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.751858064 meters 0.0163537407471163 Centerline is valid? [True, True] Translation: X:87.80, Y:-60.16, Z:0.24 [[ 2.69394864e-01 -9.63028937e-01 -1.29400005e-03 8.77985136e+01] [-9.63017010e-01 -2.69397968e-01 4.79305191e-03 -6.01574354e+01] [-4.96444867e-03 -4.50795135e-05 -9.99987676e-01 2.41492953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781858064 meters 0.016435651159057933 Centerline is valid? [True, True] Translation: X:87.81, Y:-60.28, Z:0.24 [[ 3.43024968e-01 -9.39324794e-01 -1.67415772e-03 8.78099252e+01] [-9.39312933e-01 -3.43029051e-01 4.72063538e-03 -6.02792350e+01] [-5.00849458e-03 -4.67378058e-05 -9.99987456e-01 2.41996553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.811858064 meters 0.01637643850380303 Centerline is valid? [True, True] Translation: X:87.83, Y:-60.39, Z:0.24 [[ 4.13873397e-01 -9.10331538e-01 -2.30252942e-03 8.78280929e+01] [-9.10316820e-01 -4.13879799e-01 5.17687574e-03 -6.03912170e+01] [-5.66564367e-03 -4.65398863e-05 -9.99983949e-01 2.42093480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841858064 meters 0.01631231152362207 Centerline is valid? [True, True] Translation: X:87.86, Y:-60.51, Z:0.24 [[ 4.82135302e-01 -8.76092309e-01 -2.79581257e-03 8.78584383e+01] [-8.76077053e-01 -4.82143406e-01 5.17031220e-03 -6.05079840e+01] [-5.87765335e-03 -4.34427921e-05 -9.99982726e-01 2.41952339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.871858064 meters 0.01639268994753845 Centerline is valid? [True, True] Translation: X:87.90, Y:-60.62, Z:0.24 [[ 5.46088047e-01 -8.37720905e-01 -3.39552140e-03 8.78978141e+01] [-8.37704375e-01 -5.46098603e-01 5.26268265e-03 -6.06158255e+01] [-6.26294876e-03 -2.94449542e-05 -9.99980387e-01 2.42080365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901858064 meters 0.01640865463953754 Centerline is valid? [True, True] Translation: X:87.94, Y:-60.72, Z:0.24 [[ 6.07387329e-01 -7.94397503e-01 -3.63860977e-03 8.79399875e+01] [-7.94383064e-01 -6.07398228e-01 4.78958021e-03 -6.07185004e+01] [-6.01491568e-03 -1.86803550e-05 -9.99981910e-01 2.41819827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.931858064 meters 0.016533679901737833 Centerline is valid? [True, True] Translation: X:87.99, Y:-60.82, Z:0.24 [[ 6.65095548e-01 -7.46746961e-01 -4.10943953e-03 8.79948349e+01] [-7.46732644e-01 -6.65108243e-01 4.62421426e-03 -6.08227842e+01] [-6.18634006e-03 -6.89167087e-06 -9.99980864e-01 2.41974322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961858064 meters 0.016625927280854498 Centerline is valid? [True, True] Translation: X:88.05, Y:-60.91, Z:0.24 [[ 7.18900023e-01 -6.95100591e-01 -4.23375598e-03 8.80450466e+01] [-6.95088571e-01 -7.18912490e-01 4.08780082e-03 -6.09096500e+01] [-5.88513282e-03 4.11529316e-06 -9.99982682e-01 2.41477114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.991858064 meters 0.016832765646394986 Centerline is valid? [True, True] Translation: X:88.04, Y:-60.91, Z:0.24 [[ 7.70281375e-01 -6.37696869e-01 -3.05068271e-03 8.80411758e+01] [-6.37691859e-01 -7.70287416e-01 2.52770233e-03 -6.09147087e+01] [-3.96181036e-03 -1.64649266e-06 -9.99992152e-01 2.40503781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02185806399999 meters 0.01689297136252736 Centerline is valid? [True, True] Translation: X:88.04, Y:-60.92, Z:0.24 [[ 8.17907702e-01 -5.75341339e-01 -3.05523721e-03 8.80365831e+01] [-5.75337308e-01 -8.17913408e-01 2.15386099e-03 -6.09221409e+01] [-3.73812474e-03 -3.86754242e-06 -9.99993013e-01 2.40364925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.051858064 meters 0.01702341102939867 Centerline is valid? [True, True] Translation: X:88.03, Y:-60.93, Z:0.24 [[ 8.60693473e-01 -5.09113224e-01 -3.23564411e-03 8.80314534e+01] [-5.09109601e-01 -8.60699555e-01 1.92083229e-03 -6.09279346e+01] [-3.76283857e-03 -5.95033621e-06 -9.99992920e-01 2.40882962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.081858064 meters 0.017136776064484018 Centerline is valid? [True, True] Translation: X:88.03, Y:-60.93, Z:0.24 [[ 8.97749779e-01 -4.40489923e-01 -3.73650219e-03 8.80285356e+01] [-4.40486095e-01 -8.97757555e-01 1.83638989e-03 -6.09344937e+01] [-4.16338431e-03 -2.74136459e-06 -9.99991333e-01 2.41168619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.111858064 meters 0.017088496562916437 Centerline is valid? [True, True] Translation: X:88.03, Y:-60.94, Z:0.24 [[ 9.29449335e-01 -3.68924700e-01 -4.30112407e-03 8.80252958e+01] [-3.68920749e-01 -9.29459287e-01 1.70737106e-03 -6.09429030e+01] [-4.62761107e-03 -1.40986259e-07 -9.99989293e-01 2.41261192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.141858064 meters 0.017224378323670776 Centerline is valid? [True, True] Translation: X:88.02, Y:-60.95, Z:0.24 [[ 9.55666467e-01 -2.94420973e-01 -4.23028877e-03 8.80219137e+01] [-2.94418067e-01 -9.55675829e-01 1.30811400e-03 -6.09510139e+01] [-4.42792093e-03 -4.64723815e-06 -9.99990197e-01 2.41469495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.171858064 meters 0.017125235535657413 Centerline is valid? [True, True] Translation: X:88.02, Y:-60.96, Z:0.24 [[ 9.76011369e-01 -2.17679956e-01 -4.15272888e-03 8.80190650e+01] [-2.17677940e-01 -9.76020203e-01 9.36964607e-04 -6.09590413e+01] [-4.25710570e-03 -1.05306405e-05 -9.99990938e-01 2.42509186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.201858064 meters 0.017217751286611363 Centerline is valid? [True, True] Translation: X:88.01, Y:-60.97, Z:0.24 [[ 9.90116599e-01 -1.40166257e-01 -4.74763897e-03 8.80142314e+01] [-1.40164594e-01 -9.90127982e-01 6.82763234e-04 -6.09656855e+01] [-4.79647056e-03 -1.05643213e-05 -9.99988497e-01 2.42949942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.231858064 meters 0.017210290523674406 Centerline is valid? [True, True] Translation: X:88.01, Y:-60.97, Z:0.24 [[ 9.98069157e-01 -6.19202108e-02 -4.88317169e-03 8.80106002e+01] [-6.19194126e-02 -9.98081103e-01 3.14608453e-04 -6.09722903e+01] [-4.89328200e-03 -1.16378704e-05 -9.99988028e-01 2.43429409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261858064 meters 0.017297140717935817 Centerline is valid? [True, True] Translation: X:88.01, Y:-60.98, Z:0.24 [[ 9.99847016e-01 1.68695015e-02 -4.62208861e-03 8.80077674e+01] [ 1.68693883e-02 -9.99857700e-01 -6.34783072e-05 -6.09787184e+01] [-4.62250174e-03 -1.45032117e-05 -9.99989316e-01 2.43087775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.291858064 meters 0.01722245225392585 Centerline is valid? [True, True] Translation: X:88.01, Y:-60.99, Z:0.24 [[ 9.95449906e-01 9.51943825e-02 -4.18489295e-03 8.80054310e+01] [ 9.51936084e-02 -9.95458703e-01 -3.84240752e-04 -6.09870094e+01] [-4.20246567e-03 -1.58826398e-05 -9.99991169e-01 2.42424447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321858064 meters 0.017296646665000116 Centerline is valid? [True, True] Translation: X:88.00, Y:-60.99, Z:0.24 [[ 9.84937486e-01 1.72870364e-01 -3.73968628e-03 8.80034191e+01] [ 1.72869183e-01 -9.84944586e-01 -6.39101426e-04 -6.09948531e+01] [-3.79386545e-03 -1.70015585e-05 -9.99992803e-01 2.42140937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351858064 meters 0.01734131072819305 Centerline is valid? [True, True] Translation: X:88.00, Y:-61.00, Z:0.24 [[ 9.68453510e-01 2.49169773e-01 -3.49619446e-03 8.80026243e+01] [ 2.49168209e-01 -9.68459821e-01 -8.82724153e-04 -6.10039847e+01] [-3.60587204e-03 -1.62632098e-05 -9.99993499e-01 2.42277874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381858064 meters 0.017378208193790327 Centerline is valid? [True, True] Translation: X:88.00, Y:-61.01, Z:0.24 [[ 9.46271160e-01 3.23363898e-01 -2.58498221e-03 8.80010430e+01] [ 3.23362737e-01 -9.46274690e-01 -8.66417179e-04 -6.10112589e+01] [-2.72627128e-03 -1.60213357e-05 -9.99996284e-01 2.41258227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411858064 meters 0.01734819834274251 Centerline is valid? [True, True] Translation: X:88.00, Y:-61.02, Z:0.24 [[ 9.18262348e-01 3.95968843e-01 -1.71333948e-03 8.79993374e+01] [ 3.95968190e-01 -9.18263946e-01 -7.19267045e-04 -6.10184515e+01] [-1.85810521e-03 -1.79520865e-05 -9.99998274e-01 2.40902879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441858064 meters 0.01730499352077269 Centerline is valid? [True, True] Translation: X:88.00, Y:-61.03, Z:0.24 [[ 8.84638609e-01 4.66274443e-01 -1.63541944e-03 8.80011891e+01] [ 4.66273682e-01 -8.84640121e-01 -8.42636294e-04 -6.10303715e+01] [-1.83965742e-03 -1.71244455e-05 -9.99998308e-01 2.40705263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.471858064 meters 0.017334259601635895 Centerline is valid? [True, True] Translation: X:88.00, Y:-61.04, Z:0.24 [[ 8.45736244e-01 5.33599726e-01 -1.23974172e-03 8.80029201e+01] [ 5.33599184e-01 -8.45737153e-01 -7.61033573e-04 -6.10414321e+01] [-1.45458294e-03 -1.78914952e-05 -9.99998942e-01 2.41193570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501858064 meters 0.0173633391810553 Centerline is valid? [True, True] Translation: X:88.00, Y:-61.05, Z:0.24 [[ 8.01925994e-01 5.97421423e-01 -1.53103246e-03 8.80047598e+01] [ 5.97420367e-01 -8.01927455e-01 -1.12336384e-03 -6.10505146e+01] [-1.89889859e-03 -1.38153069e-05 -9.99998197e-01 2.41729406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.531858064 meters 0.017423768106943696 Centerline is valid? [True, True] Translation: X:88.01, Y:-61.06, Z:0.24 [[ 7.52965195e-01 6.58058715e-01 -1.46407011e-03 8.80061007e+01] [ 6.58057504e-01 -7.52966618e-01 -1.26268842e-03 -6.10592834e+01] [-1.93331904e-03 -1.26818871e-05 -9.99998131e-01 2.41656815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561858064 meters 0.017401046844518535 Centerline is valid? [True, True] Translation: X:88.01, Y:-61.07, Z:0.24 [[ 6.99544021e-01 7.14587259e-01 -1.79203381e-03 8.80091962e+01] [ 7.14584940e-01 -6.99546317e-01 -1.82048685e-03 -6.10682285e+01] [-2.55450736e-03 -7.04967400e-06 -9.99996737e-01 2.41889870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.591858064 meters 0.01745619048018765 Centerline is valid? [True, True] Translation: X:88.01, Y:-61.08, Z:0.24 [[ 6.42601306e-01 7.66197935e-01 -2.07033085e-03 8.80105687e+01] [ 7.66193945e-01 -6.42604641e-01 -2.47276088e-03 -6.10761408e+01] [-3.22502849e-03 2.72441606e-06 -9.99994800e-01 2.42265534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621858064 meters 0.01745797641241037 Centerline is valid? [True, True] Translation: X:88.01, Y:-61.08, Z:0.24 [[ 5.81548217e-01 8.13509284e-01 -2.07781960e-03 8.80140082e+01] [ 8.13504030e-01 -5.81551928e-01 -2.92356941e-03 -6.10844029e+01] [-3.58671085e-03 9.88195214e-06 -9.99993568e-01 2.41775268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651858064 meters 0.01758284577127715 Centerline is valid? [True, True] Translation: X:88.02, Y:-61.09, Z:0.24 [[ 5.17069490e-01 8.55941505e-01 -1.81158587e-03 8.80179796e+01] [ 8.55936160e-01 -5.17072663e-01 -3.02498623e-03 -6.10916499e+01] [-3.52593280e-03 1.35262362e-05 -9.99993784e-01 2.41382993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681858064 meters 0.017776181359618216 Centerline is valid? [True, True] Translation: X:88.02, Y:-61.10, Z:0.24 [[ 4.49643845e-01 8.93206451e-01 -1.62737941e-03 8.80217929e+01] [ 8.93200439e-01 -4.49646789e-01 -3.27728735e-03 -6.10991700e+01] [-3.65904013e-03 2.00360825e-05 -9.99993305e-01 2.41389625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.711858064 meters 0.0181418982400295 Centerline is valid? [True, True] Translation: X:88.03, Y:-61.11, Z:0.24 [[ 3.81072256e-01 9.24543501e-01 -1.80299082e-03 8.80257452e+01] [ 9.24532534e-01 -3.81076518e-01 -4.50336759e-03 -6.11064804e+01] [-4.85063670e-03 4.91847802e-05 -9.99988234e-01 2.41785007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741858064 meters 0.018594471492425584 Centerline is valid? [True, True] Translation: X:88.03, Y:-61.11, Z:0.24 [[ 3.09248018e-01 9.50980245e-01 -1.49576440e-03 8.80292446e+01] [ 9.50968147e-01 -3.09251630e-01 -4.79719870e-03 -6.11139045e+01] [-5.02460877e-03 6.10998896e-05 -9.99987375e-01 2.42309517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77185806399999 meters 0.018426396672824856 Centerline is valid? [True, True] Translation: X:88.04, Y:-61.12, Z:0.24 [[ 2.35477639e-01 9.71879144e-01 -1.10069571e-03 8.80389558e+01] [ 9.71867124e-01 -2.35480202e-01 -4.83393441e-03 -6.11217226e+01] [-4.95719208e-03 6.85534900e-05 -9.99987711e-01 2.42474129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.801858064 meters 0.018937764481277642 Centerline is valid? [True, True] Translation: X:88.05, Y:-61.13, Z:0.24 [[ 1.62196727e-01 9.86758188e-01 -7.07330345e-04 8.80463334e+01] [ 9.86746386e-01 -1.62198247e-01 -4.82685438e-03 -6.11285928e+01] [-4.87766582e-03 8.49443203e-05 -9.99988101e-01 2.41833557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.831858064 meters 0.0194154338601536 Centerline is valid? [True, True] Translation: X:88.05, Y:-61.14, Z:0.24 [[ 8.54942671e-02 9.96338611e-01 -3.19373924e-04 8.80538759e+01] [ 9.96327321e-01 -8.54948190e-02 -4.74391328e-03 -6.11356245e+01] [-4.75384878e-03 8.73764227e-05 -9.99988697e-01 2.41093620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.861858064 meters 0.019385469327060572 Centerline is valid? [True, True] Translation: X:88.06, Y:-61.14, Z:0.24 [[ 8.04753188e-03 9.99967617e-01 4.65783810e-05 8.80636391e+01] [ 9.99958174e-01 -8.04725343e-03 -4.34642079e-03 -6.11409704e+01] [-4.34590521e-03 8.15543927e-05 -9.99990553e-01 2.40123469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.891858064 meters 0.01962956446496671 Centerline is valid? [True, True] Translation: X:88.07, Y:-61.15, Z:0.24 [[-6.94991229e-02 9.97581976e-01 2.70323579e-04 8.80737290e+01] [ 9.97577159e-01 6.94996275e-02 -3.10071146e-03 -6.11455722e+01] [-3.11200125e-03 5.41719010e-05 -9.99995156e-01 2.38994853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.921858064 meters 0.01965432114322753 Centerline is valid? [True, True] Translation: X:88.08, Y:-61.15, Z:0.24 [[-1.47899546e-01 9.89002315e-01 3.79921254e-04 8.80839184e+01] [ 9.88999613e-01 1.47900030e-01 -2.31206831e-03 -6.11510611e+01] [-2.34283127e-03 3.37881207e-05 -9.99997255e-01 2.38327155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.951858064 meters 0.01953677361329608 Centerline is valid? [True, True] Translation: X:88.09, Y:-61.15, Z:0.24 [[-2.25649638e-01 9.74208388e-01 5.07247626e-04 8.80947586e+01] [ 9.74206189e-01 2.25650206e-01 -2.07039603e-03 -6.11543217e+01] [-2.13145771e-03 2.69796619e-05 -9.99997728e-01 2.38094403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981858064 meters 0.01952614172161901 Centerline is valid? [True, True] Translation: X:88.11, Y:-61.16, Z:0.24 [[-3.02352436e-01 9.53195991e-01 6.37956302e-04 8.81051324e+01] [ 9.53194024e-01 3.02353108e-01 -1.93655745e-03 -6.11578269e+01] [-2.03880687e-03 2.25732706e-05 -9.99997921e-01 2.37916540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.011858064 meters 0.019356987234853844 Centerline is valid? [True, True] Translation: X:88.12, Y:-61.16, Z:0.24 [[-3.77814578e-01 9.25880841e-01 9.01471908e-04 8.81157223e+01] [ 9.25878361e-01 3.77815652e-01 -2.14336338e-03 -6.11605635e+01] [-2.32508929e-03 2.48594000e-05 -9.99997297e-01 2.37925536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041858064 meters 0.019172006902471662 Centerline is valid? [True, True] Translation: X:88.12, Y:-61.16, Z:0.24 [[-4.50334595e-01 8.92859041e-01 1.21854784e-03 8.81229890e+01] [ 8.92855941e-01 4.50336243e-01 -2.35299078e-03 -6.11632445e+01] [-2.64964535e-03 2.83545264e-05 -9.99996489e-01 2.37201287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.071858064 meters 0.01924313314720222 Centerline is valid? [True, True] Translation: X:88.13, Y:-61.17, Z:0.24 [[-5.19390307e-01 8.54536163e-01 1.28649486e-03 8.81301976e+01] [ 8.54533650e-01 5.19391900e-01 -2.07250516e-03 -6.11670735e+01] [-2.43922562e-03 2.29140597e-05 -9.99997025e-01 2.37128822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101858064 meters 0.018359804199550238 Centerline is valid? [True, True] Translation: X:88.14, Y:-61.16, Z:0.24 [[-5.85096128e-01 8.10962684e-01 1.43045499e-03 8.81438432e+01] [ 8.10960349e-01 5.85097876e-01 -1.94597254e-03 -6.11636522e+01] [-2.41506729e-03 2.14612789e-05 -9.99997083e-01 2.36687477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.131858064 meters 0.018359804199550238 Centerline is valid? [True, True] Translation: X:88.15, Y:-61.16, Z:0.24 [[-6.46801588e-01 7.62656683e-01 1.57789335e-03 8.81540704e+01] [ 7.62654494e-01 6.46803512e-01 -1.82723815e-03 -6.11614996e+01] [-2.41414234e-03 2.15269194e-05 -9.99997086e-01 2.36679413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161858064 meters 0.018054789922616325 Centerline is valid? [True, True] Translation: X:88.17, Y:-61.16, Z:0.24 [[-7.05443959e-01 7.08763937e-01 1.58170371e-03 8.81662451e+01] [ 7.08762204e-01 7.05445732e-01 -1.56741693e-03 -6.11561063e+01] [-2.22673473e-03 1.53270038e-05 -9.99997521e-01 2.36997985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191858064 meters 0.018282049417239654 Centerline is valid? [True, True] Translation: X:88.19, Y:-61.14, Z:0.24 [[-7.54193170e-01 6.56651008e-01 1.45488318e-03 8.81871812e+01] [ 6.56649815e-01 7.54194573e-01 -1.25184491e-03 -6.11373683e+01] [-1.91929022e-03 1.12158828e-05 -9.99998158e-01 2.36783467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221858064 meters 0.017931581735848988 Centerline is valid? [True, True] Translation: X:88.21, Y:-61.12, Z:0.24 [[-7.99071110e-01 6.01235014e-01 1.34887398e-03 8.82098926e+01] [ 6.01234171e-01 7.99072248e-01 -1.00689091e-03 -6.11170565e+01] [-1.68322583e-03 6.41169170e-06 -9.99998583e-01 2.36201111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251858064 meters 0.017916222448916025 Centerline is valid? [True, True] Translation: X:88.23, Y:-61.09, Z:0.24 [[-8.40320128e-01 5.42088340e-01 1.52161520e-03 8.82294165e+01] [ 5.42087464e-01 8.40321505e-01 -9.74239794e-04 -6.10937571e+01] [-1.80677001e-03 6.17521602e-06 -9.99998368e-01 2.35973107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281858064 meters 0.01796052196933736 Centerline is valid? [True, True] Translation: X:88.24, Y:-61.07, Z:0.24 [[-8.76833491e-01 4.80791666e-01 1.54991941e-03 8.82426224e+01] [ 4.80790924e-01 8.76834861e-01 -8.44576124e-04 -6.10679825e+01] [-1.76508853e-03 4.63455437e-06 -9.99998442e-01 2.36161930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311858064 meters 0.01790990117597177 Centerline is valid? [True, True] Translation: X:88.26, Y:-61.04, Z:0.24 [[-9.08737312e-01 4.17365379e-01 1.62444660e-03 8.82582743e+01] [ 4.17364722e-01 9.08738763e-01 -7.40802098e-04 -6.10435041e+01] [-1.78538274e-03 4.79219692e-06 -9.99998406e-01 2.36274803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341858064 meters 0.01808345815367769 Centerline is valid? [True, True] Translation: X:88.27, Y:-61.02, Z:0.24 [[-9.36063569e-01 3.51825494e-01 1.95376358e-03 8.82712872e+01] [ 3.51824747e-01 9.36065608e-01 -7.24791167e-04 -6.10170096e+01] [-2.08385091e-03 8.93177289e-06 -9.99997829e-01 2.37045006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371858064 meters 0.017812285212392677 Centerline is valid? [True, True] Translation: X:88.28, Y:-60.99, Z:0.24 [[-9.58610189e-01 2.84714329e-01 2.06323666e-03 8.82801590e+01] [ 2.84713691e-01 9.58612409e-01 -6.02793318e-04 -6.09885948e+01] [-2.14946816e-03 9.58791083e-06 -9.99997690e-01 2.36857116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401858064 meters 0.018204396852148145 Centerline is valid? [True, True] Translation: X:88.30, Y:-60.96, Z:0.24 [[-9.76357074e-01 2.16152587e-01 2.21900834e-03 8.82969024e+01] [ 2.16152056e-01 9.76359595e-01 -4.79471305e-04 -6.09642261e+01] [-2.27018904e-03 1.15080132e-05 -9.99997423e-01 2.36979460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.431858064 meters 0.018036179105968067 Centerline is valid? [True, True] Translation: X:88.30, Y:-60.94, Z:0.24 [[-9.89244532e-01 1.46252953e-01 2.30870463e-03 8.82984424e+01] [ 1.46252583e-01 9.89247226e-01 -3.28886913e-04 -6.09352993e+01] [-2.33198033e-03 1.23044352e-05 -9.99997281e-01 2.36961093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461858064 meters 0.018041278291850753 Centerline is valid? [True, True] Translation: X:88.29, Y:-60.91, Z:0.24 [[-9.97169609e-01 7.51000492e-02 3.57131088e-03 8.82900103e+01] [ 7.50996685e-02 9.97176003e-01 -2.40778129e-04 -6.09057193e+01] [-3.57930796e-03 2.81076311e-05 -9.99993594e-01 2.36791161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.491858064 meters 0.017726040728142933 Centerline is valid? [True, True] Translation: X:88.35, Y:-60.17, Z:-0.73 [[-9.93326421e-01 -1.15286445e-01 3.41421306e-03 8.83496413e+01] [ 1.15285641e-01 -9.93332288e-01 -4.31800124e-04 -6.01728750e+01] [ 3.44122877e-03 -3.53087297e-05 9.99994078e-01 -7.34898171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52185806399999 meters 0.017571402502032294 Centerline is valid? [True, True] Translation: X:88.23, Y:-60.90, Z:0.24 [[-9.97543863e-01 6.99204184e-02 4.16844831e-03 8.82320653e+01] [ 6.99199520e-02 9.97552572e-01 -2.57687700e-04 -6.08992851e+01] [-4.17626396e-03 3.44029216e-05 -9.99991279e-01 2.36868018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.551858064 meters 0.017499463528456206 Centerline is valid? [True, True] Translation: X:88.28, Y:-60.17, Z:-0.73 [[-9.93871909e-01 -1.10463732e-01 4.04880572e-03 8.82754828e+01] [ 1.10462653e-01 -9.93880155e-01 -4.89736904e-04 -6.01697117e+01] [ 4.07812583e-03 -3.94939285e-05 9.99991684e-01 -7.34633013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.581858064 meters 0.01765975155756528 Centerline is valid? [True, True] Translation: X:88.16, Y:-60.89, Z:0.24 [[-9.97849872e-01 6.52988057e-02 5.63009447e-03 8.81584591e+01] [ 6.52980793e-02 9.97865754e-01 -3.12947528e-04 -6.08948878e+01] [-5.63851356e-03 5.53597039e-05 -9.99984102e-01 2.37513397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.611858064 meters 0.017770536530700806 Centerline is valid? [True, True] Translation: X:88.20, Y:-60.17, Z:-0.74 [[-9.94462972e-01 -1.04903084e-01 6.22416190e-03 8.82009894e+01] [ 1.04900882e-01 -9.94482450e-01 -6.80055545e-04 -6.01665624e+01] [ 6.26115970e-03 -2.33699862e-05 9.99980398e-01 -7.36097775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.641858064 meters 0.01807657081957528 Centerline is valid? [True, True] Translation: X:88.08, Y:-60.89, Z:0.24 [[-9.98052852e-01 6.19968386e-02 6.84808329e-03 8.80839920e+01] [ 6.19959416e-02 9.98076342e-01 -3.43393637e-04 -6.08912346e+01] [-6.85619925e-03 8.18283735e-05 -9.99976493e-01 2.39031489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.671858064 meters 0.01812608875270727 Centerline is valid? [True, True] Translation: X:88.09, Y:-60.86, Z:0.24 [[-9.99939383e-01 -7.93120809e-03 7.63720712e-03 8.80895853e+01] [-7.93018608e-03 9.99968542e-01 1.64093832e-04 -6.08632646e+01] [-7.63826833e-03 1.03519412e-04 -9.99970823e-01 2.38796640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701858064 meters 0.01874246614580866 Centerline is valid? [True, True] Translation: X:88.08, Y:-60.84, Z:0.24 [[-9.97086829e-01 -7.58881180e-02 7.67132687e-03 8.80830167e+01] [-7.58848716e-02 9.97116331e-01 7.13785502e-04 -6.08373565e+01] [-7.70337314e-03 1.29568468e-04 -9.99970320e-01 2.38322944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.731858064 meters 0.01880582349038173 Centerline is valid? [True, True] Translation: X:88.07, Y:-60.81, Z:0.24 [[-9.89328794e-01 -1.45530718e-01 7.02474894e-03 8.80704278e+01] [-1.45526123e-01 9.89353725e-01 1.16360978e-03 -6.08106511e+01] [-7.11930250e-03 1.28908180e-04 -9.99974649e-01 2.37612256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761858064 meters 0.01966118540765752 Centerline is valid? [True, True] Translation: X:88.04, Y:-60.79, Z:0.24 [[-9.76577985e-01 -2.15059974e-01 6.68183314e-03 8.80435374e+01] [-2.15054010e-01 9.76600835e-01 1.60708736e-03 -6.07893026e+01] [-6.87110398e-03 1.32491127e-04 -9.99976385e-01 2.37244543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.791858064 meters 0.019536472999563386 Centerline is valid? [True, True] Translation: X:87.99, Y:-60.77, Z:0.24 [[-9.58592306e-01 -2.84705123e-01 6.61699931e-03 8.79912198e+01] [-2.84697306e-01 9.58615133e-01 2.11459052e-03 -6.07728084e+01] [-6.94519043e-03 1.43188322e-04 -9.99975872e-01 2.36569412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821858064 meters 0.019770943254370017 Centerline is valid? [True, True] Translation: X:87.93, Y:-60.77, Z:0.24 [[-9.35078775e-01 -3.54379908e-01 6.52418411e-03 8.79274179e+01] [-3.54370188e-01 9.35101524e-01 2.62875006e-03 -6.07653190e+01] [-7.03235070e-03 1.46112031e-04 -9.99975262e-01 2.37147731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851858064 meters 0.01980915756858095 Centerline is valid? [True, True] Translation: X:87.86, Y:-60.77, Z:0.24 [[-9.06211273e-01 -4.22778629e-01 6.27378895e-03 8.78563653e+01] [-4.22767380e-01 9.06232978e-01 3.08756789e-03 -6.07650654e+01] [-6.99087216e-03 1.45635514e-04 -9.99975553e-01 2.37371631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881858064 meters 0.01972069765712134 Centerline is valid? [True, True] Translation: X:87.78, Y:-60.78, Z:0.24 [[-8.72175719e-01 -4.89155375e-01 6.04441089e-03 8.77754680e+01] [-4.89142456e-01 8.72196651e-01 3.55820592e-03 -6.07756517e+01] [-7.01243049e-03 1.46802817e-04 -9.99975402e-01 2.37064375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911858064 meters 0.018923842421321772 Centerline is valid? [True, True] Translation: X:87.69, Y:-60.79, Z:0.24 [[-8.32986527e-01 -5.53256684e-01 6.36293547e-03 8.76884055e+01] [-5.53239028e-01 8.33010813e-01 4.42295789e-03 -6.07940488e+01] [-7.74742506e-03 1.64040092e-04 -9.99969975e-01 2.36641677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941858064 meters 0.019230650298534966 Centerline is valid? [True, True] Translation: X:87.60, Y:-60.82, Z:0.24 [[-7.88956872e-01 -6.14414927e-01 6.43057903e-03 8.76000236e+01] [-6.14392683e-01 7.88983059e-01 5.23112357e-03 -6.08249760e+01] [-8.28769832e-03 1.76230183e-04 -9.99965641e-01 2.36911771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971858064 meters 0.020377932973745457 Centerline is valid? [True, True] Translation: X:87.51, Y:-60.87, Z:0.24 [[-7.40150300e-01 -6.72413867e-01 6.09304878e-03 8.75116254e+01] [-6.72389077e-01 7.40175358e-01 5.77658282e-03 -6.08675005e+01] [-8.39417895e-03 1.78640058e-04 -9.99964752e-01 2.37680510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001858064 meters 0.020574711101492064 Centerline is valid? [True, True] Translation: X:87.42, Y:-60.92, Z:0.24 [[-6.86467381e-01 -7.27135646e-01 6.02397251e-03 8.74203921e+01] [-7.27105236e-01 6.86493786e-01 6.65267700e-03 -6.09177980e+01] [-8.97281828e-03 1.86783805e-04 -9.99959726e-01 2.37999406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031858064 meters 0.02073312629012915 Centerline is valid? [True, True] Translation: X:87.33, Y:-60.98, Z:0.24 [[-6.28903346e-01 -7.77464804e-01 5.39076032e-03 8.73308222e+01] [-7.77433751e-01 6.28926424e-01 6.95098574e-03 -6.09789118e+01] [-8.79453838e-03 1.80539172e-04 -9.99961311e-01 2.38167080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061858064 meters 0.01929345646449786 Centerline is valid? [True, True] Translation: X:87.24, Y:-61.05, Z:0.24 [[-5.67416538e-01 -8.23418697e-01 4.48563059e-03 8.72408702e+01] [-8.23390679e-01 5.67434245e-01 6.79462391e-03 -6.10479655e+01] [-8.14012078e-03 1.61955568e-04 -9.99966856e-01 2.37149400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091858064 meters 0.0192362711757705 Centerline is valid? [True, True] Translation: X:87.16, Y:-61.12, Z:0.24 [[-5.02398492e-01 -8.64628219e-01 3.71472118e-03 8.71597831e+01] [-8.64602391e-01 5.02412204e-01 6.68452623e-03 -6.11239959e+01] [-7.64595126e-03 1.46539086e-04 -9.99970759e-01 2.36788839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121858064 meters 0.01883033814682612 Centerline is valid? [True, True] Translation: X:87.08, Y:-61.21, Z:0.24 [[-4.33341858e-01 -9.01225968e-01 2.56678229e-03 8.70806184e+01] [-9.01208717e-01 4.33349447e-01 5.57714132e-03 -6.12106969e+01] [-6.13857827e-03 1.03602205e-04 -9.99981153e-01 2.35357766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151858064 meters 0.01882488005247505 Centerline is valid? [True, True] Translation: X:87.01, Y:-61.30, Z:0.23 [[-3.62235444e-01 -9.32084318e-01 2.07524937e-03 8.70101214e+01] [-9.32067480e-01 3.62241376e-01 5.60334188e-03 -6.13033560e+01] [-5.97452829e-03 9.54565787e-05 -9.99982148e-01 2.34982582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181858064 meters 0.0185908060731185 Centerline is valid? [True, True] Translation: X:86.95, Y:-61.40, Z:0.23 [[-2.88655817e-01 -9.57431656e-01 1.56310969e-03 8.69458302e+01] [-9.57416006e-01 2.88660037e-01 5.47492420e-03 -6.14038166e+01] [-5.69307304e-03 8.38224752e-05 -9.99983791e-01 2.34898462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.211858064 meters 0.018436866208096064 Centerline is valid? [True, True] Translation: X:86.89, Y:-61.52, Z:0.24 [[-2.13407056e-01 -9.76962700e-01 1.14535949e-03 8.68878634e+01] [-9.76946563e-01 2.13410115e-01 5.61572564e-03 -6.15156618e+01] [-5.73078578e-03 7.94804582e-05 -9.99983576e-01 2.35044487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241858064 meters 0.017484295143626635 Centerline is valid? [True, True] Translation: X:86.84, Y:-61.62, Z:0.23 [[-1.34999348e-01 -9.90845423e-01 7.24136305e-04 8.68374539e+01] [-9.90828457e-01 1.35001274e-01 5.79865670e-03 -6.16222636e+01] [-5.84333177e-03 6.53200132e-05 -9.99982925e-01 2.34016997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27185806399999 meters 0.017394490359798575 Centerline is valid? [True, True] Translation: X:86.80, Y:-61.74, Z:0.23 [[-5.72007657e-02 -9.98362664e-01 2.53906491e-04 8.67973468e+01] [-9.98348471e-01 5.72013065e-02 5.32365077e-03 -6.17362904e+01] [-5.32945794e-03 5.10297428e-05 -9.99985797e-01 2.33530898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.301858064 meters 0.017099349740782765 Centerline is valid? [True, True] Translation: X:86.76, Y:-61.86, Z:0.23 [[ 2.19531110e-02 -9.99758992e-01 -1.37163748e-04 8.67635877e+01] [-9.99747586e-01 -2.19535157e-02 4.77571464e-03 -6.18560494e+01] [-4.77757488e-03 3.22873322e-05 -9.99988587e-01 2.33952682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.331858064 meters 0.016942778886802477 Centerline is valid? [True, True] Translation: X:86.74, Y:-61.98, Z:0.23 [[ 9.98747792e-02 -9.94999875e-01 -5.27046874e-04 8.67418349e+01] [-9.94987500e-01 -9.98761656e-02 4.96252172e-03 -6.19763749e+01] [-4.99034791e-03 2.87742909e-05 -9.99987548e-01 2.34216719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.361858064 meters 0.016860345311370577 Centerline is valid? [True, True] Translation: X:86.73, Y:-62.10, Z:0.24 [[ 1.77014152e-01 -9.84207722e-01 -1.07218864e-03 8.67302683e+01] [-9.84190737e-01 -1.77017396e-01 5.78234131e-03 -6.20986764e+01] [-5.88082101e-03 3.16818903e-05 -9.99982707e-01 2.35090023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.391858064 meters 0.016833727007044764 Centerline is valid? [True, True] Translation: X:86.73, Y:-62.21, Z:0.24 [[ 2.52811055e-01 -9.67514271e-01 -1.64483408e-03 8.67265042e+01] [-9.67494598e-01 -2.52816404e-01 6.17004771e-03 -6.22129781e+01] [-6.38545025e-03 3.15118149e-05 -9.99979612e-01 2.35546397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421858064 meters 0.01683893131209095 Centerline is valid? [True, True] Translation: X:86.73, Y:-62.33, Z:0.24 [[ 3.27310921e-01 -9.44913687e-01 -2.38422936e-03 8.67320387e+01] [-9.44889276e-01 -3.27319603e-01 6.79216055e-03 -6.23319948e+01] [-7.19841048e-03 2.96844324e-05 -9.99974091e-01 2.36841112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.451858064 meters 0.016901393511620424 Centerline is valid? [True, True] Translation: X:86.75, Y:-62.45, Z:0.24 [[ 3.99399244e-01 -9.16771615e-01 -3.17023559e-03 8.67471389e+01] [-9.16743303e-01 -3.99411824e-01 7.20488028e-03 -6.24481224e+01] [-7.87145931e-03 2.86685135e-05 -9.99969019e-01 2.37465336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481858064 meters 0.01679058396162089 Centerline is valid? [True, True] Translation: X:86.77, Y:-62.57, Z:0.24 [[ 4.69081777e-01 -8.83148210e-01 -3.39503575e-03 8.67718173e+01] [-8.83125368e-01 -4.69094062e-01 6.35182663e-03 -6.25655107e+01] [-7.20219543e-03 1.87160735e-05 -9.99974064e-01 2.36988347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.511858064 meters 0.016738006102183466 Centerline is valid? [True, True] Translation: X:86.80, Y:-62.67, Z:0.24 [[ 5.36062071e-01 -8.44173275e-01 -2.98953811e-03 8.68007640e+01] [-8.44160193e-01 -5.36070407e-01 4.69968522e-03 -6.26729287e+01] [-5.56995157e-03 4.32607528e-06 -9.99984488e-01 2.36117333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541858064 meters 0.01665274188334011 Centerline is valid? [True, True] Translation: X:86.84, Y:-62.78, Z:0.24 [[ 5.98944842e-01 -8.00784235e-01 -3.11209364e-03 8.68409973e+01] [-8.00773445e-01 -5.98952927e-01 4.15706348e-03 -6.27807681e+01] [-5.19290849e-03 2.23021269e-06 -9.99986517e-01 2.35053298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571858064 meters 0.01661317964499861 Centerline is valid? [True, True] Translation: X:86.88, Y:-62.88, Z:0.23 [[ 6.58253803e-01 -7.52789518e-01 -3.14205467e-03 8.68844564e+01] [-7.52780941e-01 -6.58261302e-01 3.59348137e-03 -6.28777454e+01] [-4.77342811e-03 -1.43903971e-07 -9.99988607e-01 2.34624723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601858064 meters 0.016591821647437974 Centerline is valid? [True, True] Translation: X:86.94, Y:-62.97, Z:0.24 [[ 7.13277676e-01 -7.00870934e-01 -3.85886350e-03 8.69364444e+01] [-7.00860712e-01 -7.13288115e-01 3.78519094e-03 -6.29719474e+01] [-5.40541178e-03 4.63362403e-06 -9.99985391e-01 2.35073290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631858064 meters 0.016630331459711108 Centerline is valid? [True, True] Translation: X:86.93, Y:-62.98, Z:0.24 [[ 7.65488620e-01 -6.43431895e-01 -4.75073024e-03 8.69326698e+01] [-6.43419599e-01 -7.65503361e-01 3.97783421e-03 -6.29835539e+01] [-6.19616537e-03 1.17261238e-05 -9.99980804e-01 2.35415493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661858064 meters 0.01655361278612683 Centerline is valid? [True, True] Translation: X:86.93, Y:-62.99, Z:0.24 [[ 8.13218175e-01 -5.81935240e-01 -5.25124445e-03 8.69302656e+01] [-5.81923231e-01 -8.13235130e-01 3.73858091e-03 -6.29940405e+01] [-6.44610844e-03 1.55391888e-05 -9.99979224e-01 2.35732772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691858064 meters 0.01658797002956377 Centerline is valid? [True, True] Translation: X:86.93, Y:-63.00, Z:0.24 [[ 8.55625010e-01 -5.17560663e-01 -6.06649564e-03 8.69307727e+01] [-5.17547878e-01 -8.55646515e-01 3.63792873e-03 -6.30042027e+01] [-7.07362466e-03 2.69991409e-05 -9.99974981e-01 2.35769364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721858064 meters 0.016657860078108228 Centerline is valid? [True, True] Translation: X:86.93, Y:-63.01, Z:0.24 [[ 8.93376157e-01 -4.49258333e-01 -6.78178579e-03 8.69302550e+01] [-4.49245662e-01 -8.93401897e-01 3.37439687e-03 -6.30135261e+01] [-7.57483620e-03 3.20821420e-05 -9.99971310e-01 2.36283717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751858064 meters 0.016713094190843582 Centerline is valid? [True, True] Translation: X:86.93, Y:-63.02, Z:0.24 [[ 9.25681922e-01 -3.78231913e-01 -7.32118714e-03 8.69318271e+01] [-3.78220390e-01 -9.25710872e-01 2.95251677e-03 -6.30221167e+01] [-7.89403860e-03 3.59308589e-05 -9.99968841e-01 2.36668220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781858064 meters 0.016621878587287763 Centerline is valid? [True, True] Translation: X:86.93, Y:-63.03, Z:0.24 [[ 9.52300683e-01 -3.05064769e-01 -7.67430400e-03 8.69332576e+01] [-3.05055203e-01 -9.52331605e-01 2.41627322e-03 -6.30314064e+01] [-8.04560208e-03 4.00677201e-05 -9.99967633e-01 2.36164234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811858064 meters 0.016862243483299382 Centerline is valid? [True, True] Translation: X:86.94, Y:-63.04, Z:0.24 [[ 9.72852180e-01 -2.31293667e-01 -7.86612418e-03 8.69361363e+01] [-2.31286552e-01 -9.72883979e-01 1.81504439e-03 -6.30376496e+01] [-8.07263447e-03 5.35588509e-05 -9.99967414e-01 2.36623728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841858064 meters 0.017097637105406686 Centerline is valid? [True, True] Translation: X:86.94, Y:-63.04, Z:0.24 [[ 9.87779054e-01 -1.55647943e-01 -8.13990329e-03 8.69387327e+01] [-1.55643197e-01 -9.87812590e-01 1.21726444e-03 -6.30423150e+01] [-8.23016367e-03 6.45322497e-05 -9.99966130e-01 2.37226636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871858064 meters 0.016927354433751433 Centerline is valid? [True, True] Translation: X:86.94, Y:-63.05, Z:0.24 [[ 9.96870963e-01 -7.85751212e-02 -8.61589247e-03 8.69388232e+01] [-7.85728354e-02 -9.96908193e-01 6.03998059e-04 -6.30496852e+01] [-8.63671301e-03 7.48669737e-05 -9.99962700e-01 2.36959706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901858064 meters 0.01708066533308763 Centerline is valid? [True, True] Translation: X:86.94, Y:-63.05, Z:0.24 [[ 9.99952865e-01 -1.75638251e-03 -9.54894929e-03 8.69387925e+01] [-1.75724631e-03 -9.99998453e-01 -8.20706991e-05 -6.30537564e+01] [-9.54879037e-03 9.88466865e-05 -9.99954404e-01 2.36783191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.931858064 meters 0.016988289238678084 Centerline is valid? [True, True] Translation: X:86.94, Y:-63.06, Z:0.24 [[ 9.97048011e-01 7.61479344e-02 -9.83649386e-03 8.69397806e+01] [ 7.61431731e-02 -9.97096525e-01 -8.58182115e-04 -6.30617207e+01] [-9.87328264e-03 1.06666915e-04 -9.99951252e-01 2.36227482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961858064 meters 0.017173773839697575 Centerline is valid? [True, True] Translation: X:86.94, Y:-63.07, Z:0.24 [[ 9.88057308e-01 1.53772406e-01 -9.83885696e-03 8.69395601e+01] [ 1.53763672e-01 -9.88106287e-01 -1.64269410e-03 -6.30686508e+01] [-9.97443745e-03 1.10217144e-04 -9.99950248e-01 2.36348855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.991858064 meters 0.01701934408209772 Centerline is valid? [True, True] Translation: X:86.94, Y:-63.08, Z:0.24 [[ 9.73069922e-01 2.30288090e-01 -1.01154631e-02 8.69421813e+01] [ 2.30274367e-01 -9.73122490e-01 -2.51685520e-03 -6.30789404e+01] [-1.04231864e-02 1.19744239e-04 -9.99945670e-01 2.36055814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02185806399999 meters 0.01701934408209772 Centerline is valid? [True, True] Translation: X:86.95, Y:-63.09, Z:0.24 [[ 9.52070940e-01 3.05717481e-01 -9.88676338e-03 8.69450778e+01] [ 3.05699689e-01 -9.52122265e-01 -3.30036335e-03 -6.30895941e+01] [-1.04223863e-02 1.19799544e-04 -9.99945678e-01 2.36048482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.051858064 meters 0.017462724306173776 Centerline is valid? [True, True] Translation: X:86.95, Y:-63.10, Z:0.24 [[ 9.25288431e-01 3.79134312e-01 -9.92430342e-03 8.69467502e+01] [ 3.79111034e-01 -9.25341643e-01 -4.20314797e-03 -6.30953592e+01] [-1.07769289e-02 1.26711259e-04 -9.99941919e-01 2.37306389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.081858064 meters 0.01719616672591272 Centerline is valid? [True, True] Translation: X:86.95, Y:-63.10, Z:0.24 [[ 8.92849386e-01 4.50254099e-01 -9.55088422e-03 8.69498577e+01] [ 4.50226796e-01 -8.92900459e-01 -4.96003069e-03 -6.31026243e+01] [-1.07612630e-02 1.28496354e-04 -9.99942088e-01 2.36561922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.111858064 meters 0.017158860214595936 Centerline is valid? [True, True] Translation: X:86.95, Y:-63.11, Z:0.24 [[ 8.54894028e-01 5.18722549e-01 -9.11685264e-03 8.69531325e+01] [ 5.18691436e-01 -8.54942630e-01 -5.68280256e-03 -6.31085215e+01] [-1.07421838e-02 1.29360585e-04 -9.99942293e-01 2.36195394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.141858064 meters 0.017041294830644187 Centerline is valid? [True, True] Translation: X:86.96, Y:-63.11, Z:0.24 [[ 8.11574055e-01 5.84193455e-01 -8.09692428e-03 8.69563819e+01] [ 5.84162922e-01 -8.11614436e-01 -5.97394360e-03 -6.31145608e+01] [-1.00615194e-02 1.18374684e-04 -9.99949375e-01 2.35456664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.171858064 meters 0.01760630751371952 Centerline is valid? [True, True] Translation: X:86.96, Y:-63.12, Z:0.24 [[ 7.63127934e-01 6.46198650e-01 -7.94110393e-03 8.69582211e+01] [ 6.46162005e-01 -7.63169241e-01 -6.88281598e-03 -6.31191915e+01] [-1.05080726e-02 1.21229504e-04 -9.99944781e-01 2.36468355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201858064 meters 0.01696516300176191 Centerline is valid? [True, True] Translation: X:86.96, Y:-63.13, Z:0.24 [[ 7.10089715e-01 7.04072106e-01 -7.42061537e-03 8.69632392e+01] [ 7.04031876e-01 -7.10128478e-01 -7.52743935e-03 -6.31267608e+01] [-1.05694504e-02 1.20807500e-04 -9.99944135e-01 2.35229770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.231858064 meters 0.017184997752802286 Centerline is valid? [True, True] Translation: X:86.96, Y:-63.13, Z:0.24 [[ 6.53003855e-01 7.57321960e-01 -7.02945457e-03 8.69644181e+01] [ 7.57275948e-01 -6.53041677e-01 -8.34909489e-03 -6.31311342e+01] [-1.09134797e-02 1.28754280e-04 -9.99940438e-01 2.35472295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261858064 meters 0.017056139849517364 Centerline is valid? [True, True] Translation: X:86.97, Y:-63.14, Z:0.24 [[ 5.91395067e-01 8.06355172e-01 -6.57359666e-03 8.69681945e+01] [ 8.06302911e-01 -5.91431586e-01 -9.18124804e-03 -6.31361062e+01] [-1.12911795e-02 1.29434675e-04 -9.99936244e-01 2.35136000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.291858064 meters 0.016807526382836512 Centerline is valid? [True, True] Translation: X:86.97, Y:-63.14, Z:0.23 [[ 5.26156682e-01 8.50367607e-01 -5.83771448e-03 8.69746910e+01] [ 8.50312587e-01 -5.26189051e-01 -9.67404463e-03 -6.31432556e+01] [-1.12982356e-02 1.26181126e-04 -9.99936165e-01 2.34490638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321858064 meters 0.016792992661490567 Centerline is valid? [True, True] Translation: X:86.98, Y:-63.15, Z:0.23 [[ 4.57234922e-01 8.89331900e-01 -4.99976765e-03 8.69797413e+01] [ 8.89275952e-01 -4.57262242e-01 -9.97613811e-03 -6.31499267e+01] [-1.11583028e-02 1.15265584e-04 -9.99937738e-01 2.34407087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.351858064 meters 0.016657861432823096 Centerline is valid? [True, True] Translation: X:86.98, Y:-63.16, Z:0.23 [[ 3.84873825e-01 9.22960474e-01 -4.01286677e-03 8.69825198e+01] [ 9.22907730e-01 -3.84894733e-01 -9.86748521e-03 -6.31560024e+01] [-1.06518301e-02 9.42310119e-05 -9.99943263e-01 2.33594108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381858064 meters 0.016495153143300374 Centerline is valid? [True, True] Translation: X:86.99, Y:-63.16, Z:0.23 [[ 3.10744301e-01 9.50488616e-01 -3.06120317e-03 8.69889638e+01] [ 9.50439876e-01 -3.10759368e-01 -9.62588715e-03 -6.31621817e+01] [-1.01005937e-02 8.17000139e-05 -9.99948984e-01 2.32711325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.411858064 meters 0.016446411476208542 Centerline is valid? [True, True] Translation: X:86.99, Y:-63.17, Z:0.23 [[ 2.35040226e-01 9.71983205e-01 -2.17769716e-03 8.69946628e+01] [ 9.71938555e-01 -2.35050303e-01 -9.31673026e-03 -6.31673270e+01] [-9.56757371e-03 7.32185513e-05 -9.99954227e-01 2.32229106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441858064 meters 0.016364529173339866 Centerline is valid? [True, True] Translation: X:87.00, Y:-63.17, Z:0.23 [[ 1.57909766e-01 9.87452409e-01 -1.49878245e-03 8.70007048e+01] [ 9.87403345e-01 -1.57916861e-01 -9.84376888e-03 -6.31725098e+01] [-9.95693631e-03 7.45244411e-05 -9.99950426e-01 2.31773627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.471858064 meters 0.016349473709207453 Centerline is valid? [True, True] Translation: X:87.01, Y:-63.18, Z:0.23 [[ 7.95371385e-02 9.96831605e-01 -7.71154118e-04 8.70052418e+01] [ 9.96775125e-01 -7.95408411e-02 -1.06115819e-02 -6.31771945e+01] [-1.06392985e-02 7.53476199e-05 -9.99943398e-01 2.31954210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501858064 meters 0.016372684385633086 Centerline is valid? [True, True] Translation: X:87.01, Y:-63.18, Z:0.23 [[ 9.94225198e-04 9.99999504e-01 6.35030957e-05 8.70113474e+01] [ 9.99941397e-01 -9.93482845e-04 -1.07802931e-02 -6.31827105e+01] [-1.07802247e-02 7.42174133e-05 -9.99941889e-01 2.32356520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.531858064 meters 0.016329689196215504 Centerline is valid? [True, True] Translation: X:87.02, Y:-63.19, Z:0.23 [[-7.75549041e-02 9.96987665e-01 9.12534896e-04 8.70166883e+01] [ 9.96929229e-01 7.75602385e-02 -1.07945337e-02 -6.31869107e+01] [-1.08327934e-02 7.25636830e-05 -9.99941321e-01 2.32242058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561858064 meters 0.016391904686185947 Centerline is valid? [True, True] Translation: X:87.02, Y:-63.19, Z:0.23 [[-1.55412654e-01 9.87847898e-01 1.85377179e-03 8.70223864e+01] [ 9.87783458e-01 1.55423690e-01 -1.12834552e-02 -6.31912422e+01] [-1.14344575e-02 7.75333921e-05 -9.99934621e-01 2.32469163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.591858064 meters 0.01630386657009629 Centerline is valid? [True, True] Translation: X:87.03, Y:-63.20, Z:0.23 [[-2.32464201e-01 9.72600947e-01 2.79160628e-03 8.70300155e+01] [ 9.72534790e-01 2.32480949e-01 -1.13441540e-02 -6.31954424e+01] [-1.16823302e-02 7.78245363e-05 -9.99931756e-01 2.32522773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621858064 meters 0.016358306431500554 Centerline is valid? [True, True] Translation: X:87.04, Y:-63.20, Z:0.23 [[-3.08160309e-01 9.51327418e-01 3.65612083e-03 8.70378633e+01] [ 9.51263333e-01 3.08181988e-01 -1.10423922e-02 -6.32003118e+01] [-1.16316810e-02 7.51067083e-05 -9.99932347e-01 2.32850797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.651858064 meters 0.01621964476223588 Centerline is valid? [True, True] Translation: X:87.05, Y:-63.20, Z:0.23 [[-3.81922794e-01 9.24183836e-01 4.38368781e-03 8.70479406e+01] [ 9.24125061e-01 3.81947945e-01 -1.04229646e-02 -6.32027831e+01] [-1.13070759e-02 7.03080063e-05 -9.99936071e-01 2.31622660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681858064 meters 0.016311188371558 Centerline is valid? [True, True] Translation: X:87.06, Y:-63.21, Z:0.23 [[-4.53059774e-01 8.91464184e-01 5.33386895e-03 8.70561659e+01] [ 8.91404327e-01 4.53091165e-01 -1.03306167e-02 -6.32067278e+01] [-1.16261037e-02 7.42469769e-05 -9.99932412e-01 2.32330925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.711858064 meters 0.016261579690343368 Centerline is valid? [True, True] Translation: X:87.06, Y:-63.21, Z:0.23 [[-5.21360833e-01 8.53312487e-01 6.37822397e-03 8.70644579e+01] [ 8.53250501e-01 5.21399841e-01 -1.02853293e-02 -6.32088456e+01] [-1.21022049e-02 7.98549499e-05 -9.99926762e-01 2.32711386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741858064 meters 0.01629867376841973 Centerline is valid? [True, True] Translation: X:87.07, Y:-63.21, Z:0.23 [[-5.86447766e-01 8.09950146e-01 7.73165265e-03 8.70739538e+01] [ 8.09881780e-01 5.86498723e-01 -1.05238163e-02 -6.32096944e+01] [-1.30583709e-02 9.00560748e-05 -9.99914732e-01 2.32707861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77185806399999 meters 0.016321263226130575 Centerline is valid? [True, True] Translation: X:87.08, Y:-63.21, Z:0.23 [[-6.48432378e-01 7.61223744e-01 8.59440107e-03 8.70835460e+01] [ 7.61158620e-01 6.48489325e-01 -9.95741573e-03 -6.32097297e+01] [-1.31531986e-02 8.49916942e-05 -9.99913489e-01 2.32036147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.801858064 meters 0.01601159638416554 Centerline is valid? [True, True] Translation: X:87.09, Y:-63.21, Z:0.23 [[-7.06933619e-01 7.07224903e-01 8.82016860e-03 8.70946554e+01] [ 7.07170989e-01 7.06988637e-01 -8.73266234e-03 -6.32068340e+01] [-1.24117153e-02 6.39547628e-05 -9.99922970e-01 2.31113130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.831858064 meters 0.01598671264481523 Centerline is valid? [True, True] Translation: X:87.11, Y:-63.18, Z:0.23 [[-7.55691826e-01 6.54856326e-01 9.64664508e-03 8.71085943e+01] [ 6.54803944e-01 7.55753392e-01 -8.28285951e-03 -6.31822264e+01] [-1.27145677e-02 5.73720153e-05 -9.99919165e-01 2.30911940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.861858064 meters 0.016045935046063713 Centerline is valid? [True, True] Translation: X:87.14, Y:-63.18, Z:0.23 [[-8.00551777e-01 5.99170951e-01 1.05367876e-02 8.71429373e+01] [ 5.99119876e-01 8.00621114e-01 -7.82339611e-03 -6.31750837e+01] [-1.31235263e-02 4.97652011e-05 -9.99913882e-01 2.31179741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.891858064 meters 0.016000617296032315 Centerline is valid? [True, True] Translation: X:87.16, Y:-63.16, Z:0.23 [[-8.41162048e-01 5.40673321e-01 1.08980982e-02 8.71628212e+01] [ 5.40628621e-01 8.41232642e-01 -6.95244270e-03 -6.31555328e+01] [-1.29268362e-02 4.36928407e-05 -9.99916444e-01 2.30687351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921858064 meters 0.015862138749448963 Centerline is valid? [True, True] Translation: X:87.18, Y:-63.13, Z:0.23 [[-8.77155348e-01 4.80086626e-01 1.07390398e-02 8.71765563e+01] [ 4.80051266e-01 8.77221083e-01 -5.82692259e-03 -6.31316645e+01] [-1.22179398e-02 4.41733495e-05 -9.99925357e-01 2.29614749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.951858064 meters 0.016108512180679237 Centerline is valid? [True, True] Translation: X:87.19, Y:-63.11, Z:0.23 [[-9.08812203e-01 4.17068867e-01 1.06742823e-02 8.71853992e+01] [ 4.17040692e-01 9.08874886e-01 -4.84801129e-03 -6.31062044e+01] [-1.17235417e-02 4.56782513e-05 -9.99931276e-01 2.30113206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981858064 meters 0.01617393596637923 Centerline is valid? [True, True] Translation: X:87.21, Y:-63.08, Z:0.23 [[-9.35951257e-01 3.51966222e-01 1.07248759e-02 8.72067216e+01] [ 3.51943705e-01 9.36012701e-01 -3.98142853e-03 -6.30847709e+01] [-1.14399484e-02 4.81295223e-05 -9.99934560e-01 2.30184954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.011858064 meters 0.015979723453182392 Centerline is valid? [True, True] Translation: X:87.22, Y:-63.06, Z:0.23 [[-9.58286152e-01 2.85583569e-01 1.13875012e-02 8.72231545e+01] [ 2.85564159e-01 9.58353808e-01 -3.33005475e-03 -6.30592246e+01] [-1.18642641e-02 6.07168625e-05 -9.99929615e-01 2.29519983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041858064 meters 0.015954218659278218 Centerline is valid? [True, True] Translation: X:87.22, Y:-63.03, Z:0.23 [[-9.76064782e-01 2.17151561e-01 1.19474557e-02 8.72212260e+01] [ 2.17136126e-01 9.76137898e-01 -2.58986384e-03 -6.30302105e+01] [-1.22247573e-02 6.63493655e-05 -9.99925273e-01 2.29661365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.071858064 meters 0.016095364674676677 Centerline is valid? [True, True] Translation: X:87.24, Y:-63.01, Z:0.23 [[-9.89001951e-01 1.47358117e-01 1.26777993e-02 8.72361192e+01] [ 1.47346933e-01 9.89083202e-01 -1.81690237e-03 -6.30056870e+01] [-1.28071337e-02 7.11148654e-05 -9.99917983e-01 2.29555499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101858064 meters 0.01583608768090766 Centerline is valid? [True, True] Translation: X:87.35, Y:-62.21, Z:-0.73 [[-9.79525650e-01 -2.00950760e-01 1.21775296e-02 8.73514344e+01] [ 2.00934067e-01 -9.79601339e-01 -2.59176344e-03 -6.22113482e+01] [ 1.24499412e-02 -9.18182179e-05 9.99922492e-01 -7.28552922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.131858064 meters 0.01586927427701322 Centerline is valid? [True, True] Translation: X:87.17, Y:-62.99, Z:0.23 [[-9.89816908e-01 1.41806363e-01 1.23872300e-02 8.71673824e+01] [ 1.41795948e-01 9.89894415e-01 -1.71949470e-03 -6.29946463e+01] [-1.25058851e-02 5.44740983e-05 -9.99921797e-01 2.28307533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161858064 meters 0.01579022744588588 Centerline is valid? [True, True] Translation: X:87.29, Y:-62.20, Z:-0.73 [[-9.80320350e-01 -1.97071814e-01 1.16065366e-02 8.72923233e+01] [ 1.97056883e-01 -9.80389051e-01 -2.42761677e-03 -6.22049670e+01] [ 1.18573363e-02 -9.26941871e-05 9.99929695e-01 -7.28738860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.191858064 meters 0.015888323662112784 Centerline is valid? [True, True] Translation: X:87.11, Y:-62.99, Z:0.23 [[-9.90495549e-01 1.37026225e-01 1.19323392e-02 8.71137447e+01] [ 1.37016879e-01 9.90567419e-01 -1.60111431e-03 -6.29857801e+01] [-1.20391811e-02 4.90352756e-05 -9.99927525e-01 2.27645650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221858064 meters 0.015768113040901397 Centerline is valid? [True, True] Translation: X:87.23, Y:-62.20, Z:-0.73 [[-9.81158910e-01 -1.92877337e-01 1.12038086e-02 8.72324652e+01] [ 1.92863776e-01 -9.81222873e-01 -2.28877417e-03 -6.21985176e+01] [ 1.14348860e-02 -8.48423358e-05 9.99934616e-01 -7.27932948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.251858064 meters 0.015726935505705534 Centerline is valid? [True, True] Translation: X:87.06, Y:-62.98, Z:0.23 [[-9.91167847e-01 1.32087350e-01 1.17996361e-02 8.70573221e+01] [ 1.32078509e-01 9.91238079e-01 -1.52881829e-03 -6.29787277e+01] [-1.18981862e-02 4.31628010e-05 -9.99929213e-01 2.26901696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281858064 meters 0.0158144448638427 Centerline is valid? [True, True] Translation: X:87.17, Y:-62.19, Z:-0.73 [[-9.81922941e-01 -1.88953005e-01 1.11400479e-02 8.71668943e+01] [ 1.88939975e-01 -9.81986128e-01 -2.22027465e-03 -6.21891006e+01] [ 1.13589000e-02 -7.53382488e-05 9.99935483e-01 -7.27753384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.311858064 meters 0.016005563022974036 Centerline is valid? [True, True] Translation: X:86.98, Y:-62.97, Z:0.23 [[-9.91756457e-01 1.27562835e-01 1.21182890e-02 8.69821578e+01] [ 1.27553815e-01 9.91830490e-01 -1.51746420e-03 -6.29705909e+01] [-1.22128605e-02 4.07790759e-05 -9.99925419e-01 2.27601177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341858064 meters 0.01597688408514297 Centerline is valid? [True, True] Translation: X:87.00, Y:-62.94, Z:0.23 [[-9.98300191e-01 5.70080458e-02 1.21165336e-02 8.69967922e+01] [ 5.70043751e-02 9.98373718e-01 -6.48371904e-04 -6.29438474e+01] [-1.21337911e-02 4.34256316e-05 -9.99926382e-01 2.27223307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371858064 meters 0.015937703991595262 Centerline is valid? [True, True] Translation: X:87.00, Y:-62.92, Z:0.23 [[-9.99836031e-01 -1.39110876e-02 1.15928291e-02 8.70006179e+01] [-1.39096470e-02 9.99903235e-01 2.04891739e-04 -6.29168398e+01] [-1.15945576e-02 4.36059823e-05 -9.99932780e-01 2.27059051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401858064 meters 0.016001272974901077 Centerline is valid? [True, True] Translation: X:87.00, Y:-62.89, Z:0.23 [[-9.96323593e-01 -8.48288454e-02 1.19735029e-02 8.69974122e+01] [-8.48221332e-02 9.96395536e-01 1.06822109e-03 -6.28898950e+01] [-1.20209608e-02 4.86758172e-05 -9.99927744e-01 2.26608366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.431858064 meters 0.016007374409396796 Centerline is valid? [True, True] Translation: X:86.92, Y:-62.09, Z:-0.73 [[-9.99527267e-01 2.84332084e-02 1.16959533e-02 8.69246256e+01] [-2.84320625e-02 -9.99595692e-01 2.64274488e-04 -6.20909897e+01] [ 1.16987387e-02 -6.83905171e-05 9.99931565e-01 -7.27410276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461858064 meters 0.015777351537578067 Centerline is valid? [True, True] Translation: X:86.89, Y:-62.90, Z:0.22 [[-9.95769245e-01 -9.11125318e-02 1.19213077e-02 8.68903865e+01] [-9.11053367e-02 9.95840601e-01 1.14636678e-03 -6.29000259e+01] [-1.19761706e-02 5.54220323e-05 -9.99928282e-01 2.24690560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.491858064 meters 0.016400539201997473 Centerline is valid? [True, True] Translation: X:86.88, Y:-62.88, Z:0.23 [[-9.86758748e-01 -1.61736469e-01 1.21855840e-02 8.68752219e+01] [-1.61723355e-01 9.86833983e-01 2.06047749e-03 -6.28758730e+01] [-1.23584028e-02 6.25006605e-05 -9.99923630e-01 2.26044406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52185806399999 meters 0.016015817140625607 Centerline is valid? [True, True] Translation: X:86.85, Y:-62.85, Z:0.22 [[-9.72574968e-01 -2.32272323e-01 1.21449317e-02 8.68496842e+01] [-2.32253326e-01 9.72650792e-01 2.97144172e-03 -6.28526640e+01] [-1.25029611e-02 6.92490544e-05 -9.99921833e-01 2.24169806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.551858064 meters 0.01636591388780981 Centerline is valid? [True, True] Translation: X:86.80, Y:-62.84, Z:0.23 [[-9.53023696e-01 -3.02640923e-01 1.24220056e-02 8.67953531e+01] [-3.02614148e-01 9.53104646e-01 4.02639798e-03 -6.28408933e+01] [-1.30580240e-02 7.81780475e-05 -9.99914737e-01 2.25704889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.581858064 meters 0.016376512217589033 Centerline is valid? [True, True] Translation: X:86.73, Y:-62.84, Z:0.22 [[-9.28119585e-01 -3.72064944e-01 1.27166253e-02 8.67298510e+01] [-3.72028763e-01 9.28206696e-01 5.18938932e-03 -6.28370768e+01] [-1.37344466e-02 8.54234888e-05 -9.99905674e-01 2.24779981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.611858064 meters 0.016235363533811713 Centerline is valid? [True, True] Translation: X:86.66, Y:-62.84, Z:0.22 [[-8.97799159e-01 -4.40234432e-01 1.22602687e-02 8.66592151e+01] [-4.40192088e-01 8.97882864e-01 6.10641592e-03 -6.28384586e+01] [-1.36965397e-02 8.54618018e-05 -9.99906194e-01 2.23641003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.641858064 meters 0.016431027000391712 Centerline is valid? [True, True] Translation: X:86.58, Y:-62.85, Z:0.22 [[-8.62105609e-01 -5.06603847e-01 1.12454716e-02 8.65799584e+01] [-5.06559596e-01 8.62178947e-01 6.69621835e-03 -6.28506825e+01] [-1.30879388e-02 7.63458690e-05 -9.99914346e-01 2.23767544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.671858064 meters 0.016183279169425156 Centerline is valid? [True, True] Translation: X:86.49, Y:-62.87, Z:0.22 [[-8.21087700e-01 -5.70703245e-01 1.06204908e-02 8.64918845e+01] [-5.70654449e-01 8.21156381e-01 7.46312617e-03 -6.28746686e+01] [-1.29803141e-02 6.72508009e-05 -9.99915750e-01 2.21964791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701858064 meters 0.016180181148495454 Centerline is valid? [True, True] Translation: X:86.39, Y:-62.92, Z:0.22 [[-7.75110822e-01 -6.31743216e-01 1.01844355e-02 8.63909816e+01] [-6.31687702e-01 7.75177725e-01 8.37507758e-03 -6.29168561e+01] [-1.31856460e-02 5.82306003e-05 -9.99913064e-01 2.21903045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.731858064 meters 0.016629781756816835 Centerline is valid? [True, True] Translation: X:86.30, Y:-62.97, Z:0.22 [[-7.24637593e-01 -6.89061774e-01 9.70722763e-03 8.62954684e+01] [-6.88998925e-01 7.24702607e-01 9.30660894e-03 -6.29656405e+01] [-1.34476816e-02 5.56492961e-05 -9.99909574e-01 2.22179671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761858064 meters 0.01623181260444009 Centerline is valid? [True, True] Translation: X:86.21, Y:-63.01, Z:0.22 [[-6.69536960e-01 -7.42725226e-01 8.91616805e-03 8.62132357e+01] [-7.42658382e-01 6.69596323e-01 9.96455280e-03 -6.30127755e+01] [-1.33711581e-02 4.99694495e-05 -9.99910601e-01 2.21263698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.791858064 meters 0.016396564624420358 Centerline is valid? [True, True] Translation: X:86.13, Y:-63.07, Z:0.22 [[-6.10489680e-01 -7.91983925e-01 7.98834245e-03 8.61325327e+01] [-7.91915136e-01 6.10541940e-01 1.04382682e-02 -6.30685507e+01] [-1.31441587e-02 4.63656929e-05 -9.99913611e-01 2.21597925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821858064 meters 0.016169491595908185 Centerline is valid? [True, True] Translation: X:86.05, Y:-63.14, Z:0.22 [[-5.47986026e-01 -8.36460051e-01 6.77483107e-03 8.60474163e+01] [-8.36395145e-01 5.48027902e-01 1.04201617e-02 -6.31414146e+01] [-1.24288454e-02 4.36671726e-05 -9.99922758e-01 2.20596439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.851858064 meters 0.015979432506911594 Centerline is valid? [True, True] Translation: X:85.97, Y:-63.22, Z:0.22 [[-4.82135151e-01 -8.76075381e-01 6.13369480e-03 8.59684237e+01] [-8.76003250e-01 4.82174164e-01 1.12419942e-02 -6.32196051e+01] [-1.28063435e-02 4.70239991e-05 -9.99917994e-01 2.19730223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881858064 meters 0.015922739131126216 Centerline is valid? [True, True] Translation: X:85.89, Y:-63.31, Z:0.22 [[-4.13355962e-01 -9.10555879e-01 4.98401829e-03 8.58926669e+01] [-9.10488348e-01 4.13386006e-01 1.10895295e-02 -6.33112296e+01] [-1.21579597e-02 4.60325409e-05 -9.99926088e-01 2.19459548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.911858064 meters 0.0159141249828085 Centerline is valid? [True, True] Translation: X:85.82, Y:-63.41, Z:0.22 [[-3.42079097e-01 -9.39662556e-01 4.02145655e-03 8.58241998e+01] [-9.39595983e-01 3.42102731e-01 1.11852847e-02 -6.34070810e+01] [-1.18861445e-02 4.77076776e-05 -9.99929356e-01 2.19160920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941858064 meters 0.0159141249828085 Centerline is valid? [True, True] Translation: X:85.76, Y:-63.51, Z:0.22 [[-2.68461159e-01 -9.63285376e-01 3.14502902e-03 8.57621390e+01] [-9.63217183e-01 2.68479576e-01 1.14619408e-02 -6.35109963e+01] [-1.18854960e-02 4.77399123e-05 -9.99929364e-01 2.19127979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.971858064 meters 0.015706020408903974 Centerline is valid? [True, True] Translation: X:85.71, Y:-63.62, Z:0.22 [[-1.93131668e-01 -9.81170560e-01 2.11914827e-03 8.57070919e+01] [-9.81108986e-01 1.93143289e-01 1.09921283e-02 -6.36215935e+01] [-1.11944519e-02 4.38126626e-05 -9.99937339e-01 2.18149685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001858064 meters 0.015465555892848998 Centerline is valid? [True, True] Translation: X:85.66, Y:-63.74, Z:0.22 [[-1.16608037e-01 -9.93177274e-01 1.21193119e-03 8.56597285e+01] [-9.93119894e-01 1.16614327e-01 1.06758685e-02 -6.37428187e+01] [-1.07443585e-02 4.12990797e-05 -9.99942277e-01 2.17768956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.031858064 meters 0.015623518933606886 Centerline is valid? [True, True] Translation: X:85.62, Y:-63.88, Z:0.22 [[-3.92121949e-02 -9.99230843e-01 3.54667945e-04 8.56220007e+01] [-9.99181582e-01 3.92137835e-02 9.92196139e-03 -6.38751234e+01] [-9.92823772e-03 3.46842063e-05 -9.99950713e-01 2.19180757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061858064 meters 0.015364239237361608 Centerline is valid? [True, True] Translation: X:85.59, Y:-63.98, Z:0.22 [[ 3.80441511e-02 -9.99275972e-01 -4.17273971e-04 8.55939140e+01] [-9.99226364e-01 -3.80464203e-02 9.95706182e-03 -6.39820467e+01] [-9.96572841e-03 3.81431886e-05 -9.99950340e-01 2.18123010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.091858064 meters 0.01568123227589952 Centerline is valid? [True, True] Translation: X:85.58, Y:-64.10, Z:0.22 [[ 1.15257835e-01 -9.93334855e-01 -1.22365613e-03 8.55763656e+01] [-9.93282588e-01 -1.15264324e-01 1.01900479e-02 -6.40966737e+01] [-1.02631736e-02 4.09534632e-05 -9.99947331e-01 2.20575650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121858064 meters 0.01537231545660318 Centerline is valid? [True, True] Translation: X:85.57, Y:-64.21, Z:0.22 [[ 1.90202590e-01 -9.81743020e-01 -1.90198030e-03 8.55657825e+01] [-9.81696762e-01 -1.90212092e-01 9.53036343e-03 -6.42129583e+01] [-9.71814743e-03 5.44680942e-05 -9.99952776e-01 2.20042909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.151858064 meters 0.01553671651783424 Centerline is valid? [True, True] Translation: X:85.57, Y:-64.34, Z:0.22 [[ 2.64301908e-01 -9.64436927e-01 -2.43230546e-03 8.55673715e+01] [-9.64398186e-01 -2.64313093e-01 8.64455012e-03 -6.43350586e+01] [-8.98001353e-03 6.09398821e-05 -9.99959677e-01 2.20254393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181858064 meters 0.01560501740443772 Centerline is valid? [True, True] Translation: X:85.58, Y:-64.45, Z:0.22 [[ 3.36709850e-01 -9.41604381e-01 -2.76885324e-03 8.55776282e+01] [-9.41574115e-01 -3.36721228e-01 7.54988661e-03 -6.44545446e+01] [-8.04133797e-03 6.49593500e-05 -9.99967666e-01 2.19801489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.211858064 meters 0.015930611495917197 Centerline is valid? [True, True] Translation: X:85.60, Y:-64.58, Z:0.22 [[ 4.06989819e-01 -9.13428047e-01 -2.91378783e-03 8.55989010e+01] [-9.13405783e-01 -4.07000244e-01 6.37780378e-03 -6.45759040e+01] [-7.01157720e-03 6.57694512e-05 -9.99975416e-01 2.19533332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241858064 meters 0.016317863556062122 Centerline is valid? [True, True] Translation: X:85.63, Y:-64.69, Z:0.22 [[ 4.73472410e-01 -8.80804064e-01 -2.84224862e-03 8.56264380e+01] [-8.80789090e-01 -4.73480935e-01 5.13642485e-03 -6.46882815e+01] [-5.86993441e-03 7.14661253e-05 -9.99982769e-01 2.19011142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27185806399999 meters 0.016515920537789983 Centerline is valid? [True, True] Translation: X:85.66, Y:-64.80, Z:0.22 [[ 5.38858704e-01 -8.42389779e-01 -3.27987657e-03 8.56635575e+01] [-8.42375068e-01 -5.38868680e-01 4.97905898e-03 -6.48020886e+01] [-5.96173115e-03 7.98769841e-05 -9.99982226e-01 2.18881108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.301858064 meters 0.01664277491930396 Centerline is valid? [True, True] Translation: X:85.70, Y:-64.91, Z:0.22 [[ 6.01477083e-01 -7.98883633e-01 -3.20300519e-03 8.57035534e+01] [-7.98872940e-01 -6.01485607e-01 4.13410226e-03 -6.49062402e+01] [-5.22922815e-03 7.22264054e-05 -9.99986325e-01 2.18888097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.331858064 meters 0.016878387310122762 Centerline is valid? [True, True] Translation: X:85.75, Y:-65.01, Z:0.22 [[ 6.60040322e-01 -7.51221930e-01 -3.51940918e-03 8.57532601e+01] [-7.51211889e-01 -6.60049700e-01 3.88487300e-03 -6.50096084e+01] [-5.24138677e-03 7.96491944e-05 -9.99986261e-01 2.19806724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.361858064 meters 0.01705051875227106 Centerline is valid? [True, True] Translation: X:85.81, Y:-65.11, Z:0.22 [[ 7.15177739e-01 -6.98928734e-01 -4.40757763e-03 8.58082533e+01] [-6.98916308e-01 -7.15191314e-01 4.16887220e-03 -6.51055460e+01] [-6.06600580e-03 9.90432883e-05 -9.99981597e-01 2.20716409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.391858064 meters 0.01734643004269308 Centerline is valid? [True, True] Translation: X:85.80, Y:-65.11, Z:0.22 [[ 7.67090710e-01 -6.41516307e-01 -5.35443065e-03 8.58039334e+01] [-6.41501760e-01 -7.67109388e-01 4.32183591e-03 -6.51107184e+01] [-6.87996223e-03 1.19636514e-04 -9.99976326e-01 2.21885482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421858064 meters 0.018011570723181543 Centerline is valid? [True, True] Translation: X:85.80, Y:-65.11, Z:0.22 [[ 8.13656304e-01 -5.81319401e-01 -5.58331199e-03 8.57991258e+01] [-5.81306818e-01 -8.13675449e-01 3.82706505e-03 -6.51137424e+01] [-6.76775105e-03 1.31701722e-04 -9.99977090e-01 2.22491853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.451858064 meters 0.01734776941416236 Centerline is valid? [True, True] Translation: X:85.79, Y:-65.12, Z:0.22 [[ 8.56208713e-01 -5.16598101e-01 -5.74823442e-03 8.57911918e+01] [-5.16587501e-01 -8.56227998e-01 3.31207338e-03 -6.51220678e+01] [-6.63281007e-03 1.33639962e-04 -9.99977994e-01 2.22293278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481858064 meters 0.01780573171601092 Centerline is valid? [True, True] Translation: X:85.79, Y:-65.13, Z:0.22 [[ 8.93635924e-01 -4.48748611e-01 -6.28640819e-03 8.57851577e+01] [-4.48738652e-01 -8.93658024e-01 2.99322798e-03 -6.51280970e+01] [-6.96110602e-03 1.46098283e-04 -9.99975761e-01 2.22859214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.511858064 meters 0.017614634642522317 Centerline is valid? [True, True] Translation: X:85.78, Y:-65.14, Z:0.22 [[ 9.25619368e-01 -3.78391491e-01 -6.97605813e-03 8.57789470e+01] [-3.78382082e-01 -9.25645641e-01 2.67352452e-03 -6.51375842e+01] [-7.46899673e-03 1.64949322e-04 -9.99972093e-01 2.23802929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541858064 meters 0.018322066262196658 Centerline is valid? [True, True] Translation: X:85.77, Y:-65.14, Z:0.22 [[ 9.52272525e-01 -3.05157615e-01 -7.47447494e-03 8.57740208e+01] [-3.05149652e-01 -9.52301843e-01 2.21136741e-03 -6.51437705e+01] [-7.79277186e-03 1.75009005e-04 -9.99969621e-01 2.24562909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.571858064 meters 0.01874283888376536 Centerline is valid? [True, True] Translation: X:85.77, Y:-65.15, Z:0.22 [[ 9.73164042e-01 -2.29994311e-01 -7.37326516e-03 8.57682385e+01] [-2.29989039e-01 -9.73191958e-01 1.56662729e-03 -6.51481324e+01] [-7.53591772e-03 1.71184822e-04 -9.99971590e-01 2.24924794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601858064 meters 0.01818003163786662 Centerline is valid? [True, True] Translation: X:85.76, Y:-65.16, Z:0.23 [[ 9.88072939e-01 -1.53761568e-01 -8.32155927e-03 8.57609032e+01] [-1.53757800e-01 -9.88107960e-01 1.09449677e-03 -6.51591488e+01] [-8.39089049e-03 1.98062009e-04 -9.99964776e-01 2.25693753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631858064 meters 0.018091754912715356 Centerline is valid? [True, True] Translation: X:85.76, Y:-65.17, Z:0.23 [[ 9.97012073e-01 -7.67189864e-02 -9.00681583e-03 8.57550001e+01] [-7.67178585e-02 -9.97052731e-01 4.71165767e-04 -6.51699999e+01] [-9.01641768e-03 2.21225664e-04 -9.99959327e-01 2.26515802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661858064 meters 0.018263462809741976 Centerline is valid? [True, True] Translation: X:85.75, Y:-65.18, Z:0.23 [[ 9.99955934e-01 9.29524829e-04 -9.34166628e-03 8.57502693e+01] [ 9.27281993e-04 -9.99999540e-01 -2.44417987e-04 -6.51804415e+01] [-9.34188918e-03 2.35744857e-04 -9.99956336e-01 2.27533413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.691858064 meters 0.02007335142159483 Centerline is valid? [True, True] Translation: X:85.75, Y:-65.19, Z:0.23 [[ 9.96969046e-01 7.72770239e-02 -8.99903423e-03 8.57451129e+01] [ 7.72716506e-02 -9.97009629e-01 -9.43778693e-04 -6.51885444e+01] [-9.04505619e-03 2.45547914e-04 -9.99959062e-01 2.28147627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721858064 meters 0.020824478076914742 Centerline is valid? [True, True] Translation: X:85.74, Y:-65.19, Z:0.23 [[ 9.88085435e-01 1.53659907e-01 -8.70669860e-03 8.57389521e+01] [ 1.53651680e-01 -9.88123762e-01 -1.60998607e-03 -6.51938505e+01] [-8.85068609e-03 2.53004914e-04 -9.99960800e-01 2.28302216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.751858064 meters 0.021619816982844306 Centerline is valid? [True, True] Translation: X:85.73, Y:-65.20, Z:0.23 [[ 9.73383504e-01 2.29033062e-01 -8.27111858e-03 8.57346007e+01] [ 2.29022540e-01 -9.73418610e-01 -2.21041294e-03 -6.51987336e+01] [-8.55751840e-03 2.57306909e-04 -9.99963351e-01 2.28388969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781858064 meters 0.02251019753390629 Centerline is valid? [True, True] Translation: X:85.73, Y:-65.20, Z:0.23 [[ 9.52931852e-01 3.03075297e-01 -8.13935320e-03 8.57289101e+01] [ 3.03061783e-01 -9.52966573e-01 -2.87504973e-03 -6.52032045e+01] [-8.62788807e-03 2.72999569e-04 -9.99962742e-01 2.28167958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.811858064 meters 0.021019525106934823 Centerline is valid? [True, True] Translation: X:85.73, Y:-65.22, Z:0.23 [[ 9.27434534e-01 3.73909808e-01 -7.52597022e-03 8.57296700e+01] [ 3.73894986e-01 -9.27465026e-01 -3.34148074e-03 -6.52199244e+01] [-8.22948659e-03 2.85082107e-04 -9.99966097e-01 2.27743950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841858064 meters 0.022860499287021857 Centerline is valid? [True, True] Translation: X:85.73, Y:-65.23, Z:0.23 [[ 8.95594718e-01 4.44811392e-01 -7.27505666e-03 8.57278577e+01] [ 4.44794047e-01 -8.95624218e-01 -3.93903975e-03 -6.52295527e+01] [-8.26784669e-03 2.91881309e-04 -9.99965778e-01 2.29251853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.871858064 meters 0.02243688436989933 Centerline is valid? [True, True] Translation: X:85.73, Y:-65.24, Z:0.23 [[ 8.58048551e-01 5.13518384e-01 -7.18004208e-03 8.57285898e+01] [ 5.13497422e-01 -8.58078538e-01 -4.64975235e-03 -6.52407336e+01] [-8.54877332e-03 3.02780174e-04 -9.99963413e-01 2.30298170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901858064 meters 0.021348768497682566 Centerline is valid? [True, True] Translation: X:85.73, Y:-65.26, Z:0.23 [[ 8.14031149e-01 5.80770346e-01 -7.68725691e-03 8.57331234e+01] [ 5.80740635e-01 -8.14067380e-01 -5.88341407e-03 -6.52558511e+01] [-9.67485752e-03 3.24979849e-04 -9.99953145e-01 2.31773187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.931858064 meters 0.020005102629399658 Centerline is valid? [True, True] Translation: X:85.74, Y:-65.27, Z:0.23 [[ 7.64891886e-01 6.44111897e-01 -7.76316416e-03 8.57400626e+01] [ 6.44074255e-01 -7.64931208e-01 -6.97138868e-03 -6.52701779e+01] [-1.04286409e-02 3.32304456e-04 -9.99945565e-01 2.32269431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961858064 meters 0.020174510941229507 Centerline is valid? [True, True] Translation: X:85.74, Y:-65.28, Z:0.23 [[ 7.10600939e-01 7.03553002e-01 -7.71220217e-03 8.57446509e+01] [ 7.03506403e-01 -7.10642710e-01 -8.10423373e-03 -6.52820317e+01] [-1.11823782e-02 3.33292492e-04 -9.99937420e-01 2.33174964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99185806399998 meters 0.019419195936286205 Centerline is valid? [True, True] Translation: X:85.75, Y:-65.29, Z:0.23 [[ 6.51561408e-01 7.58562793e-01 -7.08658237e-03 8.57507809e+01] [ 7.58512685e-01 -6.51599872e-01 -8.72430321e-03 -6.52931893e+01] [-1.12355480e-02 3.09156665e-04 -9.99936831e-01 2.32846404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02185806399999 meters 0.018312492716807502 Centerline is valid? [True, True] Translation: X:85.76, Y:-65.30, Z:0.23 [[ 5.86488735e-01 8.09936133e-01 -5.86728001e-03 8.57607654e+01] [ 8.09891521e-01 -5.86518035e-01 -8.50400713e-03 -6.53047495e+01] [-1.03289682e-02 2.35644052e-04 -9.99946627e-01 2.31649108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.051858064 meters 0.017682593930665038 Centerline is valid? [True, True] Translation: X:85.77, Y:-65.31, Z:0.23 [[ 5.18980969e-01 8.54770572e-01 -5.10135173e-03 8.57692272e+01] [ 8.54725345e-01 -5.19006000e-01 -8.79527059e-03 -6.53136486e+01] [-1.01655706e-02 2.04323434e-04 -9.99948308e-01 2.31359237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.081858064 meters 0.01710999329755355 Centerline is valid? [True, True] Translation: X:85.78, Y:-65.32, Z:0.23 [[ 4.48127549e-01 8.93960840e-01 -3.96438103e-03 8.57772668e+01] [ 8.93922668e-01 -4.48145056e-01 -8.26272975e-03 -6.53217903e+01] [-9.16317459e-03 1.58906763e-04 -9.99958005e-01 2.31613640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.111858064 meters 0.016471236465669115 Centerline is valid? [True, True] Translation: X:85.79, Y:-65.33, Z:0.23 [[ 3.74085102e-01 9.27387922e-01 -3.46109667e-03 8.57856702e+01] [ 9.27344703e-01 -3.74101087e-01 -8.95426470e-03 -6.53283166e+01] [-9.59887696e-03 1.40027358e-04 -9.99953920e-01 2.31599446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.141858064 meters 0.015358864224872348 Centerline is valid? [True, True] Translation: X:85.80, Y:-65.33, Z:0.23 [[ 2.94694610e-01 9.55587989e-01 -2.58515485e-03 8.57965230e+01] [ 9.55548870e-01 -2.94705938e-01 -8.64678904e-03 -6.53345563e+01] [-9.02462823e-03 7.79203251e-05 -9.99959274e-01 2.30776668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.171858064 meters 0.014948019490850542 Centerline is valid? [True, True] Translation: X:85.80, Y:-65.34, Z:0.23 [[ 2.16807774e-01 9.76212817e-01 -1.71034241e-03 8.58035917e+01] [ 9.76180573e-01 -2.16814515e-01 -7.93445126e-03 -6.53387402e+01] [-8.11654008e-03 5.06476804e-05 -9.99967059e-01 2.29783954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201858064 meters 0.01474526062406129 Centerline is valid? [True, True] Translation: X:85.81, Y:-65.34, Z:0.23 [[ 1.38058882e-01 9.90423523e-01 -9.94988635e-04 8.58101905e+01] [ 9.90396062e-01 -1.38062463e-01 -7.37542251e-03 -6.53421641e+01] [-7.44216253e-03 3.28097592e-05 -9.99972306e-01 2.28728518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.231858064 meters 0.014369153013113763 Centerline is valid? [True, True] Translation: X:85.82, Y:-65.35, Z:0.23 [[ 5.73608331e-02 9.98353446e-01 -3.61541890e-04 8.58181298e+01] [ 9.98332582e-01 -5.73619717e-02 -6.45443241e-03 -6.53457900e+01] [-6.46454360e-03 9.29257102e-06 -9.99979105e-01 2.27689621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261858064 meters 0.0142947844294551 Centerline is valid? [True, True] Translation: X:85.82, Y:-65.35, Z:0.23 [[-2.18786903e-02 9.99760621e-01 1.56477727e-04 8.58221361e+01] [ 9.99736688e-01 2.18792493e-02 -6.91757466e-03 -6.53484852e+01] [-6.91934235e-03 5.08905036e-06 -9.99976061e-01 2.27748335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.291858064 meters 0.014189803460201584 Centerline is valid? [True, True] Translation: X:85.83, Y:-65.35, Z:0.23 [[-1.00846852e-01 9.94901701e-01 7.19189212e-04 8.58287059e+01] [ 9.94876428e-01 1.00849416e-01 -7.09148573e-03 -6.53503177e+01] [-7.12786103e-03 3.50385445e-07 -9.99974596e-01 2.27453933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321858064 meters 0.014084161671402902 Centerline is valid? [True, True] Translation: X:85.84, Y:-65.35, Z:0.23 [[-1.79571027e-01 9.83744184e-01 1.27533099e-03 8.58361701e+01] [ 9.83719080e-01 1.79575555e-01 -7.02789318e-03 -6.53517625e+01] [-7.14266731e-03 -7.43856931e-06 -9.99974491e-01 2.28246565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.351858064 meters 0.013984567803779891 Centerline is valid? [True, True] Translation: X:85.85, Y:-65.35, Z:0.23 [[-2.56031479e-01 9.66666722e-01 1.82475542e-03 8.58463555e+01] [ 9.66641976e-01 2.56037981e-01 -6.91687005e-03 -6.53512410e+01] [-7.15351480e-03 -7.05127954e-06 -9.99974413e-01 2.27470775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381858064 meters 0.014050607851563564 Centerline is valid? [True, True] Translation: X:85.85, Y:-65.35, Z:0.23 [[-3.30795525e-01 9.43699365e-01 2.41446103e-03 8.58549995e+01] [ 9.43674110e-01 3.30804336e-01 -6.90401033e-03 -6.53498406e+01] [-7.31402435e-03 -5.35135705e-06 -9.99973252e-01 2.27890505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.411858064 meters 0.014237484278719173 Centerline is valid? [True, True] Translation: X:85.86, Y:-65.35, Z:0.23 [[-4.02353890e-01 9.15478047e-01 3.36046468e-03 8.58616942e+01] [ 9.15446290e-01 4.02367923e-01 -7.62522590e-03 -6.53499345e+01] [-8.33287011e-03 8.28561593e-06 -9.99965281e-01 2.29426226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441858064 meters 0.014013504599930475 Centerline is valid? [True, True] Translation: X:85.87, Y:-65.35, Z:0.23 [[-4.71865758e-01 8.81660369e-01 4.20718070e-03 8.58718003e+01] [ 8.81625694e-01 4.71884513e-01 -7.81929015e-03 -6.53460778e+01] [-8.87926166e-03 1.95033315e-05 -9.99960578e-01 2.27608088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.471858064 meters 0.014454894719970116 Centerline is valid? [True, True] Translation: X:85.88, Y:-65.34, Z:0.23 [[-5.38309617e-01 8.42731269e-01 5.17347410e-03 8.58797948e+01] [ 8.42692979e-01 5.38334476e-01 -8.03339636e-03 -6.53438169e+01] [-9.55505378e-03 3.51957813e-05 -9.99954349e-01 2.30002953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501858064 meters 0.014096694771582204 Centerline is valid? [True, True] Translation: X:85.89, Y:-65.34, Z:0.23 [[-6.00971700e-01 7.99248844e-01 5.85674980e-03 8.58886066e+01] [ 7.99211797e-01 6.01000235e-01 -7.69553729e-03 -6.53386048e+01] [-9.67055729e-03 5.59834018e-05 -9.99953238e-01 2.26853600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.531858064 meters 0.014339337222223993 Centerline is valid? [True, True] Translation: X:85.90, Y:-65.33, Z:0.23 [[-6.60831890e-01 7.50509179e-01 6.09796724e-03 8.58966161e+01] [ 7.50478106e-01 6.60860022e-01 -6.82965419e-03 -6.53344016e+01] [-9.15562092e-03 6.31376125e-05 -9.99958084e-01 2.27000902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561858064 meters 0.014297040137332871 Centerline is valid? [True, True] Translation: X:85.90, Y:-65.33, Z:0.23 [[-7.16905593e-01 6.97140522e-01 6.43918672e-03 8.59043800e+01] [ 6.97113273e-01 7.16934507e-01 -6.16417977e-03 -6.53287279e+01] [-8.91377466e-03 6.97075848e-05 -9.99960269e-01 2.26324284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.591858064 meters 0.014454622352536289 Centerline is valid? [True, True] Translation: X:85.93, Y:-65.31, Z:0.23 [[-7.63074408e-01 6.46279485e-01 6.34627675e-03 8.59269615e+01] [ 6.46258031e-01 7.63100793e-01 -5.26652098e-03 -6.53136069e+01] [-8.24649329e-03 8.25849383e-05 -9.99965994e-01 2.25479033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621858064 meters 0.014727359704738745 Centerline is valid? [True, True] Translation: X:85.95, Y:-65.29, Z:0.23 [[-8.06215096e-01 5.91589146e-01 6.28499773e-03 8.59453136e+01] [ 5.91571994e-01 8.06239589e-01 -4.50565134e-03 -6.52943230e+01] [-7.73270841e-03 8.55045119e-05 -9.99970099e-01 2.25029245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.651858064 meters 0.01491328846627832 Centerline is valid? [True, True] Translation: X:85.96, Y:-65.27, Z:0.22 [[-8.45570835e-01 5.33827190e-01 6.20439958e-03 8.59613760e+01] [ 5.33813566e-01 8.45593593e-01 -3.81472260e-03 -6.52730962e+01] [-7.28280318e-03 8.63744877e-05 -9.99973476e-01 2.24414111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681858064 meters 0.015056107738611518 Centerline is valid? [True, True] Translation: X:85.98, Y:-65.25, Z:0.22 [[-8.80694696e-01 4.73649850e-01 5.71594406e-03 8.59759645e+01] [ 4.73640483e-01 8.80713241e-01 -2.97995145e-03 -6.52506972e+01] [-6.44556118e-03 8.28750658e-05 -9.99979224e-01 2.23826749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.711858064 meters 0.015540673036756332 Centerline is valid? [True, True] Translation: X:85.99, Y:-65.23, Z:0.22 [[-9.11361066e-01 4.11574101e-01 5.26938234e-03 8.59884004e+01] [ 4.11567740e-01 9.11376296e-01 -2.28973061e-03 -6.52284590e+01] [-5.74478398e-03 8.19364499e-05 -9.99983495e-01 2.23066989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74185806399998 meters 0.015897768140130705 Centerline is valid? [True, True] Translation: X:86.27, Y:-64.58, Z:-0.73 [[-8.96910000e-01 -4.42191064e-01 4.41762033e-03 8.62718319e+01] [ 4.42185060e-01 -8.96920871e-01 -2.30719467e-03 -6.45756809e+01] [ 4.98247674e-03 -1.15940260e-04 9.99987581e-01 -7.25896252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77185806399999 meters 0.015953854784609627 Centerline is valid? [True, True] Translation: X:85.94, Y:-65.21, Z:0.22 [[-9.12527492e-01 4.08983152e-01 5.13386366e-03 8.59449949e+01] [ 4.08977199e-01 9.12541930e-01 -2.20833187e-03 -6.52130452e+01] [-5.58803639e-03 8.44696359e-05 -9.99984383e-01 2.21956676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.801858064 meters 0.016095773451444088 Centerline is valid? [True, True] Translation: X:85.96, Y:-65.19, Z:0.22 [[-9.39144991e-01 3.43485290e-01 4.95384175e-03 8.59554522e+01] [ 3.43480958e-01 9.39158053e-01 -1.72688743e-03 -6.51883661e+01] [-5.24560080e-03 7.97526282e-05 -9.99986239e-01 2.21253607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.831858064 meters 0.016095773451444088 Centerline is valid? [True, True] Translation: X:86.20, Y:-64.51, Z:-0.72 [[-9.27630176e-01 -3.73472912e-01 4.49895157e-03 8.61950417e+01] [ 3.73468016e-01 -9.27641081e-01 -1.91477242e-03 -6.45125020e+01] [ 4.88852793e-03 -9.59861595e-05 9.99988046e-01 -7.24450026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.861858064 meters 0.015458403313684003 Centerline is valid? [True, True] Translation: X:85.91, Y:-65.17, Z:0.22 [[-9.40597888e-01 3.39494405e-01 4.37745762e-03 8.59108434e+01] [ 3.39491058e-01 9.40608072e-01 -1.50894723e-03 -6.51722609e+01] [-4.62975111e-03 6.67951368e-05 -9.99989280e-01 2.20889591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.891858064 meters 0.015357554139788824 Centerline is valid? [True, True] Translation: X:85.92, Y:-65.15, Z:0.22 [[-9.62506346e-01 2.71224619e-01 4.32893183e-03 8.59209883e+01] [ 2.71222160e-01 9.62516079e-01 -1.15656793e-03 -6.51454636e+01] [-4.48035619e-03 6.08982705e-05 -9.99989961e-01 2.20981824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921858064 meters 0.015018506676324076 Centerline is valid? [True, True] Translation: X:85.93, Y:-65.12, Z:0.22 [[-9.79477010e-01 2.01498985e-01 4.79010888e-03 8.59260678e+01] [ 2.01496893e-01 9.79488721e-01 -9.20485425e-04 -6.51165171e+01] [-4.87733450e-03 6.35977446e-05 -9.99988104e-01 2.20776083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.951858064 meters 0.015021923539636132 Centerline is valid? [True, True] Translation: X:86.06, Y:-64.42, Z:-0.72 [[-9.71435722e-01 -2.37260320e-01 4.49204564e-03 8.60621999e+01] [ 2.37257425e-01 -9.71446105e-01 -1.17437378e-03 -6.44188123e+01] [ 4.64241254e-03 -7.50574589e-05 9.99989221e-01 -7.24478378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981858064 meters 0.015053365948063023 Centerline is valid? [True, True] Translation: X:85.87, Y:-65.11, Z:0.22 [[-9.80461837e-01 1.96628294e-01 5.64806347e-03 8.58696256e+01] [ 1.96625452e-01 9.80478102e-01 -1.05965148e-03 -6.51071168e+01] [-5.74616001e-03 7.16051961e-05 -9.99983488e-01 2.21339552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.011858064 meters 0.015012244692223575 Centerline is valid? [True, True] Translation: X:86.01, Y:-64.41, Z:-0.72 [[-9.72169316e-01 -2.34214672e-01 5.50527472e-03 8.60078853e+01] [ 2.34210480e-01 -9.72184901e-01 -1.40331104e-03 -6.44086043e+01] [ 5.68082099e-03 -7.48628983e-05 9.99983861e-01 -7.24534089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041858064 meters 0.014927323756715271 Centerline is valid? [True, True] Translation: X:85.82, Y:-65.10, Z:0.22 [[-9.81461446e-01 1.91581000e-01 5.49090636e-03 8.58218426e+01] [ 1.91578361e-01 9.81476804e-01 -1.00757380e-03 -6.50990665e+01] [-5.58222922e-03 6.30440035e-05 -9.99984417e-01 2.21263631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.071858064 meters 0.014688615784622935 Centerline is valid? [True, True] Translation: X:85.95, Y:-64.40, Z:-0.72 [[-9.72818224e-01 -2.31545683e-01 3.36144057e-03 8.59470947e+01] [ 2.31543697e-01 -9.72824017e-01 -9.73810508e-04 -6.43978323e+01] [ 3.49557174e-03 -1.69020233e-04 9.99993876e-01 -7.22865873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101858064 meters 0.014876604482628827 Centerline is valid? [True, True] Translation: X:85.77, Y:-65.09, Z:0.22 [[-9.82406509e-01 1.86726689e-01 3.25502179e-03 8.57672417e+01] [ 1.86725766e-01 9.82411901e-01 -5.88015371e-04 -6.50909148e+01] [-3.30757030e-03 3.01263089e-05 -9.99994530e-01 2.19078379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131858064 meters 0.014801702273376497 Centerline is valid? [True, True] Translation: X:85.77, Y:-65.06, Z:0.22 [[-9.93186887e-01 1.16503780e-01 2.58412522e-03 8.57698600e+01] [ 1.16503441e-01 9.93190248e-01 -2.81849755e-04 -6.50629180e+01] [-2.59936453e-03 2.11299992e-05 -9.99996621e-01 2.18669438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161858064 meters 0.014761751609054262 Centerline is valid? [True, True] Translation: X:85.85, Y:-64.35, Z:-0.72 [[-9.87336988e-01 -1.58626264e-01 1.83836953e-03 8.58485481e+01] [ 1.58625877e-01 -9.87338698e-01 -3.55520666e-04 -6.43531474e+01] [ 1.87148829e-03 -5.94057252e-05 9.99998247e-01 -7.22046197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191858064 meters 0.014775797379519971 Centerline is valid? [True, True] Translation: X:85.71, Y:-65.06, Z:0.22 [[-9.93814002e-01 1.11039626e-01 1.98266538e-03 8.57055149e+01] [ 1.11039428e-01 9.93815980e-01 -2.10043779e-04 -6.50569844e+01] [-1.99372772e-03 1.14095811e-05 -9.99998012e-01 2.18515227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221858064 meters 0.014504303374313526 Centerline is valid? [True, True] Translation: X:85.78, Y:-64.35, Z:-0.72 [[-9.87863482e-01 -1.55307795e-01 2.28701937e-03 8.57809738e+01] [ 1.55307393e-01 -9.87866129e-01 -3.53657189e-04 -6.43467886e+01] [ 2.31419469e-03 5.82599318e-06 9.99997322e-01 -7.22348447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.251858064 meters 0.014332092780775728 Centerline is valid? [True, True] Translation: X:85.64, Y:-65.05, Z:0.22 [[-9.94463037e-01 1.05054382e-01 2.61638194e-03 8.56429331e+01] [ 1.05054058e-01 9.94466478e-01 -2.61296862e-04 -6.50496689e+01] [-2.62935451e-03 1.50114694e-05 -9.99996543e-01 2.18930739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281858064 meters 0.014175218967828912 Centerline is valid? [True, True] Translation: X:85.71, Y:-64.34, Z:-0.72 [[-9.88193832e-01 -1.53201070e-01 1.54357881e-03 8.57110435e+01] [ 1.53200765e-01 -9.88195035e-01 -3.14478847e-04 -6.43412056e+01] [ 1.57353541e-03 -7.42886025e-05 9.99998759e-01 -7.22018617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.311858064 meters 0.013920913210544492 Centerline is valid? [True, True] Translation: X:85.57, Y:-65.04, Z:0.22 [[-9.95184527e-01 9.80086008e-02 1.43942415e-03 8.55741147e+01] [ 9.80084972e-02 9.95185568e-01 -1.42477079e-04 -6.50411265e+01] [-1.44645812e-03 -7.15186304e-07 -9.99998954e-01 2.18789404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341858064 meters 0.013864981654949749 Centerline is valid? [True, True] Translation: X:85.64, Y:-64.34, Z:-0.72 [[-9.88590634e-01 -1.50623517e-01 1.05575617e-03 8.56353569e+01] [ 1.50623408e-01 -9.88591197e-01 -1.82108942e-04 -6.43357110e+01] [ 1.07114115e-03 -2.10096014e-05 9.99999426e-01 -7.22330541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.371858064 meters 0.013696445015631767 Centerline is valid? [True, True] Translation: X:85.51, Y:-65.03, Z:0.22 [[-9.95851225e-01 9.09786425e-02 1.79545824e-03 8.55123257e+01] [ 9.09784904e-02 9.95852844e-01 -1.66381752e-04 -6.50344231e+01] [-1.80314939e-03 -2.34339044e-06 -9.99998374e-01 2.19588081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401858064 meters 0.013780303314745418 Centerline is valid? [True, True] Translation: X:85.50, Y:-65.01, Z:0.22 [[-9.99806036e-01 1.96458591e-02 1.38939227e-03 8.55046493e+01] [ 1.96458334e-02 9.99807001e-01 -3.21469869e-05 -6.50063101e+01] [-1.38975568e-03 -4.84498241e-06 -9.99999034e-01 2.19437329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.431858064 meters 0.013714575655019158 Centerline is valid? [True, True] Translation: X:85.50, Y:-64.98, Z:0.22 [[-9.98627002e-01 -5.23729104e-02 1.09085652e-03 8.55036837e+01] [-5.23728870e-02 9.98627597e-01 5.00369351e-05 -6.49786434e+01] [-1.09198000e-03 -7.16307052e-06 -9.99999404e-01 2.19066588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461858064 meters 0.013731705325925206 Centerline is valid? [True, True] Translation: X:85.50, Y:-64.95, Z:0.22 [[-9.92257858e-01 -1.24191566e-01 8.93146378e-04 8.54971584e+01] [-1.24191523e-01 9.92258260e-01 1.03091984e-04 -6.49507921e+01] [-8.99035026e-04 -8.62737845e-06 -9.99999596e-01 2.18814084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49185806399998 meters 0.013731844940618689 Centerline is valid? [True, True] Translation: X:85.41, Y:-64.25, Z:-0.72 [[-9.98135011e-01 6.10394533e-02 8.27857281e-04 8.54092315e+01] [-6.10394290e-02 -9.98135354e-01 5.46858782e-05 -6.42526967e+01] [ 8.29651617e-04 4.05195386e-06 9.99999656e-01 -7.22901569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52185806399999 meters 0.013622868302663592 Centerline is valid? [True, True] Translation: X:85.39, Y:-64.96, Z:0.22 [[-9.91006249e-01 -1.33806133e-01 1.59134559e-03 8.53939131e+01] [-1.33805980e-01 9.91007527e-01 2.02498957e-04 -6.49606178e+01] [-1.60413106e-03 -1.22538241e-05 -9.99998713e-01 2.19791434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.551858064 meters 0.013648133261340862 Centerline is valid? [True, True] Translation: X:85.38, Y:-64.93, Z:0.22 [[-9.78713497e-01 -2.05227979e-01 1.16950411e-03 8.53773579e+01] [-2.05227848e-01 9.78714195e-01 2.32039211e-04 -6.49346176e+01] [-1.19223121e-03 -1.29149042e-05 -9.99999289e-01 2.19851070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.581858064 meters 0.0137103949753204 Centerline is valid? [True, True] Translation: X:85.35, Y:-64.91, Z:0.22 [[-9.60918452e-01 -2.76828446e-01 1.31947319e-03 8.53487313e+01] [-2.76828207e-01 9.60919357e-01 3.63884589e-04 -6.49128911e+01] [-1.36864094e-03 -1.56039816e-05 -9.99999063e-01 2.20331233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.611858064 meters 0.01371378455568738 Centerline is valid? [True, True] Translation: X:85.30, Y:-64.90, Z:0.22 [[-9.38059263e-01 -3.46470526e-01 1.73020484e-03 8.52978160e+01] [-3.46469972e-01 9.38060859e-01 6.19812043e-04 -6.49005867e+01] [-1.83778404e-03 -1.80435951e-05 -9.99998311e-01 2.20481621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.641858064 meters 0.013691974567699166 Centerline is valid? [True, True] Translation: X:85.24, Y:-64.89, Z:0.22 [[-9.09956144e-01 -4.14703060e-01 1.09038931e-03 8.52396319e+01] [-4.14702783e-01 9.09956797e-01 4.79328875e-04 -6.48947341e+01] [-1.19098631e-03 -1.60192247e-05 -9.99999291e-01 2.20456286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.671858064 meters 0.01369215664137349 Centerline is valid? [True, True] Translation: X:85.17, Y:-64.90, Z:0.22 [[-8.76384975e-01 -4.81610666e-01 7.35890745e-04 8.51691778e+01] [-4.81610511e-01 8.76385284e-01 3.86884153e-04 -6.49005639e+01] [-8.31251355e-04 -1.53532591e-05 -9.99999654e-01 2.19638443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701858064 meters 0.01369571174834296 Centerline is valid? [True, True] Translation: X:85.09, Y:-64.92, Z:0.22 [[-8.38177078e-01 -5.45397991e-01 4.66367924e-04 8.50910003e+01] [-5.45397916e-01 8.38177207e-01 2.86734620e-04 -6.49161733e+01] [-5.47283450e-04 -1.40217078e-05 -9.99999850e-01 2.19693024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.731858064 meters 0.013664943979342644 Centerline is valid? [True, True] Translation: X:85.00, Y:-64.94, Z:0.22 [[-7.94882793e-01 -6.06762717e-01 5.92072819e-04 8.50048738e+01] [-6.06762562e-01 7.94883014e-01 4.33295722e-04 -6.49436730e+01] [-7.33536317e-04 -1.48283068e-05 -9.99999731e-01 2.19657955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761858064 meters 0.013766667980267417 Centerline is valid? [True, True] Translation: X:84.92, Y:-64.98, Z:0.22 [[-7.46675172e-01 -6.65188573e-01 5.91741425e-04 8.49216839e+01] [-6.65188380e-01 7.46675406e-01 5.06742225e-04 -6.49773082e+01] [-7.78917907e-04 -1.52476818e-05 -9.99999697e-01 2.19565090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.791858064 meters 0.013874499567701235 Centerline is valid? [True, True] Translation: X:84.84, Y:-65.02, Z:0.22 [[-6.93059256e-01 -7.20880460e-01 4.79218296e-04 8.48363594e+01] [-7.20880304e-01 6.93059421e-01 4.75546520e-04 -6.50215712e+01] [-6.74938949e-04 -1.58771135e-05 -9.99999772e-01 2.19419992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821858064 meters 0.013921845816911112 Centerline is valid? [True, True] Translation: X:84.75, Y:-65.08, Z:0.22 [[-6.35501545e-01 -7.72099365e-01 5.98039063e-04 8.47478724e+01] [-7.72099049e-01 6.35501826e-01 6.97801956e-04 -6.50794800e+01] [-9.18827363e-04 -1.82911714e-05 -9.99999578e-01 2.19410136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851858064 meters 0.013976768255230738 Centerline is valid? [True, True] Translation: X:84.66, Y:-65.15, Z:0.22 [[-5.74036727e-01 -8.18829151e-01 8.11323964e-04 8.46636716e+01] [-8.18828388e-01 5.74037300e-01 1.11755044e-03 -6.51450817e+01] [-1.38081309e-03 -2.28200993e-05 -9.99999046e-01 2.19551335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881858064 meters 0.014151346536332867 Centerline is valid? [True, True] Translation: X:84.58, Y:-65.22, Z:0.22 [[-5.09233001e-01 -8.60627606e-01 1.36925421e-03 8.45843537e+01] [-8.60624674e-01 5.09234841e-01 2.24663957e-03 -6.52170604e+01] [-2.63079199e-03 -3.43509488e-05 -9.99996539e-01 2.21093096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911858064 meters 0.014059907295810295 Centerline is valid? [True, True] Translation: X:84.51, Y:-65.30, Z:0.22 [[-4.42334709e-01 -8.96848971e-01 1.38856266e-03 8.45076552e+01] [-8.96844807e-01 4.42336887e-01 2.73330231e-03 -6.53015923e+01] [-3.06557185e-03 -3.62907278e-05 -9.99995300e-01 2.21345109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941858064 meters 0.013733913603716211 Centerline is valid? [True, True] Translation: X:84.44, Y:-65.39, Z:0.22 [[-3.73236273e-01 -9.27735489e-01 1.24382630e-03 8.44391172e+01] [-9.27730638e-01 3.73238344e-01 3.00033398e-03 -6.53926951e+01] [-3.24775999e-03 -3.41022951e-05 -9.99994725e-01 2.21303683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.971858064 meters 0.013645846286908807 Centerline is valid? [True, True] Translation: X:84.38, Y:-65.49, Z:0.22 [[-3.02075281e-01 -9.53283498e-01 1.04777623e-03 8.43776554e+01] [-9.53278106e-01 3.02077097e-01 3.20615056e-03 -6.54894298e+01] [-3.37287962e-03 -3.03233081e-05 -9.99994311e-01 2.21142271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001858064 meters 0.013579598628212126 Centerline is valid? [True, True] Translation: X:84.32, Y:-65.61, Z:0.22 [[-2.31292050e-01 -9.72884116e-01 6.95434391e-04 8.43230651e+01] [-9.72879941e-01 2.31293095e-01 2.85037397e-03 -6.56066827e+01] [-2.93393273e-03 -1.73053304e-05 -9.99995696e-01 2.20453560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031858064 meters 0.013647609655144366 Centerline is valid? [True, True] Translation: X:84.28, Y:-65.70, Z:0.22 [[-1.57126431e-01 -9.87578368e-01 5.02592372e-04 8.42797499e+01] [-9.87573565e-01 1.57127234e-01 3.07993908e-03 -6.56999925e+01] [-3.12065216e-03 -1.24071058e-05 -9.99995131e-01 2.20383121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061858064 meters 0.01369333575140945 Centerline is valid? [True, True] Translation: X:84.24, Y:-65.82, Z:0.22 [[-8.26727006e-02 -9.96576715e-01 2.75827211e-04 8.42410873e+01] [-9.96571385e-01 8.26731606e-02 3.25918046e-03 -6.58151990e+01] [-3.27082686e-03 -5.43625508e-06 -9.99994651e-01 2.20399787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091858064 meters 0.01393556355750421 Centerline is valid? [True, True] Translation: X:84.21, Y:-65.93, Z:0.22 [[-8.33722088e-03 -9.99965244e-01 2.36761603e-05 8.42145773e+01] [-9.99959286e-01 8.33725294e-03 3.45197942e-03 -6.59309596e+01] [-3.45205684e-03 5.10471856e-06 -9.99994042e-01 2.20661243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121858064 meters 0.014077768251257146 Centerline is valid? [True, True] Translation: X:84.19, Y:-66.05, Z:0.22 [[ 6.79129104e-02 -9.97691209e-01 -2.96800096e-04 8.41935767e+01] [-9.97682504e-01 -6.79135577e-02 4.16780606e-03 -6.60528903e+01] [-4.17834022e-03 1.30644237e-05 -9.99991271e-01 2.21530055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151858064 meters 0.014160420905820257 Centerline is valid? [True, True] Translation: X:84.18, Y:-66.17, Z:0.22 [[ 1.44093796e-01 -9.89563798e-01 -6.84300431e-04 8.41811582e+01] [-9.89553261e-01 -1.44095419e-01 4.56650575e-03 -6.61720418e+01] [-4.61745333e-03 1.91465771e-05 -9.99989339e-01 2.22017768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181858064 meters 0.014219034435898198 Centerline is valid? [True, True] Translation: X:84.18, Y:-66.30, Z:0.22 [[ 2.19718285e-01 -9.75562718e-01 -1.12158635e-03 8.41811918e+01] [-9.75550561e-01 -2.19721146e-01 4.87040555e-03 -6.62961818e+01] [-4.99782232e-03 2.40470411e-05 -9.99987511e-01 2.22426865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.211858064 meters 0.014334271788964806 Centerline is valid? [True, True] Translation: X:84.19, Y:-66.42, Z:0.22 [[ 2.94415867e-01 -9.55676253e-01 -1.48178241e-03 8.41872119e+01] [-9.55664563e-01 -2.94419595e-01 4.72698419e-03 -6.64150913e+01] [-4.95373232e-03 2.43877854e-05 -9.99987730e-01 2.22098721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24185806399998 meters 0.014509414613636747 Centerline is valid? [True, True] Translation: X:84.21, Y:-66.54, Z:0.22 [[ 3.66968461e-01 -9.30232020e-01 -1.59308188e-03 8.42060556e+01] [-9.30223507e-01 -3.66971918e-01 3.97973832e-03 -6.65414986e+01] [-4.28669633e-03 2.14837650e-05 -9.99990812e-01 2.22354607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27185806399999 meters 0.01451539217467055 Centerline is valid? [True, True] Translation: X:84.23, Y:-66.65, Z:0.22 [[ 4.37194585e-01 -8.99365184e-01 -1.77762695e-03 8.42282703e+01] [-8.99357953e-01 -4.37198199e-01 3.60655523e-03 -6.66492403e+01] [-4.02078551e-03 2.19565204e-05 -9.99991916e-01 2.21903498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.301858064 meters 0.014565680171632452 Centerline is valid? [True, True] Translation: X:84.26, Y:-66.76, Z:0.22 [[ 5.05151841e-01 -8.63027791e-01 -2.15639855e-03 8.42610057e+01] [-8.63020129e-01 -5.05156443e-01 3.63655330e-03 -6.67642889e+01] [-4.22776518e-03 2.40037598e-05 -9.99991063e-01 2.22440801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.331858064 meters 0.014556121685412014 Centerline is valid? [True, True] Translation: X:84.30, Y:-66.88, Z:0.22 [[ 5.70132977e-01 -8.21547557e-01 -2.82851680e-03 8.43038348e+01] [-8.21537703e-01 -5.70139993e-01 4.02376696e-03 -6.68789809e+01] [-4.91836646e-03 2.96509562e-05 -9.99987904e-01 2.22570634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.361858064 meters 0.014599801602886325 Centerline is valid? [True, True] Translation: X:84.35, Y:-66.98, Z:0.22 [[ 6.31722240e-01 -7.75187495e-01 -3.37044263e-03 8.43492802e+01] [-7.75176730e-01 -6.31731230e-01 4.08534394e-03 -6.69810722e+01] [-5.29612140e-03 3.18860744e-05 -9.99985975e-01 2.22919571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.391858064 meters 0.01451941020876645 Centerline is valid? [True, True] Translation: X:84.40, Y:-67.08, Z:0.22 [[ 6.89906574e-01 -7.23887244e-01 -4.02222106e-03 8.44025106e+01] [-7.23875207e-01 -6.89918298e-01 4.17449843e-03 -6.70802045e+01] [-5.79687007e-03 3.15721920e-05 -9.99983198e-01 2.22402754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421858064 meters 0.01454530250126737 Centerline is valid? [True, True] Translation: X:84.47, Y:-67.18, Z:0.22 [[ 7.43566482e-01 -6.68648045e-01 -4.32197032e-03 8.44736836e+01] [-6.68636978e-01 -7.43579042e-01 3.84716024e-03 -6.71839706e+01] [-5.78612272e-03 2.92097689e-05 -9.99983260e-01 2.22438039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.451858064 meters 0.014532984676964717 Centerline is valid? [True, True] Translation: X:84.47, Y:-67.19, Z:0.22 [[ 7.93587941e-01 -6.08438286e-01 -4.58601089e-03 8.44693300e+01] [-6.08428332e-01 -7.93601192e-01 3.48045554e-03 -6.71881913e+01] [-5.75710611e-03 2.82114114e-05 -9.99983427e-01 2.22898398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481858064 meters 0.0144680091801375 Centerline is valid? [True, True] Translation: X:84.47, Y:-67.19, Z:0.22 [[ 8.38606216e-01 -5.44717546e-01 -4.73385781e-03 8.44651085e+01] [-5.44709058e-01 -8.38619577e-01 3.04094732e-03 -6.71925427e+01] [-5.62636320e-03 2.84179055e-05 -9.99984171e-01 2.22473970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.511858064 meters 0.014629611295757038 Centerline is valid? [True, True] Translation: X:84.46, Y:-67.20, Z:0.22 [[ 8.78455309e-01 -4.77801492e-01 -4.69093794e-03 8.44589382e+01] [-4.77794850e-01 -8.78467833e-01 2.51948364e-03 -6.71973109e+01] [-5.32465113e-03 2.80522146e-05 -9.99985824e-01 2.22233013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541858064 meters 0.01470790694443996 Centerline is valid? [True, True] Translation: X:84.45, Y:-67.20, Z:0.22 [[ 9.12884466e-01 -4.08190453e-01 -4.74403136e-03 8.44533700e+01] [-4.08185112e-01 -9.12896792e-01 2.08831334e-03 -6.72037469e+01] [-5.18324058e-03 3.00541611e-05 -9.99986566e-01 2.21319105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571858064 meters 0.014747337515047114 Centerline is valid? [True, True] Translation: X:84.45, Y:-67.21, Z:0.22 [[ 9.41871759e-01 -3.35941029e-01 -4.60598850e-03 8.44481769e+01] [-3.35937166e-01 -9.41883020e-01 1.61137829e-03 -6.72101209e+01] [-4.87963044e-03 2.96110157e-05 -9.99988094e-01 2.20954413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601858064 meters 0.014715713275330156 Centerline is valid? [True, True] Translation: X:84.44, Y:-67.22, Z:0.22 [[ 9.65390486e-01 -2.60780782e-01 -3.82010971e-03 8.44415883e+01] [-2.60778820e-01 -9.65398044e-01 1.01155205e-03 -6.72180745e+01] [-3.95171978e-03 1.96609808e-05 -9.99992192e-01 2.20622100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631858064 meters 0.01467187731445321 Centerline is valid? [True, True] Translation: X:84.43, Y:-67.23, Z:0.22 [[ 9.82938167e-01 -1.83900950e-01 -3.60551442e-03 8.44334465e+01] [-1.83899771e-01 -9.82944780e-01 6.58679324e-04 -6.72269199e+01] [-3.66515333e-03 1.56122284e-05 -9.99993283e-01 2.20319099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661858064 meters 0.014706247884361291 Centerline is valid? [True, True] Translation: X:84.43, Y:-67.24, Z:0.22 [[ 9.94427280e-01 -1.05370198e-01 -3.39218927e-03 8.44250115e+01] [-1.05369620e-01 -9.94433065e-01 3.49095982e-04 -6.72350876e+01] [-3.41008949e-03 1.02831280e-05 -9.99994186e-01 2.20773051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691858064 meters 0.014647685329766768 Centerline is valid? [True, True] Translation: X:84.42, Y:-67.24, Z:0.22 [[ 9.99621918e-01 -2.72884395e-02 -3.37083380e-03 8.44169771e+01] [-2.72883194e-02 -9.99627601e-01 8.16275795e-05 -6.72423390e+01] [-3.37180599e-03 1.03876715e-05 -9.99994315e-01 2.21259877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721858064 meters 0.014697616794684235 Centerline is valid? [True, True] Translation: X:84.41, Y:-67.25, Z:0.22 [[ 9.98691183e-01 5.10324370e-02 -3.40744050e-03 8.44108663e+01] [ 5.10321032e-02 -9.98696996e-01 -1.84883238e-04 -6.72500651e+01] [-3.41243564e-03 1.07524041e-05 -9.99994178e-01 2.21616870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751858064 meters 0.014697616794684235 Centerline is valid? [True, True] Translation: X:84.41, Y:-67.26, Z:0.22 [[ 9.91632115e-01 1.29051576e-01 -3.38207151e-03 8.44052520e+01] [ 1.29050788e-01 -9.91637883e-01 -4.51018462e-04 -6.72581512e+01] [-3.41199488e-03 1.07853964e-05 -9.99994179e-01 2.21612845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781858064 meters 0.014793035596673535 Centerline is valid? [True, True] Translation: X:84.40, Y:-67.27, Z:0.22 [[ 9.78633015e-01 2.05590967e-01 -3.12661685e-03 8.44012310e+01] [ 2.05589880e-01 -9.78638010e-01 -6.68735157e-04 -6.72676252e+01] [-3.19731200e-03 1.16455189e-05 -9.99994889e-01 2.21500374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811858064 meters 0.014819985151463747 Centerline is valid? [True, True] Translation: X:84.40, Y:-67.28, Z:0.22 [[ 9.59761198e-01 2.80802875e-01 -2.86154557e-03 8.43967005e+01] [ 2.80801588e-01 -9.59765464e-01 -8.50251286e-04 -6.72762830e+01] [-2.98516561e-03 1.25116527e-05 -9.99995544e-01 2.21588975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841858064 meters 0.014935509215028476 Centerline is valid? [True, True] Translation: X:84.39, Y:-67.28, Z:0.22 [[ 9.35071906e-01 3.54451075e-01 -2.22825874e-03 8.43925171e+01] [ 3.54450045e-01 -9.35074561e-01 -8.54771484e-04 -6.72840687e+01] [-2.38656273e-03 9.46639107e-06 -9.99997152e-01 2.21275596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871858064 meters 0.01514690760063483 Centerline is valid? [True, True] Translation: X:84.39, Y:-67.29, Z:0.22 [[ 9.04986072e-01 4.25438499e-01 -1.51412680e-03 8.43896254e+01] [ 4.25437893e-01 -9.04987339e-01 -7.17880796e-04 -6.72924356e+01] [-1.67567971e-03 5.50520751e-06 -9.99998596e-01 2.21029462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901858064 meters 0.015536788430215569 Centerline is valid? [True, True] Translation: X:84.39, Y:-67.30, Z:0.22 [[ 8.69965415e-01 4.93108840e-01 -1.96179017e-03 8.43862313e+01] [ 4.93107545e-01 -8.69967627e-01 -1.13062846e-03 -6.73003429e+01] [-2.26421682e-03 1.62341244e-05 -9.99997437e-01 2.21152760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.931858064 meters 0.015510469072287059 Centerline is valid? [True, True] Translation: X:84.39, Y:-67.31, Z:0.22 [[ 8.29279265e-01 5.58830860e-01 -1.99250241e-03 8.43861067e+01] [ 5.58829187e-01 -8.29281659e-01 -1.36760965e-03 -6.73109438e+01] [-2.41660818e-03 2.06618285e-05 -9.99997080e-01 2.22020802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961858064 meters 0.01567342391752562 Centerline is valid? [True, True] Translation: X:84.39, Y:-67.32, Z:0.22 [[ 7.83359723e-01 6.21564835e-01 -2.16799265e-03 8.43856691e+01] [ 6.21562357e-01 -7.83362723e-01 -1.75506621e-03 -6.73210006e+01] [-2.78921206e-03 2.73055555e-05 -9.99996110e-01 2.22549861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99185806399998 meters 0.015905502107001725 Centerline is valid? [True, True] Translation: X:84.39, Y:-67.33, Z:0.22 [[ 7.32989048e-01 6.80237527e-01 -1.99066715e-03 8.43854893e+01] [ 6.80234908e-01 -7.32991751e-01 -1.88777336e-03 -6.73305552e+01] [-2.74327688e-03 2.95959136e-05 -9.99996237e-01 2.22580080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02185806399999 meters 0.01662844171958866 Centerline is valid? [True, True] Translation: X:84.38, Y:-67.34, Z:0.22 [[ 6.77828071e-01 7.35218740e-01 -1.58487388e-03 8.43836523e+01] [ 7.35216642e-01 -6.77829923e-01 -1.75626874e-03 -6.73395303e+01] [-2.36551663e-03 2.52225989e-05 -9.99997202e-01 2.22602967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.051858064 meters 0.015992806863679817 Centerline is valid? [True, True] Translation: X:84.39, Y:-67.35, Z:0.22 [[ 6.18379596e-01 7.85877955e-01 -1.58565182e-03 8.43865352e+01] [ 7.85875248e-01 -6.18381629e-01 -2.06292363e-03 -6.73509837e+01] [-2.60174416e-03 2.95453651e-05 -9.99996615e-01 2.22670424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.081858064 meters 0.01589021649101863 Centerline is valid? [True, True] Translation: X:84.39, Y:-67.36, Z:0.22 [[ 5.54855544e-01 8.31945733e-01 -1.27358614e-03 8.43903816e+01] [ 8.31943437e-01 -5.54857005e-01 -1.95503294e-03 -6.73616386e+01] [-2.33313950e-03 2.52092360e-05 -9.99997278e-01 2.22753113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.111858064 meters 0.015757038521637363 Centerline is valid? [True, True] Translation: X:84.40, Y:-67.37, Z:0.22 [[ 4.88095969e-01 8.72789674e-01 -7.13816180e-04 8.43964402e+01] [ 8.72788704e-01 -4.88096491e-01 -1.30167233e-03 -6.73734162e+01] [-1.48449734e-03 1.23303206e-05 -9.99998898e-01 2.22369399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.141858064 meters 0.016188803087928434 Centerline is valid? [True, True] Translation: X:84.40, Y:-67.38, Z:0.22 [[ 4.18264220e-01 9.08325284e-01 -4.68940755e-04 8.44006451e+01] [ 9.08324695e-01 -4.18264483e-01 -1.03497949e-03 -6.73840888e+01] [-1.13623930e-03 6.94442069e-06 -9.99999354e-01 2.22320483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.171858064 meters 0.01597909779440454 Centerline is valid? [True, True] Translation: X:84.41, Y:-67.39, Z:0.22 [[ 3.45675274e-01 9.38354079e-01 -4.77306504e-04 8.44079533e+01] [ 9.38353140e-01 -3.45675604e-01 -1.32758394e-03 -6.73942303e+01] [-1.41073702e-03 1.10308857e-05 -9.99999005e-01 2.22165919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201858064 meters 0.015911199854009603 Centerline is valid? [True, True] Translation: X:84.42, Y:-67.40, Z:0.22 [[ 2.70403055e-01 9.62747158e-01 -3.10896057e-04 8.44156097e+01] [ 9.62746494e-01 -2.70403234e-01 -1.13100100e-03 -6.74041073e+01] [-1.17293530e-03 6.51203676e-06 -9.99999312e-01 2.22358311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.231858064 meters 0.015793849373854103 Centerline is valid? [True, True] Translation: X:84.42, Y:-67.41, Z:0.22 [[ 1.93308412e-01 9.81137996e-01 -3.00479217e-04 8.44236301e+01] [ 9.81136716e-01 -1.93308645e-01 -1.58533042e-03 -6.74130166e+01] [-1.61351314e-03 1.16465134e-05 -9.99998698e-01 2.22359928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261858064 meters 0.015546165652067092 Centerline is valid? [True, True] Translation: X:84.43, Y:-67.42, Z:0.22 [[ 1.15196649e-01 9.93342690e-01 -1.77458993e-04 8.44325787e+01] [ 9.93341363e-01 -1.15196785e-01 -1.62415087e-03 -6.74214745e+01] [-1.63378110e-03 1.08193797e-05 -9.99998665e-01 2.22542694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.291858064 meters 0.015623061459875128 Centerline is valid? [True, True] Translation: X:84.44, Y:-67.43, Z:0.22 [[ 3.61629453e-02 9.99345905e-01 -5.73262646e-05 8.44414476e+01] [ 9.99343994e-01 -3.61629882e-02 -1.95464912e-03 -6.74300188e+01] [-1.95544369e-03 1.33972111e-05 -9.99998088e-01 2.23584965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321858064 meters 0.01567214796114534 Centerline is valid? [True, True] Translation: X:84.45, Y:-67.44, Z:0.22 [[-4.18595151e-02 9.99123503e-01 7.66287042e-05 8.44475193e+01] [ 9.99122224e-01 4.18595841e-02 -1.59897108e-03 -6.74371035e+01] [-1.60077724e-03 9.62928720e-06 -9.99998719e-01 2.23921920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351858064 meters 0.015822576215752282 Centerline is valid? [True, True] Translation: X:84.45, Y:-67.44, Z:0.22 [[-1.19226008e-01 9.92867111e-01 2.43060717e-04 8.44533556e+01] [ 9.92865298e-01 1.19226255e-01 -1.89749803e-03 -6.74437129e+01] [-1.91294260e-03 1.50954368e-05 -9.99998170e-01 2.23669150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381858064 meters 0.01626915659601181 Centerline is valid? [True, True] Translation: X:84.46, Y:-67.45, Z:0.22 [[-1.94907544e-01 9.80821516e-01 4.50574293e-04 8.44573622e+01] [ 9.80819159e-01 1.94908064e-01 -2.15037035e-03 -6.74516238e+01] [-2.19695007e-03 2.28084950e-05 -9.99997586e-01 2.22439782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411858064 meters 0.01672791988215218 Centerline is valid? [True, True] Translation: X:84.46, Y:-67.46, Z:0.22 [[-2.70037065e-01 9.62849816e-01 4.63903266e-04 8.44625888e+01] [ 9.62848499e-01 2.70037463e-01 -1.59248981e-03 -6.74592470e+01] [-1.65859979e-03 1.66372892e-05 -9.99998624e-01 2.22568666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441858064 meters 0.016999696840649295 Centerline is valid? [True, True] Translation: X:84.47, Y:-67.47, Z:0.22 [[-3.43393884e-01 9.39191291e-01 5.99228527e-04 8.44678065e+01] [ 9.39189959e-01 3.43394406e-01 -1.58215669e-03 -6.74652291e+01] [-1.69171951e-03 1.94864828e-05 -9.99998569e-01 2.22741923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471858064 meters 0.01699861052448423 Centerline is valid? [True, True] Translation: X:84.48, Y:-67.47, Z:0.22 [[-4.13364582e-01 9.10565309e-01 7.35445605e-04 8.44786427e+01] [ 9.10563973e-01 4.13365235e-01 -1.55979168e-03 -6.74681557e+01] [-1.72429984e-03 2.49076376e-05 -9.99998513e-01 2.23622923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501858064 meters 0.017018916646452227 Centerline is valid? [True, True] Translation: X:84.49, Y:-67.47, Z:0.22 [[-4.82243192e-01 8.76036680e-01 1.11356446e-03 8.44903458e+01] [ 8.76034526e-01 4.82244476e-01 -1.94302554e-03 -6.74693449e+01] [-2.23917195e-03 3.85100778e-05 -9.99997492e-01 2.24050465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531858064 meters 0.017980119350619495 Centerline is valid? [True, True] Translation: X:84.50, Y:-67.47, Z:0.22 [[-5.48052176e-01 8.36442339e-01 1.73960682e-03 8.45003211e+01] [ 8.36438478e-01 5.48054934e-01 -2.54218554e-03 -6.74724626e+01] [-3.07979172e-03 6.18237591e-05 -9.99995256e-01 2.24730302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561858064 meters 0.018254195862075242 Centerline is valid? [True, True] Translation: X:84.51, Y:-67.47, Z:0.23 [[-6.09700575e-01 7.92628047e-01 2.44693929e-03 8.45108717e+01] [ 7.92622258e-01 6.09705478e-01 -3.03071980e-03 -6.74734920e+01] [-3.89414581e-03 9.16669372e-05 -9.99992414e-01 2.25835736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591858064 meters 0.018066706599611865 Centerline is valid? [True, True] Translation: X:84.52, Y:-67.47, Z:0.23 [[-6.69057318e-01 7.43206322e-01 2.58241456e-03 8.45231469e+01] [ 7.43201311e-01 6.69062295e-01 -2.73052458e-03 -6.74712115e+01] [-3.75713934e-03 9.23764329e-05 -9.99992938e-01 2.25848613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621858064 meters 0.020710749192548655 Centerline is valid? [True, True] Translation: X:84.53, Y:-67.47, Z:0.23 [[-7.24340086e-01 6.89437813e-01 2.63462347e-03 8.45321790e+01] [ 6.89433705e-01 7.24344872e-01 -2.38173356e-03 -6.74728563e+01] [-3.55043317e-03 9.12131254e-05 -9.99993693e-01 2.26223884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651858064 meters 0.019119002381017616 Centerline is valid? [True, True] Translation: X:84.56, Y:-67.45, Z:0.22 [[-7.70395725e-01 6.37564460e-01 1.40935034e-03 8.45560022e+01] [ 6.37563498e-01 7.70397013e-01 -1.10848942e-03 -6.74513681e+01] [-1.79249275e-03 4.45748212e-05 -9.99998392e-01 2.24313086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681858064 meters 0.019493731923897268 Centerline is valid? [True, True] Translation: X:84.57, Y:-67.43, Z:0.22 [[-8.13644687e-01 5.81361828e-01 8.65379140e-04 8.45749373e+01] [ 5.81361528e-01 8.13645146e-01 -5.91184020e-04 -6.74309060e+01] [-1.04780336e-03 2.20844023e-05 -9.99999451e-01 2.24017375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.711858064 meters 0.018714200508601085 Centerline is valid? [True, True] Translation: X:84.59, Y:-67.41, Z:0.22 [[-8.52765291e-01 5.22293738e-01 7.80544324e-04 8.45938559e+01] [ 5.22293538e-01 8.52765648e-01 -4.57212213e-04 -6.74073647e+01] [-9.04420462e-04 1.77785512e-05 -9.99999591e-01 2.23787163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74185806399998 meters 0.018815609711237833 Centerline is valid? [True, True] Translation: X:84.61, Y:-67.39, Z:0.22 [[-8.87869657e-01 4.60094948e-01 3.33081125e-04 8.46119798e+01] [ 4.60094916e-01 8.87869720e-01 -1.70629638e-04 -6.73853311e+01] [-3.74238479e-04 1.75205410e-06 -9.99999930e-01 2.23805994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77185806399999 meters 0.018681185116779842 Centerline is valid? [True, True] Translation: X:84.63, Y:-67.36, Z:0.22 [[-9.18811266e-01 3.94697142e-01 1.52417694e-04 8.46312469e+01] [ 3.94697136e-01 9.18811279e-01 -7.03895864e-05 -6.73619085e+01] [-1.67825665e-04 -4.51591753e-06 -9.99999986e-01 2.23886993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.801858064 meters 0.01849053304894977 Centerline is valid? [True, True] Translation: X:84.65, Y:-67.34, Z:0.22 [[-9.44879538e-01 3.27418170e-01 5.19726130e-06 8.46510505e+01] [ 3.27418170e-01 9.44879538e-01 -1.12552332e-05 -6.73380306e+01] [-8.59595372e-06 -8.93316175e-06 -1.00000000e+00 2.24281412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.831858064 meters 0.01808374282740767 Centerline is valid? [True, True] Translation: X:84.66, Y:-67.31, Z:0.22 [[-9.66125940e-01 2.58070842e-01 3.28173849e-04 8.46591943e+01] [ 2.58070827e-01 9.66125996e-01 -8.83303956e-05 -6.73096965e+01] [-3.39852786e-04 -6.46189875e-07 -9.99999942e-01 2.24542127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.861858064 meters 0.017523607413352144 Centerline is valid? [True, True] Translation: X:84.68, Y:-67.28, Z:0.23 [[-9.82095657e-01 1.88382679e-01 2.95617560e-04 8.46776514e+01] [ 1.88382670e-01 9.82095701e-01 -5.86551239e-05 -6.72819398e+01] [-3.01374345e-04 -1.91571703e-06 -9.99999955e-01 2.25214702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.891858064 meters 0.016767868091736336 Centerline is valid? [True, True] Translation: X:84.68, Y:-67.25, Z:0.23 [[-9.93448537e-01 1.14277209e-01 8.50270828e-04 8.46789491e+01] [ 1.14277174e-01 9.93448901e-01 -9.01587061e-05 -6.72503376e+01] [-8.55003705e-04 7.59851257e-06 -9.99999634e-01 2.26253727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921858064 meters 0.017133939124235775 Centerline is valid? [True, True] Translation: X:84.68, Y:-67.22, Z:0.23 [[-9.99124291e-01 4.18065577e-02 1.69206808e-03 8.46803130e+01] [ 4.18065337e-02 9.99125723e-01 -4.95917490e-05 -6.72220361e+01] [-1.69266200e-03 2.11911799e-05 -9.99998567e-01 2.27288750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.951858064 meters 0.01636526510596829 Centerline is valid? [True, True] Translation: X:84.70, Y:-66.41, Z:-0.73 [[-9.97165250e-01 -7.52142258e-02 2.06987319e-03 8.47039500e+01] [ 7.52140592e-02 -9.97167398e-01 -1.58336811e-04 -6.64135736e+01] [ 2.07591925e-03 -2.20440073e-06 9.99997845e-01 -7.33158616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981858064 meters 0.015973188348334784 Centerline is valid? [True, True] Translation: X:84.59, Y:-67.21, Z:0.23 [[-9.99500267e-01 3.14181287e-02 3.48096537e-03 8.45879801e+01] [ 3.14180638e-02 9.99506328e-01 -7.33332607e-05 -6.72128160e+01] [-3.48155090e-03 3.60685784e-05 -9.99993939e-01 2.29442238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.011858064 meters 0.01569361169715828 Centerline is valid? [True, True] Translation: X:84.59, Y:-67.18, Z:0.23 [[-9.99149375e-01 -4.11078236e-02 3.26690821e-03 8.45897041e+01] [-4.11075084e-02 9.99154716e-01 1.63595154e-04 -6.71831958e+01] [-3.27087178e-03 2.91615397e-05 -9.99994650e-01 2.29444327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041858064 meters 0.01535551916067969 Centerline is valid? [True, True] Translation: X:84.55, Y:-66.39, Z:-0.73 [[-9.99983926e-01 -5.28590130e-03 2.05106968e-03 8.45478157e+01] [ 5.28568754e-03 -9.99986025e-01 -1.09625515e-04 -6.63899736e+01] [ 2.05162049e-03 -9.87824393e-05 9.99997891e-01 -7.33687028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071858064 meters 0.015451411432362758 Centerline is valid? [True, True] Translation: X:84.48, Y:-67.19, Z:0.23 [[-9.98705791e-01 -5.08330468e-02 1.65691163e-03 8.44836078e+01] [-5.08329692e-02 9.98707165e-01 8.89372161e-05 -6.71863580e+01] [-1.65929047e-03 4.59637468e-06 -9.99998623e-01 2.28229242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101858064 meters 0.015327979834128504 Centerline is valid? [True, True] Translation: X:84.48, Y:-67.16, Z:0.23 [[-9.92415449e-01 -1.22921263e-01 1.39272965e-03 8.44804853e+01] [-1.22921140e-01 9.92416426e-01 1.73837648e-04 -6.71580957e+01] [-1.40353612e-03 1.32325122e-06 -9.99999015e-01 2.27928870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131858064 meters 0.015175167497462127 Centerline is valid? [True, True] Translation: X:84.46, Y:-67.13, Z:0.23 [[-9.80767114e-01 -1.95180728e-01 5.92420615e-04 8.44640423e+01] [-1.95180696e-01 9.80767293e-01 1.12351299e-04 -6.71305413e+01] [-6.02955572e-04 -5.43860879e-06 -9.99999818e-01 2.27160071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161858064 meters 0.015241976252735382 Centerline is valid? [True, True] Translation: X:84.43, Y:-67.11, Z:0.23 [[-9.63878147e-01 -2.66343602e-01 6.07047877e-05 8.44328035e+01] [-2.66343602e-01 9.63878149e-01 7.81853586e-06 -6.71097032e+01] [-6.05944354e-05 -8.63221599e-06 -9.99999998e-01 2.26838304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191858064 meters 0.015174133812895823 Centerline is valid? [True, True] Translation: X:84.38, Y:-67.10, Z:0.23 [[-9.41654313e-01 -3.36580631e-01 -7.95481640e-04 8.43756495e+01] [-3.36580499e-01 9.41654649e-01 -2.97946877e-04 -6.70977935e+01] [ 8.49352133e-04 -1.28193547e-05 -9.99999639e-01 2.26277952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221858064 meters 0.015294282680507247 Centerline is valid? [True, True] Translation: X:84.31, Y:-67.09, Z:0.23 [[-9.13996511e-01 -4.05720729e-01 -1.03324238e-03 8.43134303e+01] [-4.05720453e-01 9.13997095e-01 -4.73686973e-04 -6.70926800e+01] [ 1.13656516e-03 -1.37406737e-05 -9.99999354e-01 2.25847997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251858064 meters 0.01529332952407935 Centerline is valid? [True, True] Translation: X:84.24, Y:-67.10, Z:0.23 [[-8.80672133e-01 -4.73724706e-01 -1.22353421e-03 8.42410960e+01] [-4.73724228e-01 8.80672983e-01 -6.73077152e-04 -6.70961770e+01] [ 1.39638680e-03 -1.31424913e-05 -9.99999025e-01 2.26428691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281858064 meters 0.015288221711360999 Centerline is valid? [True, True] Translation: X:84.16, Y:-67.11, Z:0.23 [[-8.42523656e-01 -5.38658742e-01 -8.05649589e-04 8.41563273e+01] [-5.38658482e-01 8.42524041e-01 -5.28751854e-04 -6.71138148e+01] [ 9.63595955e-04 -1.15159603e-05 -9.99999536e-01 2.26796708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311858064 meters 0.015337043315027823 Centerline is valid? [True, True] Translation: X:84.07, Y:-67.14, Z:0.23 [[-7.99348113e-01 -6.00868154e-01 -2.34836706e-04 8.40663414e+01] [-6.00868125e-01 7.99348148e-01 -1.88759025e-04 -6.71423639e+01] [ 3.01135573e-04 -9.77827954e-06 -9.99999955e-01 2.27426898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341858064 meters 0.01523890501738454 Centerline is valid? [True, True] Translation: X:83.98, Y:-67.17, Z:0.23 [[-7.51427319e-01 -6.59815282e-01 8.81254830e-04 8.39829578e+01] [-6.59814840e-01 7.51427836e-01 7.64598884e-04 -6.71737128e+01] [-1.16669344e-03 -6.92452430e-06 -9.99999319e-01 2.28840057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371858064 meters 0.015264964853861786 Centerline is valid? [True, True] Translation: X:83.89, Y:-67.22, Z:0.23 [[-6.99509351e-01 -7.14622528e-01 1.14464283e-03 8.38944961e+01] [-7.14621583e-01 6.99510288e-01 1.16209611e-03 -6.72195281e+01] [-1.63114950e-03 -5.08937308e-06 -9.99998670e-01 2.29415305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401858064 meters 0.015344846709248317 Centerline is valid? [True, True] Translation: X:83.80, Y:-67.29, Z:0.23 [[-6.43481504e-01 -7.65461001e-01 1.00475749e-03 8.37985572e+01] [-7.65460079e-01 6.43482288e-01 1.18848276e-03 -6.72858296e+01] [-1.55628085e-03 -4.33507705e-06 -9.99998789e-01 2.29338359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.431858064 meters 0.015485218452465659 Centerline is valid? [True, True] Translation: X:83.72, Y:-67.34, Z:0.23 [[-5.85088197e-01 -8.10968893e-01 1.12093600e-03 8.37224807e+01] [-8.10967398e-01 5.85089271e-01 1.55689730e-03 -6.73422187e+01] [-1.91844291e-03 1.87968644e-06 -9.99998160e-01 2.29100523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461858064 meters 0.015608507875880546 Centerline is valid? [True, True] Translation: X:83.64, Y:-67.42, Z:0.23 [[-5.22595605e-01 -8.52580269e-01 8.48333796e-04 8.36414906e+01] [-8.52579137e-01 5.22596293e-01 1.38930369e-03 -6.74166393e+01] [-1.62782901e-03 2.77230714e-06 -9.99998675e-01 2.29185989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49185806399998 meters 0.015640955471066434 Centerline is valid? [True, True] Translation: X:83.56, Y:-67.50, Z:0.23 [[-4.57290434e-01 -8.89317106e-01 7.37801225e-04 8.35636034e+01] [-8.89315927e-01 4.57291029e-01 1.44784256e-03 -6.75004431e+01] [-1.62498103e-03 5.94617058e-06 -9.99998680e-01 2.29003435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52185806399999 meters 0.016882040882080417 Centerline is valid? [True, True] Translation: X:83.49, Y:-67.60, Z:0.23 [[-3.91544947e-01 -9.20158753e-01 6.50627408e-04 8.34929769e+01] [-9.20157422e-01 3.91545488e-01 1.56500707e-03 -6.75989607e+01] [-1.69480518e-03 1.40909731e-05 -9.99998564e-01 2.29296079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.551858064 meters 0.01681584285981335 Centerline is valid? [True, True] Translation: X:83.43, Y:-67.69, Z:0.23 [[-3.21731718e-01 -9.46830767e-01 4.47594510e-04 8.34290422e+01] [-9.46829789e-01 3.21732029e-01 1.36090582e-03 -6.76925453e+01] [-1.43255299e-03 1.40507517e-05 -9.99998974e-01 2.29073993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.581858064 meters 0.017201402958754598 Centerline is valid? [True, True] Translation: X:83.37, Y:-67.81, Z:0.23 [[-2.49947452e-01 -9.68259354e-01 3.06499820e-04 8.33675108e+01] [-9.68258554e-01 2.49947640e-01 1.24525036e-03 -6.78129805e+01] [-1.28233422e-03 1.44760823e-05 -9.99999178e-01 2.29317446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.611858064 meters 0.018120506898954586 Centerline is valid? [True, True] Translation: X:83.32, Y:-67.90, Z:0.23 [[-1.78863070e-01 -9.83873956e-01 2.02795771e-04 8.33242385e+01] [-9.83873194e-01 1.78863184e-01 1.22421413e-03 -6.79018544e+01] [-1.24074510e-03 1.94413750e-05 -9.99999230e-01 2.29374445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.641858064 meters 0.018120506898954586 Centerline is valid? [True, True] Translation: X:83.28, Y:-68.02, Z:0.23 [[-1.02220255e-01 -9.94761785e-01 1.07436126e-04 8.32819298e+01] [-9.94761017e-01 1.02220309e-01 1.23588332e-03 -6.80185404e+01] [-1.24039165e-03 1.94590375e-05 -9.99999231e-01 2.29356253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.671858064 meters 0.01889312272621082 Centerline is valid? [True, True] Translation: X:83.25, Y:-68.17, Z:0.23 [[-2.67991510e-02 -9.99640838e-01 1.14280270e-05 8.32496937e+01] [-9.99640152e-01 2.67991460e-02 1.17164150e-03 -6.81676690e+01] [-1.17152695e-03 1.99750827e-05 -9.99999314e-01 2.29305550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701858064 meters 0.019832108245273143 Centerline is valid? [True, True] Translation: X:83.23, Y:-68.26, Z:0.23 [[ 4.92596878e-02 -9.98786003e-01 -5.18351943e-05 8.32266391e+01] [-9.98785679e-01 -4.92597136e-02 8.04744625e-04 -6.82583095e+01] [-8.06321055e-04 1.21307807e-05 -9.99999675e-01 2.29112030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.731858064 meters 0.020100493410972836 Centerline is valid? [True, True] Translation: X:83.21, Y:-68.38, Z:0.23 [[ 1.24377583e-01 -9.92234957e-01 -8.03987863e-05 8.32120039e+01] [-9.92234788e-01 -1.24377608e-01 5.80485192e-04 -6.83819462e+01] [-5.85977509e-04 7.57512769e-06 -9.99999828e-01 2.28589460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761858064 meters 0.020391789831639386 Centerline is valid? [True, True] Translation: X:83.21, Y:-68.50, Z:0.23 [[ 2.00250241e-01 -9.79744774e-01 -1.40598832e-04 8.32060203e+01] [-9.79744565e-01 -2.00250290e-01 6.39205549e-04 -6.85017111e+01] [-6.54413253e-04 9.74987632e-06 -9.99999786e-01 2.28211104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.791858064 meters 0.020651863173354847 Centerline is valid? [True, True] Translation: X:83.21, Y:-68.62, Z:0.23 [[ 2.75180396e-01 -9.61392607e-01 -6.66051255e-05 8.32095576e+01] [-9.61392577e-01 -2.75180404e-01 2.39287060e-04 -6.86243214e+01] [-2.48377236e-04 -1.81343469e-06 -9.99999969e-01 2.28207588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821858064 meters 0.020963423326847013 Centerline is valid? [True, True] Translation: X:83.22, Y:-68.75, Z:0.23 [[ 3.49143168e-01 -9.37069393e-01 -3.70107258e-05 8.32236892e+01] [-9.37069386e-01 -3.49143170e-01 1.15157400e-04 -6.87541978e+01] [-1.20832517e-04 -5.52480147e-06 -9.99999993e-01 2.28927914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851858064 meters 0.020429648332109137 Centerline is valid? [True, True] Translation: X:83.24, Y:-68.86, Z:0.23 [[ 4.20782036e-01 -9.07161767e-01 -8.53757940e-05 8.32398539e+01] [-9.07161747e-01 -4.20782045e-01 1.91382274e-04 -6.88646328e+01] [-2.09539283e-04 -3.08056851e-06 -9.99999978e-01 2.28883516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881858064 meters 0.020988194481564613 Centerline is valid? [True, True] Translation: X:83.27, Y:-68.98, Z:0.23 [[ 4.90092217e-01 -8.71670584e-01 1.05520400e-04 8.32713861e+01] [-8.71670570e-01 -4.90092229e-01 -1.59109546e-04 -6.89816847e+01] [ 1.90405839e-04 -1.40006770e-05 -9.99999982e-01 2.29130458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911858064 meters 0.02095977333570648 Centerline is valid? [True, True] Translation: X:83.31, Y:-69.09, Z:0.23 [[ 5.55850919e-01 -8.31281895e-01 4.09262116e-04 8.33087239e+01] [-8.31281705e-01 -5.55851069e-01 -5.62680497e-04 -6.90938303e+01] [ 6.95234894e-04 -2.74456382e-05 -9.99999758e-01 2.28600634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941858064 meters 0.021366499400804168 Centerline is valid? [True, True] Translation: X:83.35, Y:-69.20, Z:0.23 [[ 6.18195344e-01 -7.86023577e-01 1.20515732e-03 8.33527948e+01] [-7.86022265e-01 -6.18196516e-01 -1.43752655e-03 -6.92024515e+01] [ 1.87495381e-03 -5.86082650e-05 -9.99998241e-01 2.27651592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971858064 meters 0.02130109926920721 Centerline is valid? [True, True] Translation: X:83.40, Y:-69.30, Z:0.23 [[ 6.76989133e-01 -7.35990668e-01 1.85761899e-03 8.34019897e+01] [-7.35988208e-01 -6.76991677e-01 -1.90457450e-03 -6.93024487e+01] [ 2.65934166e-03 -7.78094332e-05 -9.99996461e-01 2.26419417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001858064 meters 0.018407769226876432 Centerline is valid? [True, True] Translation: X:83.45, Y:-69.40, Z:0.23 [[ 7.32067665e-01 -6.81224737e-01 3.12925162e-03 8.34526056e+01] [-6.81219157e-01 -7.32074344e-01 -2.75954726e-03 -6.94039458e+01] [ 4.17071668e-03 -1.11530831e-04 -9.99991296e-01 2.25987420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031858064 meters 0.020687845962916025 Centerline is valid? [True, True] Translation: X:83.45, Y:-69.41, Z:0.22 [[ 7.83762861e-01 -6.21048528e-01 3.80833933e-03 8.34493682e+01] [-6.21041938e-01 -7.83772104e-01 -2.86347917e-03 -6.94087918e+01] [ 4.76322965e-03 -1.20849813e-04 -9.99988648e-01 2.24354818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061858064 meters 0.02048683991019678 Centerline is valid? [True, True] Translation: X:83.45, Y:-69.41, Z:0.22 [[ 8.30412563e-01 -5.57135675e-01 3.84899743e-03 8.34501360e+01] [-5.57130310e-01 -8.30421476e-01 -2.44738720e-03 -6.94086794e+01] [ 4.55981685e-03 -1.12052056e-04 -9.99989598e-01 2.24584724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091858064 meters 0.02001406801407899 Centerline is valid? [True, True] Translation: X:83.45, Y:-69.41, Z:0.23 [[ 8.72331619e-01 -4.88908006e-01 2.55089594e-03 8.34494097e+01] [-4.88906145e-01 -8.72335346e-01 -1.35076827e-03 -6.94099786e+01] [ 2.88563811e-03 -6.88308282e-05 -9.99995834e-01 2.26850216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121858064 meters 0.01971966718923469 Centerline is valid? [True, True] Translation: X:83.45, Y:-69.41, Z:0.23 [[ 9.08242091e-01 -4.18440491e-01 1.96459834e-03 8.34509214e+01] [-4.18439634e-01 -9.08244214e-01 -8.48430200e-04 -6.94082974e+01] [ 2.13935263e-03 -5.14857917e-05 -9.99997710e-01 2.28224202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151858064 meters 0.01978216762236505 Centerline is valid? [True, True] Translation: X:83.45, Y:-69.41, Z:0.23 [[ 9.38326990e-01 -3.45746794e-01 1.27081716e-03 8.34528829e+01] [-3.45746527e-01 -9.38327850e-01 -4.30999075e-04 -6.94051853e+01] [ 1.34145969e-03 -3.49625559e-05 -9.99999100e-01 2.29475774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181858064 meters 0.017236527772788446 Centerline is valid? [True, True] Translation: X:83.45, Y:-69.42, Z:0.23 [[ 9.62718715e-01 -2.70504323e-01 -2.92989864e-04 8.34493435e+01] [-2.70504310e-01 -9.62718760e-01 8.54753385e-05 -6.94213791e+01] [-3.05188287e-04 -3.03368704e-06 -9.99999953e-01 2.30892453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.211858064 meters 0.017239218094939713 Centerline is valid? [True, True] Translation: X:83.45, Y:-69.43, Z:0.23 [[ 9.80964409e-01 -1.94184995e-01 -1.00852758e-03 8.34496655e+01] [-1.94184903e-01 -9.80964927e-01 1.89272392e-04 -6.94307106e+01] [-1.02608405e-03 1.01713502e-05 -9.99999474e-01 2.31374117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24185806399998 meters 0.01949010142033605 Centerline is valid? [True, True] Translation: X:83.45, Y:-69.43, Z:0.23 [[ 9.93180809e-01 -1.16576502e-01 -1.34131223e-03 8.34464683e+01] [-1.16576417e-01 -9.93181715e-01 1.41501990e-04 -6.94335589e+01] [-1.34866259e-03 1.58283131e-05 -9.99999090e-01 2.32115880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27185806399999 meters 0.017198346968881038 Centerline is valid? [True, True] Translation: X:83.44, Y:-69.45, Z:0.23 [[ 9.99265640e-01 -3.82886551e-02 -1.46959300e-03 8.34445251e+01] [-3.82886398e-02 -9.99266720e-01 3.85459210e-05 -6.94466779e+01] [-1.46999125e-03 1.77511027e-05 -9.99998919e-01 2.32064318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.301858064 meters 0.01744903637722776 Centerline is valid? [True, True] Translation: X:83.44, Y:-69.46, Z:0.23 [[ 9.99209429e-01 3.97248494e-02 -1.56606358e-03 8.34422033e+01] [ 3.97247692e-02 -9.99210656e-01 -8.23198430e-05 -6.94550181e+01] [-1.56809757e-03 2.00432489e-05 -9.99998770e-01 2.31846614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.331858064 meters 0.01761706474302492 Centerline is valid? [True, True] Translation: X:83.44, Y:-69.46, Z:0.23 [[ 9.93083875e-01 1.17400258e-01 -1.26383558e-03 8.34421568e+01] [ 1.17400144e-01 -9.93084679e-01 -1.64770999e-04 -6.94610008e+01] [-1.27443991e-03 1.52569426e-05 -9.99999188e-01 2.31879244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.361858064 meters 0.01809562777597244 Centerline is valid? [True, True] Translation: X:83.44, Y:-69.47, Z:0.23 [[ 9.81045188e-01 1.93767074e-01 -2.15879756e-03 8.34409122e+01] [ 1.93766526e-01 -9.81047562e-01 -4.62075889e-04 -6.94675463e+01] [-2.20741818e-03 3.50146226e-05 -9.99997563e-01 2.32388070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.391858064 meters 0.017217506701817438 Centerline is valid? [True, True] Translation: X:83.44, Y:-69.48, Z:0.23 [[ 9.63128240e-01 2.69029345e-01 -2.68416087e-03 8.34433476e+01] [ 2.69028156e-01 -9.63131979e-01 -8.01094528e-04 -6.94804718e+01] [-2.80071911e-03 4.94419127e-05 -9.99996077e-01 2.32529177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421858064 meters 0.016999536474850693 Centerline is valid? [True, True] Translation: X:83.45, Y:-69.49, Z:0.23 [[ 9.39494631e-01 3.42551082e-01 -2.93178042e-03 8.34475579e+01] [ 3.42549214e-01 -9.39499203e-01 -1.13286394e-03 -6.94939051e+01] [-3.14246914e-03 6.00405128e-05 -9.99995061e-01 2.32810348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.451858064 meters 0.017532474449698788 Centerline is valid? [True, True] Translation: X:83.45, Y:-69.51, Z:0.23 [[ 9.10872885e-01 4.12679526e-01 -2.48924479e-03 8.34528911e+01] [ 4.12677807e-01 -9.10876284e-01 -1.19251795e-03 -6.95055009e+01] [-2.75952179e-03 5.89761858e-05 -9.99996191e-01 2.33416341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481858064 meters 0.018391577585418012 Centerline is valid? [True, True] Translation: X:83.46, Y:-69.52, Z:0.23 [[ 8.76386703e-01 4.81603961e-01 -1.99255659e-03 8.34570111e+01] [ 4.81602584e-01 -8.76388967e-01 -1.15287283e-03 -6.95150404e+01] [-2.30148273e-03 5.07420211e-05 -9.99997350e-01 2.32809463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.511858064 meters 0.01835101295679061 Centerline is valid? [True, True] Translation: X:83.46, Y:-69.52, Z:0.23 [[ 8.36260118e-01 5.48330669e-01 -1.57899107e-03 8.34625451e+01] [ 5.48329596e-01 -8.36261607e-01 -1.08528934e-03 -6.95244213e+01] [-1.91554704e-03 4.17766558e-05 -9.99998164e-01 2.32439211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541858064 meters 0.01824540513613985 Centerline is valid? [True, True] Translation: X:83.47, Y:-69.54, Z:0.23 [[ 7.90770668e-01 6.12111356e-01 -1.19964376e-03 8.34703455e+01] [ 6.12110589e-01 -7.90771577e-01 -9.69050804e-04 -6.95354968e+01] [-1.54181119e-03 3.19823034e-05 -9.99998811e-01 2.32276356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571858064 meters 0.018517141663428452 Centerline is valid? [True, True] Translation: X:83.48, Y:-69.54, Z:0.23 [[ 7.39811560e-01 6.72813335e-01 -1.03528086e-03 8.34764460e+01] [ 6.72812623e-01 -7.39812284e-01 -9.78951326e-04 -6.95434373e+01] [-1.42456500e-03 2.76894777e-05 -9.99998985e-01 2.32550000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601858064 meters 0.017519362555221327 Centerline is valid? [True, True] Translation: X:83.49, Y:-69.55, Z:0.23 [[ 6.82835606e-01 7.30571383e-01 -9.94385101e-04 8.34864923e+01] [ 7.30570555e-01 -6.82836330e-01 -1.10066016e-03 -6.95532545e+01] [-1.48311309e-03 2.51014719e-05 -9.99998900e-01 2.32130155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631858064 meters 0.01722381025112059 Centerline is valid? [True, True] Translation: X:83.49, Y:-69.56, Z:0.23 [[ 6.21846868e-01 7.83138377e-01 -8.68350885e-04 8.34947015e+01] [ 7.83137567e-01 -6.21847474e-01 -1.12684542e-03 -6.95594153e+01] [-1.42245770e-03 2.06870988e-05 -9.99998988e-01 2.32308346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661858064 meters 0.016768529904818124 Centerline is valid? [True, True] Translation: X:83.50, Y:-69.56, Z:0.23 [[ 5.56771728e-01 8.30665170e-01 -7.86223766e-04 8.35031811e+01] [ 8.30664296e-01 -5.56772283e-01 -1.20503804e-03 -6.95644656e+01] [-1.43873073e-03 1.78431017e-05 -9.99998965e-01 2.32098812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691858064 meters 0.015706067234634632 Centerline is valid? [True, True] Translation: X:83.52, Y:-69.57, Z:0.23 [[ 4.85131091e-01 8.74440665e-01 -1.16072838e-03 8.35168924e+01] [ 8.74438051e-01 -4.85132479e-01 -2.13824846e-03 -6.95721635e+01] [-2.43287844e-03 2.23457462e-05 -9.99997040e-01 2.33223374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721858064 meters 0.015323091874862893 Centerline is valid? [True, True] Translation: X:83.53, Y:-69.58, Z:0.23 [[ 4.12769423e-01 9.10834890e-01 -1.09809364e-03 8.35302309e+01] [ 9.10831546e-01 -4.12770883e-01 -2.46827954e-03 -6.95772433e+01] [-2.70145621e-03 1.86519962e-05 -9.99996351e-01 2.33914874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751858064 meters 0.015214132244673483 Centerline is valid? [True, True] Translation: X:83.54, Y:-69.58, Z:0.23 [[ 3.38038402e-01 9.41131860e-01 -9.27510837e-04 8.35405791e+01] [ 9.41128210e-01 -3.38039674e-01 -2.62136204e-03 -6.95810525e+01] [-2.78058279e-03 1.32144205e-05 -9.99996134e-01 2.34569155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781858064 meters 0.014825759643705607 Centerline is valid? [True, True] Translation: X:83.56, Y:-69.58, Z:0.23 [[ 2.60607197e-01 9.65444843e-01 -3.78775903e-04 8.35566202e+01] [ 9.65443829e-01 -2.60607473e-01 -1.39931648e-03 -6.95842106e+01] [-1.44967471e-03 -1.01491217e-06 -9.99998949e-01 2.33220478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811858064 meters 0.014899952031501027 Centerline is valid? [True, True] Translation: X:83.57, Y:-69.59, Z:0.23 [[ 1.83570782e-01 9.83006491e-01 -8.26033093e-05 8.35687073e+01] [ 9.83006406e-01 -1.83570801e-01 -4.07466252e-04 -6.95865682e+01] [-4.15705526e-04 -6.40068368e-06 -9.99999914e-01 2.32502206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841858064 meters 0.014943044050878148 Centerline is valid? [True, True] Translation: X:83.58, Y:-69.59, Z:0.23 [[ 1.05228431e-01 9.94448073e-01 8.96647955e-05 8.35786303e+01] [ 9.94447612e-01 -1.05228469e-01 9.57209067e-04 -6.95878928e+01] [ 9.61330001e-04 -1.15586669e-05 -9.99999538e-01 2.31634275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871858064 meters 0.01492663315228721 Centerline is valid? [True, True] Translation: X:83.59, Y:-69.59, Z:0.23 [[ 2.66194705e-02 9.99645639e-01 1.62999272e-05 8.35895649e+01] [ 9.99645099e-01 -2.66194731e-02 1.03927265e-03 -6.95872566e+01] [ 1.03933827e-03 -1.13707454e-05 -9.99999460e-01 2.31367787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901858064 meters 0.014894287554231347 Centerline is valid? [True, True] Translation: X:83.60, Y:-69.59, Z:0.23 [[-5.22087058e-02 9.98636193e-01 -7.49694422e-05 8.36000884e+01] [ 9.98635452e-01 5.22087584e-02 1.21627839e-03 -6.95855878e+01] [ 1.21853369e-03 -1.13668219e-05 -9.99999258e-01 2.31117346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.931858064 meters 0.014842269451950394 Centerline is valid? [True, True] Translation: X:83.61, Y:-69.58, Z:0.23 [[-1.30677658e-01 9.91424892e-01 -1.84716433e-04 8.36105489e+01] [ 9.91424017e-01 1.30677788e-01 1.31682605e-03 -6.95836175e+01] [ 1.32967246e-03 -1.10525629e-05 -9.99999116e-01 2.30987883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961858064 meters 0.014894509393929382 Centerline is valid? [True, True] Translation: X:83.62, Y:-69.58, Z:0.23 [[-2.08996167e-01 9.77916414e-01 -2.98140230e-04 8.36214825e+01] [ 9.77915484e-01 2.08996380e-01 1.34903110e-03 -6.95814762e+01] [ 1.38154988e-03 -9.61361745e-06 -9.99999046e-01 2.31487744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99185806399998 meters 0.014855827473240917 Centerline is valid? [True, True] Translation: X:83.63, Y:-69.58, Z:0.23 [[-2.85648473e-01 9.58334351e-01 -4.70898646e-04 8.36311221e+01] [ 9.58333099e-01 2.85648861e-01 1.54932469e-03 -6.95771500e+01] [ 1.61928274e-03 -8.71552591e-06 -9.99998689e-01 2.31930745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02185806399999 meters 0.01478505396778206 Centerline is valid? [True, True] Translation: X:83.64, Y:-69.57, Z:0.23 [[-3.60713849e-01 9.32676370e-01 -5.54800141e-04 8.36395076e+01] [ 9.32675297e-01 3.60714276e-01 1.41452018e-03 -6.95723618e+01] [ 1.51941388e-03 -7.21136649e-06 -9.99998846e-01 2.31757548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.051858064 meters 0.014782425478203787 Centerline is valid? [True, True] Translation: X:83.65, Y:-69.57, Z:0.23 [[-4.33928691e-01 9.00946965e-01 -6.76553206e-04 8.36481652e+01] [ 9.00945888e-01 4.33929218e-01 1.39313978e-03 -6.95664068e+01] [ 1.54872126e-03 -5.01450814e-06 -9.99998801e-01 2.31828890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.081858064 meters 0.014926953542255293 Centerline is valid? [True, True] Translation: X:83.66, Y:-69.56, Z:0.23 [[-5.03913008e-01 8.63754126e-01 -7.00639179e-04 8.36553793e+01] [ 8.63753302e-01 5.03913495e-01 1.19276778e-03 -6.95604355e+01] [ 1.38331963e-03 -4.12820394e-06 -9.99999043e-01 2.32223950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.111858064 meters 0.014843003918677445 Centerline is valid? [True, True] Translation: X:83.66, Y:-69.55, Z:0.23 [[-5.70491330e-01 8.21303612e-01 -1.41699519e-04 8.36643033e+01] [ 8.21303589e-01 5.70491348e-01 1.91487484e-04 -6.95524545e+01] [ 2.38107712e-04 -7.13637415e-06 -9.99999972e-01 2.32511604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.141858064 meters 0.014945299676835775 Centerline is valid? [True, True] Translation: X:83.67, Y:-69.54, Z:0.23 [[-6.33630871e-01 7.73635170e-01 7.37369558e-04 8.36721940e+01] [ 7.73634622e-01 6.33631300e-01 -9.20409861e-04 -6.95449457e+01] [-1.17928187e-03 -1.27454819e-05 -9.99999305e-01 2.33280702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.171858064 meters 0.014927511636728395 Centerline is valid? [True, True] Translation: X:83.68, Y:-69.54, Z:0.23 [[-6.92260290e-01 7.21647143e-01 1.04454117e-03 8.36770558e+01] [ 7.21646291e-01 6.92261078e-01 -1.10924891e-03 -6.95384794e+01] [-1.52358150e-03 -1.40997143e-05 -9.99998839e-01 2.33738864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201858064 meters 0.014975240096221505 Centerline is valid? [True, True] Translation: X:83.68, Y:-69.53, Z:0.23 [[-7.46067057e-01 6.65868256e-01 1.84708252e-03 8.36795905e+01] [ 6.65866162e-01 7.46069344e-01 -1.66981081e-03 -6.95326912e+01] [-2.48992565e-03 -1.58810846e-05 -9.99996900e-01 2.34471022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.231858064 meters 0.014882632979171907 Centerline is valid? [True, True] Translation: X:83.69, Y:-69.51, Z:0.23 [[-7.90866576e-01 6.11984857e-01 2.14339952e-03 8.36949645e+01] [ 6.11982562e-01 7.90869480e-01 -1.67605947e-03 -6.95116390e+01] [-2.72087228e-03 -1.38162813e-05 -9.99996298e-01 2.34312263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261858064 meters 0.014967291972026361 Centerline is valid? [True, True] Translation: X:83.71, Y:-69.49, Z:0.23 [[-8.31814141e-01 5.55049532e-01 2.29170305e-03 8.37083956e+01] [ 5.55047386e-01 8.31817298e-01 -1.54355580e-03 -6.94894598e+01] [-2.76302816e-03 -1.19477538e-05 -9.99996183e-01 2.34139777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.291858064 meters 0.015035349870034409 Centerline is valid? [True, True] Translation: X:83.72, Y:-69.47, Z:0.23 [[-8.68679006e-01 4.95370624e-01 2.17480003e-03 8.37226460e+01] [ 4.95369044e-01 8.68681728e-01 -1.25129105e-03 -6.94679171e+01] [-2.50906188e-03 -9.64165172e-06 -9.99996852e-01 2.33935330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321858064 meters 0.014994105539782263 Centerline is valid? [True, True] Translation: X:83.73, Y:-69.44, Z:0.23 [[-9.01337967e-01 4.33111198e-01 2.13505875e-03 8.37328594e+01] [ 4.33109962e-01 9.01340496e-01 -1.03496015e-03 -6.94439521e+01] [-2.37266775e-03 -8.13366632e-06 -9.99997185e-01 2.33920414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351858064 meters 0.01509554011376256 Centerline is valid? [True, True] Translation: X:83.74, Y:-69.42, Z:0.23 [[-9.29534428e-01 3.68728408e-01 2.26016119e-03 8.37395935e+01] [ 3.68727301e-01 9.29537176e-01 -9.03614485e-04 -6.94202702e+01] [-2.43409218e-03 -6.55763908e-06 -9.99997038e-01 2.33885755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381858064 meters 0.015092224230693735 Centerline is valid? [True, True] Translation: X:83.75, Y:-69.40, Z:0.23 [[-9.53305655e-01 3.01997498e-01 2.41654971e-03 8.37494363e+01] [ 3.01996511e-01 9.53308718e-01 -7.72135726e-04 -6.93960597e+01] [-2.53690096e-03 -6.29177422e-06 -9.99996782e-01 2.33590679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411858064 meters 0.015056940329961075 Centerline is valid? [True, True] Translation: X:83.75, Y:-69.37, Z:0.23 [[-9.72346287e-01 2.33532805e-01 2.26415140e-03 8.37520242e+01] [ 2.33532156e-01 9.72348923e-01 -5.50566215e-04 -6.93693184e+01] [-2.33012045e-03 -6.58885583e-06 -9.99997285e-01 2.32779006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441858064 meters 0.015143168557738666 Centerline is valid? [True, True] Translation: X:83.76, Y:-69.34, Z:0.23 [[-9.86418147e-01 1.64233304e-01 2.58110917e-03 8.37558109e+01] [ 1.64232725e-01 9.86421523e-01 -4.36025828e-04 -6.93443634e+01] [-2.61767160e-03 -6.20119645e-06 -9.99996574e-01 2.33047134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471858064 meters 0.015103603899284947 Centerline is valid? [True, True] Translation: X:83.76, Y:-69.32, Z:0.23 [[-9.95571388e-01 9.39567826e-02 3.11990036e-03 8.37574803e+01] [ 9.39563042e-02 9.95576277e-01 -2.99878059e-04 -6.93181149e+01] [-3.13427436e-03 -5.41570836e-06 -9.99995088e-01 2.32924479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501858064 meters 0.015037164676307207 Centerline is valid? [True, True] Translation: X:83.75, Y:-69.29, Z:0.23 [[-9.99716423e-01 2.36076686e-02 3.12287613e-03 8.37502069e+01] [ 2.36075427e-02 9.99721300e-01 -7.71913469e-05 -6.92932832e+01] [-3.12382809e-03 -3.44602565e-06 -9.99995121e-01 2.31858205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531858064 meters 0.015103393316117084 Centerline is valid? [True, True] Translation: X:83.77, Y:-68.63, Z:-0.74 [[-9.96081404e-01 -8.84086958e-02 2.39555218e-03 8.37705114e+01] [ 8.84083373e-02 -9.96084284e-01 -2.55341287e-04 -6.86335445e+01] [ 2.40874627e-03 -4.25539218e-05 9.99997098e-01 -7.37686755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561858064 meters 0.015080950495559034 Centerline is valid? [True, True] Translation: X:83.69, Y:-69.30, Z:0.23 [[-9.99812429e-01 1.91223679e-02 3.07264417e-03 8.36860516e+01] [ 1.91222705e-02 9.99817151e-01 -6.11054520e-05 -6.92953164e+01] [-3.07325082e-03 -2.33805768e-06 -9.99995278e-01 2.30723743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591858064 meters 0.015080950495559034 Centerline is valid? [True, True] Translation: X:83.68, Y:-69.27, Z:0.23 [[-9.98638561e-01 -5.20730739e-02 3.06895612e-03 8.36804613e+01] [-5.20728348e-02 9.98643277e-01 1.57803258e-04 -6.92675527e+01] [-3.07300970e-03 -2.22082621e-06 -9.99995278e-01 2.30720774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621858064 meters 0.015098067141977617 Centerline is valid? [True, True] Translation: X:83.65, Y:-68.60, Z:-0.74 [[-9.99922041e-01 -1.20781134e-02 3.16717349e-03 8.36464467e+01] [ 1.20780792e-02 -9.99927057e-01 -2.99368274e-05 -6.86024191e+01] [ 3.16730405e-03 8.31887870e-06 9.99994984e-01 -7.37179839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651858064 meters 0.015130098417375103 Centerline is valid? [True, True] Translation: X:83.59, Y:-69.28, Z:0.23 [[-9.98323885e-01 -5.76985770e-02 4.50507659e-03 8.35904724e+01] [-5.76979875e-02 9.98334049e-01 2.60817864e-04 -6.92756518e+01] [-4.51262017e-03 4.46850755e-07 -9.99989818e-01 2.32121928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681858064 meters 0.015187849044926718 Centerline is valid? [True, True] Translation: X:83.55, Y:-68.60, Z:-0.74 [[-9.99964345e-01 -6.41299567e-03 5.49377329e-03 8.35501983e+01] [ 6.41324587e-03 -9.99979435e-01 2.79278460e-05 -6.86025391e+01] [ 5.49348120e-03 6.31597691e-05 9.99984909e-01 -7.39321932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.711858064 meters 0.015217628812429676 Centerline is valid? [True, True] Translation: X:83.49, Y:-69.29, Z:0.23 [[-9.97982465e-01 -6.31454445e-02 6.60692441e-03 8.34927697e+01] [-6.31440158e-02 9.98004335e-01 4.24832662e-04 -6.92879830e+01] [-6.62056545e-03 6.78780858e-06 -9.99978084e-01 2.33457885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74185806399998 meters 0.015232663020135689 Centerline is valid? [True, True] Translation: X:83.49, Y:-69.26, Z:0.23 [[-9.90997440e-01 -1.33710967e-01 6.74169490e-03 8.34862379e+01] [-1.33707804e-01 9.91020372e-01 9.19896402e-04 -6.92638165e+01] [-6.80415722e-03 1.01977628e-05 -9.99976851e-01 2.33165124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77185806399999 meters 0.01524311994341926 Centerline is valid? [True, True] Translation: X:83.47, Y:-69.24, Z:0.23 [[-9.78921324e-01 -2.04126824e-01 6.72908701e-03 8.34694228e+01] [-2.04121908e-01 9.78944452e-01 1.41680922e-03 -6.92411319e+01] [-6.87661116e-03 1.33906809e-05 -9.99976356e-01 2.32429811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.801858064 meters 0.015321025376966823 Centerline is valid? [True, True] Translation: X:83.44, Y:-69.23, Z:0.23 [[-9.61572302e-01 -2.74450895e-01 7.44406387e-03 8.34372617e+01] [-2.74442559e-01 9.61601116e-01 2.13914749e-03 -6.92254377e+01] [-7.74531107e-03 1.39770387e-05 -9.99970005e-01 2.32946020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.831858064 meters 0.015320120368061933 Centerline is valid? [True, True] Translation: X:83.38, Y:-69.22, Z:0.23 [[-9.38723807e-01 -3.44593969e-01 7.25339187e-03 8.33838411e+01] [-3.44583611e-01 9.38751829e-01 2.67180666e-03 -6.92154644e+01] [-7.72982335e-03 8.68855951e-06 -9.99970124e-01 2.32726205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.861858064 meters 0.015298118444297395 Centerline is valid? [True, True] Translation: X:83.32, Y:-69.21, Z:0.23 [[-9.10310707e-01 -4.13861087e-01 7.30876036e-03 8.33208386e+01] [-4.13847734e-01 9.10340047e-01 3.32444587e-03 -6.92131726e+01] [-8.02931603e-03 1.56475156e-06 -9.99967765e-01 2.32457180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.891858064 meters 0.015225598567158924 Centerline is valid? [True, True] Translation: X:83.25, Y:-69.22, Z:0.23 [[-8.75844510e-01 -4.82553078e-01 6.23871693e-03 8.32484316e+01] [-4.82540980e-01 8.75866729e-01 3.41695738e-03 -6.92224351e+01] [-7.11314790e-03 -1.77132191e-05 -9.99974701e-01 2.31233826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921858064 meters 0.01526319144961066 Centerline is valid? [True, True] Translation: X:83.17, Y:-69.24, Z:0.23 [[-8.36642902e-01 -5.47720514e-01 5.55819471e-03 8.31681567e+01] [-5.47708629e-01 8.36661364e-01 3.60828424e-03 -6.92399366e+01] [-6.62665807e-03 -2.54258051e-05 -9.99978043e-01 2.30355145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.951858064 meters 0.015309915404461933 Centerline is valid? [True, True] Translation: X:83.08, Y:-69.27, Z:0.23 [[-7.92258277e-01 -6.10164339e-01 5.12847747e-03 8.30769860e+01] [-6.10151842e-01 7.92274875e-01 3.90529824e-03 -6.92735597e+01] [-6.44603757e-03 -3.51451163e-05 -9.99979223e-01 2.30397218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981858064 meters 0.015418320454845947 Centerline is valid? [True, True] Translation: X:82.98, Y:-69.32, Z:0.23 [[-7.43771047e-01 -6.68418518e-01 4.61668460e-03 8.29802554e+01] [-6.68405947e-01 7.43785375e-01 4.09954469e-03 -6.93198583e+01] [-6.17403407e-03 -3.66967991e-05 -9.99980940e-01 2.30876750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.011858064 meters 0.015303040403871268 Centerline is valid? [True, True] Translation: X:82.90, Y:-69.36, Z:0.23 [[-6.90719064e-01 -7.23107634e-01 4.74587774e-03 8.28979902e+01] [-7.23090971e-01 6.90735367e-01 4.90922503e-03 -6.93637013e+01] [-6.82804370e-03 -4.08060205e-05 -9.99976688e-01 2.31516541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041858064 meters 0.015261020681201368 Centerline is valid? [True, True] Translation: X:82.82, Y:-69.41, Z:0.23 [[-6.33745509e-01 -7.73528313e-01 4.53626541e-03 8.28196320e+01] [-7.73508954e-01 6.33761743e-01 5.47282547e-03 -6.94134069e+01] [-7.10829693e-03 -4.04633510e-05 -9.99974735e-01 2.31368242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071858064 meters 0.015398057691748814 Centerline is valid? [True, True] Translation: X:82.75, Y:-69.47, Z:0.23 [[-5.72942844e-01 -8.19577491e-01 5.40680446e-03 8.27455479e+01] [-8.19541791e-01 5.72968353e-01 7.64980818e-03 -6.94719011e+01] [-9.36753844e-03 -4.81993629e-05 -9.99956122e-01 2.32193921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101858064 meters 0.015448192203773898 Centerline is valid? [True, True] Translation: X:82.66, Y:-69.56, Z:0.23 [[-5.08908816e-01 -8.60804418e-01 5.25083356e-03 8.26590544e+01] [-8.60759572e-01 5.08935901e-01 8.78675872e-03 -6.95576093e+01] [-1.02360184e-02 -4.80462740e-05 -9.99947609e-01 2.32653261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131858064 meters 0.015483599882603116 Centerline is valid? [True, True] Translation: X:82.59, Y:-69.64, Z:0.23 [[-4.42076964e-01 -8.96961579e-01 5.28042753e-03 8.25880279e+01] [-8.96898768e-01 4.42108497e-01 1.06149305e-02 -6.96363173e+01] [-1.18557067e-02 -4.33926890e-05 -9.99929718e-01 2.33598477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161858064 meters 0.01552233602519361 Centerline is valid? [True, True] Translation: X:82.52, Y:-69.73, Z:0.23 [[-3.72875445e-01 -9.27870457e-01 4.50760953e-03 8.25175505e+01] [-9.27803613e-01 3.72902688e-01 1.11373745e-02 -6.97277653e+01] [-1.20149405e-02 -2.93229189e-05 -9.99927818e-01 2.34366784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.191858064 meters 0.015462887252115363 Centerline is valid? [True, True] Translation: X:82.45, Y:-69.82, Z:0.23 [[-3.01416332e-01 -9.53485504e-01 3.68622755e-03 8.24546630e+01] [-9.53414811e-01 3.01438872e-01 1.16105247e-02 -6.98247926e+01] [-1.21816393e-02 -1.49021762e-05 -9.99925801e-01 2.34716699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221858064 meters 0.015516380349555343 Centerline is valid? [True, True] Translation: X:82.40, Y:-69.93, Z:0.24 [[-2.28669029e-01 -9.73500370e-01 2.73940255e-03 8.23986786e+01] [-9.73430248e-01 2.28685437e-01 1.16843341e-02 -6.99314061e+01] [-1.20011651e-02 5.22803964e-06 -9.99927983e-01 2.35283564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251858064 meters 0.015489821181195731 Centerline is valid? [True, True] Translation: X:82.35, Y:-70.04, Z:0.23 [[-1.56636383e-01 -9.87654830e-01 1.72613114e-03 8.23544447e+01] [-9.87591407e-01 1.56645886e-01 1.11927877e-02 -7.00397138e+01] [-1.13250022e-02 4.84855042e-05 -9.99935869e-01 2.33618792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281858064 meters 0.01559300546582204 Centerline is valid? [True, True] Translation: X:82.32, Y:-70.15, Z:0.23 [[-8.14143332e-02 -9.96679977e-01 8.54762024e-04 8.23163804e+01] [-9.96616172e-01 8.14187932e-02 1.12776506e-02 -7.01483490e+01] [-1.13098023e-02 6.62927500e-05 -9.99936040e-01 2.33246726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.311858064 meters 0.015788464657361608 Centerline is valid? [True, True] Translation: X:82.29, Y:-70.27, Z:0.23 [[-5.61572633e-03 -9.99984231e-01 -2.01133646e-05 8.22858893e+01] [-9.99920653e-01 5.61514247e-03 1.12764113e-02 -7.02677425e+01] [-1.12761205e-02 8.34370083e-05 -9.99936419e-01 2.33138589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341858064 meters 0.015829387537558057 Centerline is valid? [True, True] Translation: X:82.27, Y:-70.39, Z:0.23 [[ 7.03208002e-02 -9.97524034e-01 -8.87149047e-04 8.22650160e+01] [-9.97461505e-01 -7.03263257e-02 1.11693742e-02 -7.03889188e+01] [-1.12041091e-02 9.94576944e-05 -9.99937227e-01 2.32882294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.371858064 meters 0.015882023353423202 Centerline is valid? [True, True] Translation: X:82.25, Y:-70.51, Z:0.23 [[ 1.46792317e-01 -9.89165838e-01 -1.72036947e-03 8.22517988e+01] [-9.89105850e-01 -1.46802362e-01 1.08942005e-02 -7.05129451e+01] [-1.10287252e-02 1.02442580e-04 -9.99939177e-01 2.33206563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401858064 meters 0.015887886681382312 Centerline is valid? [True, True] Translation: X:82.25, Y:-70.63, Z:0.23 [[ 2.23476904e-01 -9.74705380e-01 -2.73772162e-03 8.22470787e+01] [-9.74637706e-01 -2.23493650e-01 1.14860934e-02 -7.06326864e+01] [-1.18074204e-02 1.01410119e-04 -9.99930285e-01 2.34250951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.431858064 meters 0.015929609599511063 Centerline is valid? [True, True] Translation: X:82.25, Y:-70.75, Z:0.23 [[ 2.98673774e-01 -9.54348246e-01 -3.66088465e-03 8.22523100e+01] [-9.54280427e-01 -2.98696194e-01 1.13776249e-02 -7.07537738e+01] [-1.19517087e-02 9.53123864e-05 -9.99928571e-01 2.34290253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461858064 meters 0.015748940761494346 Centerline is valid? [True, True] Translation: X:82.27, Y:-70.88, Z:0.23 [[ 3.71608393e-01 -9.28379734e-01 -4.27453844e-03 8.22666013e+01] [-9.28321019e-01 -3.71632966e-01 1.04414761e-02 -7.08752204e+01] [-1.12822142e-02 8.80037171e-05 -9.99936350e-01 2.32980558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49185806399998 meters 0.015809132802486577 Centerline is valid? [True, True] Translation: X:82.29, Y:-70.99, Z:0.23 [[ 4.42494374e-01 -8.96758114e-01 -4.85942417e-03 8.22902903e+01] [-8.96705998e-01 -4.42521049e-01 9.66824115e-03 -7.09932915e+01] [-1.08204712e-02 7.93324852e-05 -9.99941454e-01 2.33098773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52185806399999 meters 0.015512794566457785 Centerline is valid? [True, True] Translation: X:82.32, Y:-71.11, Z:0.23 [[ 5.11159363e-01 -8.59472602e-01 -4.79088438e-03 8.23190577e+01] [-8.59435900e-01 -5.11181811e-01 7.94294971e-03 -7.11072541e+01] [-9.27576061e-03 5.73449193e-05 -9.99956978e-01 2.32003136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.551858064 meters 0.015411321443217668 Centerline is valid? [True, True] Translation: X:82.36, Y:-71.22, Z:0.23 [[ 5.76155260e-01 -8.17324115e-01 -5.13894583e-03 8.23578184e+01] [-8.17292379e-01 -5.76178175e-01 7.20267436e-03 -7.12184580e+01] [-8.84786787e-03 5.01625480e-05 -9.99960856e-01 2.32124143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.581858064 meters 0.015460356211493572 Centerline is valid? [True, True] Translation: X:82.41, Y:-71.33, Z:0.23 [[ 6.37774322e-01 -7.70204120e-01 -5.43398420e-03 8.24076841e+01] [-7.70176717e-01 -6.37797470e-01 6.49710645e-03 -7.13287396e+01] [-8.46987953e-03 4.14404453e-05 -9.99964129e-01 2.31847267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.611858064 meters 0.015353395658377254 Centerline is valid? [True, True] Translation: X:82.45, Y:-71.42, Z:0.23 [[ 6.96267268e-01 -7.17764534e-01 -5.09565378e-03 8.24548808e+01] [-7.17745531e-01 -6.96285914e-01 5.22299608e-03 -7.14244442e+01] [-7.29691329e-03 2.07815180e-05 -9.99973377e-01 2.31027118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.641858064 meters 0.01525784987364612 Centerline is valid? [True, True] Translation: X:82.52, Y:-71.52, Z:0.23 [[ 7.49509861e-01 -6.61969164e-01 -5.63859665e-03 8.25151192e+01] [-6.61950597e-01 -7.49531070e-01 4.95796655e-03 -7.15210698e+01] [-7.50832436e-03 1.64275949e-05 -9.99971812e-01 2.31406535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.671858064 meters 0.015167563109792875 Centerline is valid? [True, True] Translation: X:82.51, Y:-71.53, Z:0.23 [[ 7.99553734e-01 -6.00561130e-01 -6.33681773e-03 8.25108027e+01] [-6.00542364e-01 -7.99578844e-01 4.74768818e-03 -7.15271420e+01] [-7.91806238e-03 9.49568451e-06 -9.99968652e-01 2.32328891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701858064 meters 0.015197412419957652 Centerline is valid? [True, True] Translation: X:82.51, Y:-71.53, Z:0.23 [[ 8.44136688e-01 -5.36088171e-01 -6.53646661e-03 8.25069821e+01] [-5.36072172e-01 -8.44161994e-01 4.14163510e-03 -7.15329644e+01] [-7.73811827e-03 7.91171546e-06 -9.99970060e-01 2.32952478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.731858064 meters 0.01522541225755637 Centerline is valid? [True, True] Translation: X:82.50, Y:-71.54, Z:0.23 [[ 8.83583556e-01 -4.68215192e-01 -7.39148746e-03 8.25035045e+01] [-4.68198874e-01 -8.83614472e-01 3.90892780e-03 -7.15397881e+01] [-8.36144467e-03 6.82177814e-06 -9.99965042e-01 2.33308593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761858064 meters 0.015185739724699821 Centerline is valid? [True, True] Translation: X:82.50, Y:-71.54, Z:0.23 [[ 9.17380110e-01 -3.97928580e-01 -8.15953214e-03 8.25001247e+01] [-3.97912935e-01 -9.17416397e-01 3.52859347e-03 -7.15449650e+01] [-8.88981676e-03 9.72191833e-06 -9.99960485e-01 2.34046766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.791858064 meters 0.015171145469884724 Centerline is valid? [True, True] Translation: X:82.50, Y:-71.55, Z:0.23 [[ 9.45584308e-01 -3.25265389e-01 -8.52893945e-03 8.24982022e+01] [-3.25252277e-01 -9.45622772e-01 2.92059475e-03 -7.15505935e+01] [-9.01512775e-03 1.23884103e-05 -9.99959363e-01 2.33896833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821858064 meters 0.015237450361283694 Centerline is valid? [True, True] Translation: X:82.50, Y:-71.56, Z:0.23 [[ 9.67991602e-01 -2.50833774e-01 -8.64149560e-03 8.24963046e+01] [-2.50823933e-01 -9.68030174e-01 2.22193301e-03 -7.15558002e+01] [-8.92256433e-03 1.66814216e-05 -9.99960193e-01 2.33650479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.851858064 meters 0.015259414970062026 Centerline is valid? [True, True] Translation: X:82.49, Y:-71.56, Z:0.23 [[ 9.84449489e-01 -1.75497619e-01 -7.73237018e-03 8.24908595e+01] [-1.75492398e-01 -9.84479855e-01 1.35387527e-03 -7.15637337e+01] [-7.84996456e-03 2.41503749e-05 -9.99969188e-01 2.32796687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881858064 meters 0.015196080825514558 Centerline is valid? [True, True] Translation: X:82.49, Y:-71.57, Z:0.23 [[ 9.95093028e-01 -9.86789335e-02 -7.23414427e-03 8.24863027e+01] [-9.86765271e-02 -9.95119323e-01 6.89690079e-04 -7.15730581e+01] [-7.26689463e-03 2.75344439e-05 -9.99973595e-01 2.32171184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.911858064 meters 0.015166595692434361 Centerline is valid? [True, True] Translation: X:82.48, Y:-71.58, Z:0.23 [[ 9.99747586e-01 -2.15538607e-02 -6.33994001e-03 8.24821843e+01] [-2.15536182e-02 -9.99767688e-01 1.06578011e-04 -7.15825592e+01] [-6.34076433e-03 3.00975370e-05 -9.99979897e-01 2.32166427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941858064 meters 0.015317063059615716 Centerline is valid? [True, True] Translation: X:82.48, Y:-71.59, Z:0.23 [[ 9.98446605e-01 5.53940855e-02 -5.98934280e-03 8.24778876e+01] [ 5.53928704e-02 -9.98464568e-01 -3.68701784e-04 -7.15897818e+01] [-6.00057047e-03 3.63621553e-05 -9.99981996e-01 2.31831133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.971858064 meters 0.015494102260336618 Centerline is valid? [True, True] Translation: X:82.47, Y:-71.60, Z:0.23 [[ 9.91323051e-01 1.31308903e-01 -6.04813426e-03 8.24747504e+01] [ 1.31306150e-01 -9.91341500e-01 -8.51835843e-04 -7.15975381e+01] [-6.10762012e-03 5.02872842e-05 -9.99981347e-01 2.31746105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001858064 meters 0.01566810325789679 Centerline is valid? [True, True] Translation: X:82.47, Y:-71.61, Z:0.23 [[ 9.78294080e-01 2.07141446e-01 -5.75448629e-03 8.24715962e+01] [ 2.07137521e-01 -9.78311003e-01 -1.27636402e-03 -7.16061176e+01] [-5.89406514e-03 5.66893403e-05 -9.99982628e-01 2.31856907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.031858064 meters 0.01563932529668936 Centerline is valid? [True, True] Translation: X:82.47, Y:-71.62, Z:0.23 [[ 9.59093570e-01 2.83030257e-01 -5.77902545e-03 8.24704996e+01] [ 2.83024749e-01 -9.59110979e-01 -1.76671260e-03 -7.16159056e+01] [-6.04275988e-03 5.88354612e-05 -9.99981741e-01 2.31828350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061858064 meters 0.015623063682357148 Centerline is valid? [True, True] Translation: X:82.47, Y:-71.63, Z:0.23 [[ 9.34000514e-01 3.57231267e-01 -5.37239434e-03 8.24693520e+01] [ 3.57225012e-01 -9.34015963e-01 -2.11466785e-03 -7.16255606e+01] [-5.77332755e-03 5.59472225e-05 -9.99983333e-01 2.31977416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.091858064 meters 0.015781754562311054 Centerline is valid? [True, True] Translation: X:82.47, Y:-71.63, Z:0.23 [[ 9.03124578e-01 4.29347322e-01 -5.18395673e-03 8.24688353e+01] [ 4.29339897e-01 -9.03139454e-01 -2.52564685e-03 -7.16346208e+01] [-5.76621556e-03 5.52942957e-05 -9.99983374e-01 2.32326113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121858064 meters 0.015784415780139456 Centerline is valid? [True, True] Translation: X:82.47, Y:-71.64, Z:0.23 [[ 8.66975471e-01 4.98328188e-01 -4.74868108e-03 8.24700724e+01] [ 4.98320364e-01 -8.66988474e-01 -2.79293483e-03 -7.16443400e+01] [-5.50884992e-03 5.50415033e-05 -9.99984825e-01 2.32494173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.151858064 meters 0.015948859441395385 Centerline is valid? [True, True] Translation: X:82.47, Y:-71.65, Z:0.23 [[ 8.25645778e-01 5.64170582e-01 -4.53910663e-03 8.24703711e+01] [ 5.64161664e-01 -8.25658253e-01 -3.17259656e-03 -7.16529740e+01] [-5.53763649e-03 5.86510025e-05 -9.99984665e-01 2.32309223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181858064 meters 0.01580420385736871 Centerline is valid? [True, True] Translation: X:82.47, Y:-71.66, Z:0.23 [[ 7.79055556e-01 6.26942956e-01 -3.86912408e-03 8.24739384e+01] [ 6.26934883e-01 -7.79065162e-01 -3.18208845e-03 -7.16637666e+01] [-5.00928772e-03 5.33348348e-05 -9.99987452e-01 2.31439908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.211858064 meters 0.015936147293394088 Centerline is valid? [True, True] Translation: X:82.48, Y:-71.67, Z:0.23 [[ 7.27748589e-01 6.85835349e-01 -3.44455676e-03 8.24772393e+01] [ 6.85827329e-01 -7.27756739e-01 -3.31721715e-03 -7.16745707e+01] [-4.78186418e-03 5.17289360e-05 -9.99988565e-01 2.30795686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24185806399998 meters 0.015946534597857633 Centerline is valid? [True, True] Translation: X:82.48, Y:-71.68, Z:0.23 [[ 6.71746419e-01 7.40773882e-01 -3.28702519e-03 8.24816353e+01] [ 7.40764621e-01 -6.71754459e-01 -3.70441501e-03 -7.16845421e+01] [-4.95220771e-03 5.35155425e-05 -9.99987736e-01 2.30924480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27185806399999 meters 0.015834233767926253 Centerline is valid? [True, True] Translation: X:82.49, Y:-71.69, Z:0.23 [[ 6.11307751e-01 7.91386736e-01 -3.14112942e-03 8.24875003e+01] [ 7.91375829e-01 -6.11315819e-01 -4.15538261e-03 -7.16946002e+01] [-5.20873679e-03 5.44037046e-05 -9.99986433e-01 2.31520459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.301858064 meters 0.015729028093769432 Centerline is valid? [True, True] Translation: X:82.49, Y:-71.71, Z:0.23 [[ 5.45858811e-01 8.37872684e-01 -2.74314157e-03 8.24945093e+01] [ 8.37861701e-01 -5.45865701e-01 -4.29029340e-03 -7.17064501e+01] [-5.09210655e-03 4.35211920e-05 -9.99987034e-01 2.32389261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.331858064 meters 0.015515054575974208 Centerline is valid? [True, True] Translation: X:82.50, Y:-71.72, Z:0.23 [[ 4.77806399e-01 8.78462066e-01 -2.33306157e-03 8.25024685e+01] [ 8.78451205e-01 -4.77812093e-01 -4.36852339e-03 -7.17166424e+01] [-4.95234711e-03 3.78276790e-05 -9.99987736e-01 2.32452843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.361858064 meters 0.015711544616500695 Centerline is valid? [True, True] Translation: X:82.51, Y:-71.73, Z:0.23 [[ 4.06658133e-01 9.13578448e-01 -1.89245620e-03 8.25090362e+01] [ 9.13568197e-01 -4.06662535e-01 -4.32802507e-03 -7.17257727e+01] [-4.72358147e-03 3.11388002e-05 -9.99988843e-01 2.32845198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.391858064 meters 0.015535073985334127 Centerline is valid? [True, True] Translation: X:82.52, Y:-71.73, Z:0.23 [[ 3.33143470e-01 9.42874824e-01 -1.57908530e-03 8.25171299e+01] [ 9.42863825e-01 -3.33147212e-01 -4.55448887e-03 -7.17339477e+01] [-4.82038076e-03 2.84358189e-05 -9.99988381e-01 2.32422883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.421858064 meters 0.01542003493145536 Centerline is valid? [True, True] Translation: X:82.52, Y:-71.74, Z:0.23 [[ 2.56515491e-01 9.66539168e-01 -1.35649763e-03 8.25243200e+01] [ 9.66525178e-01 -2.56519076e-01 -5.20034352e-03 -7.17413906e+01] [-5.37430322e-03 2.28795516e-05 -9.99985558e-01 2.32409408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.451858064 meters 0.01542003493145536 Centerline is valid? [True, True] Translation: X:82.53, Y:-71.75, Z:0.23 [[ 1.80010397e-01 9.83664254e-01 -9.44871574e-04 8.25314831e+01] [ 9.83650028e-01 -1.80012875e-01 -5.29037556e-03 -7.17480976e+01] [-5.37404238e-03 2.28996552e-05 -9.99985559e-01 2.32407144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481858064 meters 0.015416747631322367 Centerline is valid? [True, True] Translation: X:82.54, Y:-71.76, Z:0.23 [[ 1.01785176e-01 9.94806235e-01 -5.77656146e-04 8.25390579e+01] [ 9.94788962e-01 -1.01786813e-01 -5.86217221e-03 -7.17550133e+01] [-5.89052324e-03 2.20362734e-05 -9.99982650e-01 2.32658501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.511858064 meters 0.015358278773195424 Centerline is valid? [True, True] Translation: X:82.55, Y:-71.76, Z:0.23 [[ 2.26508746e-02 9.99743430e-01 -1.11924179e-04 8.25486830e+01] [ 9.99727566e-01 -2.26511457e-02 -5.63208381e-03 -7.17600819e+01] [-5.63317400e-03 1.56779370e-05 -9.99984133e-01 2.32770928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541858064 meters 0.01525231528542551 Centerline is valid? [True, True] Translation: X:82.56, Y:-71.76, Z:0.23 [[-5.73199433e-02 9.98355809e-01 3.21309856e-04 8.25592146e+01] [ 9.98340754e-01 5.73208435e-02 -5.48269704e-03 -7.17640079e+01] [-5.49210019e-03 6.50884001e-06 -9.99984918e-01 2.32343965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571858064 meters 0.015167718422761487 Centerline is valid? [True, True] Translation: X:82.57, Y:-71.77, Z:0.23 [[-1.35914890e-01 9.90720222e-01 7.64716175e-04 8.25684928e+01] [ 9.90704682e-01 1.35917041e-01 -5.54905343e-03 -7.17677707e+01] [-5.60149740e-03 3.40891092e-06 -9.99984311e-01 2.32077971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601858064 meters 0.015065681218152547 Centerline is valid? [True, True] Translation: X:82.58, Y:-71.77, Z:0.23 [[-2.13510193e-01 9.76940084e-01 1.21271700e-03 8.25779658e+01] [ 9.76924361e-01 2.13513637e-01 -5.54260553e-03 -7.17705837e+01] [-5.67372513e-03 1.33000587e-06 -9.99983904e-01 2.32084624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631858064 meters 0.015078052594425554 Centerline is valid? [True, True] Translation: X:82.59, Y:-71.77, Z:0.23 [[-2.90408535e-01 9.56901252e-01 1.69609472e-03 8.25873871e+01] [ 9.56884839e-01 2.90413488e-01 -5.60461994e-03 -7.17735409e+01] [-5.85563662e-03 -4.66214539e-06 -9.99982856e-01 2.32389617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661858064 meters 0.015006069302050652 Centerline is valid? [True, True] Translation: X:82.60, Y:-71.77, Z:0.23 [[-3.64653689e-01 9.31140983e-01 2.03891640e-03 8.25952791e+01] [ 9.31126336e-01 3.64659389e-01 -5.22273753e-03 -7.17749075e+01] [-5.60661496e-03 -6.00175338e-06 -9.99984283e-01 2.32275705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691858064 meters 0.015043476670312673 Centerline is valid? [True, True] Translation: X:82.60, Y:-71.78, Z:0.23 [[-4.36969065e-01 8.99473864e-01 2.19183543e-03 8.26036415e+01] [ 8.99462447e-01 4.36974562e-01 -4.53199970e-03 -7.17775384e+01] [-5.03419161e-03 -8.87001950e-06 -9.99987328e-01 2.31655748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721858064 meters 0.014983938952558791 Centerline is valid? [True, True] Translation: X:82.61, Y:-71.78, Z:0.23 [[-5.05816969e-01 8.62637483e-01 2.40140289e-03 8.26105097e+01] [ 8.62627692e-01 5.05822669e-01 -4.10994645e-03 -7.17786247e+01] [-4.76007788e-03 -7.36402777e-06 -9.99988671e-01 2.30945874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751858064 meters 0.01505304266756218 Centerline is valid? [True, True] Translation: X:82.62, Y:-71.78, Z:0.23 [[-5.71767035e-01 8.20412109e-01 2.53570755e-03 8.26170253e+01] [ 8.20403987e-01 5.71772657e-01 -3.65048994e-03 -7.17802439e+01] [-4.44475439e-03 -6.92522247e-06 -9.99990122e-01 2.30588149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781858064 meters 0.015024525051657496 Centerline is valid? [True, True] Translation: X:82.62, Y:-71.78, Z:0.23 [[-6.33645071e-01 7.73619727e-01 2.53817170e-03 8.26219455e+01] [ 7.73613498e-01 6.33650154e-01 -3.10454243e-03 -7.17821612e+01] [-4.01004815e-03 -3.61411933e-06 -9.99991960e-01 2.30048379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811858064 meters 0.01510217319176878 Centerline is valid? [True, True] Translation: X:82.63, Y:-71.79, Z:0.23 [[-6.91953039e-01 7.21936003e-01 3.06585781e-03 8.26270532e+01] [ 7.21928909e-01 6.91959831e-01 -3.20054184e-03 -7.17850941e+01] [-4.43203683e-03 -1.29326833e-06 -9.99990178e-01 2.30369764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841858064 meters 0.015071654890070712 Centerline is valid? [True, True] Translation: X:82.63, Y:-71.79, Z:0.23 [[-7.45951613e-01 6.65992030e-01 3.28750118e-03 8.26316245e+01] [ 6.65985572e-01 7.45958857e-01 -2.93286088e-03 -7.17864552e+01] [-4.40560259e-03 1.65605495e-06 -9.99990295e-01 2.30720334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871858064 meters 0.015357559689778403 Centerline is valid? [True, True] Translation: X:82.65, Y:-71.77, Z:0.23 [[-7.89877960e-01 6.13253488e-01 3.60107937e-03 8.26510216e+01] [ 6.13247187e-01 7.89886168e-01 -2.78008811e-03 -7.17671444e+01] [-4.54934151e-03 1.24214670e-05 -9.99989652e-01 2.31960002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901858064 meters 0.015282305148828062 Centerline is valid? [True, True] Translation: X:82.67, Y:-71.75, Z:0.23 [[-8.30746105e-01 5.56636319e-01 4.11308441e-03 8.26741112e+01] [ 5.56629611e-01 8.30756286e-01 -2.73292311e-03 -7.17496148e+01] [-4.93821499e-03 1.90993480e-05 -9.99987807e-01 2.32376754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.931858064 meters 0.015257925864804718 Centerline is valid? [True, True] Translation: X:82.69, Y:-71.73, Z:0.23 [[-8.67684609e-01 4.97090119e-01 4.98331659e-03 8.26903653e+01] [ 4.97082101e-01 8.67698918e-01 -2.82342066e-03 -7.17277185e+01] [-5.72751292e-03 2.72788291e-05 -9.99983597e-01 2.32863193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961858064 meters 0.015735090527745913 Centerline is valid? [True, True] Translation: X:82.70, Y:-71.70, Z:0.23 [[-9.00020381e-01 4.35804432e-01 6.14901571e-03 8.27011138e+01] [ 4.35794594e-01 9.00041385e-01 -2.92861869e-03 -7.17047863e+01] [-6.81067362e-03 4.38912915e-05 -9.99976806e-01 2.34835505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99185806399998 meters 0.015880880970116376 Centerline is valid? [True, True] Translation: X:82.71, Y:-71.68, Z:0.24 [[-9.28335496e-01 3.71682337e-01 6.74143393e-03 8.27084561e+01] [ 3.71672947e-01 9.28359972e-01 -2.64244307e-03 -7.16785869e+01] [-7.24062683e-03 5.25349216e-05 -9.99973785e-01 2.35087300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02185806399999 meters 0.015497194692909048 Centerline is valid? [True, True] Translation: X:82.72, Y:-71.65, Z:0.23 [[-9.52028464e-01 3.05927576e-01 7.07967193e-03 8.27221813e+01] [ 3.05919597e-01 9.52054785e-01 -2.21029095e-03 -7.16530393e+01] [-7.41642449e-03 6.15504884e-05 -9.99972496e-01 2.33589731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.051858064 meters 0.015510758128794891 Centerline is valid? [True, True] Translation: X:82.74, Y:-71.63, Z:0.23 [[-9.70932772e-01 2.39259320e-01 6.67308623e-03 8.27405995e+01] [ 2.39254152e-01 9.70955701e-01 -1.57413930e-03 -7.16300835e+01] [-6.85589861e-03 6.81801510e-05 -9.99976496e-01 2.32229991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.081858064 meters 0.015944517823374783 Centerline is valid? [True, True] Translation: X:82.92, Y:-70.89, Z:-0.74 [[-9.59125794e-01 -2.82913593e-01 6.13267792e-03 8.29238885e+01] [ 2.82907203e-01 -9.59145396e-01 -1.90359530e-03 -7.08914855e+01] [ 6.42068278e-03 -9.08085959e-05 9.99979383e-01 -7.39365590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.111858064 meters 0.015772674462376932 Centerline is valid? [True, True] Translation: X:82.69, Y:-71.62, Z:0.23 [[-9.71706569e-01 2.36108165e-01 6.26720007e-03 8.26939875e+01] [ 2.36103708e-01 9.71726777e-01 -1.45231067e-03 -7.16205869e+01] [-6.43290854e-03 6.84893550e-05 -9.99979306e-01 2.30927971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.141858064 meters 0.016076432837990616 Centerline is valid? [True, True] Translation: X:82.70, Y:-71.59, Z:0.23 [[-9.85980188e-01 1.66755796e-01 5.96442816e-03 8.26958043e+01] [ 1.66753143e-01 9.85998225e-01 -9.42743082e-04 -7.15923867e+01] [-6.03812345e-03 6.50611441e-05 -9.99981768e-01 2.30884645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.171858064 meters 0.01572762890370856 Centerline is valid? [True, True] Translation: X:82.70, Y:-71.56, Z:0.23 [[-9.95345076e-01 9.61790584e-02 6.14554564e-03 8.27046437e+01] [ 9.61776338e-02 9.95364046e-01 -5.27616039e-04 -7.15644816e+01] [-6.16780079e-03 6.59040115e-05 -9.99980977e-01 2.30190292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201858064 meters 0.01567037867383199 Centerline is valid? [True, True] Translation: X:82.70, Y:-71.54, Z:0.23 [[-9.99669889e-01 2.50195664e-02 5.84241995e-03 8.27000936e+01] [ 2.50194958e-02 9.99686960e-01 -8.51731208e-05 -7.15354841e+01] [-5.84272203e-03 6.10293972e-05 -9.99982929e-01 2.29941438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.231858064 meters 0.015467335811667125 Centerline is valid? [True, True] Translation: X:82.70, Y:-71.50, Z:0.23 [[-9.98856574e-01 -4.75210034e-02 5.22476887e-03 8.27010250e+01] [-4.75201062e-02 9.98870238e-01 2.95797727e-04 -7.15047402e+01] [-5.23292273e-03 4.71779330e-05 -9.99986307e-01 2.29526429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.261858064 meters 0.015421884823180956 Centerline is valid? [True, True] Translation: X:82.66, Y:-70.76, Z:-0.74 [[-9.99984510e-01 -4.91523550e-04 5.54414726e-03 8.26634978e+01] [ 4.91353456e-04 -9.99999879e-01 -3.20420750e-05 -7.07553787e+01] [ 5.54416234e-03 -2.93174428e-05 9.99984631e-01 -7.36980564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.291858064 meters 0.01512036626296722 Centerline is valid? [True, True] Translation: X:82.60, Y:-71.51, Z:0.23 [[-9.98452546e-01 -5.52864460e-02 5.99349497e-03 8.26003207e+01] [-5.52851770e-02 9.98470534e-01 3.77335652e-04 -7.15071165e+01] [-6.00518967e-03 4.54003125e-05 -9.99981968e-01 2.29139273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321858064 meters 0.015015931705440747 Centerline is valid? [True, True] Translation: X:82.59, Y:-71.48, Z:0.23 [[-9.91759724e-01 -1.27985484e-01 5.68907533e-03 8.25908093e+01] [-1.27983183e-01 9.91776041e-01 7.68289712e-04 -7.14776038e+01] [-5.74061853e-03 3.38528248e-05 -9.99983522e-01 2.28284208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.351858064 meters 0.014989300077941773 Centerline is valid? [True, True] Translation: X:82.57, Y:-71.45, Z:0.23 [[-9.79809463e-01 -1.99857481e-01 5.51400118e-03 8.25720416e+01] [-1.99854162e-01 9.79824977e-01 1.15221324e-03 -7.14507210e+01] [-5.63303452e-03 2.69533565e-05 -9.99984134e-01 2.28118710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381858064 meters 0.014847304222015434 Centerline is valid? [True, True] Translation: X:82.54, Y:-71.43, Z:0.23 [[-9.62185159e-01 -2.72341753e-01 5.44887593e-03 8.25390819e+01] [-2.72337308e-01 9.62200587e-01 1.55597842e-03 -7.14263916e+01] [-5.66666951e-03 1.32071359e-05 -9.99983944e-01 2.28244548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.411858064 meters 0.014740500213333481 Centerline is valid? [True, True] Translation: X:82.48, Y:-71.41, Z:0.23 [[-9.39268123e-01 -3.43140642e-01 5.46747883e-03 8.24824657e+01] [-3.43134783e-01 9.39284036e-01 2.00531354e-03 -7.14139301e+01] [-5.82362016e-03 7.44492468e-06 -9.99983043e-01 2.28542719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441858064 meters 0.014671317837411374 Centerline is valid? [True, True] Translation: X:82.41, Y:-71.41, Z:0.23 [[-9.11107210e-01 -4.12131557e-01 5.58844898e-03 8.24094181e+01] [-4.12123786e-01 9.11124349e-01 2.53085428e-03 -7.14122149e+01] [-6.13481685e-03 2.74682949e-06 -9.99981182e-01 2.28441032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.471858064 meters 0.01479415277906901 Centerline is valid? [True, True] Translation: X:82.34, Y:-71.41, Z:0.23 [[-8.77458449e-01 -4.79626432e-01 5.01551987e-03 8.23422752e+01] [-4.79618617e-01 8.77472783e-01 2.73810657e-03 -7.14135799e+01] [-5.71425047e-03 -2.96195733e-06 -9.99983674e-01 2.28605754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501858064 meters 0.01475279521413005 Centerline is valid? [True, True] Translation: X:82.26, Y:-71.43, Z:0.23 [[-8.38856446e-01 -5.44332533e-01 4.68565524e-03 8.22622340e+01] [-5.44324081e-01 8.38869533e-01 3.03344649e-03 -7.14280545e+01] [-5.58185704e-03 -5.88884089e-06 -9.99984421e-01 2.28686103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.531858064 meters 0.014714262257644007 Centerline is valid? [True, True] Translation: X:82.18, Y:-71.45, Z:0.23 [[-7.95227150e-01 -6.06293444e-01 4.69468595e-03 8.21762207e+01] [-6.06282948e-01 7.95241007e-01 3.56752419e-03 -7.14532502e+01] [-5.89637331e-03 -9.31593852e-06 -9.99982616e-01 2.27858537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561858064 meters 0.014738928951246266 Centerline is valid? [True, True] Translation: X:82.09, Y:-71.49, Z:0.23 [[-7.47103449e-01 -6.64692509e-01 4.50604581e-03 8.20891142e+01] [-6.64680502e-01 7.47117038e-01 3.99535515e-03 -7.14877578e+01] [-6.02222624e-03 -1.01371740e-05 -9.99981866e-01 2.27533347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.591858064 meters 0.014709446466272747 Centerline is valid? [True, True] Translation: X:82.00, Y:-71.54, Z:0.23 [[-6.94659221e-01 -7.19325205e-01 4.45150554e-03 8.19959506e+01] [-7.19310533e-01 6.94673484e-01 4.59433476e-03 -7.15361405e+01] [-6.39716366e-03 -1.05178206e-05 -9.99979538e-01 2.28195575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621858064 meters 0.014784649351404465 Centerline is valid? [True, True] Translation: X:81.91, Y:-71.59, Z:0.23 [[-6.38087788e-01 -7.69951502e-01 4.31970708e-03 8.19124180e+01] [-7.69933954e-01 6.38102410e-01 5.19822506e-03 -7.15865313e+01] [-6.75879669e-03 -8.96522267e-06 -9.99977159e-01 2.28670309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.651858064 meters 0.014711188691945154 Centerline is valid? [True, True] Translation: X:81.83, Y:-71.65, Z:0.23 [[-5.78261689e-01 -8.15841750e-01 3.95703628e-03 8.18254382e+01] [-8.15822689e-01 5.78275227e-01 5.57679783e-03 -7.16537758e+01] [-6.83804056e-03 -3.39145164e-06 -9.99976620e-01 2.29069967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681858064 meters 0.014732873539962464 Centerline is valid? [True, True] Translation: X:81.74, Y:-71.73, Z:0.23 [[-5.14879186e-01 -8.57255671e-01 3.48392550e-03 8.17444108e+01] [-8.57236025e-01 5.14890973e-01 5.80378073e-03 -7.17272973e+01] [-6.76916574e-03 1.69945992e-06 -9.99977089e-01 2.28916032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.711858064 meters 0.014770195951005791 Centerline is valid? [True, True] Translation: X:81.66, Y:-71.81, Z:0.23 [[-4.49096261e-01 -8.93478249e-01 3.02772099e-03 8.16649945e+01] [-8.93457767e-01 4.49106467e-01 6.04982330e-03 -7.18146679e+01] [-6.76515461e-03 1.18121897e-05 -9.99977116e-01 2.28670292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74185806399998 meters 0.014902464064702577 Centerline is valid? [True, True] Translation: X:81.60, Y:-71.90, Z:0.23 [[-3.82149541e-01 -9.24097353e-01 2.41050050e-03 8.15982115e+01] [-9.24078450e-01 3.82157142e-01 5.91072435e-03 -7.18957272e+01] [-6.38327471e-03 3.12890344e-05 -9.99979626e-01 2.27778324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77185806399999 meters 0.01485113778124438 Centerline is valid? [True, True] Translation: X:81.53, Y:-71.99, Z:0.23 [[-3.11205262e-01 -9.50341008e-01 1.80385954e-03 8.15324687e+01] [-9.50324376e-01 3.11210488e-01 5.62254176e-03 -7.19946811e+01] [-5.90471201e-03 3.55128917e-05 -9.99982566e-01 2.26741456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.801858064 meters 0.014965221957713845 Centerline is valid? [True, True] Translation: X:81.48, Y:-72.10, Z:0.23 [[-2.38381912e-01 -9.71170614e-01 1.30471540e-03 8.14755734e+01] [-9.71155121e-01 2.38385479e-01 5.48592391e-03 -7.20959044e+01] [-5.63879330e-03 4.06639876e-05 -9.99984101e-01 2.26526652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.831858064 meters 0.015201221388210256 Centerline is valid? [True, True] Translation: X:81.42, Y:-72.21, Z:0.23 [[-1.64955366e-01 -9.86300622e-01 9.00401630e-04 8.14231106e+01] [-9.86284096e-01 1.64957814e-01 5.70969219e-03 -7.22074960e+01] [-5.78000125e-03 5.37925556e-05 -9.99983294e-01 2.25998747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.861858064 meters 0.01520718105403489 Centerline is valid? [True, True] Translation: X:81.38, Y:-72.32, Z:0.23 [[-8.89861191e-02 -9.96032761e-01 4.57363243e-04 8.13805167e+01] [-9.96016177e-01 8.89872769e-02 5.74802546e-03 -7.23164124e+01] [-5.76592118e-03 5.59532899e-05 -9.99983375e-01 2.26509382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.891858064 meters 0.015488567942117067 Centerline is valid? [True, True] Translation: X:81.35, Y:-72.43, Z:0.23 [[-1.22281887e-02 -9.99925233e-01 1.28335870e-05 8.13467497e+01] [-9.99909945e-01 1.22280727e-02 5.52951861e-03 -7.24309145e+01] [-5.52926211e-03 5.47835657e-05 -9.99984712e-01 2.26621098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.921858064 meters 0.01553664089937424 Centerline is valid? [True, True] Translation: X:81.32, Y:-72.55, Z:0.23 [[ 6.39165529e-02 -9.97955157e-01 -4.23891661e-04 8.13208233e+01] [-9.97939128e-01 -6.39179289e-02 5.65641573e-03 -7.25538959e+01] [-5.67194352e-03 6.14794795e-05 -9.99983913e-01 2.26281454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.951858064 meters 0.01547628096905622 Centerline is valid? [True, True] Translation: X:81.30, Y:-72.67, Z:0.23 [[ 1.39964832e-01 -9.90156059e-01 -9.08093050e-04 8.13048256e+01] [-9.90138311e-01 -1.39967761e-01 5.92890051e-03 -7.26713865e+01] [-5.99764051e-03 6.93001544e-05 -9.99982012e-01 2.26033100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.981858064 meters 0.01563676929424686 Centerline is valid? [True, True] Translation: X:81.30, Y:-72.79, Z:0.23 [[ 2.14895523e-01 -9.76636010e-01 -1.42047717e-03 8.12995584e+01] [-9.76616994e-01 -2.14900204e-01 6.09509354e-03 -7.27928043e+01] [-6.25794867e-03 7.74538269e-05 -9.99980416e-01 2.26585009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.011858064 meters 0.015988709183850053 Centerline is valid? [True, True] Translation: X:81.30, Y:-72.91, Z:0.23 [[ 2.87946101e-01 -9.57644303e-01 -2.10527910e-03 8.13029226e+01] [-9.57621126e-01 -2.87953781e-01 6.66324571e-03 -7.29138311e+01] [-6.98724237e-03 9.74041246e-05 -9.99975584e-01 2.26145375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.041858064 meters 0.015865359928645895 Centerline is valid? [True, True] Translation: X:81.31, Y:-73.03, Z:0.23 [[ 3.60430507e-01 -9.32782283e-01 -2.65761969e-03 8.13138182e+01] [-9.32758962e-01 -3.60440290e-01 6.59660614e-03 -7.30302286e+01] [-7.11111054e-03 1.01300489e-04 -9.99974711e-01 2.25439598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.071858064 meters 0.01713022645632048 Centerline is valid? [True, True] Translation: X:81.33, Y:-73.15, Z:0.23 [[ 4.30284711e-01 -9.02687255e-01 -3.28428164e-03 8.13337853e+01] [-9.02662910e-01 -4.30297231e-01 6.63062092e-03 -7.31465250e+01] [-7.39859429e-03 1.11544414e-04 -9.99972624e-01 2.26109606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101858064 meters 0.016275567194531167 Centerline is valid? [True, True] Translation: X:81.36, Y:-73.26, Z:0.23 [[ 4.97975580e-01 -8.67183730e-01 -3.56369297e-03 8.13618174e+01] [-8.67163037e-01 -4.97988320e-01 5.99169781e-03 -7.32598075e+01] [-6.97058033e-03 1.06583628e-04 -9.99975700e-01 2.25423555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.131858064 meters 0.016332336335969606 Centerline is valid? [True, True] Translation: X:81.39, Y:-73.37, Z:0.23 [[ 5.61742460e-01 -8.27302470e-01 -4.00397218e-03 8.13934873e+01] [-8.27282901e-01 -5.61756718e-01 5.69141054e-03 -7.33687614e+01] [-6.95777627e-03 1.15310760e-04 -9.99975788e-01 2.25672940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161858064 meters 0.017062182144853416 Centerline is valid? [True, True] Translation: X:81.44, Y:-73.47, Z:0.23 [[ 6.21783892e-01 -7.83176742e-01 -4.35694417e-03 8.14361989e+01] [-7.83158926e-01 -6.21799143e-01 5.28409914e-03 -7.34728881e+01] [-6.84752771e-03 1.26611989e-04 -9.99976547e-01 2.25441341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.191858064 meters 0.017508149986449405 Centerline is valid? [True, True] Translation: X:81.49, Y:-73.57, Z:0.23 [[ 6.78889638e-01 -7.34222706e-01 -5.08702903e-03 8.14851770e+01] [-7.34203663e-01 -6.78908681e-01 5.29000062e-03 -7.35705647e+01] [-7.33766674e-03 1.43588745e-04 -9.99973069e-01 2.25587394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221858064 meters 0.01780553153393798 Centerline is valid? [True, True] Translation: X:81.54, Y:-73.66, Z:0.23 [[ 7.32044869e-01 -6.81230296e-01 -5.96592936e-03 8.15379054e+01] [-6.81209492e-01 -7.32069161e-01 5.32656449e-03 -7.36615868e+01] [-7.99609000e-03 1.64763502e-04 -9.99968017e-01 2.25735502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.251858064 meters 0.018223437497410577 Centerline is valid? [True, True] Translation: X:81.54, Y:-73.67, Z:0.23 [[ 7.82555827e-01 -6.22540868e-01 -7.01751617e-03 8.15361162e+01] [-6.22517988e-01 -7.82587268e-01 5.34071740e-03 -7.36699693e+01] [-8.81663365e-03 1.89120528e-04 -9.99961115e-01 2.26492469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281858064 meters 0.017743022936656926 Centerline is valid? [True, True] Translation: X:81.53, Y:-73.69, Z:0.23 [[ 8.28271220e-01 -5.60280365e-01 -7.25932334e-03 8.15309025e+01] [-5.60260879e-01 -8.28303009e-01 4.67680811e-03 -7.36851787e+01] [-8.63324312e-03 1.93449310e-04 -9.99962714e-01 2.26365993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.311858064 meters 0.01786292948311595 Centerline is valid? [True, True] Translation: X:81.53, Y:-73.70, Z:0.23 [[ 8.69651744e-01 -4.93601616e-01 -7.95540874e-03 8.15287773e+01] [-4.93583059e-01 -8.69688108e-01 4.28474337e-03 -7.36974773e+01] [-9.03368063e-03 2.00420434e-04 -9.99959175e-01 2.26662914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341858064 meters 0.017783031279464682 Centerline is valid? [True, True] Translation: X:81.53, Y:-73.71, Z:0.23 [[ 9.05819942e-01 -4.23578947e-01 -8.43255421e-03 8.15276451e+01] [-4.23562630e-01 -9.05859170e-01 3.72325720e-03 -7.37103611e+01] [-9.21579992e-03 1.99114215e-04 -9.99957514e-01 2.26757558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.371858064 meters 0.01725144840672803 Centerline is valid? [True, True] Translation: X:81.53, Y:-73.73, Z:0.23 [[ 9.36865316e-01 -3.49556732e-01 -9.66805428e-03 8.15267240e+01] [-3.49540322e-01 -9.36915178e-01 3.39293334e-03 -7.37275469e+01] [-1.02441695e-02 2.00653244e-04 -9.99947507e-01 2.26713472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401858064 meters 0.01725144840672803 Centerline is valid? [True, True] Translation: X:81.53, Y:-73.74, Z:0.23 [[ 9.61312538e-01 -2.75281905e-01 -9.90339791e-03 8.15282885e+01] [-2.75269443e-01 -9.61363528e-01 2.62707170e-03 -7.37394241e+01] [-1.02439509e-02 2.00665863e-04 -9.99947509e-01 2.26711198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.431858064 meters 0.017260386509738726 Centerline is valid? [True, True] Translation: X:81.53, Y:-73.75, Z:0.23 [[ 9.80106399e-01 -1.98190702e-01 -1.05779335e-02 8.15301303e+01] [-1.98181347e-01 -9.80163459e-01 1.93585834e-03 -7.37521444e+01] [-1.07517730e-02 1.99001969e-04 -9.99942178e-01 2.26907579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461858064 meters 0.017442211989892285 Centerline is valid? [True, True] Translation: X:81.53, Y:-73.76, Z:0.23 [[ 9.92762743e-01 -1.19569973e-01 -1.11874289e-02 8.15291076e+01] [-1.19564581e-01 -9.92825757e-01 1.15192862e-03 -7.37625297e+01] [-1.12449036e-02 1.94028432e-04 -9.99936755e-01 2.27392026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49185806399998 meters 0.017086351588195485 Centerline is valid? [True, True] Translation: X:81.53, Y:-73.77, Z:0.23 [[ 9.99121359e-01 -4.03318938e-02 -1.13951143e-02 8.15299742e+01] [-4.03313677e-02 -9.99186321e-01 2.76050547e-04 -7.37740953e+01] [-1.13969760e-02 1.83772549e-04 -9.99935035e-01 2.27317387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52185806399999 meters 0.01686876481562387 Centerline is valid? [True, True] Translation: X:81.53, Y:-73.79, Z:0.23 [[ 9.99134026e-01 3.97254875e-02 -1.23727282e-02 8.15323654e+01] [ 3.97202238e-02 -9.99210615e-01 -6.70968236e-04 -7.37879182e+01] [-1.23896159e-02 1.78939660e-04 -9.99923230e-01 2.27743809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.551858064 meters 0.017057377282390616 Centerline is valid? [True, True] Translation: X:81.54, Y:-73.80, Z:0.23 [[ 9.92896420e-01 1.18268256e-01 -1.30122543e-02 8.15351044e+01] [ 1.18255673e-01 -9.92981664e-01 -1.73494036e-03 -7.37968849e+01] [-1.31261183e-02 1.83843188e-04 -9.99913832e-01 2.28429078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.581858064 meters 0.017116748623207806 Centerline is valid? [True, True] Translation: X:81.54, Y:-73.80, Z:0.23 [[ 9.80525586e-01 1.95952236e-01 -1.31261363e-02 8.15393188e+01] [ 1.95932170e-01 -9.80613424e-01 -2.81017833e-03 -7.38041349e+01] [-1.34223262e-02 1.83619368e-04 -9.99909900e-01 2.28257156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.611858064 meters 0.01725475809068348 Centerline is valid? [True, True] Translation: X:81.54, Y:-73.81, Z:0.23 [[ 9.61876187e-01 2.73123538e-01 -1.40617568e-02 8.15430781e+01] [ 2.73091523e-01 -9.61978949e-01 -4.18590254e-03 -7.38105581e+01] [-1.46703826e-02 1.86173386e-04 -9.99892367e-01 2.28233395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.641858064 meters 0.01717528143884644 Centerline is valid? [True, True] Translation: X:81.55, Y:-73.82, Z:0.23 [[ 9.37280514e-01 3.48325577e-01 -1.32109682e-02 8.15476426e+01] [ 3.48288443e-01 -9.37373599e-01 -5.08882664e-03 -7.38155423e+01] [-1.41561813e-02 1.68430492e-04 -9.99899782e-01 2.27372208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.671858064 meters 0.016841718089102425 Centerline is valid? [True, True] Translation: X:81.55, Y:-73.82, Z:0.23 [[ 9.06893814e-01 4.21182988e-01 -1.21860968e-02 8.15541982e+01] [ 4.21142704e-01 -9.06975671e-01 -5.82717436e-03 -7.38220651e+01] [-1.35068000e-02 1.52542628e-04 -9.99908767e-01 2.25510503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.701858064 meters 0.016348656949277573 Centerline is valid? [True, True] Translation: X:81.56, Y:-73.83, Z:0.22 [[ 8.70366964e-01 4.92288741e-01 -1.06368496e-02 8.15625706e+01] [ 4.92250306e-01 -8.70431951e-01 -6.15266303e-03 -7.38320668e+01] [-1.22875405e-02 1.19082153e-04 -9.99924498e-01 2.22683423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.731858064 meters 0.01681761050187955 Centerline is valid? [True, True] Translation: X:81.57, Y:-73.84, Z:0.22 [[ 8.28600046e-01 5.59742029e-01 -1.05273447e-02 8.15694186e+01] [ 5.59695153e-01 -8.28666910e-01 -7.24480187e-03 -7.38378711e+01] [-1.27788823e-02 1.10939327e-04 -9.99918341e-01 2.24029679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.761858064 meters 0.01657580741195007 Centerline is valid? [True, True] Translation: X:81.57, Y:-73.84, Z:0.22 [[ 7.81692034e-01 6.23582843e-01 -1.00995789e-02 8.15747490e+01] [ 6.23529121e-01 -7.81757269e-01 -8.18587296e-03 -7.38385699e+01] [-1.29999892e-02 1.01450109e-04 -9.99915491e-01 2.24001995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.791858064 meters 0.01657809355788026 Centerline is valid? [True, True] Translation: X:81.58, Y:-73.84, Z:0.22 [[ 7.29890509e-01 6.83494554e-01 -9.74885641e-03 8.15791189e+01] [ 6.83431874e-01 -7.29955606e-01 -9.25672518e-03 -7.38386690e+01] [-1.34431536e-02 9.37166466e-05 -9.99909632e-01 2.24150261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821858064 meters 0.016255885355232667 Centerline is valid? [True, True] Translation: X:81.59, Y:-73.84, Z:0.22 [[ 6.73085449e-01 7.39503404e-01 -9.52330979e-03 8.15883053e+01] [ 7.39427708e-01 -6.73152812e-01 -1.05809084e-02 -7.38427781e+01] [-1.42352605e-02 8.00563110e-05 -9.99898670e-01 2.22016570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.851858064 meters 0.01624430709837456 Centerline is valid? [True, True] Translation: X:81.60, Y:-73.85, Z:0.22 [[ 6.12648201e-01 7.90308748e-01 -8.61776880e-03 8.15955226e+01] [ 7.90228940e-01 -6.12708804e-01 -1.12313664e-02 -7.38455503e+01] [-1.41564299e-02 7.08660776e-05 -9.99899790e-01 2.21587141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881858064 meters 0.016125153308261083 Centerline is valid? [True, True] Translation: X:81.61, Y:-73.85, Z:0.22 [[ 5.48391642e-01 8.36185967e-01 -7.72241662e-03 8.16052428e+01] [ 8.36101458e-01 -5.48446009e-01 -1.18880881e-02 -7.38483433e+01] [-1.41759810e-02 6.26043294e-05 -9.99899514e-01 2.20810124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.911858064 meters 0.0160030982099693 Centerline is valid? [True, True] Translation: X:81.62, Y:-73.85, Z:0.22 [[ 4.80589068e-01 8.76918188e-01 -6.97412487e-03 8.16163147e+01] [ 8.76824236e-01 -4.80639666e-01 -1.28363488e-02 -7.38509815e+01] [-1.46084688e-02 5.39272091e-05 -9.99893289e-01 2.20348439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941858064 meters 0.015962835598526633 Centerline is valid? [True, True] Translation: X:81.63, Y:-73.85, Z:0.22 [[ 4.09542084e-01 9.12269641e-01 -6.27571961e-03 8.16266270e+01] [ 9.12160977e-01 -4.09590163e-01 -1.40801266e-02 -7.38536712e+01] [-1.54153451e-02 4.19378619e-05 -9.99881176e-01 2.21134237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.971858064 meters 0.016069671750090955 Centerline is valid? [True, True] Translation: X:81.63, Y:-73.85, Z:0.22 [[ 3.36646452e-01 9.41617139e-01 -5.13124567e-03 8.16338200e+01] [ 9.41506046e-01 -3.36685554e-01 -1.44638399e-02 -7.38542952e+01] [-1.53470158e-02 3.81015610e-05 -9.99882227e-01 2.21367451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001858064 meters 0.015952416209969632 Centerline is valid? [True, True] Translation: X:81.64, Y:-73.85, Z:0.22 [[ 2.61618376e-01 9.65163255e-01 -3.96440307e-03 8.16432898e+01] [ 9.65050469e-01 -2.61648409e-01 -1.47547460e-02 -7.38535611e+01] [-1.52780185e-02 3.42636503e-05 -9.99883284e-01 2.19966767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.031858064 meters 0.0159501701783301 Centerline is valid? [True, True] Translation: X:81.65, Y:-73.85, Z:0.22 [[ 1.85240515e-01 9.82689511e-01 -2.69749241e-03 8.16519007e+01] [ 9.82582758e-01 -1.85260152e-01 -1.44844677e-02 -7.38533015e+01] [-1.47334723e-02 3.26007210e-05 -9.99891456e-01 2.19562056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061858064 meters 0.015973600194296396 Centerline is valid? [True, True] Translation: X:81.66, Y:-73.85, Z:0.22 [[ 1.07870550e-01 9.94163672e-01 -1.59327835e-03 8.16615802e+01] [ 9.94050307e-01 -1.07882310e-01 -1.50131645e-02 -7.38512699e+01] [-1.50974293e-02 3.56794715e-05 -9.99886027e-01 2.19472397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.091858064 meters 0.01599616060130238 Centerline is valid? [True, True] Translation: X:81.67, Y:-73.85, Z:0.22 [[ 2.98249495e-02 9.99555051e-01 -4.14602396e-04 8.16697472e+01] [ 9.99440081e-01 -2.98278072e-02 -1.51600076e-02 -7.38495943e+01] [-1.51656289e-02 3.77762083e-05 -9.99884995e-01 2.20566748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121858064 meters 0.01600322576021944 Centerline is valid? [True, True] Translation: X:81.68, Y:-73.85, Z:0.22 [[-4.82797779e-02 9.98833520e-01 8.14169863e-04 8.16790615e+01] [ 9.98706608e-01 4.82866219e-02 -1.59221082e-02 -7.38467301e+01] [-1.59428489e-02 4.44009743e-05 -9.99872904e-01 2.19801665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.151858064 meters 0.01607161832743119 Centerline is valid? [True, True] Translation: X:81.69, Y:-73.84, Z:0.22 [[-1.24814469e-01 9.92178123e-01 1.98003449e-03 8.16851492e+01] [ 9.92061592e-01 1.24830156e-01 -1.52062753e-02 -7.38445282e+01] [-1.53345017e-02 6.63529917e-05 -9.99882417e-01 2.19144011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181858064 meters 0.016106325256458928 Centerline is valid? [True, True] Translation: X:81.69, Y:-73.84, Z:0.22 [[-2.01371271e-01 9.79510424e-01 2.99024328e-03 8.16931594e+01] [ 9.79407829e-01 2.01393458e-01 -1.41767488e-02 -7.38401628e+01] [-1.44884886e-02 7.38777630e-05 -9.99895034e-01 2.17804124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.211858064 meters 0.016152307783566706 Centerline is valid? [True, True] Translation: X:81.70, Y:-73.84, Z:0.22 [[-2.76502964e-01 9.61005270e-01 3.87073501e-03 8.17004244e+01] [ 9.60915311e-01 2.76530043e-01 -1.31491883e-02 -7.38364547e+01] [-1.37068137e-02 8.36590036e-05 -9.99906054e-01 2.17048629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24185806399998 meters 0.016390867076950935 Centerline is valid? [True, True] Translation: X:81.71, Y:-73.83, Z:0.22 [[-3.50164541e-01 9.36674459e-01 5.07455895e-03 8.17066897e+01] [ 9.36580149e-01 3.50201296e-01 -1.32919770e-02 -7.38328854e+01] [-1.42273725e-02 9.83521380e-05 -9.99898781e-01 2.17045669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27185806399999 meters 0.016480017176889444 Centerline is valid? [True, True] Translation: X:81.71, Y:-73.83, Z:0.22 [[-4.22685291e-01 9.06254399e-01 6.33315314e-03 8.17120931e+01] [ 9.06156156e-01 4.22732722e-01 -1.33441173e-02 -7.38294874e+01] [-1.47703961e-02 9.84636007e-05 -9.99890907e-01 2.17281240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.301858064 meters 0.016477740167003048 Centerline is valid? [True, True] Translation: X:81.72, Y:-73.82, Z:0.22 [[-4.92824648e-01 8.70096557e-01 7.47309460e-03 8.17172085e+01] [ 8.69999349e-01 4.92881296e-01 -1.30061624e-02 -7.38240716e+01] [-1.49999657e-02 9.18300191e-05 -9.99887490e-01 2.17657742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.331858064 meters 0.016454916439686693 Centerline is valid? [True, True] Translation: X:81.72, Y:-73.82, Z:0.22 [[-5.61188861e-01 8.27641198e-01 8.78123661e-03 8.17217559e+01] [ 8.27541651e-01 5.61257556e-01 -1.28363674e-02 -7.38199323e+01] [-1.55524419e-02 6.32126197e-05 -9.99879051e-01 2.18180756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.361858064 meters 0.01637589107018394 Centerline is valid? [True, True] Translation: X:81.72, Y:-73.81, Z:0.22 [[-6.25568884e-01 7.80110590e-01 9.54145106e-03 8.17249661e+01] [ 7.80020760e-01 6.25641644e-01 -1.18383944e-02 -7.38147034e+01] [-1.52047859e-02 3.67987496e-05 -9.99884400e-01 2.17398275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.391858064 meters 0.016296512523408666 Centerline is valid? [True, True] Translation: X:81.73, Y:-73.81, Z:0.22 [[-6.85831837e-01 7.27684678e-01 1.04738111e-02 8.17279030e+01] [ 7.27600147e-01 6.85911808e-01 -1.10912839e-02 -7.38094071e+01] [-1.52550681e-02 1.39908885e-05 -9.99883635e-01 2.16945697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.421858064 meters 0.016323110849308504 Centerline is valid? [True, True] Translation: X:81.73, Y:-73.81, Z:0.22 [[-7.41593851e-01 6.70751831e-01 1.14254631e-02 8.17307922e+01] [ 6.70672108e-01 7.41681860e-01 -1.03413306e-02 -7.38052646e+01] [-1.54105252e-02 -6.32781474e-06 -9.99881251e-01 2.17153750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.451858064 meters 0.01635490185592476 Centerline is valid? [True, True] Translation: X:81.75, Y:-73.78, Z:0.22 [[-7.88717695e-01 6.14630282e-01 1.24102226e-02 8.17466563e+01] [ 6.14553322e-01 7.88815323e-01 -9.72625985e-03 -7.37819508e+01] [-1.57674276e-02 -4.45297246e-05 -9.99875685e-01 2.17658267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.481858064 meters 0.016426470465829415 Centerline is valid? [True, True] Translation: X:81.76, Y:-73.76, Z:0.22 [[-8.30822926e-01 5.56390424e-01 1.27656475e-02 8.17573827e+01] [ 5.56323641e-01 8.30920991e-01 -8.62050914e-03 -7.37563728e+01] [-1.54036132e-02 -6.02851200e-05 -9.99881355e-01 2.17555742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.511858064 meters 0.016505002596147258 Centerline is valid? [True, True] Translation: X:81.77, Y:-73.73, Z:0.22 [[-8.68748715e-01 4.95083161e-01 1.29743701e-02 8.17662865e+01] [ 4.95026642e-01 8.68845589e-01 -7.48101173e-03 -7.37323098e+01] [-1.49764472e-02 -7.64604438e-05 -9.99887844e-01 2.17388359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.541858064 meters 0.016657767215194998 Centerline is valid? [True, True] Translation: X:81.78, Y:-73.71, Z:0.22 [[-9.01800837e-01 4.31941416e-01 1.34856827e-02 8.17820192e+01] [ 4.31891754e-01 9.01901661e-01 -6.55031388e-03 -7.37105928e+01] [-1.49921115e-02 -8.27233664e-05 -9.99887609e-01 2.17456278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.571858064 meters 0.01669836192650679 Centerline is valid? [True, True] Translation: X:81.79, Y:-73.68, Z:0.22 [[-9.30207089e-01 3.66771122e-01 1.39181850e-02 8.17887425e+01] [ 3.66728707e-01 9.30311204e-01 -5.57839289e-03 -7.36845981e+01] [-1.49942368e-02 -8.48626349e-05 -9.99887577e-01 2.17628564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601858064 meters 0.016740451430570565 Centerline is valid? [True, True] Translation: X:81.79, Y:-73.66, Z:0.22 [[-9.53998958e-01 2.99466387e-01 1.43482028e-02 8.17922119e+01] [ 2.99431074e-01 9.54106847e-01 -4.59968592e-03 -7.36576461e+01] [-1.50671699e-02 -9.17977906e-05 -9.99886480e-01 2.18106298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.631858064 meters 0.016498768721784296 Centerline is valid? [True, True] Translation: X:81.79, Y:-73.63, Z:0.22 [[-9.72966036e-01 2.30488331e-01 1.45678497e-02 8.17856026e+01] [ 2.30460955e-01 9.73075084e-01 -3.55371141e-03 -7.36305529e+01] [-1.49947006e-02 -1.00319950e-04 -9.99887568e-01 2.16122421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661858064 meters 0.016585397030011082 Centerline is valid? [True, True] Translation: X:81.94, Y:-73.04, Z:-0.72 [[-9.51204459e-01 -3.08251903e-01 1.38145525e-02 8.19425466e+01] [ 3.08220395e-01 -9.51304767e-01 -4.40773828e-03 -7.30363166e+01] [ 1.45005434e-02 6.52665230e-05 9.99894859e-01 -7.24189144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.691858064 meters 0.016850231203005876 Centerline is valid? [True, True] Translation: X:81.75, Y:-73.62, Z:0.22 [[-9.74178782e-01 2.25348501e-01 1.39195516e-02 8.17490914e+01] [ 2.25323802e-01 9.74278215e-01 -3.33831325e-03 -7.36249931e+01] [-1.43137997e-02 -1.15707646e-04 -9.99897546e-01 2.16448682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721858064 meters 0.016946805020515664 Centerline is valid? [True, True] Translation: X:81.89, Y:-73.02, Z:-0.72 [[-9.51777604e-01 -3.06515164e-01 1.29555291e-02 8.18926338e+01] [ 3.06487674e-01 -9.51865773e-01 -4.10551477e-03 -7.30212340e+01] [ 1.35903272e-02 6.31729641e-05 9.99907645e-01 -7.23914722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.751858064 meters 0.017722327963775607 Centerline is valid? [True, True] Translation: X:81.70, Y:-73.62, Z:0.22 [[-9.75446891e-01 2.19854584e-01 1.29354019e-02 8.16983014e+01] [ 2.19833480e-01 9.75532647e-01 -3.04894901e-03 -7.36154537e+01] [-1.32892323e-02 -1.30453410e-04 -9.99911686e-01 2.18997235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781858064 meters 0.017004641164119885 Centerline is valid? [True, True] Translation: X:81.70, Y:-73.59, Z:0.22 [[-9.88657174e-01 1.49615946e-01 1.31172081e-02 8.16991100e+01] [ 1.49600940e-01 9.88744178e-01 -2.12337188e-03 -7.35915654e+01] [-1.32872535e-02 -1.36940176e-04 -9.99911711e-01 2.15485948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.811858064 meters 0.01718867867882005 Centerline is valid? [True, True] Translation: X:81.70, Y:-73.57, Z:0.22 [[-9.96763044e-01 7.92385511e-02 1.35899340e-02 8.16968171e+01] [ 7.92293069e-02 9.96855673e-01 -1.21811404e-03 -7.35666698e+01] [-1.36437244e-02 -1.37450007e-04 -9.99906911e-01 2.16427055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841858064 meters 0.01704634378340976 Centerline is valid? [True, True] Translation: X:81.70, Y:-73.54, Z:0.22 [[-9.99871238e-01 8.70047273e-03 1.34836668e-02 8.16977356e+01] [ 8.69794881e-03 9.99962142e-01 -2.45816308e-04 -7.35412518e+01] [-1.34852951e-02 -1.28504412e-04 -9.99909061e-01 2.16773179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.871858064 meters 0.017810851899371122 Centerline is valid? [True, True] Translation: X:81.69, Y:-73.51, Z:0.22 [[-9.98013066e-01 -6.15107012e-02 1.36511654e-02 8.16907224e+01] [-6.15065595e-02 9.98106417e-01 7.23422609e-04 -7.35139101e+01] [-1.36698140e-02 -1.17651001e-04 -9.99906557e-01 2.21182177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901858064 meters 0.016938046752548976 Centerline is valid? [True, True] Translation: X:81.68, Y:-73.49, Z:0.22 [[-9.91166502e-01 -1.31932228e-01 1.35222804e-02 8.16829696e+01] [-1.31921453e-01 9.91258733e-01 1.68967818e-03 -7.34923720e+01] [-1.36270015e-02 -1.09126457e-04 -9.99907142e-01 2.16969569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.931858064 meters 0.017833694069807497 Centerline is valid? [True, True] Translation: X:81.67, Y:-73.47, Z:0.22 [[-9.79647798e-01 -2.00329250e-01 1.25850405e-02 8.16669395e+01] [-2.00313703e-01 9.79728629e-01 2.49689334e-03 -7.34725147e+01] [-1.28301253e-02 -7.48800038e-05 -9.99917688e-01 2.16929187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961858064 meters 0.016490226326588617 Centerline is valid? [True, True] Translation: X:81.64, Y:-73.45, Z:0.21 [[-9.62884234e-01 -2.69667426e-01 1.15512833e-02 8.16378581e+01] [-2.69648794e-01 9.62953517e-01 3.17053730e-03 -7.34534671e+01] [-1.19783395e-02 -6.19292221e-05 -9.99928255e-01 2.14504935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99185806399998 meters 0.016427480333380533 Centerline is valid? [True, True] Translation: X:81.59, Y:-73.44, Z:0.21 [[-9.40826677e-01 -3.38719125e-01 1.07013219e-02 8.15891362e+01] [-3.38697850e-01 9.40887534e-01 3.79668625e-03 -7.34417175e+01] [-1.13547506e-02 -5.24910004e-05 -9.99935531e-01 2.14298389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02185806399999 meters 0.016230248260321906 Centerline is valid? [True, True] Translation: X:81.53, Y:-73.44, Z:0.21 [[-9.14261359e-01 -4.05020598e-01 9.19143817e-03 8.15302943e+01] [-4.05000406e-01 9.14307560e-01 4.04436566e-03 -7.34412326e+01] [-1.00418528e-02 -2.49289397e-05 -9.99949579e-01 2.13731517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.051858064 meters 0.016176889607814497 Centerline is valid? [True, True] Translation: X:81.46, Y:-73.45, Z:0.21 [[-8.82384973e-01 -4.70446249e-01 8.77993519e-03 8.14597561e+01] [-4.70423086e-01 8.82428653e-01 4.66826382e-03 -7.34483365e+01] [-9.94383358e-03 -1.10783705e-05 -9.99950559e-01 2.13839777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.081858064 meters 0.016229413709558414 Centerline is valid? [True, True] Translation: X:81.39, Y:-73.46, Z:0.21 [[-8.45692409e-01 -5.33599663e-01 8.70342831e-03 8.13854207e+01] [-5.33571332e-01 8.45737193e-01 5.49851979e-03 -7.34632060e+01] [-1.02948213e-02 6.15661284e-06 -9.99947007e-01 2.13320184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.111858064 meters 0.01621035535965241 Centerline is valid? [True, True] Translation: X:81.30, Y:-73.49, Z:0.21 [[-8.04586485e-01 -5.93776536e-01 8.36736047e-03 8.13044683e+01] [-5.93744044e-01 8.04629992e-01 6.21183397e-03 -7.34918832e+01] [-1.04210704e-02 2.98872220e-05 -9.99945699e-01 2.14353459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.141858064 meters 0.01641743257643143 Centerline is valid? [True, True] Translation: X:81.22, Y:-73.53, Z:0.21 [[-7.57868566e-01 -6.52356081e-01 8.17187020e-03 8.12201665e+01] [-6.52317630e-01 7.57912622e-01 7.08296191e-03 -7.35273504e+01] [-1.08141768e-02 3.72991867e-05 -9.99941524e-01 2.14828465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.171858064 meters 0.01634125506870322 Centerline is valid? [True, True] Translation: X:81.13, Y:-73.57, Z:0.21 [[-7.06728055e-01 -7.07440769e-01 7.93819236e-03 8.11324160e+01] [-7.07395404e-01 7.06772634e-01 8.01161806e-03 -7.35743623e+01] [-1.12782424e-02 4.65944512e-05 -9.99936398e-01 2.14941746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.201858064 meters 0.01632015782593069 Centerline is valid? [True, True] Translation: X:81.05, Y:-73.63, Z:0.22 [[-6.51190030e-01 -7.58884509e-01 6.77096903e-03 8.10464056e+01] [-7.58842736e-01 6.51225230e-01 7.96252421e-03 -7.36331203e+01] [-1.04520621e-02 4.70157229e-05 -9.99945375e-01 2.15523953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.231858064 meters 0.016209811253977108 Centerline is valid? [True, True] Translation: X:80.96, Y:-73.70, Z:0.22 [[-5.91688613e-01 -8.06144539e-01 5.96386831e-03 8.09613926e+01] [-8.06102756e-01 5.91718666e-01 8.20767280e-03 -7.36993241e+01] [-1.01455028e-02 4.88958551e-05 -9.99948532e-01 2.15368375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.261858064 meters 0.016209811253977108 Centerline is valid? [True, True] Translation: X:80.88, Y:-73.77, Z:0.22 [[-5.28339887e-01 -8.49016297e-01 5.31894889e-03 8.08783569e+01] [-8.48972341e-01 5.28366658e-01 8.63939752e-03 -7.37730894e+01] [-1.01453445e-02 4.88978206e-05 -9.99948533e-01 2.15360930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.291858064 meters 0.016213421189848528 Centerline is valid? [True, True] Translation: X:80.80, Y:-73.86, Z:0.22 [[-4.61912851e-01 -8.86913602e-01 4.55861421e-03 8.07992183e+01] [-8.86869346e-01 4.61935342e-01 8.86013039e-03 -7.38607323e+01] [-9.96395517e-03 4.97128819e-05 -9.99950357e-01 2.15315437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321858064 meters 0.016089114596082553 Centerline is valid? [True, True] Translation: X:80.73, Y:-73.95, Z:0.22 [[-3.92097651e-01 -9.19916515e-01 3.61062543e-03 8.07310955e+01] [-9.19876493e-01 3.92114273e-01 8.58112262e-03 -7.39501127e+01] [-9.30969418e-03 4.33085620e-05 -9.99956663e-01 2.15078060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.351858064 meters 0.016206594001361697 Centerline is valid? [True, True] Translation: X:80.67, Y:-74.05, Z:0.22 [[-3.19773587e-01 -9.47489440e-01 2.93512646e-03 8.06671934e+01] [-9.47448387e-01 3.19787055e-01 8.82009238e-03 -7.40461786e+01] [-9.29555983e-03 3.95517487e-05 -9.99956795e-01 2.15442240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381858064 meters 0.016141683393734976 Centerline is valid? [True, True] Translation: X:80.61, Y:-74.15, Z:0.22 [[-2.45669041e-01 -9.69351115e-01 2.26649812e-03 8.06096581e+01] [-9.69308426e-01 2.45679493e-01 9.09733476e-03 -7.41499123e+01] [-9.37534371e-03 3.79977807e-05 -9.99956050e-01 2.15711839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.411858064 meters 0.016014752832531072 Centerline is valid? [True, True] Translation: X:80.56, Y:-74.27, Z:0.22 [[-1.69791012e-01 -9.85478913e-01 1.52481553e-03 8.05600041e+01] [-9.85437420e-01 1.69797856e-01 9.04322112e-03 -7.42650556e+01] [-9.17081412e-03 3.28473799e-05 -9.99957947e-01 2.15866056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441858064 meters 0.01591114213488651 Centerline is valid? [True, True] Translation: X:80.52, Y:-74.37, Z:0.22 [[-9.34581662e-02 -9.95622932e-01 7.40958190e-04 8.05199888e+01] [-9.95588908e-01 9.34610980e-02 8.23097107e-03 -7.43725728e+01] [-8.26419432e-03 3.15617067e-05 -9.99965850e-01 2.16322627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.471858064 meters 0.01572965087068771 Centerline is valid? [True, True] Translation: X:80.49, Y:-74.49, Z:0.22 [[-1.67449332e-02 -9.99859789e-01 9.32811860e-05 8.04875918e+01] [-9.99832059e-01 1.67451635e-02 7.44671389e-03 -7.44914484e+01] [-7.44723179e-03 3.14292062e-05 -9.99972268e-01 2.15247930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501858064 meters 0.01586018210265833 Centerline is valid? [True, True] Translation: X:80.47, Y:-74.61, Z:0.22 [[ 6.02108943e-02 -9.98185586e-01 -4.30045787e-04 8.04650515e+01] [-9.98163482e-01 -6.02124229e-02 6.64290642e-03 -7.46125459e+01] [-6.65674754e-03 2.92806639e-05 -9.99977843e-01 2.15079757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.531858064 meters 0.015889257364600784 Centerline is valid? [True, True] Translation: X:80.45, Y:-74.73, Z:0.21 [[ 1.36859887e-01 -9.90589998e-01 -9.09395754e-04 8.04517210e+01] [-9.90569565e-01 -1.36862905e-01 6.36257038e-03 -7.47324287e+01] [-6.42716112e-03 3.00390928e-05 -9.99979345e-01 2.14955613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561858064 meters 0.01597423259719589 Centerline is valid? [True, True] Translation: X:80.45, Y:-74.85, Z:0.21 [[ 2.12579801e-01 -9.77143050e-01 -1.13472842e-03 8.04499778e+01] [-9.77129775e-01 -2.12582828e-01 5.09350218e-03 -7.48546114e+01] [-5.21830403e-03 2.60012446e-05 -9.99986384e-01 2.14440191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.591858064 meters 0.015905340864163602 Centerline is valid? [True, True] Translation: X:80.45, Y:-74.97, Z:0.21 [[ 2.87209753e-01 -9.57866522e-01 -1.51129398e-03 8.04548250e+01] [-9.57853751e-01 -2.87213728e-01 4.94630030e-03 -7.49744440e+01] [-5.17195984e-03 2.69729264e-05 -9.99986625e-01 2.14374823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621858064 meters 0.015885898761519433 Centerline is valid? [True, True] Translation: X:80.47, Y:-75.11, Z:0.21 [[ 3.60071278e-01 -9.32923188e-01 -1.73221311e-03 8.04737113e+01] [-9.32912729e-01 -3.60075444e-01 4.41761805e-03 -7.51088415e+01] [-4.74502571e-03 2.53462792e-05 -9.99988742e-01 2.14429426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.651858064 meters 0.01570480774466311 Centerline is valid? [True, True] Translation: X:80.49, Y:-75.21, Z:0.22 [[ 4.31402564e-01 -9.02157315e-01 -2.00158597e-03 8.04916793e+01] [-9.02147845e-01 -4.31407207e-01 4.13382172e-03 -7.52135987e+01] [-4.59285612e-03 2.23851816e-05 -9.99989453e-01 2.15124949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681858064 meters 0.015597080311608232 Centerline is valid? [True, True] Translation: X:80.52, Y:-75.33, Z:0.22 [[ 4.99865273e-01 -8.66100324e-01 -2.22226248e-03 8.05216410e+01] [-8.66091943e-01 -4.99870212e-01 3.81004287e-03 -7.53260659e+01] [-4.41072218e-03 2.01755136e-05 -9.99990273e-01 2.15582824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.711858064 meters 0.015515011887323144 Centerline is valid? [True, True] Translation: X:80.56, Y:-75.44, Z:0.21 [[ 5.65600103e-01 -8.24674852e-01 -2.81272334e-03 8.05611460e+01] [-8.24664828e-01 -5.65607097e-01 4.06612998e-03 -7.54380606e+01] [-4.94413142e-03 1.97504749e-05 -9.99987778e-01 2.14941918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74185806399998 meters 0.015208039789821527 Centerline is valid? [True, True] Translation: X:80.61, Y:-75.55, Z:0.22 [[ 6.28629312e-01 -7.77701531e-01 -2.34856242e-03 8.06095404e+01] [-7.77696148e-01 -6.28633699e-01 2.89366222e-03 -7.55467932e+01] [-3.72679102e-03 7.42705315e-06 -9.99993055e-01 2.15036814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77185806399999 meters 0.015152244809233613 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.65, Z:0.21 [[ 6.87192343e-01 -7.26471647e-01 -2.37284343e-03 8.06613873e+01] [-7.26467331e-01 -6.87196439e-01 2.50402512e-03 -7.56478875e+01] [-3.44971281e-03 3.04633936e-06 -9.99994050e-01 2.14680421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.801858064 meters 0.014916011138752322 Centerline is valid? [True, True] Translation: X:80.72, Y:-75.74, Z:0.21 [[ 7.41104463e-01 -6.71387006e-01 -1.91413878e-03 8.07181984e+01] [-6.71384766e-01 -7.41106935e-01 1.73411091e-03 -7.57424805e+01] [-2.58284106e-03 -3.37157281e-08 -9.99996664e-01 2.14300495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.831858064 meters 0.01487009768122105 Centerline is valid? [True, True] Translation: X:80.71, Y:-75.75, Z:0.21 [[ 7.91776558e-01 -6.10807095e-01 -2.13906655e-03 8.07139266e+01] [-6.10804858e-01 -7.91779447e-01 1.65276966e-03 -7.57468352e+01] [-2.70319236e-03 -2.07203504e-06 -9.99996346e-01 2.14854683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.861858064 meters 0.014659754826359781 Centerline is valid? [True, True] Translation: X:80.71, Y:-75.75, Z:0.21 [[ 8.37275129e-01 -5.46774954e-01 -2.73993702e-03 8.07101393e+01] [-5.46772016e-01 -8.37279612e-01 1.79259871e-03 -7.57527005e+01] [-3.27424149e-03 -2.77742926e-06 -9.99994640e-01 2.14433762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.891858064 meters 0.014606311721120646 Centerline is valid? [True, True] Translation: X:80.71, Y:-75.76, Z:0.21 [[ 8.77390794e-01 -4.79765305e-01 -3.26293897e-03 8.07050795e+01] [-4.79761979e-01 -8.77396861e-01 1.78645564e-03 -7.57587011e+01] [-3.71997185e-03 -1.98567249e-06 -9.99993081e-01 2.14657837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.921858064 meters 0.01454341444648085 Centerline is valid? [True, True] Translation: X:80.70, Y:-75.76, Z:0.22 [[ 9.12261349e-01 -4.09590364e-01 -3.86850298e-03 8.07009855e+01] [-4.09586671e-01 -9.12269551e-01 1.73935104e-03 -7.57629585e+01] [-4.24153890e-03 -2.25546531e-06 -9.99991005e-01 2.15145798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.951858064 meters 0.01460063590974397 Centerline is valid? [True, True] Translation: X:80.70, Y:-75.77, Z:0.21 [[ 9.41941114e-01 -3.35756786e-01 -3.78387638e-03 8.06971403e+01] [-3.35754044e-01 -9.41948714e-01 1.35709318e-03 -7.57689066e+01] [-4.01987073e-03 -7.85006222e-06 -9.99991920e-01 2.14609218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.981858064 meters 0.0144520219641373 Centerline is valid? [True, True] Translation: X:80.69, Y:-75.77, Z:0.21 [[ 9.65479335e-01 -2.60457562e-01 -3.39296525e-03 8.06937372e+01] [-2.60455919e-01 -9.65485297e-01 9.25292933e-04 -7.57739142e+01] [-3.51685760e-03 -9.63332354e-06 -9.99993816e-01 2.14329031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.011858064 meters 0.014382748508938704 Centerline is valid? [True, True] Translation: X:80.69, Y:-75.78, Z:0.21 [[ 9.83000857e-01 -1.83568046e-01 -3.47670911e-03 8.06914756e+01] [-1.83566855e-01 -9.83007005e-01 6.61248295e-04 -7.57810249e+01] [-3.53901347e-03 -1.17990844e-05 -9.99993738e-01 2.13967167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.041858064 meters 0.014160648961706232 Centerline is valid? [True, True] Translation: X:80.69, Y:-75.79, Z:0.21 [[ 9.94378242e-01 -1.05848282e-01 -2.83785661e-03 8.06856000e+01] [-1.05847819e-01 -9.94382291e-01 3.13042375e-04 -7.57889651e+01] [-2.85504935e-03 -1.09015936e-05 -9.99995924e-01 2.14283322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.071858064 meters 0.014157139855728744 Centerline is valid? [True, True] Translation: X:80.68, Y:-75.79, Z:0.21 [[ 9.99615098e-01 -2.75463883e-02 -3.29440068e-03 8.06792901e+01] [-2.75461979e-02 -9.99620526e-01 1.03188381e-04 -7.57943576e+01] [-3.29599301e-03 -1.24004505e-05 -9.99994568e-01 2.14542426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101858064 meters 0.014016924910709109 Centerline is valid? [True, True] Translation: X:80.68, Y:-75.80, Z:0.21 [[ 9.98726298e-01 5.03267727e-02 -3.60521131e-03 8.06750910e+01] [ 5.03264862e-02 -9.98732805e-01 -1.70185245e-04 -7.58018058e+01] [-3.60920768e-03 -1.14691374e-05 -9.99993487e-01 2.14401260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.131858064 meters 0.013911051360807034 Centerline is valid? [True, True] Translation: X:80.67, Y:-75.81, Z:0.21 [[ 9.91804452e-01 1.27701730e-01 -4.02458660e-03 8.06699832e+01] [ 1.27700719e-01 -9.91812617e-01 -5.08465372e-04 -7.58093255e+01] [-4.05656768e-03 -9.64438190e-06 -9.99991772e-01 2.14983579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161858064 meters 0.013890867326131547 Centerline is valid? [True, True] Translation: X:80.67, Y:-75.81, Z:0.22 [[ 9.79061312e-01 2.03515981e-01 -4.49367475e-03 8.06659412e+01] [ 2.03513855e-01 -9.79071624e-01 -9.30366431e-04 -7.58122501e+01] [-4.58897387e-03 -3.63929258e-06 -9.99989471e-01 2.15149600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.191858064 meters 0.013850567860857801 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.82, Z:0.21 [[ 9.60419918e-01 2.78525596e-01 -4.13206992e-03 8.06626389e+01] [ 2.78523013e-01 -9.60428807e-01 -1.19949181e-03 -7.58189447e+01] [-4.30264815e-03 1.13926688e-06 -9.99990744e-01 2.14534010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221858064 meters 0.013829838453626089 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.83, Z:0.21 [[ 9.35994050e-01 3.51993440e-01 -3.96952118e-03 8.06590056e+01] [ 3.51990251e-01 -9.36002467e-01 -1.49823644e-03 -7.58262297e+01] [-4.24285102e-03 5.10763419e-06 -9.99990999e-01 2.14918434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.251858064 meters 0.013867531136921657 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.84, Z:0.21 [[ 9.05935144e-01 4.23397493e-01 -4.00969107e-03 8.06579372e+01] [ 4.23393301e-01 -9.05944017e-01 -1.88413634e-03 -7.58350586e+01] [-4.43029424e-03 9.22898589e-06 -9.99990186e-01 2.14815262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281858064 meters 0.013924756331031832 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.84, Z:0.22 [[ 8.70822924e-01 4.91582646e-01 -3.73340148e-03 8.06578521e+01] [ 4.91578049e-01 -8.70830926e-01 -2.12579294e-03 -7.58443037e+01] [-4.29616439e-03 1.59310051e-05 -9.99990771e-01 2.15188355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.311858064 meters 0.01410795891006169 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.85, Z:0.22 [[ 8.30271151e-01 5.57350256e-01 -3.24152264e-03 8.06564503e+01] [ 5.57345922e-01 -8.30277479e-01 -2.19821722e-03 -7.58531808e+01] [-3.91654018e-03 1.84669225e-05 -9.99992330e-01 2.15465622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341858064 meters 0.014057480367013552 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.86, Z:0.22 [[ 7.84806847e-01 6.19731299e-01 -3.36601886e-03 8.06556564e+01] [ 6.19725459e-01 -7.84814065e-01 -2.69066358e-03 -7.58607851e+01] [-4.30918738e-03 2.56436226e-05 -9.99990715e-01 2.15021057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.371858064 meters 0.014517279869660971 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.87, Z:0.21 [[ 7.36040670e-01 6.76931468e-01 -2.81412216e-03 8.06556327e+01] [ 6.76926338e-01 -7.36046049e-01 -2.63552688e-03 -7.58682918e+01] [-3.85539458e-03 3.49015650e-05 -9.99992567e-01 2.14150608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401858064 meters 0.014954926504456734 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.88, Z:0.21 [[ 6.81990316e-01 7.31357072e-01 -2.45796856e-03 8.06551274e+01] [ 7.31352115e-01 -6.81994745e-01 -2.69297776e-03 -7.58768717e+01] [-3.64584997e-03 3.89442519e-05 -9.99993353e-01 2.14059937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.431858064 meters 0.014955661488697909 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.89, Z:0.21 [[ 6.23688767e-01 7.81668920e-01 -2.45383283e-03 8.06571803e+01] [ 7.81662562e-01 -6.23693593e-01 -3.15304751e-03 -7.58856860e+01] [-3.99507906e-03 4.84510566e-05 -9.99992018e-01 2.13710913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461858064 meters 0.015414194758513551 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.89, Z:0.21 [[ 5.61659586e-01 8.27365042e-01 -2.36557989e-03 8.06571031e+01] [ 8.27357264e-01 -5.61664565e-01 -3.58808813e-03 -7.58946741e+01] [-4.29732109e-03 5.81043947e-05 -9.99990765e-01 2.14231683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49185806399998 meters 0.015412627362429415 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.90, Z:0.21 [[ 4.95446537e-01 8.68635914e-01 -2.09246666e-03 8.06605149e+01] [ 8.68627649e-01 -4.95450952e-01 -3.78958933e-03 -7.59040710e+01] [-4.32848798e-03 5.99645136e-05 -9.99990630e-01 2.14559806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52185806399999 meters 0.016006378607757124 Centerline is valid? [True, True] Translation: X:80.66, Y:-75.91, Z:0.22 [[ 4.25963878e-01 9.04738375e-01 -1.80212831e-03 8.06627710e+01] [ 9.04729664e-01 -4.25967686e-01 -3.97062093e-03 -7.59136207e+01] [-4.36002156e-03 6.09021528e-05 -9.99990493e-01 2.15638851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.551858064 meters 0.015578170182242978 Centerline is valid? [True, True] Translation: X:80.67, Y:-75.92, Z:0.22 [[ 3.53414073e-01 9.35465744e-01 -1.52827636e-03 8.06675195e+01] [ 9.35456239e-01 -3.53417372e-01 -4.21730449e-03 -7.59219068e+01] [-4.48526330e-03 6.08190958e-05 -9.99989939e-01 2.15311073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.581858064 meters 0.014995022563467192 Centerline is valid? [True, True] Translation: X:80.68, Y:-75.93, Z:0.21 [[ 2.77902049e-01 9.60608737e-01 -1.14229876e-03 8.06760893e+01] [ 9.60599824e-01 -2.77904392e-01 -4.13855142e-03 -7.59308497e+01] [-4.29297849e-03 5.28199373e-05 -9.99990784e-01 2.14985960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.611858064 meters 0.01489202672305101 Centerline is valid? [True, True] Translation: X:80.68, Y:-75.94, Z:0.21 [[ 2.01009774e-01 9.79588963e-01 -7.30586601e-04 8.06843166e+01] [ 9.79581677e-01 -2.01011097e-01 -3.77859661e-03 -7.59392952e+01] [-3.84832755e-03 4.38656031e-05 -9.99992594e-01 2.14295452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.641858064 meters 0.014882000678467126 Centerline is valid? [True, True] Translation: X:80.69, Y:-75.95, Z:0.21 [[ 1.23160977e-01 9.92386651e-01 -3.29876632e-04 8.06913645e+01] [ 9.92382386e-01 -1.23161415e-01 -2.90974902e-03 -7.59475470e+01] [-2.92822415e-03 3.10037731e-05 -9.99995712e-01 2.13742255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.671858064 meters 0.01450684323288602 Centerline is valid? [True, True] Translation: X:80.70, Y:-75.95, Z:0.21 [[ 4.44349734e-02 9.99012275e-01 -8.57013074e-05 8.07034376e+01] [ 9.99009231e-01 -4.44350496e-02 -2.46613142e-03 -7.59541884e+01] [-2.46750370e-03 2.39660870e-05 -9.99996955e-01 2.13076203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.701858064 meters 0.014734912761009218 Centerline is valid? [True, True] Translation: X:80.71, Y:-75.96, Z:0.21 [[-3.42480481e-02 9.99413358e-01 1.02492119e-04 8.07126302e+01] [ 9.99410597e-01 3.42481944e-02 -2.34960208e-03 -7.59606357e+01] [-2.35173388e-03 2.19624247e-05 -9.99997234e-01 2.13370044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.731858064 meters 0.014695965775233763 Centerline is valid? [True, True] Translation: X:80.72, Y:-75.97, Z:0.21 [[-1.12287725e-01 9.93675688e-01 3.07955469e-04 8.07185462e+01] [ 9.93672522e-01 1.12288144e-01 -2.50821000e-03 -7.59670630e+01] [-2.52692704e-03 2.43656941e-05 -9.99996807e-01 2.14257209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.761858064 meters 0.01492955281077196 Centerline is valid? [True, True] Translation: X:80.72, Y:-75.97, Z:0.22 [[-1.88460369e-01 9.82080599e-01 6.21877775e-04 8.07243866e+01] [ 9.82075850e-01 1.88461392e-01 -3.05419275e-03 -7.59724342e+01] [-3.11666340e-03 3.51368514e-05 -9.99995143e-01 2.15439125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.791858064 meters 0.014882514348998718 Centerline is valid? [True, True] Translation: X:80.73, Y:-75.98, Z:0.22 [[-2.63941116e-01 9.64538312e-01 9.64948380e-04 8.07324411e+01] [ 9.64532450e-01 2.63942877e-01 -3.36309928e-03 -7.59765223e+01] [-3.49852935e-03 4.30638467e-05 -9.99993879e-01 2.15452023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821858064 meters 0.0146688190460856 Centerline is valid? [True, True] Translation: X:80.75, Y:-75.98, Z:0.22 [[-3.37454486e-01 9.41340833e-01 1.38066504e-03 8.07450494e+01] [ 9.41333598e-01 3.37457306e-01 -3.69095503e-03 -7.59780795e+01] [-3.94036219e-03 5.41370585e-05 -9.99992235e-01 2.15255454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.851858064 meters 0.015212230664272209 Centerline is valid? [True, True] Translation: X:80.76, Y:-75.98, Z:0.22 [[-4.09181394e-01 9.12451012e-01 1.93334152e-03 8.07554098e+01] [ 9.12441604e-01 4.09185955e-01 -4.14406423e-03 -7.59812081e+01] [-4.57235180e-03 6.83872671e-05 -9.99989544e-01 2.15281069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881858064 meters 0.015142596919867296 Centerline is valid? [True, True] Translation: X:80.77, Y:-75.98, Z:0.22 [[-4.78601465e-01 8.78028912e-01 2.42211278e-03 8.07663633e+01] [ 8.78018486e-01 4.78607588e-01 -4.27954024e-03 -7.59820280e+01] [-4.91680162e-03 7.84655651e-05 -9.99987909e-01 2.15012884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.911858064 meters 0.015140363401750751 Centerline is valid? [True, True] Translation: X:80.78, Y:-75.98, Z:0.21 [[-5.46284364e-01 8.37595605e-01 2.64497077e-03 8.07773264e+01] [ 8.37586429e-01 5.46290762e-01 -3.92142405e-03 -7.59830868e+01] [-4.72949064e-03 7.31789810e-05 -9.99988813e-01 2.14860446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941858064 meters 0.015032877488711804 Centerline is valid? [True, True] Translation: X:80.79, Y:-75.98, Z:0.21 [[-6.10731011e-01 7.91832972e-01 2.85964147e-03 8.07881577e+01] [ 7.91824808e-01 6.10737702e-01 -3.59618904e-03 -7.59818035e+01] [-4.59407192e-03 6.80308894e-05 -9.99989445e-01 2.14762329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.971858064 meters 0.014863759883354912 Centerline is valid? [True, True] Translation: X:80.80, Y:-75.98, Z:0.22 [[-6.72519071e-01 7.40072248e-01 3.34170482e-03 8.07993627e+01] [ 7.40063567e-01 6.72527370e-01 -3.58502368e-03 -7.59797407e+01] [-4.90056450e-03 6.20771965e-05 -9.99987990e-01 2.15330802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001858064 meters 0.01507385081728225 Centerline is valid? [True, True] Translation: X:80.81, Y:-75.98, Z:0.22 [[-7.29141370e-01 6.84352078e-01 3.88524984e-03 8.08076407e+01] [ 6.84342810e-01 7.29151719e-01 -3.56221699e-03 -7.59797920e+01] [-5.27074720e-03 6.14830100e-05 -9.99986108e-01 2.15954965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.031858064 meters 0.014445390367225893 Centerline is valid? [True, True] Translation: X:80.83, Y:-75.96, Z:0.22 [[-7.76303742e-01 6.30341665e-01 4.67814235e-03 8.08311442e+01] [ 6.30330722e-01 7.76317835e-01 -3.71473662e-03 -7.59598829e+01] [-5.97327860e-03 6.50129062e-05 -9.99982158e-01 2.15195518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061858064 meters 0.01425026259865203 Centerline is valid? [True, True] Translation: X:80.84, Y:-75.93, Z:0.21 [[-8.19490535e-01 5.73073613e-01 4.67951615e-03 8.08435577e+01] [ 5.73064661e-01 8.19503893e-01 -3.20361492e-03 -7.59332396e+01] [-5.67078887e-03 5.63332302e-05 -9.99983919e-01 2.14911592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.091858064 meters 0.013937148443759585 Centerline is valid? [True, True] Translation: X:80.87, Y:-75.92, Z:0.21 [[-8.59382943e-01 5.11312468e-01 4.52968660e-03 8.08726368e+01] [ 5.11305597e-01 8.59394880e-01 -2.65098787e-03 -7.59157004e+01] [-5.24827262e-03 3.78403588e-05 -9.99986227e-01 2.13869066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121858064 meters 0.013777300998828125 Centerline is valid? [True, True] Translation: X:80.89, Y:-75.89, Z:0.21 [[-8.94045773e-01 4.47952847e-01 4.51679028e-03 8.08857788e+01] [ 4.47947295e-01 8.94057183e-01 -2.23045124e-03 -7.58893417e+01] [-5.03740578e-03 2.91584834e-05 -9.99987312e-01 2.13666224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.151858064 meters 0.013638256359073701 Centerline is valid? [True, True] Translation: X:80.89, Y:-75.86, Z:0.21 [[-9.24148545e-01 3.82002254e-01 4.87290097e-03 8.08945855e+01] [ 3.81997069e-01 9.24161391e-01 -1.99040450e-03 -7.58605746e+01] [-5.26368595e-03 2.20044626e-05 -9.99986146e-01 2.13530594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181858064 meters 0.013548596206505387 Centerline is valid? [True, True] Translation: X:80.92, Y:-75.84, Z:0.21 [[-9.49183564e-01 3.14684912e-01 4.89572162e-03 8.09157953e+01] [ 3.14680817e-01 9.49196189e-01 -1.60551076e-03 -7.58366754e+01] [-5.15223031e-03 1.66652550e-05 -9.99986727e-01 2.13717677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.211858064 meters 0.013548596206505387 Centerline is valid? [True, True] Translation: X:80.93, Y:-75.81, Z:0.21 [[-9.69100984e-01 2.46613691e-01 4.99710055e-03 8.09252745e+01] [ 2.46610501e-01 9.69113867e-01 -1.25442691e-03 -7.58103963e+01] [-5.15211829e-03 1.66711213e-05 -9.99986728e-01 2.13716472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24185806399998 meters 0.013342439930782263 Centerline is valid? [True, True] Translation: X:80.93, Y:-75.78, Z:0.21 [[-9.84391908e-01 1.75937367e-01 4.31448058e-03 8.09297022e+01] [ 1.75935709e-01 9.84401363e-01 -7.63939929e-04 -7.57799358e+01] [-4.38158614e-03 7.05491632e-06 -9.99990401e-01 2.14089824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27185806399999 meters 0.013311177863482742 Centerline is valid? [True, True] Translation: X:81.07, Y:-75.04, Z:-0.72 [[-9.71431784e-01 -2.37277834e-01 4.41795773e-03 8.10691930e+01] [ 2.37275395e-01 -9.71441830e-01 -1.07587161e-03 -7.50443876e+01] [ 4.54706943e-03 3.13678695e-06 9.99989662e-01 -7.22993173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.301858064 meters 0.013328391130686339 Centerline is valid? [True, True] Translation: X:80.88, Y:-75.77, Z:0.21 [[-9.85075398e-01 1.72043921e-01 5.22963683e-03 8.08792943e+01] [ 1.72041549e-01 9.85089280e-01 -9.03523983e-04 -7.57706714e+01] [-5.30710499e-03 9.67557358e-06 -9.99985917e-01 2.14478202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.331858064 meters 0.013326518010024914 Centerline is valid? [True, True] Translation: X:81.01, Y:-75.04, Z:-0.72 [[-9.72600174e-01 -2.32414499e-01 5.69230533e-03 8.10148463e+01] [ 2.32410657e-01 -9.72616831e-01 -1.33645522e-03 -7.50358812e+01] [ 5.84704354e-03 2.31158388e-05 9.99982906e-01 -7.23824809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.361858064 meters 0.013250838799830722 Centerline is valid? [True, True] Translation: X:80.83, Y:-75.76, Z:0.21 [[-9.85560838e-01 1.69217529e-01 5.93826568e-03 8.08271791e+01] [ 1.69214571e-01 9.85578727e-01 -1.00080234e-03 -7.57625390e+01] [-6.02198163e-03 1.84894809e-05 -9.99981868e-01 2.14611222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.391858064 meters 0.013339986762054922 Centerline is valid? [True, True] Translation: X:80.95, Y:-75.03, Z:-0.72 [[-9.73713424e-01 -2.27709447e-01 5.52950940e-03 8.09549693e+01] [ 2.27705551e-01 -9.73729124e-01 -1.33262593e-03 -7.50256158e+01] [ 5.68769586e-03 -3.84957727e-05 9.99983824e-01 -7.23161263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.421858064 meters 0.013467677780383328 Centerline is valid? [True, True] Translation: X:80.77, Y:-75.75, Z:0.21 [[-9.86085272e-01 1.66139982e-01 5.77440394e-03 8.07747974e+01] [ 1.66137276e-01 9.86102178e-01 -9.48476165e-04 -7.57546851e+01] [-5.85173212e-03 2.40653662e-05 -9.99982878e-01 2.14152710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.451858064 meters 0.01324646473945043 Centerline is valid? [True, True] Translation: X:80.78, Y:-75.73, Z:0.21 [[-9.95332221e-01 9.63409074e-02 5.67441617e-03 8.07790235e+01] [ 9.63394949e-02 9.95348396e-01 -5.22376893e-04 -7.57269394e+01] [-5.69834730e-03 2.67318344e-05 -9.99983764e-01 2.13426663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.481858064 meters 0.013306292636591137 Centerline is valid? [True, True] Translation: X:80.85, Y:-74.98, Z:-0.72 [[-9.88307148e-01 -1.52362296e-01 5.89168597e-03 8.08521653e+01] [ 1.52359522e-01 -9.88324709e-01 -9.19469619e-04 -7.49823647e+01] [ 5.96299132e-03 -1.10639397e-05 9.99982221e-01 -7.22063361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.511858064 meters 0.013345815631216276 Centerline is valid? [True, True] Translation: X:80.71, Y:-75.72, Z:0.21 [[-9.95701437e-01 9.24455726e-02 5.69777114e-03 8.07128592e+01] [ 9.24442353e-02 9.95717739e-01 -4.98185638e-04 -7.57220194e+01] [-5.71942685e-03 3.06819405e-05 -9.99983643e-01 2.13559895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.541858064 meters 0.013295111822173647 Centerline is valid? [True, True] Translation: X:80.78, Y:-74.98, Z:-0.72 [[-9.89202957e-01 -1.46455082e-01 5.33091336e-03 8.07842000e+01] [ 1.46452686e-01 -9.89217320e-01 -8.39184001e-04 -7.49752843e+01] [ 5.39633459e-03 -4.93967121e-05 9.99985438e-01 -7.22366707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.571858064 meters 0.013489985174053629 Centerline is valid? [True, True] Translation: X:80.65, Y:-75.72, Z:0.21 [[-9.95835000e-01 9.10410949e-02 4.91645296e-03 8.06494708e+01] [ 9.10401920e-02 9.95847136e-01 -4.07600966e-04 -7.57187940e+01] [-4.93314404e-03 4.16915135e-05 -9.99987831e-01 2.13624114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601858064 meters 0.01371670022729107 Centerline is valid? [True, True] Translation: X:80.72, Y:-74.97, Z:-0.72 [[-9.90336109e-01 -1.38608813e-01 4.68905831e-03 8.07177284e+01] [ 1.38607010e-01 -9.90347209e-01 -7.08918188e-04 -7.49667096e+01] [ 4.74205812e-03 -5.21309295e-05 9.99988755e-01 -7.22388356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.631858064 meters 0.013954530830977354 Centerline is valid? [True, True] Translation: X:80.58, Y:-75.72, Z:0.21 [[-9.96047402e-01 8.86865142e-02 4.92704441e-03 8.05838344e+01] [ 8.86856931e-02 9.96059586e-01 -3.85325885e-04 -7.57164449e+01] [-4.94180303e-03 5.31555019e-05 -9.99987788e-01 2.13356994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661858064 meters 0.013900782302428338 Centerline is valid? [True, True] Translation: X:80.65, Y:-74.96, Z:-0.72 [[-9.91206699e-01 -1.32252680e-01 4.30225753e-03 8.06481026e+01] [ 1.32251064e-01 -9.91216032e-01 -6.59155327e-04 -7.49590064e+01] [ 4.35164170e-03 -8.43810396e-05 9.99990528e-01 -7.21419077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.691858064 meters 0.014201541692961787 Centerline is valid? [True, True] Translation: X:80.51, Y:-75.71, Z:0.21 [[-9.96268842e-01 8.62140967e-02 3.94011388e-03 8.05085975e+01] [ 8.62136221e-02 9.96276632e-01 -2.90467599e-04 -7.57122769e+01] [-3.95048579e-03 5.03076704e-05 -9.99992196e-01 2.11925841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721858064 meters 0.014279390660109534 Centerline is valid? [True, True] Translation: X:80.57, Y:-74.95, Z:-0.72 [[-9.92047442e-01 -1.25813425e-01 3.58549761e-03 8.05702854e+01] [ 1.25812359e-01 -9.92053919e-01 -5.22304237e-04 -7.49524651e+01] [ 3.62271984e-03 -6.70506718e-05 9.99993436e-01 -7.21080268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.751858064 meters 0.01431020573666911 Centerline is valid? [True, True] Translation: X:80.44, Y:-75.71, Z:0.21 [[-9.96613410e-01 8.21439027e-02 3.75358857e-03 8.04424293e+01] [ 8.21435162e-02 9.96620478e-01 -2.57280786e-04 -7.57064138e+01] [-3.76203728e-03 5.19234823e-05 -9.99992922e-01 2.13178273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781858064 meters 0.01458475297128144 Centerline is valid? [True, True] Translation: X:80.44, Y:-75.68, Z:0.22 [[-9.99911483e-01 1.22817375e-02 5.11722522e-03 8.04413793e+01] [ 1.22819751e-02 9.99924574e-01 1.50221537e-05 -7.56780444e+01] [-5.11665475e-03 7.78704570e-05 -9.99986907e-01 2.15291153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.811858064 meters 0.014900208774002124 Centerline is valid? [True, True] Translation: X:80.44, Y:-75.65, Z:0.22 [[-9.98292649e-01 -5.81388337e-02 5.62692796e-03 8.04388589e+01] [-5.81373987e-02 9.98308503e-01 4.18383939e-04 -7.56509747e+01] [-5.64173438e-03 9.05346565e-05 -9.99984081e-01 2.15910244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841858064 meters 0.015023018910747418 Centerline is valid? [True, True] Translation: X:80.43, Y:-75.62, Z:0.22 [[-9.91739599e-01 -1.28153487e-01 5.40854253e-03 8.04300366e+01] [-1.28151064e-01 9.91754342e-01 7.93526695e-04 -7.56239226e+01] [-5.46563875e-03 9.38613639e-05 -9.99985059e-01 2.15885301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871858064 meters 0.015816221657933824 Centerline is valid? [True, True] Translation: X:80.30, Y:-74.87, Z:-0.72 [[-9.95130885e-01 9.84531959e-02 4.63566185e-03 8.03046528e+01] [-9.84527458e-02 -9.95141674e-01 3.25762383e-04 -7.48717516e+01] [ 4.64521264e-03 -1.32217429e-04 9.99989202e-01 -7.24650436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901858064 meters 0.016178141484920583 Centerline is valid? [True, True] Translation: X:80.30, Y:-75.64, Z:0.22 [[-9.91274251e-01 -1.31736689e-01 4.56125300e-03 8.02960842e+01] [-1.31734859e-01 9.91284740e-01 7.00623155e-04 -7.56435697e+01] [-4.61379827e-03 9.36336717e-05 -9.99989352e-01 2.16081164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.931858064 meters 0.01601254176492101 Centerline is valid? [True, True] Translation: X:80.27, Y:-75.62, Z:0.22 [[-9.79447221e-01 -2.01645148e-01 4.73022495e-03 8.02725308e+01] [-2.01642283e-01 9.79458638e-01 1.07999217e-03 -7.56186961e+01] [-4.85083487e-03 1.03981976e-04 -9.99988229e-01 2.16256896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961858064 meters 0.016350246911835068 Centerline is valid? [True, True] Translation: X:80.23, Y:-75.60, Z:0.22 [[-9.62213948e-01 -2.72259599e-01 4.36221589e-03 8.02270093e+01] [-2.72256332e-01 9.62223831e-01 1.33749078e-03 -7.56023741e+01] [-4.56157279e-03 9.93113824e-05 -9.99989591e-01 2.16625559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99185806399998 meters 0.01661329801994273 Centerline is valid? [True, True] Translation: X:80.17, Y:-75.59, Z:0.22 [[-9.39564574e-01 -3.42354649e-01 3.42129832e-03 8.01656413e+01] [-3.42352071e-01 9.39570800e-01 1.33095619e-03 -7.55939294e+01] [-3.67021103e-03 7.92307189e-05 -9.99993262e-01 2.16825804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02185806399999 meters 0.01647522139944421 Centerline is valid? [True, True] Translation: X:80.10, Y:-75.59, Z:0.22 [[-9.11366692e-01 -4.11582506e-01 3.25480134e-03 8.00952958e+01] [-4.11579583e-01 9.11372500e-01 1.55323182e-03 -7.55924970e+01] [-3.60561948e-03 7.59539726e-05 -9.99993497e-01 2.17187802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.051858064 meters 0.016438783736403367 Centerline is valid? [True, True] Translation: X:80.01, Y:-75.60, Z:0.22 [[-8.77714032e-01 -4.79175078e-01 3.05342472e-03 8.00148892e+01] [-4.79171895e-01 8.77719340e-01 1.74788549e-03 -7.56016707e+01] [-3.51759310e-03 7.10283054e-05 -9.99993811e-01 2.17842856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.081858064 meters 0.016158438464873266 Centerline is valid? [True, True] Translation: X:79.93, Y:-75.62, Z:0.22 [[-8.37998475e-01 -5.45665381e-01 2.80131949e-03 7.99283591e+01] [-5.45662091e-01 8.38003155e-01 1.89593020e-03 -7.56204090e+01] [-3.38205805e-03 6.02127622e-05 -9.99994279e-01 2.19548018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.111858064 meters 0.016048451006292454 Centerline is valid? [True, True] Translation: X:79.84, Y:-75.65, Z:0.22 [[-7.93682246e-01 -6.08327833e-01 2.39588240e-03 7.98393000e+01] [-6.08324870e-01 7.93685860e-01 1.89951571e-03 -7.56502407e+01] [-3.05710626e-03 5.01370471e-05 -9.99995326e-01 2.19635763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.141858064 meters 0.015763009209214814 Centerline is valid? [True, True] Translation: X:79.75, Y:-75.69, Z:0.22 [[-7.44513291e-01 -6.67605378e-01 1.73757046e-03 7.97495049e+01] [-6.67603449e-01 7.44515317e-01 1.60529632e-03 -7.56897521e+01] [-2.36535229e-03 3.51564148e-05 -9.99997202e-01 2.19441740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.171858064 meters 0.01730905563934893 Centerline is valid? [True, True] Translation: X:79.66, Y:-75.74, Z:0.22 [[-6.89400438e-01 -7.24379944e-01 8.55374346e-04 7.96569896e+01] [-7.24379363e-01 6.89400969e-01 9.18008407e-04 -7.57416223e+01] [-1.25468278e-03 1.32598746e-05 -9.99999213e-01 2.19989867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.201858064 meters 0.01510071309451796 Centerline is valid? [True, True] Translation: X:79.57, Y:-75.80, Z:0.22 [[-6.31213203e-01 -7.75609250e-01 4.28302031e-04 7.95695629e+01] [-7.75609066e-01 6.31213348e-01 5.34229581e-04 -7.57989323e+01] [-6.84703363e-04 5.01782653e-06 -9.99999766e-01 2.18281577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.231858064 meters 0.01485900563205503 Centerline is valid? [True, True] Translation: X:79.48, Y:-75.87, Z:0.22 [[-5.68832736e-01 -8.22453209e-01 1.93237312e-04 7.94817291e+01] [-8.22453161e-01 5.68832769e-01 2.80158564e-04 -7.58699441e+01] [-3.40337026e-04 4.34724318e-07 -9.99999942e-01 2.18146821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.261858064 meters 0.014226426661007291 Centerline is valid? [True, True] Translation: X:79.40, Y:-75.94, Z:0.22 [[-5.01884734e-01 -8.64934488e-01 -2.11987889e-04 7.93984675e+01] [-8.64934406e-01 5.01884779e-01 -3.77905233e-04 -7.59437950e+01] [ 4.33256764e-04 -6.30924872e-06 -9.99999906e-01 2.18885250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.291858064 meters 0.014890329635089208 Centerline is valid? [True, True] Translation: X:79.32, Y:-76.03, Z:0.22 [[-4.32884932e-01 -9.01449150e-01 -2.54999872e-04 7.93214131e+01] [-9.01448984e-01 4.32885007e-01 -5.46627452e-04 -7.60295572e+01] [ 6.03142474e-04 -6.75741200e-06 -9.99999818e-01 2.19783484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321858064 meters 0.014067875867463218 Centerline is valid? [True, True] Translation: X:79.25, Y:-76.12, Z:0.22 [[-3.61426343e-01 -9.32400561e-01 -4.37946102e-04 7.92507354e+01] [-9.32399845e-01 3.61426608e-01 -1.15578248e-03 -7.61232563e+01] [ 1.23593761e-03 -9.38935685e-06 -9.99999236e-01 2.18839799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.351858064 meters 0.014010905941329975 Centerline is valid? [True, True] Translation: X:79.19, Y:-76.23, Z:0.22 [[-2.87227463e-01 -9.57862307e-01 -4.30049711e-04 7.91862610e+01] [-9.57861188e-01 2.87227785e-01 -1.46425585e-03 -7.62251727e+01] [ 1.52607772e-03 -8.64656791e-06 -9.99998836e-01 2.19343922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381858064 meters 0.014052393951152806 Centerline is valid? [True, True] Translation: X:79.13, Y:-76.33, Z:0.22 [[-2.12548009e-01 -9.77150558e-01 -3.62831742e-04 7.91299469e+01] [-9.77149059e-01 2.12548318e-01 -1.71163365e-03 -7.63318180e+01] [ 1.74964305e-03 -9.26362836e-06 -9.99998469e-01 2.20029796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.411858064 meters 0.014044368051079125 Centerline is valid? [True, True] Translation: X:79.08, Y:-76.44, Z:0.22 [[-1.36646955e-01 -9.90619796e-01 -1.73216026e-04 7.90820778e+01] [-9.90618925e-01 1.36647065e-01 -1.31316351e-03 -7.64436263e+01] [ 1.32451523e-03 -7.84872169e-06 -9.99999123e-01 2.20485321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441858064 meters 0.014192412187050567 Centerline is valid? [True, True] Translation: X:79.04, Y:-76.55, Z:0.22 [[-6.35357820e-02 -9.97979557e-01 -9.35921983e-05 7.90422564e+01] [-9.97978242e-01 6.35358502e-02 -1.62002960e-03 -7.65505673e+01] [ 1.62270288e-03 -9.52686964e-06 -9.99998683e-01 2.20977027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.471858064 meters 0.015406488791789569 Centerline is valid? [True, True] Translation: X:79.01, Y:-76.66, Z:0.22 [[ 1.22145973e-02 -9.99925399e-01 2.31478486e-05 7.90142194e+01] [-9.99924758e-01 -1.22146157e-02 -1.13198198e-03 -7.66643109e+01] [ 1.13218027e-03 -9.31940285e-06 -9.99999359e-01 2.22793911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501858064 meters 0.014433519317651033 Centerline is valid? [True, True] Translation: X:78.99, Y:-76.79, Z:0.22 [[ 8.84572015e-02 -9.96079971e-01 1.24817382e-04 7.89944102e+01] [-9.96079151e-01 -8.84572889e-02 -1.27774849e-03 -7.67890273e+01] [ 1.28378068e-03 -1.13019366e-05 -9.99999176e-01 2.21977620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.531858064 meters 0.014364081400315875 Centerline is valid? [True, True] Translation: X:78.98, Y:-76.91, Z:0.22 [[ 1.64573928e-01 -9.86364740e-01 1.47979570e-04 7.89830687e+01] [-9.86364388e-01 -1.64573995e-01 -8.32707468e-04 -7.69068639e+01] [ 8.45706874e-04 -8.91983866e-06 -9.99999642e-01 2.22243342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561858064 meters 0.014554616465103696 Centerline is valid? [True, True] Translation: X:78.98, Y:-77.03, Z:0.22 [[ 2.39311640e-01 -9.70942789e-01 1.99072277e-04 7.89813633e+01] [-9.70942484e-01 -2.39311723e-01 -7.69025388e-04 -7.70267883e+01] [ 7.94319985e-04 -9.25100458e-06 -9.99999684e-01 2.22491806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.591858064 meters 0.014765809527092392 Centerline is valid? [True, True] Translation: X:78.99, Y:-77.15, Z:0.22 [[ 3.11943207e-01 -9.50100714e-01 2.62058693e-04 7.89900332e+01] [-9.50100407e-01 -3.11943317e-01 -7.63936420e-04 -7.71477204e+01] [ 8.07563996e-04 -1.06772935e-05 -9.99999674e-01 2.23313848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621858064 meters 0.014658394264302677 Centerline is valid? [True, True] Translation: X:79.01, Y:-77.27, Z:0.22 [[ 3.83496030e-01 -9.23542418e-01 4.43698251e-04 7.90077078e+01] [-9.23541843e-01 -3.83496287e-01 -1.03045492e-03 -7.72708040e+01] [ 1.12182546e-03 -1.45985283e-05 -9.99999371e-01 2.23759773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.651858064 meters 0.014915086314835048 Centerline is valid? [True, True] Translation: X:79.03, Y:-77.38, Z:0.22 [[ 4.52449506e-01 -8.91789927e-01 4.13293754e-04 7.90326938e+01] [-8.91789581e-01 -4.52449695e-01 -7.85474748e-04 -7.73822625e+01] [ 8.87473101e-04 -1.31834017e-05 -9.99999606e-01 2.23750076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681858064 meters 0.015099952781216997 Centerline is valid? [True, True] Translation: X:79.07, Y:-77.50, Z:0.22 [[ 5.19508731e-01 -8.54465026e-01 4.45325062e-04 7.90684446e+01] [-8.54464733e-01 -5.19508922e-01 -7.07832114e-04 -7.74979818e+01] [ 8.36168129e-04 -1.27895968e-05 -9.99999650e-01 2.23544484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.711858064 meters 0.015022903173708378 Centerline is valid? [True, True] Translation: X:79.11, Y:-77.60, Z:0.22 [[ 5.83653755e-01 -8.12002405e-01 6.23788670e-04 7.91073728e+01] [-8.12001969e-01 -5.83654088e-01 -8.41737237e-04 -7.76042688e+01] [ 1.04756947e-03 -1.52345289e-05 -9.99999451e-01 2.23709676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74185806399998 meters 0.015101523869638927 Centerline is valid? [True, True] Translation: X:79.16, Y:-77.71, Z:0.22 [[ 6.44231327e-01 -7.64830472e-01 5.88453077e-04 7.91554723e+01] [-7.64830171e-01 -6.44231596e-01 -6.77777230e-04 -7.77082877e+01] [ 8.97484743e-04 -1.34213432e-05 -9.99999597e-01 2.23555207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77185806399999 meters 0.015227514761250747 Centerline is valid? [True, True] Translation: X:79.21, Y:-77.81, Z:0.22 [[ 7.01049359e-01 -7.13112240e-01 8.54049951e-04 7.92090516e+01] [-7.13111739e-01 -7.01049880e-01 -8.44957933e-04 -7.78064455e+01] [ 1.20128146e-03 -1.66758280e-05 -9.99999278e-01 2.24290425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.801858064 meters 0.015134603786538298 Centerline is valid? [True, True] Translation: X:79.20, Y:-77.82, Z:0.22 [[ 7.54473792e-01 -6.56328192e-01 1.61320464e-03 7.92033326e+01] [-6.56326769e-01 -7.54475516e-01 -1.36686032e-03 -7.78161060e+01] [ 2.11423236e-03 -2.75290969e-05 -9.99997765e-01 2.24413305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.831858064 meters 0.01527135131409822 Centerline is valid? [True, True] Translation: X:79.20, Y:-77.82, Z:0.22 [[ 8.03231655e-01 -5.95661628e-01 2.47663299e-03 7.91986125e+01] [-5.95658947e-01 -8.03235472e-01 -1.78747389e-03 -7.78233909e+01] [ 3.05404908e-03 -3.94729900e-05 -9.99995336e-01 2.24109607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.861858064 meters 0.015390367843171751 Centerline is valid? [True, True] Translation: X:79.20, Y:-77.83, Z:0.22 [[ 8.46744050e-01 -5.31986472e-01 3.86104849e-03 7.91958259e+01] [-5.31981273e-01 -8.46752851e-01 -2.35273587e-03 -7.78283025e+01] [ 4.52097747e-03 -6.18403907e-05 -9.99989778e-01 2.23157931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.891858064 meters 0.01563903085651981 Centerline is valid? [True, True] Translation: X:79.19, Y:-77.83, Z:0.22 [[ 8.85497056e-01 -4.64629065e-01 3.84664616e-03 7.91916440e+01] [-4.64624980e-01 -8.85505409e-01 -1.94917856e-03 -7.78328880e+01] [ 4.31187099e-03 -6.12560173e-05 -9.99990702e-01 2.22419610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.921858064 meters 0.01573037976489556 Centerline is valid? [True, True] Translation: X:79.19, Y:-77.84, Z:0.22 [[ 9.18865838e-01 -3.94549456e-01 4.03716528e-03 7.91890187e+01] [-3.94545955e-01 -9.18874705e-01 -1.66322723e-03 -7.78385865e+01] [ 4.36587445e-03 -6.45645512e-05 -9.99990467e-01 2.22321291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.951858064 meters 0.015669571137146763 Centerline is valid? [True, True] Translation: X:79.19, Y:-77.85, Z:0.22 [[ 9.47001968e-01 -3.21204703e-01 3.84847867e-03 7.91857343e+01] [-3.21202302e-01 -9.47009786e-01 -1.24331899e-03 -7.78468898e+01] [ 4.04390687e-03 -5.87146775e-05 -9.99991822e-01 2.23008565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.981858064 meters 0.01570821443714751 Centerline is valid? [True, True] Translation: X:79.18, Y:-77.85, Z:0.22 [[ 9.69411100e-01 -2.45414518e-01 3.71929444e-03 7.91823540e+01] [-2.45412920e-01 -9.69418234e-01 -8.87227504e-04 -7.78544815e+01] [ 3.82329036e-03 -5.26747186e-05 -9.99992690e-01 2.23658001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.011858064 meters 0.015569202702645757 Centerline is valid? [True, True] Translation: X:79.18, Y:-77.86, Z:0.22 [[ 9.85832576e-01 -1.67698502e-01 3.36818020e-03 7.91772725e+01] [-1.67697673e-01 -9.85838329e-01 -5.28848254e-04 -7.78609176e+01] [ 3.40916820e-03 -4.34801460e-05 -9.99994188e-01 2.24134413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.041858064 meters 0.015562057729000867 Centerline is valid? [True, True] Translation: X:79.17, Y:-77.87, Z:0.22 [[ 9.96129137e-01 -8.78421349e-02 3.24064491e-03 7.91714952e+01] [-8.78417826e-02 -9.96134408e-01 -2.51151606e-04 -7.78670225e+01] [ 3.25017959e-03 -3.44845930e-05 -9.99994718e-01 2.24108295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.071858064 meters 0.015562057729000867 Centerline is valid? [True, True] Translation: X:79.17, Y:-77.87, Z:0.22 [[ 9.99948561e-01 -9.60777731e-03 3.25047379e-03 7.91669976e+01] [-9.60783862e-03 -9.99953844e-01 3.24663389e-06 -7.78719294e+01] [ 3.25029257e-03 -3.44764945e-05 -9.99994717e-01 2.24107268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101858064 meters 0.015312333743486142 Centerline is valid? [True, True] Translation: X:79.16, Y:-77.88, Z:0.22 [[ 9.97579372e-01 6.94749682e-02 2.93685570e-03 7.91638659e+01] [ 6.94745804e-02 -9.97583695e-01 2.33986445e-04 -7.78831960e+01] [ 2.94601556e-03 -2.93832340e-05 -9.99995660e-01 2.24482330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.131858064 meters 0.015444285201063496 Centerline is valid? [True, True] Translation: X:79.16, Y:-77.89, Z:0.22 [[ 9.89012026e-01 1.47811100e-01 2.66281952e-03 7.91596967e+01] [ 1.47810494e-01 -9.89015611e-01 4.24110362e-04 -7.78918583e+01] [ 2.69625830e-03 -2.58575779e-05 -9.99996365e-01 2.24264046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161858064 meters 0.015424539014579639 Centerline is valid? [True, True] Translation: X:79.15, Y:-77.90, Z:0.23 [[ 9.74324843e-01 2.25141969e-01 1.48092589e-03 7.91549547e+01] [ 2.25141685e-01 -9.74325969e-01 3.57860983e-04 -7.78953187e+01] [ 1.52347408e-03 -1.52546955e-05 -9.99998839e-01 2.25405938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.191858064 meters 0.015256109453370702 Centerline is valid? [True, True] Translation: X:79.15, Y:-77.90, Z:0.23 [[ 9.53726303e-01 3.00674800e-01 8.95865973e-04 7.91532697e+01] [ 3.00674657e-01 -9.53726724e-01 2.93533135e-04 -7.79034571e+01] [ 9.42669337e-04 -1.05860773e-05 -9.99999556e-01 2.25942874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221858064 meters 0.015343974632116167 Centerline is valid? [True, True] Translation: X:79.15, Y:-77.91, Z:0.23 [[ 9.27357031e-01 3.74177094e-01 6.62452807e-04 7.91508894e+01] [ 3.74176992e-01 -9.27357268e-01 2.76896741e-04 -7.79104653e+01] [ 7.17938842e-04 -8.90754121e-06 -9.99999742e-01 2.26280939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.251858064 meters 0.015387966842156669 Centerline is valid? [True, True] Translation: X:79.15, Y:-77.92, Z:0.23 [[ 8.95368977e-01 4.45324053e-01 9.39419735e-04 7.91500388e+01] [ 4.45323793e-01 -8.95369470e-01 4.80788024e-04 -7.79192456e+01] [ 1.05523422e-03 -1.21367219e-05 -9.99999443e-01 2.26282927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281858064 meters 0.015570923201278793 Centerline is valid? [True, True] Translation: X:79.15, Y:-77.93, Z:0.23 [[ 8.58617048e-01 5.12613902e-01 1.93726663e-03 7.91509456e+01] [ 5.12612527e-01 -8.58619233e-01 1.18756836e-03 -7.79279745e+01] [ 2.27213843e-03 -2.65992954e-05 -9.99997418e-01 2.25152254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.311858064 meters 0.015886256410132565 Centerline is valid? [True, True] Translation: X:79.15, Y:-77.94, Z:0.23 [[ 8.16466020e-01 5.77389894e-01 2.03676563e-03 7.91503450e+01] [ 5.77387999e-01 -8.16468560e-01 1.47940500e-03 -7.79371602e+01] [ 2.51714860e-03 -3.18798827e-05 -9.99996831e-01 2.25136097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341858064 meters 0.01595560689643055 Centerline is valid? [True, True] Translation: X:79.15, Y:-77.95, Z:0.23 [[ 7.69300318e-01 6.38884855e-01 1.77862276e-03 7.91528028e+01] [ 6.38883051e-01 -7.69302373e-01 1.51835264e-03 -7.79468658e+01] [ 2.33835122e-03 -3.17372292e-05 -9.99997266e-01 2.25614689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.371858064 meters 0.016059180280794144 Centerline is valid? [True, True] Translation: X:79.15, Y:-77.96, Z:0.23 [[ 7.17274376e-01 6.96789688e-01 1.26495938e-03 7.91548491e+01] [ 6.96788541e-01 -7.17275491e-01 1.26492598e-03 -7.79563099e+01] [ 1.78871174e-03 -2.58897919e-05 -9.99998400e-01 2.25905587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401858064 meters 0.016227793057687512 Centerline is valid? [True, True] Translation: X:79.16, Y:-77.97, Z:0.23 [[ 6.61179721e-01 7.50226568e-01 1.21384669e-03 7.91558445e+01] [ 7.50225223e-01 -6.61180835e-01 1.42048945e-03 -7.79654255e+01] [ 1.86826109e-03 -2.85404133e-05 -9.99998254e-01 2.25654603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.431858064 meters 0.016162556325586653 Centerline is valid? [True, True] Translation: X:79.16, Y:-77.98, Z:0.23 [[ 6.00711962e-01 7.99464989e-01 9.33319899e-04 7.91613171e+01] [ 7.99463958e-01 -6.00712686e-01 1.28417563e-03 -7.79759221e+01] [ 1.58731056e-03 -2.52640446e-05 -9.99998740e-01 2.25840493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461858064 meters 0.016166065832154086 Centerline is valid? [True, True] Translation: X:79.17, Y:-77.99, Z:0.23 [[ 5.36363650e-01 8.43986838e-01 5.02067662e-04 7.91674391e+01] [ 8.43986439e-01 -5.36363885e-01 8.20793680e-04 -7.79858049e+01] [ 9.62030024e-04 -1.65055958e-05 -9.99999537e-01 2.26022811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49185806399998 meters 0.01629431354231235 Centerline is valid? [True, True] Translation: X:79.17, Y:-78.00, Z:0.23 [[ 4.69096388e-01 8.83146973e-01 5.50442525e-05 7.91739375e+01] [ 8.83146966e-01 -4.69096391e-01 1.13488946e-04 -7.79960711e+01] [ 1.26048479e-04 -4.62509004e-06 -9.99999992e-01 2.27529530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52185806399999 meters 0.016189525433782815 Centerline is valid? [True, True] Translation: X:79.18, Y:-78.01, Z:0.23 [[ 3.98863780e-01 9.17010167e-01 -1.97477839e-04 7.91827650e+01] [ 9.17010048e-01 -3.98863829e-01 -4.66410832e-04 -7.80051915e+01] [-5.06470242e-04 4.94522422e-06 -9.99999872e-01 2.28441897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.551858064 meters 0.016390247903769146 Centerline is valid? [True, True] Translation: X:79.19, Y:-78.01, Z:0.23 [[ 3.26369222e-01 9.45242321e-01 -2.93508576e-04 7.91891498e+01] [ 9.45241905e-01 -3.26369354e-01 -8.86856395e-04 -7.80141276e+01] [-9.34086401e-04 1.20060264e-05 -9.99999564e-01 2.28844853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.581858064 meters 0.01648602006808543 Centerline is valid? [True, True] Translation: X:79.20, Y:-78.02, Z:0.23 [[ 2.52325330e-01 9.67642367e-01 -4.22259565e-04 7.91958931e+01] [ 9.67640826e-01 -2.52325682e-01 -1.72715574e-03 -7.80215030e+01] [-1.77781600e-03 2.72095487e-05 -9.99998419e-01 2.28784786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.611858064 meters 0.016904948163047263 Centerline is valid? [True, True] Translation: X:79.20, Y:-78.03, Z:0.23 [[ 1.76444102e-01 9.84310603e-01 -3.41070695e-04 7.92015601e+01] [ 9.84308366e-01 -1.76444428e-01 -2.09856376e-03 -7.80289848e+01] [-2.12581859e-03 3.45604611e-05 -9.99997740e-01 2.28858523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.641858064 meters 0.016669181872131504 Centerline is valid? [True, True] Translation: X:79.21, Y:-78.04, Z:0.23 [[ 9.90943216e-02 9.95078030e-01 -1.72744898e-04 7.92106449e+01] [ 9.95075849e-01 -9.90944661e-02 -2.08347887e-03 -7.80354045e+01] [-2.09034211e-03 3.45666494e-05 -9.99997815e-01 2.29214330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.671858064 meters 0.016643215474612158 Centerline is valid? [True, True] Translation: X:79.22, Y:-78.04, Z:0.23 [[ 2.08677132e-02 9.99782246e-01 -1.07480409e-05 7.92190856e+01] [ 9.99778583e-01 -2.08676658e-02 -2.70652821e-03 -7.80410545e+01] [-2.70616314e-03 4.57333934e-05 -9.99996337e-01 2.29326188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.701858064 meters 0.0169848621871951 Centerline is valid? [True, True] Translation: X:79.23, Y:-78.05, Z:0.23 [[-5.72468500e-02 9.98360028e-01 2.28977859e-04 7.92274868e+01] [ 9.98355322e-01 5.72472833e-02 -3.06574452e-03 -7.80477309e+01] [-3.07382515e-03 5.30970479e-05 -9.99995274e-01 2.29933632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.731858064 meters 0.016379521862788158 Centerline is valid? [True, True] Translation: X:79.24, Y:-78.05, Z:0.23 [[-1.35237210e-01 9.90813119e-01 5.10499947e-04 7.92412202e+01] [ 9.90807593e-01 1.35238161e-01 -3.30944695e-03 -7.80509362e+01] [-3.34808253e-03 5.82468498e-05 -9.99994393e-01 2.29844986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.761858064 meters 0.016765529981904486 Centerline is valid? [True, True] Translation: X:79.25, Y:-78.05, Z:0.23 [[-2.12189756e-01 9.77228181e-01 7.67528188e-04 7.92521197e+01] [ 9.77222756e-01 2.12191136e-01 -3.25688034e-03 -7.80549546e+01] [-3.34557793e-03 5.89693661e-05 -9.99994402e-01 2.30022545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.791858064 meters 0.016758302354862028 Centerline is valid? [True, True] Translation: X:79.26, Y:-78.06, Z:0.23 [[-2.87386825e-01 9.57814439e-01 5.60253707e-04 7.92641429e+01] [ 9.57812834e-01 2.87387369e-01 -1.75371168e-03 -7.80568587e+01] [-1.84074020e-03 3.26245611e-05 -9.99998305e-01 2.29248234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821858064 meters 0.01687878677402911 Centerline is valid? [True, True] Translation: X:79.27, Y:-78.06, Z:0.23 [[-3.61120783e-01 9.32518878e-01 5.67136033e-04 7.92743701e+01] [ 9.32517843e-01 3.61121227e-01 -1.39022611e-03 -7.80586269e+01] [-1.50121695e-03 2.68249304e-05 -9.99998873e-01 2.29015268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.851858064 meters 0.016854702891619645 Centerline is valid? [True, True] Translation: X:79.29, Y:-78.06, Z:0.23 [[-4.32637174e-01 9.01567909e-01 6.17581625e-04 7.92852658e+01] [ 9.01567071e-01 4.32637614e-01 -1.22925977e-03 -7.80589988e+01] [-1.37545020e-03 2.49677839e-05 -9.99999054e-01 2.28787138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881858064 meters 0.017348789407231474 Centerline is valid? [True, True] Translation: X:79.29, Y:-78.06, Z:0.23 [[-5.01478519e-01 8.65169683e-01 8.44973252e-04 7.92944614e+01] [ 8.65168557e-01 5.01479230e-01 -1.39606709e-03 -7.80602770e+01] [-1.63157146e-03 3.09466297e-05 -9.99998669e-01 2.28420855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.911858064 meters 0.016967183887428777 Centerline is valid? [True, True] Translation: X:79.31, Y:-78.06, Z:0.23 [[-5.67550584e-01 8.23338101e-01 8.40169937e-04 7.93064957e+01] [ 8.23337269e-01 5.67551206e-01 -1.17074256e-03 -7.80577193e+01] [-1.44075642e-03 2.72875956e-05 -9.99998962e-01 2.28610995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941858064 meters 0.017499987276849354 Centerline is valid? [True, True] Translation: X:79.32, Y:-78.06, Z:0.23 [[-6.30108090e-01 7.76506944e-01 8.71953108e-04 7.93173122e+01] [ 7.76506257e-01 6.30108693e-01 -1.03366809e-03 -7.80570436e+01] [-1.35207568e-03 2.57544192e-05 -9.99999086e-01 2.28759755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.971858064 meters 0.017078341119712084 Centerline is valid? [True, True] Translation: X:79.33, Y:-78.05, Z:0.23 [[-6.88856304e-01 7.24897728e-01 5.24629936e-04 7.93298521e+01] [ 7.24897533e-01 6.88856504e-01 -5.32939664e-04 -7.80515166e+01] [-7.47721496e-04 1.31840986e-05 -9.99999720e-01 2.29093318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001858064 meters 0.016900991990258196 Centerline is valid? [True, True] Translation: X:79.34, Y:-78.05, Z:0.23 [[-7.43403932e-01 6.68841956e-01 1.01541212e-03 7.93406298e+01] [ 6.68841380e-01 7.43404625e-01 -8.78593040e-04 -7.80454135e+01] [-1.34250195e-03 2.60001195e-05 -9.99999099e-01 2.29254673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.031858064 meters 0.016818429628788278 Centerline is valid? [True, True] Translation: X:79.36, Y:-78.03, Z:0.23 [[-7.88594470e-01 6.14911409e-01 1.64976505e-03 7.93624317e+01] [ 6.14910175e-01 7.88596194e-01 -1.23252738e-03 -7.80252804e+01] [-2.05889358e-03 4.24930413e-05 -9.99997880e-01 2.29816828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061858064 meters 0.017606184839434286 Centerline is valid? [True, True] Translation: X:79.38, Y:-78.01, Z:0.23 [[-8.29316689e-01 5.58771595e-01 2.85198089e-03 7.93826462e+01] [ 5.58768605e-01 8.29321589e-01 -1.82952720e-03 -7.80050723e+01] [-3.38749716e-03 7.63399476e-05 -9.99994260e-01 2.30883515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.091858064 meters 0.01791623671343984 Centerline is valid? [True, True] Translation: X:79.40, Y:-77.98, Z:0.23 [[-8.66260160e-01 4.99581529e-01 3.41047394e-03 7.93972682e+01] [ 4.99578073e-01 8.66266868e-01 -1.86051792e-03 -7.79809930e+01] [-3.88386097e-03 9.21054492e-05 -9.99992454e-01 2.30973548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121858064 meters 0.018206827173981886 Centerline is valid? [True, True] Translation: X:79.77, Y:-77.32, Z:-0.74 [[-8.57254722e-01 -5.14881197e-01 3.41979005e-03 7.97696775e+01] [ 5.14876695e-01 -8.57261539e-01 -2.15489711e-03 -7.73180467e+01] [ 4.04117049e-03 -8.65255211e-05 9.99991831e-01 -7.40288892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.151858064 meters 0.018253223680450213 Centerline is valid? [True, True] Translation: X:79.36, Y:-77.96, Z:0.23 [[-8.66696899e-01 4.98822494e-01 3.55031695e-03 7.93606275e+01] [ 4.98818810e-01 8.66704164e-01 -1.92007836e-03 -7.79589369e+01] [-4.03485276e-03 1.06838917e-04 -9.99991854e-01 2.31664499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181858064 meters 0.018649943272295178 Centerline is valid? [True, True] Translation: X:79.37, Y:-77.93, Z:0.23 [[-8.99531168e-01 4.36841760e-01 3.59940571e-03 7.93745417e+01] [ 4.36838736e-01 8.99538363e-01 -1.62870866e-03 -7.79341144e+01] [-3.94929147e-03 1.07285639e-04 -9.99992196e-01 2.31472133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.211858064 meters 0.018547569122989754 Centerline is valid? [True, True] Translation: X:79.39, Y:-77.91, Z:0.23 [[-9.28066251e-01 3.72399256e-01 3.43903661e-03 7.93890834e+01] [ 3.72397101e-01 9.28072618e-01 -1.27102222e-03 -7.79083816e+01] [-3.66500343e-03 1.01094435e-04 -9.99993279e-01 2.31191367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24185806399998 meters 0.019189436960361066 Centerline is valid? [True, True] Translation: X:79.40, Y:-77.88, Z:0.23 [[-9.52213831e-01 3.05416232e-01 3.12189699e-03 7.93972122e+01] [ 3.05414893e-01 9.52218944e-01 -9.08497345e-04 -7.78809511e+01] [-3.25019929e-03 8.83900991e-05 -9.99994714e-01 2.30305318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27185806399999 meters 0.01856829801280454 Centerline is valid? [True, True] Translation: X:79.41, Y:-77.85, Z:0.23 [[-9.71721526e-01 2.36108281e-01 3.18692369e-03 7.94099328e+01] [ 2.36107298e-01 9.71726748e-01 -6.86531679e-04 -7.78525666e+01] [-3.25891481e-03 8.53383313e-05 -9.99994686e-01 2.29627802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.301858064 meters 0.018411994446206212 Centerline is valid? [True, True] Translation: X:79.57, Y:-77.13, Z:-0.74 [[-9.68098492e-01 -2.50550114e-01 3.15428156e-03 7.95710892e+01] [ 2.50548499e-01 -9.68103627e-01 -9.03661561e-04 -7.71259284e+01] [ 3.28008393e-03 -8.45328851e-05 9.99994617e-01 -7.38727933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.331858064 meters 0.017690341071314748 Centerline is valid? [True, True] Translation: X:79.36, Y:-77.84, Z:0.23 [[-9.73657489e-01 2.27984972e-01 3.73459251e-03 7.93584408e+01] [ 2.27983623e-01 9.73664648e-01 -7.88645925e-04 -7.78351979e+01] [-3.81604012e-03 8.35549191e-05 -9.99992715e-01 2.29387269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.361858064 meters 0.0175921861343055 Centerline is valid? [True, True] Translation: X:79.36, Y:-77.80, Z:0.23 [[-9.87634440e-01 1.56727744e-01 3.82457932e-03 7.93603105e+01] [ 1.56726876e-01 9.87641842e-01 -5.27611389e-04 -7.78049587e+01] [-3.86000591e-03 7.83271891e-05 -9.99992547e-01 2.29567675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.391858064 meters 0.016705267297982596 Centerline is valid? [True, True] Translation: X:79.37, Y:-77.77, Z:0.23 [[-9.96430288e-01 8.43156289e-02 4.18990001e-03 7.93658682e+01] [ 8.43152082e-02 9.96439094e-01 -2.77251411e-04 -7.77734145e+01] [-4.19835680e-03 7.70105878e-05 -9.99991184e-01 2.29848724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.421858064 meters 0.016103899643483226 Centerline is valid? [True, True] Translation: X:79.36, Y:-77.74, Z:0.23 [[-9.99924671e-01 1.13923954e-02 4.56789319e-03 7.93613505e+01] [ 1.13926214e-02 9.99935102e-01 2.34497270e-05 -7.77418699e+01] [-4.56732959e-03 7.54882382e-05 -9.99989567e-01 2.29996397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.451858064 meters 0.015838388190436255 Centerline is valid? [True, True] Translation: X:79.36, Y:-77.03, Z:-0.74 [[-9.98830490e-01 -4.80960523e-02 4.94194694e-03 7.93570968e+01] [ 4.80951888e-02 -9.98842714e-01 -2.93488920e-04 -7.70309972e+01] [ 4.95034335e-03 -5.54618106e-05 9.99987745e-01 -7.39395561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.481858064 meters 0.015691124143953288 Centerline is valid? [True, True] Translation: X:79.27, Y:-77.74, Z:0.23 [[-9.99985541e-01 1.20033538e-03 5.24186832e-03 7.92735997e+01] [ 1.20064595e-03 9.99999278e-01 5.61014000e-05 -7.77371496e+01] [-5.24179719e-03 6.23942168e-05 -9.99986260e-01 2.30413787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.511858064 meters 0.015245041108849172 Centerline is valid? [True, True] Translation: X:79.27, Y:-77.04, Z:-0.74 [[-9.98945530e-01 -4.55433099e-02 5.79955016e-03 7.92664422e+01] [ 4.55423616e-02 -9.98962365e-01 -2.95546874e-04 -7.70363162e+01] [ 5.80699252e-03 -3.11100181e-05 9.99983139e-01 -7.39735652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.541858064 meters 0.01509994649715405 Centerline is valid? [True, True] Translation: X:79.19, Y:-77.73, Z:0.23 [[-9.99961272e-01 -6.64262055e-03 5.77318477e-03 7.91868414e+01] [-6.64219504e-03 9.99977936e-01 9.28754750e-05 -7.77314983e+01] [-5.77367433e-03 5.45252589e-05 -9.99983331e-01 2.30457455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.571858064 meters 0.01496194935349832 Centerline is valid? [True, True] Translation: X:79.18, Y:-77.70, Z:0.23 [[-9.96888953e-01 -7.86171559e-02 5.63535306e-03 7.91792158e+01] [-7.86156232e-02 9.96904880e-01 4.93317319e-04 -7.77024431e+01] [-5.65669417e-03 4.87557936e-05 -9.99984000e-01 2.30173127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601858064 meters 0.014803155573291371 Centerline is valid? [True, True] Translation: X:79.13, Y:-77.02, Z:-0.74 [[-9.99570201e-01 2.88671124e-02 5.10909444e-03 7.91252619e+01] [-2.88671474e-02 -9.99583255e-01 6.68975643e-05 -7.70172821e+01] [ 5.10889639e-03 -8.06161707e-05 9.99986946e-01 -7.38773014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.631858064 meters 0.014487945695065072 Centerline is valid? [True, True] Translation: X:79.08, Y:-77.70, Z:0.23 [[-9.96218779e-01 -8.67728268e-02 4.31524271e-03 7.90815215e+01] [-8.67718899e-02 9.96228124e-01 4.04206984e-04 -7.77049411e+01] [-4.33404033e-03 2.82368226e-05 -9.99990608e-01 2.27909696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661858064 meters 0.014322294346588204 Centerline is valid? [True, True] Translation: X:79.02, Y:-77.03, Z:-0.74 [[-9.99444666e-01 3.30937670e-02 3.89376040e-03 7.90206817e+01] [-3.30937291e-02 -9.99452250e-01 7.41956929e-05 -7.70302932e+01] [ 3.89408300e-03 -5.47045621e-05 9.99992417e-01 -7.36758091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.691858064 meters 0.014312475368507705 Centerline is valid? [True, True] Translation: X:78.98, Y:-77.71, Z:0.23 [[-9.95580522e-01 -9.38319614e-02 3.87131040e-03 7.89811649e+01] [-9.38311664e-02 9.95588049e-01 3.86896032e-04 -7.77108245e+01] [-3.89053358e-03 2.19365833e-05 -9.99992432e-01 2.27196060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721858064 meters 0.014261052851264427 Centerline is valid? [True, True] Translation: X:78.97, Y:-77.68, Z:0.23 [[-9.86255519e-01 -1.65181727e-01 3.87916633e-03 7.89677554e+01] [-1.65180368e-01 9.86263148e-01 6.70260051e-04 -7.76832797e+01] [-3.93659351e-03 2.02855527e-05 -9.99992251e-01 2.27527331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.751858064 meters 0.014198498294204867 Centerline is valid? [True, True] Translation: X:78.94, Y:-77.66, Z:0.23 [[-9.71753256e-01 -2.35943990e-01 5.10318059e-03 7.89385992e+01] [-2.35940595e-01 9.71766656e-01 1.26591950e-03 -7.76579526e+01] [-5.25778683e-03 2.61139270e-05 -9.99986177e-01 2.28545878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781858064 meters 0.014390295844263533 Centerline is valid? [True, True] Translation: X:78.90, Y:-77.64, Z:0.23 [[-9.51916414e-01 -3.06311951e-01 5.30375991e-03 7.88985358e+01] [-3.06307051e-01 9.51931189e-01 1.73288501e-03 -7.76404007e+01] [-5.57961786e-03 2.49826319e-05 -9.99984434e-01 2.29571900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.811858064 meters 0.014237925781087511 Centerline is valid? [True, True] Translation: X:78.84, Y:-77.63, Z:0.23 [[-9.27068382e-01 -3.74844900e-01 5.95954007e-03 7.88369858e+01] [-3.74836927e-01 9.27087536e-01 2.44509983e-03 -7.76317636e+01] [-6.44154852e-03 3.29190537e-05 -9.99979252e-01 2.28107761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841858064 meters 0.014296629138619512 Centerline is valid? [True, True] Translation: X:78.77, Y:-77.63, Z:0.23 [[-8.97061894e-01 -4.41866458e-01 5.83024457e-03 7.87689355e+01] [-4.41856863e-01 8.97080839e-01 2.91216220e-03 -7.76319586e+01] [-6.51698749e-03 3.62561690e-05 -9.99978764e-01 2.27869140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.871858064 meters 0.0142996217391455 Centerline is valid? [True, True] Translation: X:78.69, Y:-77.64, Z:0.23 [[-8.62126071e-01 -5.06662910e-01 5.59765429e-03 7.86939470e+01] [-5.06651920e-01 8.62144242e-01 3.33733327e-03 -7.76405683e+01] [-6.51688840e-03 4.11397325e-05 -9.99978764e-01 2.27276895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901858064 meters 0.01446558265861926 Centerline is valid? [True, True] Translation: X:78.61, Y:-77.66, Z:0.23 [[-8.22543130e-01 -5.68676396e-01 5.47320259e-03 7.86104127e+01] [-5.68663398e-01 8.22561337e-01 3.84520433e-03 -7.76608821e+01] [-6.68872179e-03 5.04364210e-05 -9.99977629e-01 2.27691099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.931858064 meters 0.014411820612780993 Centerline is valid? [True, True] Translation: X:78.53, Y:-77.69, Z:0.23 [[-7.77790311e-01 -6.28501830e-01 5.26131621e-03 7.85278125e+01] [-6.28486974e-01 7.77808104e-01 4.32168321e-03 -7.76877679e+01] [-6.80848019e-03 5.46946245e-05 -9.99976821e-01 2.27453090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961858064 meters 0.014404688607069715 Centerline is valid? [True, True] Translation: X:78.44, Y:-77.73, Z:0.23 [[-7.28517707e-01 -6.85009188e-01 4.93586362e-03 7.84415634e+01] [-6.84992923e-01 7.28534426e-01 4.72087138e-03 -7.77268040e+01] [-6.82978684e-03 5.82067452e-05 -9.99976675e-01 2.27318997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99185806399998 meters 0.014404688607069715 Centerline is valid? [True, True] Translation: X:78.35, Y:-77.78, Z:0.23 [[-6.74604024e-01 -7.38165683e-01 4.56448336e-03 7.83545402e+01] [-7.38148200e-01 6.74619464e-01 5.08071387e-03 -7.77762435e+01] [-6.82969795e-03 5.82048434e-05 -9.99976676e-01 2.27315177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02185806399999 meters 0.014396110096107237 Centerline is valid? [True, True] Translation: X:78.27, Y:-77.84, Z:0.23 [[-6.17172701e-01 -7.86817515e-01 4.00688655e-03 7.82671646e+01] [-7.86800297e-01 6.17185705e-01 5.20557263e-03 -7.78379285e+01] [-6.56882883e-03 6.01177980e-05 -9.99978423e-01 2.26772752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.051858064 meters 0.014587709749316648 Centerline is valid? [True, True] Translation: X:78.18, Y:-77.91, Z:0.23 [[-5.55839020e-01 -8.31282478e-01 3.52509418e-03 7.81844191e+01] [-8.31265058e-01 5.55850195e-01 5.38185408e-03 -7.79057936e+01] [-6.43326528e-03 6.11568802e-05 -9.99979304e-01 2.26848102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.081858064 meters 0.0145415042872703 Centerline is valid? [True, True] Translation: X:78.11, Y:-77.98, Z:0.23 [[-4.91118388e-01 -8.71087844e-01 2.94920200e-03 7.81052750e+01] [-8.71071395e-01 4.91127239e-01 5.35339576e-03 -7.79808640e+01] [-6.11171141e-03 6.01855922e-05 -9.99981322e-01 2.26869246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.111858064 meters 0.014426885520475913 Centerline is valid? [True, True] Translation: X:78.03, Y:-78.06, Z:0.23 [[-4.23311656e-01 -9.05980649e-01 2.51103712e-03 7.80309277e+01] [-9.05963846e-01 4.23319099e-01 5.51821708e-03 -7.80626392e+01] [-6.06236786e-03 6.10167660e-05 -9.99981622e-01 2.26735780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.141858064 meters 0.014576829017328635 Centerline is valid? [True, True] Translation: X:77.96, Y:-78.15, Z:0.23 [[-3.53182711e-01 -9.35552281e-01 1.97540445e-03 7.79631729e+01] [-9.35536691e-01 3.53188231e-01 5.40122295e-03 -7.81535157e+01] [-5.75081605e-03 5.95552185e-05 -9.99983462e-01 2.26953945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.171858064 meters 0.014401323334528903 Centerline is valid? [True, True] Translation: X:77.90, Y:-78.25, Z:0.23 [[-2.80508777e-01 -9.59849941e-01 1.70761504e-03 7.79007623e+01] [-9.59830704e-01 2.80513967e-01 6.07727167e-03 -7.82530976e+01] [-6.31227873e-03 6.57066987e-05 -9.99980075e-01 2.26253890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.201858064 meters 0.01450475170075142 Centerline is valid? [True, True] Translation: X:77.85, Y:-78.36, Z:0.23 [[-2.06338586e-01 -9.78479857e-01 1.24816977e-03 7.78470282e+01] [-9.78459912e-01 2.06342350e-01 6.24781793e-03 -7.83572186e+01] [-6.37091427e-03 6.78818342e-05 -9.99979703e-01 2.26415290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.231858064 meters 0.014552112443689454 Centerline is valid? [True, True] Translation: X:77.80, Y:-78.47, Z:0.23 [[-1.31215542e-01 -9.91353570e-01 7.62460764e-04 7.78007135e+01] [-9.91333550e-01 1.31217738e-01 6.30061639e-03 -7.84696536e+01] [-6.34618693e-03 7.08858610e-05 -9.99979860e-01 2.27126363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.261858064 meters 0.014633319200114644 Centerline is valid? [True, True] Translation: X:77.76, Y:-78.58, Z:0.23 [[-5.47670512e-02 -9.98499116e-01 2.92754005e-04 7.77632720e+01] [-9.98476520e-01 5.47677815e-02 6.71776177e-03 -7.85821366e+01] [-6.72371267e-03 7.56040022e-05 -9.99977393e-01 2.27354558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.291858064 meters 0.014729642192716458 Centerline is valid? [True, True] Translation: X:77.73, Y:-78.70, Z:0.23 [[ 2.21285987e-02 -9.99755106e-01 -2.28504048e-04 7.77344718e+01] [-9.99731676e-01 -2.21296446e-02 6.84507266e-03 -7.86971219e+01] [-6.84845305e-03 7.69708684e-05 -9.99976546e-01 2.28213009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321858064 meters 0.014571138932357529 Centerline is valid? [True, True] Translation: X:77.71, Y:-78.82, Z:0.23 [[ 9.94103747e-02 -9.95046282e-01 -6.89078475e-04 7.77131226e+01] [-9.95026795e-01 -9.94127406e-02 6.22768876e-03 -7.88166091e+01] [-6.26534172e-03 6.65546731e-05 -9.99980370e-01 2.28507374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.351858064 meters 0.01455092706502072 Centerline is valid? [True, True] Translation: X:77.70, Y:-78.94, Z:0.23 [[ 1.76104842e-01 -9.84370787e-01 -1.11293439e-03 7.77023562e+01] [-9.84353217e-01 -1.76108349e-01 5.88158646e-03 -7.89377614e+01] [-5.98565893e-03 5.97446883e-05 -9.99982084e-01 2.28738334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381858064 meters 0.014386728109294533 Centerline is valid? [True, True] Translation: X:77.70, Y:-79.05, Z:0.23 [[ 2.51795824e-01 -9.67779217e-01 -1.49990253e-03 7.76996254e+01] [-9.67763282e-01 -2.51800286e-01 5.55397763e-03 -7.90547434e+01] [-5.75270001e-03 5.30822180e-05 -9.99983452e-01 2.28372018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.411858064 meters 0.014321269720927383 Centerline is valid? [True, True] Translation: X:77.71, Y:-79.17, Z:0.23 [[ 3.26266116e-01 -9.45275900e-01 -1.97331603e-03 7.77074428e+01] [-9.45259496e-01 -3.26272080e-01 5.56906626e-03 -7.91736905e+01] [-5.90814204e-03 4.82980995e-05 -9.99982546e-01 2.28223265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441858064 meters 0.014316848752116682 Centerline is valid? [True, True] Translation: X:77.72, Y:-79.29, Z:0.23 [[ 3.98004757e-01 -9.17380149e-01 -2.42413749e-03 7.77245477e+01] [-9.17363846e-01 -3.98012136e-01 5.46936375e-03 -7.92908548e+01] [-5.98232187e-03 4.69833040e-05 -9.99982105e-01 2.27993491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.471858064 meters 0.014285045726779765 Centerline is valid? [True, True] Translation: X:77.75, Y:-79.40, Z:0.23 [[ 4.67652016e-01 -8.83909513e-01 -2.35900329e-03 7.77495055e+01] [-8.83898647e-01 -4.67657964e-01 4.38292846e-03 -7.94046320e+01] [-4.97731884e-03 3.54344829e-05 -9.99987612e-01 2.27545865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501858064 meters 0.014136992767053682 Centerline is valid? [True, True] Translation: X:77.78, Y:-79.51, Z:0.23 [[ 5.34285714e-01 -8.45300259e-01 -2.49960315e-03 7.77803400e+01] [-8.45291273e-01 -5.34291560e-01 3.89769630e-03 -7.95140215e+01] [-4.63024056e-03 3.04092814e-05 -9.99989280e-01 2.27139739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.531858064 meters 0.014099027826181772 Centerline is valid? [True, True] Translation: X:77.82, Y:-79.62, Z:0.23 [[ 5.97836738e-01 -8.01612875e-01 -2.83440565e-03 7.78202345e+01] [-8.01604083e-01 -5.97843456e-01 3.75457448e-03 -7.96213437e+01] [-4.70424612e-03 2.74485832e-05 -9.99988935e-01 2.27767126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561858064 meters 0.01398813632132992 Centerline is valid? [True, True] Translation: X:77.87, Y:-79.72, Z:0.23 [[ 6.57492199e-01 -7.53454775e-01 -3.14819259e-03 7.78654561e+01] [-7.53446324e-01 -6.57499735e-01 3.56873167e-03 -7.97214182e+01] [-4.75881371e-03 2.55808965e-05 -9.99988676e-01 2.28275882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.591858064 meters 0.014004250495342908 Centerline is valid? [True, True] Translation: X:77.92, Y:-79.81, Z:0.23 [[ 7.13555751e-01 -7.00587641e-01 -3.89193266e-03 7.79160085e+01] [-7.00577401e-01 -7.13566364e-01 3.78799932e-03 -7.98135967e+01] [-5.43097775e-03 2.36513690e-05 -9.99985252e-01 2.29116599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621858064 meters 0.013979519227132748 Centerline is valid? [True, True] Translation: X:77.91, Y:-79.82, Z:0.23 [[ 7.66586290e-01 -6.42129360e-01 -3.91719185e-03 7.79141308e+01] [-6.42121100e-01 -7.66596298e-01 3.25714036e-03 -7.98237417e+01] [-5.09441023e-03 1.84323880e-05 -9.99987023e-01 2.28858318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.651858064 meters 0.013915347348759372 Centerline is valid? [True, True] Translation: X:77.91, Y:-79.83, Z:0.23 [[ 8.14819601e-01 -5.79699753e-01 -4.14896094e-03 7.79132808e+01] [-5.79692331e-01 -8.14830164e-01 2.93339433e-03 -7.98334864e+01] [-5.08118649e-03 1.49336377e-05 -9.99987091e-01 2.29031936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681858064 meters 0.01393450645255454 Centerline is valid? [True, True] Translation: X:77.91, Y:-79.84, Z:0.23 [[ 8.58808625e-01 -5.12275708e-01 -4.62001546e-03 7.79119891e+01] [-5.12268317e-01 -8.58821052e-01 2.75162620e-03 -7.98428054e+01] [-5.37735780e-03 3.56723430e-06 -9.99985542e-01 2.30173885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.711858064 meters 0.013946817128529628 Centerline is valid? [True, True] Translation: X:77.91, Y:-79.85, Z:0.23 [[ 8.96771288e-01 -4.42466423e-01 -4.97196140e-03 7.79125021e+01] [-4.42459602e-01 -8.96785071e-01 2.45686622e-03 -7.98534355e+01] [-5.54586157e-03 -3.35502085e-06 -9.99984622e-01 2.30950507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74185806399998 meters 0.013932459610379254 Centerline is valid? [True, True] Translation: X:77.91, Y:-79.86, Z:0.23 [[ 9.29108902e-01 -3.69764175e-01 -5.57700396e-03 7.79135415e+01] [-3.69757440e-01 -9.29125640e-01 2.23181680e-03 -7.98644941e+01] [-6.00698327e-03 -1.14621518e-05 -9.99981958e-01 2.31354783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77185806399999 meters 0.014082058140333671 Centerline is valid? [True, True] Translation: X:77.92, Y:-79.87, Z:0.23 [[ 9.55528440e-01 -2.94838304e-01 -5.98113453e-03 7.79150174e+01] [-2.94832401e-01 -9.55547160e-01 1.86579277e-03 -7.98741665e+01] [-6.26536329e-03 -1.93858055e-05 -9.99980372e-01 2.32095079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.801858064 meters 0.01407838570835002 Centerline is valid? [True, True] Translation: X:77.92, Y:-79.88, Z:0.23 [[ 9.76006392e-01 -2.17666577e-01 -5.72570752e-03 7.79183647e+01] [-2.17662663e-01 -9.76023187e-01 1.30551474e-03 -7.98834709e+01] [-5.87259022e-03 -2.79179887e-05 -9.99982756e-01 2.32183860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.831858064 meters 0.01426027175240744 Centerline is valid? [True, True] Translation: X:77.92, Y:-79.89, Z:0.23 [[ 9.90125093e-01 -1.40070981e-01 -5.69384322e-03 7.79204915e+01] [-1.40068483e-01 -9.90141464e-01 8.37047001e-04 -7.98922872e+01] [-5.75495626e-03 -3.12532575e-05 -9.99983440e-01 2.32398973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.861858064 meters 0.014240701901611296 Centerline is valid? [True, True] Translation: X:77.92, Y:-79.90, Z:0.23 [[ 9.98045625e-01 -6.22213408e-02 -5.78226807e-03 7.79207828e+01] [-6.22201166e-02 -9.98062375e-01 3.91552635e-04 -7.99005783e+01] [-5.79542713e-03 -3.10140016e-05 -9.99983206e-01 2.32203703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.891858064 meters 0.014199273157046308 Centerline is valid? [True, True] Translation: X:77.92, Y:-79.91, Z:0.23 [[ 9.99860416e-01 1.57896631e-02 -5.46217113e-03 7.79215265e+01] [ 1.57895786e-02 -9.99875335e-01 -5.85966555e-05 -7.99078823e+01] [-5.46241541e-03 -2.76569042e-05 -9.99985081e-01 2.31759551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.921858064 meters 0.014067455710260229 Centerline is valid? [True, True] Translation: X:77.92, Y:-79.92, Z:0.23 [[ 9.95600130e-01 9.35745682e-02 -4.91753167e-03 7.79233359e+01] [ 9.35735403e-02 -9.95612274e-01 -4.39188236e-04 -7.99164800e+01] [-4.93705174e-03 -2.28949830e-05 -9.99987812e-01 2.31286504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.951858064 meters 0.014169891969436334 Centerline is valid? [True, True] Translation: X:77.92, Y:-79.92, Z:0.23 [[ 9.85457950e-01 1.69864585e-01 -4.31865978e-03 7.79241589e+01] [ 1.69863019e-01 -9.85467413e-01 -7.29569911e-04 -7.99218143e+01] [-4.37982657e-03 -1.46201185e-05 -9.99990408e-01 2.30688895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.981858064 meters 0.014167489092264401 Centerline is valid? [True, True] Translation: X:77.93, Y:-79.93, Z:0.23 [[ 9.69351638e-01 2.45648323e-01 -3.78195094e-03 7.79267606e+01] [ 2.45646492e-01 -9.69359016e-01 -9.48385138e-04 -7.99301526e+01] [-3.89903746e-03 -9.70429355e-06 -9.99992399e-01 2.30541617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.011858064 meters 0.01419863668163424 Centerline is valid? [True, True] Translation: X:77.93, Y:-79.94, Z:0.23 [[ 9.47496328e-01 3.19745865e-01 -3.64558912e-03 7.79288795e+01] [ 3.19743520e-01 -9.47503341e-01 -1.22447888e-03 -7.99382802e+01] [-3.84572993e-03 -5.46425592e-06 -9.99992605e-01 2.30834491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.041858064 meters 0.014241936015498972 Centerline is valid? [True, True] Translation: X:77.93, Y:-79.94, Z:0.23 [[ 9.20757925e-01 3.90121761e-01 -3.13931094e-03 7.79294749e+01] [ 3.90119474e-01 -9.20763277e-01 -1.33576303e-03 -7.99432649e+01] [-3.41167246e-03 5.20806535e-06 -9.99994180e-01 2.31455997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.071858064 meters 0.014330435933940427 Centerline is valid? [True, True] Translation: X:77.93, Y:-79.95, Z:0.23 [[ 8.88138476e-01 4.59564838e-01 -3.19496169e-03 7.79316719e+01] [ 4.59561818e-01 -8.88144222e-01 -1.66607442e-03 -7.99482778e+01] [-3.60325599e-03 1.14223983e-05 -9.99993508e-01 2.31104063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101858064 meters 0.014438003812952991 Centerline is valid? [True, True] Translation: X:77.93, Y:-79.95, Z:0.23 [[ 8.50448223e-01 5.26051559e-01 -2.75274287e-03 7.79340731e+01] [ 5.26048741e-01 -8.50452678e-01 -1.72193045e-03 -7.99528769e+01] [-3.24690175e-03 1.63357711e-05 -9.99994729e-01 2.31031770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.131858064 meters 0.014606321840884532 Centerline is valid? [True, True] Translation: X:77.94, Y:-79.96, Z:0.23 [[ 8.07831513e-01 5.89409151e-01 -2.25828445e-03 7.79366589e+01] [ 5.89406780e-01 -8.07834669e-01 -1.67169720e-03 -7.99584391e+01] [-2.80963410e-03 1.94015157e-05 -9.99996053e-01 2.30705018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161858064 meters 0.015100701549007696 Centerline is valid? [True, True] Translation: X:77.94, Y:-79.96, Z:0.23 [[ 7.61721792e-01 6.47902982e-01 -1.27963079e-03 7.79363611e+01] [ 6.47902029e-01 -7.61722866e-01 -1.11138652e-03 -7.99608850e+01] [-1.69479467e-03 1.74919418e-05 -9.99998564e-01 2.29606480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.191858064 meters 0.015164911381071625 Centerline is valid? [True, True] Translation: X:77.94, Y:-79.97, Z:0.23 [[ 7.09782058e-01 7.04420299e-01 -1.21331887e-03 7.79398160e+01] [ 7.04419220e-01 -7.09783095e-01 -1.23317171e-03 -7.99672272e+01] [-1.72986441e-03 2.05980195e-05 -9.99998504e-01 2.29053256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221858064 meters 0.015611911176654118 Centerline is valid? [True, True] Translation: X:77.94, Y:-79.97, Z:0.23 [[ 6.53702462e-01 7.56750534e-01 -1.31153415e-03 7.79419765e+01] [ 7.56748924e-01 -6.53703777e-01 -1.56122584e-03 -7.99732860e+01] [-2.03881332e-03 2.80751195e-05 -9.99997921e-01 2.29522675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.251858064 meters 0.015591558794296589 Centerline is valid? [True, True] Translation: X:77.95, Y:-79.98, Z:0.23 [[ 5.94045119e-01 8.04429204e-01 -2.01319790e-03 7.79472061e+01] [ 8.04424260e-01 -5.94048528e-01 -2.82076496e-03 -7.99800627e+01] [-3.46504296e-03 5.61964244e-05 -9.99993995e-01 2.30795135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281858064 meters 0.01570562850551636 Centerline is valid? [True, True] Translation: X:77.95, Y:-79.99, Z:0.23 [[ 5.29917297e-01 8.48046752e-01 -2.08903561e-03 7.79534403e+01] [ 8.48039640e-01 -5.29921410e-01 -3.47390734e-03 -7.99869806e+01] [-4.05306054e-03 6.92985789e-05 -9.99991784e-01 2.31272566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.311858064 meters 0.016219739615202407 Centerline is valid? [True, True] Translation: X:77.96, Y:-79.99, Z:0.23 [[ 4.63152900e-01 8.86276053e-01 -2.03695817e-03 7.79561055e+01] [ 8.86266660e-01 -4.63157372e-01 -4.08116548e-03 -7.99932659e+01] [-4.56047143e-03 8.49155149e-05 -9.99989597e-01 2.32023431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341858064 meters 0.01606725480020036 Centerline is valid? [True, True] Translation: X:77.96, Y:-80.00, Z:0.23 [[ 3.92700179e-01 9.19665036e-01 -1.67040279e-03 7.79637424e+01] [ 9.19655777e-01 -3.92703723e-01 -4.12761324e-03 -8.00000316e+01] [-4.45199498e-03 8.47188804e-05 -9.99990086e-01 2.32256842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.371858064 meters 0.016304363128274824 Centerline is valid? [True, True] Translation: X:77.97, Y:-80.01, Z:0.23 [[ 3.19903649e-01 9.47449042e-01 -1.40296798e-03 7.79703449e+01] [ 9.47438647e-01 -3.19906713e-01 -4.43914835e-03 -8.00064893e+01] [-4.65468573e-03 9.08736726e-05 -9.99989163e-01 2.32573290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401858064 meters 0.01655353576392549 Centerline is valid? [True, True] Translation: X:77.98, Y:-80.01, Z:0.23 [[ 2.45093933e-01 9.69498838e-01 -9.83133133e-04 7.79761938e+01] [ 9.69489563e-01 -2.45095889e-01 -4.24181389e-03 -8.00132083e+01] [-4.35339552e-03 8.65055360e-05 -9.99990520e-01 2.33052064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.431858064 meters 0.01682082636470968 Centerline is valid? [True, True] Translation: X:77.98, Y:-80.02, Z:0.23 [[ 1.68613394e-01 9.85682080e-01 -5.99545697e-04 7.79794210e+01] [ 9.85674036e-01 -1.68614441e-01 -3.98312262e-03 -8.00189506e+01] [-4.02718465e-03 8.06511981e-05 -9.99991888e-01 2.32512100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461858064 meters 0.01676327731574263 Centerline is valid? [True, True] Translation: X:77.98, Y:-80.02, Z:0.23 [[ 9.09112380e-02 9.95858971e-01 -2.37253740e-04 7.79846513e+01] [ 9.95853401e-01 -9.09115232e-02 -3.33132562e-03 -8.00241921e+01] [-3.33909960e-03 6.65849923e-05 -9.99994423e-01 2.31491251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49185806399998 meters 0.016731304698295087 Centerline is valid? [True, True] Translation: X:77.99, Y:-80.03, Z:0.23 [[ 1.25176793e-02 9.99921651e-01 1.77440958e-05 7.79895375e+01] [ 9.99918527e-01 -1.25175959e-02 -2.50001741e-03 -8.00294391e+01] [-2.49959942e-03 4.90370663e-05 -9.99996875e-01 2.30434004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52185806399999 meters 0.016840549354587984 Centerline is valid? [True, True] Translation: X:77.99, Y:-80.04, Z:0.23 [[-6.69918176e-02 9.97753518e-01 1.20867443e-04 7.79933135e+01] [ 9.97752506e-01 6.69919218e-02 -1.42080128e-03 -8.00351470e+01] [-1.42570662e-03 2.54137342e-05 -9.99998983e-01 2.28929301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.551858064 meters 0.01654623956392427 Centerline is valid? [True, True] Translation: X:78.00, Y:-80.04, Z:0.23 [[-1.45835529e-01 9.89308841e-01 1.22120376e-04 7.80006755e+01] [ 9.89308559e-01 1.45835580e-01 -7.47318780e-04 -8.00392480e+01] [-7.57138572e-04 1.18291039e-05 -9.99999713e-01 2.29128840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.581858064 meters 0.01593984657809677 Centerline is valid? [True, True] Translation: X:78.01, Y:-80.04, Z:0.23 [[-2.24020862e-01 9.74584346e-01 7.69787656e-05 7.80121948e+01] [ 9.74584294e-01 2.24020875e-01 -3.18986501e-04 -8.00420098e+01] [-3.28124101e-04 3.56266504e-06 -9.99999946e-01 2.29498249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.611858064 meters 0.01565543123154829 Centerline is valid? [True, True] Translation: X:78.02, Y:-80.05, Z:0.23 [[-3.02645833e-01 9.53103080e-01 1.34625809e-04 7.80221863e+01] [ 9.53102992e-01 3.02645863e-01 -4.10744661e-04 -8.00451365e+01] [-4.32225946e-04 4.00210115e-06 -9.99999907e-01 2.30533433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.641858064 meters 0.015602329119598638 Centerline is valid? [True, True] Translation: X:78.03, Y:-80.05, Z:0.23 [[-3.77642953e-01 9.25951254e-01 2.72811155e-04 7.80283005e+01] [ 9.25951026e-01 3.77643052e-01 -6.50666333e-04 -8.00495511e+01] [-7.05510544e-04 6.89021280e-06 -9.99999751e-01 2.30891108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.671858064 meters 0.014751564633977525 Centerline is valid? [True, True] Translation: X:78.04, Y:-80.05, Z:0.23 [[-4.50835560e-01 8.92606695e-01 7.65851223e-04 7.80403386e+01] [ 8.92605465e-01 4.50836210e-01 -1.48163053e-03 -8.00488901e+01] [-1.66778679e-03 1.56312568e-05 -9.99998609e-01 2.31261873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.701858064 meters 0.014873099207800299 Centerline is valid? [True, True] Translation: X:78.05, Y:-80.05, Z:0.23 [[-5.20047538e-01 8.54136594e-01 1.11204395e-03 7.80512313e+01] [ 8.54134718e-01 5.20048727e-01 -1.79047742e-03 -8.00495477e+01] [-2.10762932e-03 1.87019724e-05 -9.99997779e-01 2.31824472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.731858064 meters 0.01477021069950117 Centerline is valid? [True, True] Translation: X:78.06, Y:-80.05, Z:0.23 [[-5.85718208e-01 8.10513701e-01 1.31188462e-03 7.80625825e+01] [ 8.10511739e-01 5.85719677e-01 -1.78329420e-03 -8.00469633e+01] [-2.21378102e-03 1.87900030e-05 -9.99997549e-01 2.32375326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.761858064 meters 0.014854201173617434 Centerline is valid? [True, True] Translation: X:78.07, Y:-80.05, Z:0.23 [[-6.47348540e-01 7.62192489e-01 1.57385964e-03 7.80726463e+01] [ 7.62190314e-01 6.47350453e-01 -1.82098651e-03 -8.00452623e+01] [-2.40678099e-03 2.07676114e-05 -9.99997103e-01 2.33287726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.791858064 meters 0.014797417604248613 Centerline is valid? [True, True] Translation: X:78.08, Y:-80.04, Z:0.23 [[-7.05079468e-01 7.09125745e-01 1.90313268e-03 7.80825308e+01] [ 7.09123251e-01 7.05082036e-01 -1.88092481e-03 -8.00413387e+01] [-2.67567687e-03 2.33541721e-05 -9.99996420e-01 2.33644294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821858064 meters 0.014929757512562739 Centerline is valid? [True, True] Translation: X:78.11, Y:-80.03, Z:0.23 [[-7.53362057e-01 6.57602656e-01 2.08775170e-03 7.81059824e+01] [ 6.57600221e-01 7.53364949e-01 -1.78964419e-03 -8.00261640e+01] [-2.74971373e-03 2.46559506e-05 -9.99996219e-01 2.34024664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.851858064 meters 0.01503327602647145 Centerline is valid? [True, True] Translation: X:78.12, Y:-80.00, Z:0.23 [[-7.97832836e-01 6.02873990e-01 2.39111225e-03 7.81229863e+01] [ 6.02871386e-01 7.97836419e-01 -1.77209478e-03 -8.00040771e+01] [-2.97606628e-03 2.76977523e-05 -9.99995571e-01 2.33682841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881858064 meters 0.01503327602647145 Centerline is valid? [True, True] Translation: X:78.14, Y:-79.98, Z:0.23 [[-8.38493031e-01 5.44906537e-01 2.51046282e-03 7.81421283e+01] [ 5.44904194e-01 8.38496789e-01 -1.59841520e-03 -7.99833753e+01] [-2.97600190e-03 2.77017144e-05 -9.99995571e-01 2.33682194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.911858064 meters 0.01495470217996339 Centerline is valid? [True, True] Translation: X:78.16, Y:-79.96, Z:0.23 [[-8.74942227e-01 4.84222948e-01 2.05822566e-03 7.81599235e+01] [ 4.84221666e-01 8.74944648e-01 -1.11445180e-03 -7.99610029e+01] [-2.34047666e-03 2.15565124e-05 -9.99997261e-01 2.33185554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941858064 meters 0.015135714248998547 Centerline is valid? [True, True] Translation: X:78.18, Y:-79.94, Z:0.23 [[-9.06673516e-01 4.21828473e-01 1.96854775e-03 7.81847572e+01] [ 4.21827528e-01 9.06675652e-01 -8.93199918e-04 -7.99423468e+01] [-2.16161147e-03 2.05469201e-05 -9.99997664e-01 2.33290480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.971858064 meters 0.015260326825960836 Centerline is valid? [True, True] Translation: X:78.51, Y:-79.25, Z:-0.74 [[-8.86211827e-01 -4.63276568e-01 1.84894838e-03 7.85070899e+01] [ 4.63275504e-01 -8.86213756e-01 -9.93316577e-04 -7.92478763e+01] [ 2.09874379e-03 -2.37164049e-05 9.99997797e-01 -7.43003188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001858064 meters 0.015321589046120444 Centerline is valid? [True, True] Translation: X:78.13, Y:-79.92, Z:0.23 [[-9.07320835e-01 4.20431589e-01 2.48621058e-03 7.81286009e+01] [ 4.20430107e-01 9.07324241e-01 -1.11674202e-03 -7.99160184e+01] [-2.72531275e-03 3.20344813e-05 -9.99996286e-01 2.33994080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.031858064 meters 0.015643269317950643 Centerline is valid? [True, True] Translation: X:78.16, Y:-79.90, Z:0.23 [[-9.34596911e-01 3.55695084e-01 3.10178722e-03 7.81594685e+01] [ 3.55693272e-01 9.34602057e-01 -1.13607872e-03 -7.98994311e+01] [-3.30303433e-03 4.15091856e-05 -9.99994544e-01 2.34465510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061858064 meters 0.015549732102481832 Centerline is valid? [True, True] Translation: X:78.17, Y:-79.87, Z:0.23 [[-9.57297700e-01 2.89081346e-01 3.61781517e-03 7.81667350e+01] [ 2.89079477e-01 9.57304535e-01 -1.04053944e-03 -7.98719142e+01] [-3.76415141e-03 4.97301073e-05 -9.99992914e-01 2.34340770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.091858064 meters 0.015888049551097946 Centerline is valid? [True, True] Translation: X:78.18, Y:-79.85, Z:0.24 [[-9.75062751e-01 2.21901624e-01 3.50739466e-03 7.81805577e+01] [ 2.21900382e-01 9.75069057e-01 -7.44300577e-04 -7.98466545e+01] [-3.58511351e-03 5.25524476e-05 -9.99993572e-01 2.35131895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121858064 meters 0.01621859216295895 Centerline is valid? [True, True] Translation: X:78.19, Y:-79.82, Z:0.24 [[-9.88181633e-01 1.53236135e-01 3.96831131e-03 7.81875346e+01] [ 1.53235156e-01 9.88189599e-01 -5.51489379e-04 -7.98188479e+01] [-4.00595206e-03 6.31131265e-05 -9.99991974e-01 2.35458969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.151858064 meters 0.015906575320304647 Centerline is valid? [True, True] Translation: X:78.19, Y:-79.79, Z:0.24 [[-9.96494210e-01 8.35507335e-02 4.30853959e-03 7.81902951e+01] [ 8.35502640e-02 9.96503522e-01 -2.89164721e-04 -7.97892448e+01] [-4.31763480e-03 7.18286498e-05 -9.99990676e-01 2.35813379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181858064 meters 0.0166521637979511 Centerline is valid? [True, True] Translation: X:78.25, Y:-79.03, Z:-0.75 [[-9.93372283e-01 -1.14838972e-01 4.84949677e-03 7.82473956e+01] [ 1.14837381e-01 -9.93384119e-01 -6.06347187e-04 -7.90299035e+01] [ 4.88704537e-03 -4.54249831e-05 9.99988057e-01 -7.45671486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.211858064 meters 0.01695579738284251 Centerline is valid? [True, True] Translation: X:78.12, Y:-79.79, Z:0.24 [[-9.96652662e-01 8.16004992e-02 4.98298949e-03 7.81172264e+01] [ 8.15999726e-02 9.96665114e-01 -3.09234168e-04 -7.97866423e+01] [-4.99160545e-03 9.84127492e-05 -9.99987537e-01 2.35626521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24185806399998 meters 0.017044023135098674 Centerline is valid? [True, True] Translation: X:78.17, Y:-79.02, Z:-0.75 [[-9.94106463e-01 -1.08278054e-01 5.31062025e-03 7.81686797e+01] [ 1.08276067e-01 -9.94120645e-01 -6.61211672e-04 -7.90240385e+01] [ 5.35099194e-03 -8.23017243e-05 9.99985680e-01 -7.45178388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27185806399999 meters 0.017326361778169052 Centerline is valid? [True, True] Translation: X:78.04, Y:-79.78, Z:0.24 [[-9.96948393e-01 7.78529661e-02 5.72856924e-03 7.80390907e+01] [ 7.78523745e-02 9.96964845e-01 -3.26532940e-04 -7.97807702e+01] [-5.73660370e-03 1.20446228e-04 -9.99983538e-01 2.36253969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.301858064 meters 0.01717849311415692 Centerline is valid? [True, True] Translation: X:78.04, Y:-79.75, Z:0.24 [[-9.99962746e-01 6.32231605e-03 5.87668082e-03 7.80418226e+01] [ 6.32291671e-03 9.99980007e-01 8.36373319e-05 -7.97516327e+01] [-5.87603455e-03 1.20791979e-04 -9.99982729e-01 2.36348418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.331858064 meters 0.016422710217939562 Centerline is valid? [True, True] Translation: X:78.04, Y:-79.72, Z:0.24 [[-9.97836392e-01 -6.55193767e-02 5.45399894e-03 7.80369020e+01] [-6.55178002e-02 9.97851291e-01 4.67415475e-04 -7.97211608e+01] [-5.47290466e-03 1.09070159e-04 -9.99985018e-01 2.35736648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.361858064 meters 0.016226896880069633 Centerline is valid? [True, True] Translation: X:78.02, Y:-79.69, Z:0.24 [[-9.90504316e-01 -1.37391306e-01 4.98279073e-03 7.80243671e+01] [-1.37389078e-01 9.90516845e-01 7.88350700e-04 -7.96930099e+01] [-5.04385068e-03 9.62837475e-05 -9.99987275e-01 2.35024825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.391858064 meters 0.01617386243294514 Centerline is valid? [True, True] Translation: X:78.00, Y:-79.67, Z:0.23 [[-9.77659343e-01 -2.10141233e-01 4.78250317e-03 7.80001533e+01] [-2.10138295e-01 9.77671036e-01 1.11430255e-03 -7.96685481e+01] [-4.90987574e-03 8.44212311e-05 -9.99987943e-01 2.34091215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.421858064 meters 0.01609829302523492 Centerline is valid? [True, True] Translation: X:77.95, Y:-79.65, Z:0.23 [[-9.59715487e-01 -2.80940119e-01 4.33984031e-03 7.79535771e+01] [-2.80936889e-01 9.59725296e-01 1.34929972e-03 -7.96515592e+01] [-4.54412695e-03 7.57226013e-05 -9.99989673e-01 2.33825903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.451858064 meters 0.015622357441836402 Centerline is valid? [True, True] Translation: X:77.89, Y:-79.64, Z:0.23 [[-9.36198575e-01 -3.51446730e-01 4.17426754e-03 7.78903218e+01] [-3.51442894e-01 9.36207878e-01 1.64344203e-03 -7.96425456e+01] [-4.48556449e-03 7.15714212e-05 -9.99989937e-01 2.33013482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.481858064 meters 0.015485059572555993 Centerline is valid? [True, True] Translation: X:77.83, Y:-79.64, Z:0.23 [[-9.07042272e-01 -4.21022612e-01 3.77853062e-03 7.78250791e+01] [-4.21018675e-01 9.07050140e-01 1.82193453e-03 -7.96387359e+01] [-4.19439237e-03 6.17396833e-05 -9.99991202e-01 2.32328046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.511858064 meters 0.015460308780926446 Centerline is valid? [True, True] Translation: X:77.75, Y:-79.65, Z:0.23 [[-8.72911558e-01 -4.87867238e-01 3.31210819e-03 7.77470905e+01] [-4.87863488e-01 8.72917840e-01 1.91352017e-03 -7.96472033e+01] [-3.82474213e-03 5.44772217e-05 -9.99992684e-01 2.32325069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.541858064 meters 0.015769732948525097 Centerline is valid? [True, True] Translation: X:77.66, Y:-79.67, Z:0.23 [[-8.33684471e-01 -5.52234069e-01 2.78144146e-03 7.76630162e+01] [-5.52230808e-01 8.33689109e-01 1.89836422e-03 -7.96672179e+01] [-3.36719885e-03 4.66391013e-05 -9.99994330e-01 2.32264725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.571858064 meters 0.01529486067200593 Centerline is valid? [True, True] Translation: X:77.57, Y:-79.70, Z:0.23 [[-7.89025480e-01 -6.14356886e-01 2.09976568e-03 7.75739253e+01] [-6.14354595e-01 7.89028273e-01 1.67785899e-03 -7.96952323e+01] [-2.68757871e-03 3.38728015e-05 -9.99996388e-01 2.30900193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601858064 meters 0.015219360069512486 Centerline is valid? [True, True] Translation: X:77.48, Y:-79.74, Z:0.23 [[-7.39899122e-01 -6.72715498e-01 1.77417471e-03 7.74839262e+01] [-6.72713470e-01 7.39901249e-01 1.65211523e-03 -7.97353676e+01] [-2.42411760e-03 2.88873800e-05 -9.99997061e-01 2.30736882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.631858064 meters 0.01530044065365991 Centerline is valid? [True, True] Translation: X:77.40, Y:-79.78, Z:0.23 [[-6.86612050e-01 -7.27022574e-01 1.43865449e-03 7.73958174e+01] [-7.27020902e-01 6.86613557e-01 1.55931309e-03 -7.97835957e+01] [-2.12145549e-03 2.47112787e-05 -9.99997749e-01 2.30450073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661858064 meters 0.015299423856715304 Centerline is valid? [True, True] Translation: X:77.31, Y:-79.85, Z:0.23 [[-6.29230886e-01 -7.77217125e-01 1.42585648e-03 7.73066392e+01] [-7.77215032e-01 6.29232501e-01 1.80389820e-03 -7.98451538e+01] [-2.29921581e-03 2.68713730e-05 -9.99997356e-01 2.30574386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.691858064 meters 0.015353152915195357 Centerline is valid? [True, True] Translation: X:77.22, Y:-79.92, Z:0.23 [[-5.67438982e-01 -8.23413757e-01 1.66929373e-03 7.72176387e+01] [-8.23410020e-01 5.67441437e-01 2.48078698e-03 -7.99192978e+01] [-2.98994056e-03 3.31820511e-05 -9.99995530e-01 2.30452053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721858064 meters 0.015259842474433535 Centerline is valid? [True, True] Translation: X:77.14, Y:-79.99, Z:0.23 [[-5.02147969e-01 -8.64780312e-01 1.55844761e-03 7.71393045e+01] [-8.64775939e-01 5.02150386e-01 2.75027767e-03 -7.99910471e+01] [-3.16096105e-03 3.33383460e-05 -9.99995004e-01 2.30709041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.751858064 meters 0.014925285757724826 Centerline is valid? [True, True] Translation: X:77.06, Y:-80.09, Z:0.23 [[-4.33974443e-01 -9.00924393e-01 1.19199148e-03 7.70558922e+01] [-9.00920817e-01 4.33976079e-01 2.53873392e-03 -8.00872478e+01] [-2.80450310e-03 2.78556958e-05 -9.99996067e-01 2.30769618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781858064 meters 0.01484223202223656 Centerline is valid? [True, True] Translation: X:76.99, Y:-80.17, Z:0.23 [[-3.62699948e-01 -9.31905550e-01 8.90910172e-04 7.69894355e+01] [-9.31902583e-01 3.62701042e-01 2.35174942e-03 -8.01712898e+01] [-2.51474238e-03 2.27379032e-05 -9.99996838e-01 2.30021175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.811858064 meters 0.01487679198829154 Centerline is valid? [True, True] Translation: X:76.93, Y:-80.27, Z:0.23 [[-2.90058821e-01 -9.57008571e-01 6.90164936e-04 7.69270973e+01] [-9.57005676e-01 2.90059641e-01 2.35400451e-03 -8.02694886e+01] [-2.45299149e-03 2.23080116e-05 -9.99996991e-01 2.29765024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841858064 meters 0.01480666179308143 Centerline is valid? [True, True] Translation: X:76.87, Y:-80.37, Z:0.23 [[-2.16903634e-01 -9.76192866e-01 5.49880095e-04 7.68732685e+01] [-9.76189419e-01 2.16904330e-01 2.59433648e-03 -8.03655176e+01] [-2.65184414e-03 2.59338811e-05 -9.99996484e-01 2.29726677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.871858064 meters 0.014857127150018155 Centerline is valid? [True, True] Translation: X:76.83, Y:-80.48, Z:0.23 [[-1.41266620e-01 -9.89971485e-01 4.47575641e-04 7.68258504e+01] [-9.89965711e-01 1.41267325e-01 3.38149870e-03 -8.04789453e+01] [-3.41081511e-03 3.46083538e-05 -9.99994183e-01 2.30224013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901858064 meters 0.015151173237555446 Centerline is valid? [True, True] Translation: X:76.79, Y:-80.59, Z:0.23 [[-6.62869860e-02 -9.97800575e-01 2.19660878e-04 7.67884456e+01] [-9.97792391e-01 6.62873320e-02 4.04158690e-03 -8.05912876e+01] [-4.04725846e-03 4.87286616e-05 -9.99991809e-01 2.30475863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.931858064 meters 0.015323163225134651 Centerline is valid? [True, True] Translation: X:76.76, Y:-80.71, Z:0.23 [[ 1.01463705e-02 -9.99948520e-01 -9.09425082e-05 7.67591002e+01] [-9.99940607e-01 -1.01466521e-02 3.97835352e-03 -8.07119411e+01] [-3.97907148e-03 5.05712579e-05 -9.99992082e-01 2.30644807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961858064 meters 0.015208534937338796 Centerline is valid? [True, True] Translation: X:76.74, Y:-80.83, Z:0.23 [[ 8.63845638e-02 -9.96261778e-01 -4.21133301e-04 7.67377205e+01] [-9.96252958e-01 -8.63855712e-02 4.19252272e-03 -8.08311972e+01] [-4.21322998e-03 5.73860506e-05 -9.99991123e-01 2.30496716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99185806399998 meters 0.015441234672572274 Centerline is valid? [True, True] Translation: X:76.73, Y:-80.95, Z:0.23 [[ 1.60826079e-01 -9.86982478e-01 -7.48413353e-04 7.67256254e+01] [-9.86973641e-01 -1.60827806e-01 4.17713753e-03 -8.09513735e+01] [-4.24312723e-03 6.68716029e-05 -9.99990996e-01 2.30768761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02185806399999 meters 0.016072656642089046 Centerline is valid? [True, True] Translation: X:76.72, Y:-81.07, Z:0.23 [[ 2.35220016e-01 -9.71941533e-01 -1.09542948e-03 7.67248237e+01] [-9.71932412e-01 -2.35222555e-01 4.21132621e-03 -8.10723512e+01] [-4.35083257e-03 7.40951942e-05 -9.99990532e-01 2.30912422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.051858064 meters 0.015887458792302512 Centerline is valid? [True, True] Translation: X:76.73, Y:-81.19, Z:0.23 [[ 3.08484075e-01 -9.51228760e-01 -1.19198392e-03 7.67314402e+01] [-9.51222456e-01 -3.08486371e-01 3.46376714e-03 -8.11930073e+01] [-3.66254572e-03 6.53248739e-05 -9.99993291e-01 2.30427205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.081858064 meters 0.016256133649274595 Centerline is valid? [True, True] Translation: X:76.75, Y:-81.31, Z:0.23 [[ 3.79646709e-01 -9.25130816e-01 -1.16153300e-03 7.67471948e+01] [-9.25126924e-01 -3.79648481e-01 2.68437952e-03 -8.13119437e+01] [-2.92437646e-03 5.54496027e-05 -9.99995722e-01 2.29445227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.111858064 meters 0.01637947253220395 Centerline is valid? [True, True] Translation: X:76.77, Y:-81.43, Z:0.23 [[ 4.49481581e-01 -8.93288710e-01 -1.26059526e-03 7.67714691e+01] [-8.93285513e-01 -4.49483346e-01 2.39037144e-03 -8.14286468e+01] [-2.70190839e-03 5.16435504e-05 -9.99996349e-01 2.29327967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.141858064 meters 0.016089569203342643 Centerline is valid? [True, True] Translation: X:76.80, Y:-81.54, Z:0.23 [[ 5.17097709e-01 -8.55925352e-01 -1.32319256e-03 7.68023722e+01] [-8.55922775e-01 -5.17099400e-01 2.10075628e-03 -8.15416294e+01] [-2.48231264e-03 4.62543892e-05 -9.99996918e-01 2.29210412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.171858064 meters 0.0160042482769464 Centerline is valid? [True, True] Translation: X:76.84, Y:-81.65, Z:0.23 [[ 5.82290901e-01 -8.12978562e-01 -1.77890913e-03 7.68400886e+01] [-8.12975037e-01 -5.82293616e-01 2.39455546e-03 -8.16508420e+01] [-2.98256968e-03 5.18808601e-05 -9.99995551e-01 2.29702919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.201858064 meters 0.016146761954712454 Centerline is valid? [True, True] Translation: X:76.89, Y:-81.75, Z:0.23 [[ 6.43330585e-01 -7.65585761e-01 -2.04962871e-03 7.68860929e+01] [-7.65582131e-01 -6.43333848e-01 2.35806687e-03 -8.17545721e+01] [-3.12389794e-03 5.21425724e-05 -9.99995119e-01 2.29840036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.231858064 meters 0.015944548172253808 Centerline is valid? [True, True] Translation: X:76.94, Y:-81.85, Z:0.23 [[ 7.01028906e-01 -7.13130166e-01 -1.95942945e-03 7.69362928e+01] [-7.13127544e-01 -7.01031643e-01 1.93456938e-03 -8.18537537e+01] [-2.75322183e-03 4.11340554e-05 -9.99996209e-01 2.29983389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.261858064 meters 0.015569170286630846 Centerline is valid? [True, True] Translation: X:76.93, Y:-81.86, Z:0.23 [[ 7.55278132e-01 -6.55400942e-01 -2.13276832e-03 7.69305151e+01] [-6.55398473e-01 -7.55281142e-01 1.79932212e-03 -8.18640892e+01] [-2.79011711e-03 3.88244510e-05 -9.99996107e-01 2.29801464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.291858064 meters 0.01552129345699394 Centerline is valid? [True, True] Translation: X:76.93, Y:-81.87, Z:0.23 [[ 8.04658143e-01 -5.93733306e-01 -2.45658079e-03 7.69265759e+01] [-5.93730690e-01 -8.04661892e-01 1.76309509e-03 -8.18738606e+01] [-3.02352522e-03 3.98585880e-05 -9.99995428e-01 2.30114519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321858064 meters 0.015545358600202659 Centerline is valid? [True, True] Translation: X:76.92, Y:-81.88, Z:0.23 [[ 8.49132821e-01 -5.28173056e-01 -2.58349696e-03 7.69237323e+01] [-5.28170743e-01 -8.49136751e-01 1.56353155e-03 -8.18837767e+01] [-3.01955745e-03 3.68815472e-05 -9.99995440e-01 2.30508313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.351858064 meters 0.015410834062094448 Centerline is valid? [True, True] Translation: X:76.92, Y:-81.89, Z:0.23 [[ 8.88469819e-01 -4.58923106e-01 -3.31102150e-03 7.69209962e+01] [-4.58920089e-01 -8.88475988e-01 1.66453716e-03 -8.18949320e+01] [-3.70565766e-03 4.06032496e-05 -9.99993133e-01 2.31179040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381858064 meters 0.015330633045565442 Centerline is valid? [True, True] Translation: X:76.92, Y:-81.91, Z:0.23 [[ 9.21881993e-01 -3.87455699e-01 -3.41654871e-03 7.69195198e+01] [-3.87453191e-01 -9.21888323e-01 1.39465255e-03 -8.19054325e+01] [-3.69004244e-03 3.80476300e-05 -9.99993191e-01 2.31557475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.411858064 meters 0.015291492068694831 Centerline is valid? [True, True] Translation: X:76.92, Y:-81.92, Z:0.23 [[ 9.49688473e-01 -3.13173994e-01 -3.72202995e-03 7.69188174e+01] [-3.13171737e-01 -9.49695766e-01 1.18942108e-03 -8.19169986e+01] [-3.90729183e-03 3.60550981e-05 -9.99992366e-01 2.32152077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441858064 meters 0.015154239894654633 Centerline is valid? [True, True] Translation: X:76.92, Y:-81.93, Z:0.23 [[ 9.71493777e-01 -2.37031624e-01 -3.98116666e-03 7.69189285e+01] [-2.37029776e-01 -9.71501934e-01 9.36541364e-04 -8.19274620e+01] [-4.08970103e-03 3.38109335e-05 -9.99991637e-01 2.32639598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.471858064 meters 0.015124885041831782 Centerline is valid? [True, True] Translation: X:76.92, Y:-81.94, Z:0.23 [[ 9.87360961e-01 -1.58440352e-01 -3.87147333e-03 7.69188739e+01] [-1.58439233e-01 -9.87368550e-01 5.96227345e-04 -8.19381852e+01] [-3.91703748e-03 2.47016600e-05 -9.99992328e-01 2.32628359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501858064 meters 0.015004866470733416 Centerline is valid? [True, True] Translation: X:76.92, Y:-81.95, Z:0.23 [[ 9.96826898e-01 -7.95067882e-02 -3.84793299e-03 7.69176099e+01] [-7.95062724e-02 -9.96834324e-01 2.87080770e-04 -8.19498494e+01] [-3.85857655e-03 1.97649746e-05 -9.99992555e-01 2.32345905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.531858064 meters 0.015004158308037086 Centerline is valid? [True, True] Translation: X:76.92, Y:-81.96, Z:0.23 [[ 9.99993148e-01 -4.37410633e-04 -3.67604806e-03 7.69165638e+01] [-4.37465934e-04 -9.99999904e-01 -1.42395819e-05 -8.19601269e+01] [-3.67604148e-03 1.58476301e-05 -9.99993243e-01 2.32861408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561858064 meters 0.015057764150167142 Centerline is valid? [True, True] Translation: X:76.92, Y:-81.97, Z:0.23 [[ 9.96887651e-01 7.87365821e-02 -3.94483471e-03 7.69173811e+01] [ 7.87359110e-02 -9.96895456e-01 -3.25371525e-04 -8.19721375e+01] [-3.95820644e-03 1.37587003e-05 -9.99992166e-01 2.33156871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.591858064 meters 0.015144919920122782 Centerline is valid? [True, True] Translation: X:76.92, Y:-81.98, Z:0.23 [[ 9.87626661e-01 1.56776279e-01 -3.84409198e-03 7.69176688e+01] [ 1.56775042e-01 -9.87634142e-01 -6.22945769e-04 -8.19819446e+01] [-3.89421960e-03 1.25801687e-05 -9.99992417e-01 2.33181510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621858064 meters 0.015209949372184428 Centerline is valid? [True, True] Translation: X:76.92, Y:-81.99, Z:0.23 [[ 9.72386615e-01 2.33349459e-01 -3.50715535e-03 7.69194877e+01] [ 2.33347895e-01 -9.72392940e-01 -8.54493217e-04 -8.19911624e+01] [-3.60972863e-03 1.25104495e-05 -9.99993485e-01 2.33399592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.651858064 meters 0.015293140355949577 Centerline is valid? [True, True] Translation: X:76.92, Y:-82.00, Z:0.23 [[ 9.51263515e-01 3.08365641e-01 -2.89065949e-03 7.69207160e+01] [ 3.08364180e-01 -9.51267907e-01 -9.49128699e-04 -8.19992237e+01] [-3.04247029e-03 1.14956579e-05 -9.99995372e-01 2.33520429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681858064 meters 0.01540420066815332 Centerline is valid? [True, True] Translation: X:76.92, Y:-82.01, Z:0.23 [[ 9.24747706e-01 3.80571152e-01 -2.69791352e-03 7.69229613e+01] [ 3.80569484e-01 -9.24751641e-01 -1.12665107e-03 -8.20055500e+01] [-2.92367085e-03 1.51244315e-05 -9.99995726e-01 2.33664606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.711858064 meters 0.015641119398765044 Centerline is valid? [True, True] Translation: X:76.93, Y:-82.01, Z:0.23 [[ 8.92533833e-01 4.50973364e-01 -2.52635526e-03 7.69251640e+01] [ 4.50971503e-01 -8.92537408e-01 -1.29573834e-03 -8.20112679e+01] [-2.83921006e-03 1.71760784e-05 -9.99995969e-01 2.34058535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74185806399998 meters 0.015755576965536484 Centerline is valid? [True, True] Translation: X:76.93, Y:-82.02, Z:0.23 [[ 8.55161690e-01 5.18354783e-01 -2.60817851e-03 7.69283953e+01] [ 5.18352291e-01 -8.55165667e-01 -1.60754308e-03 -8.20164308e+01] [-3.06370236e-03 2.27539542e-05 -9.99995307e-01 2.34107772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77185806399999 meters 0.01605383874648731 Centerline is valid? [True, True] Translation: X:76.93, Y:-82.02, Z:0.23 [[ 8.13450290e-01 5.81630049e-01 -2.26068778e-03 7.69329217e+01] [ 5.81627708e-01 -8.13453431e-01 -1.65044784e-03 -8.20224341e+01] [-2.79891429e-03 2.76786238e-05 -9.99996083e-01 2.34652105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.801858064 meters 0.01605383874648731 Centerline is valid? [True, True] Translation: X:76.94, Y:-82.03, Z:0.23 [[ 7.65404114e-01 6.43546447e-01 -2.12443286e-03 7.69379343e+01] [ 6.43543867e-01 -7.65407061e-01 -1.82236818e-03 -8.20298214e+01] [-2.79883448e-03 2.76823649e-05 -9.99996083e-01 2.34651382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.831858064 meters 0.016388687280107596 Centerline is valid? [True, True] Translation: X:76.94, Y:-82.04, Z:0.24 [[ 7.13265206e-01 7.00891303e-01 -2.03180598e-03 7.69415906e+01] [ 7.00888335e-01 -7.13268099e-01 -2.04000934e-03 -8.20354356e+01] [-2.87904719e-03 3.09985738e-05 -9.99995855e-01 2.35187425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.861858064 meters 0.016482492335946702 Centerline is valid? [True, True] Translation: X:76.95, Y:-82.04, Z:0.24 [[ 6.56976387e-01 7.53909339e-01 -1.65388739e-03 7.69472265e+01] [ 7.53906835e-01 -6.56978468e-01 -1.94336854e-03 -8.20415108e+01] [-2.55169210e-03 2.98702333e-05 -9.99996744e-01 2.35051184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.891858064 meters 0.016836404658514405 Centerline is valid? [True, True] Translation: X:76.95, Y:-82.05, Z:0.24 [[ 5.96616046e-01 8.02525616e-01 -1.38908125e-03 7.69521229e+01] [ 8.02523324e-01 -5.96617663e-01 -1.91823219e-03 -8.20460021e+01] [-2.36818088e-03 2.96780055e-05 -9.99997195e-01 2.35685939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.921858064 meters 0.01686427665789124 Centerline is valid? [True, True] Translation: X:76.96, Y:-82.05, Z:0.24 [[ 5.32248008e-01 8.46587744e-01 -1.11774722e-03 7.69579150e+01] [ 8.46585768e-01 -5.32249181e-01 -1.82935541e-03 -8.20514460e+01] [-2.14362992e-03 2.74018856e-05 -9.99997702e-01 2.35650119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.951858064 meters 0.01705799158348121 Centerline is valid? [True, True] Translation: X:76.96, Y:-82.06, Z:0.24 [[ 4.64071327e-01 8.85796983e-01 -1.22803558e-03 7.69619548e+01] [ 8.85793683e-01 -4.64072950e-01 -2.41828088e-03 -8.20561319e+01] [-2.71200400e-03 3.44686565e-05 -9.99996322e-01 2.36086569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.981858064 meters 0.016965103240230036 Centerline is valid? [True, True] Translation: X:76.97, Y:-82.06, Z:0.24 [[ 3.93339897e-01 9.19392355e-01 -1.19299659e-03 7.69683742e+01] [ 9.19387811e-01 -3.93341704e-01 -2.89084309e-03 -8.20611180e+01] [-3.12707435e-03 4.02573992e-05 -9.99995110e-01 2.36471881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.011858064 meters 0.017167553077030728 Centerline is valid? [True, True] Translation: X:76.97, Y:-82.07, Z:0.24 [[ 3.20018473e-01 9.47410760e-01 -1.01415464e-03 7.69741039e+01] [ 9.47405578e-01 -3.20020077e-01 -3.13385109e-03 -8.20656430e+01] [-3.29359409e-03 4.20744784e-05 -9.99994575e-01 2.37274784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.041858064 meters 0.0169083781848768 Centerline is valid? [True, True] Translation: X:76.98, Y:-82.07, Z:0.24 [[ 2.44636303e-01 9.69614608e-01 -7.69060428e-04 7.69834055e+01] [ 9.69609269e-01 -2.44637508e-01 -3.21792669e-03 -8.20701220e+01] [-3.30828975e-03 4.15335676e-05 -9.99994527e-01 2.37135597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.071858064 meters 0.017020857174467347 Centerline is valid? [True, True] Translation: X:76.99, Y:-82.07, Z:0.24 [[ 1.67762054e-01 9.85827373e-01 -5.32060905e-04 7.69909009e+01] [ 9.85821583e-01 -1.67762892e-01 -3.37900101e-03 -8.20734271e+01] [-3.42037177e-03 4.23510265e-05 -9.99994150e-01 2.37403128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101858064 meters 0.017113970970421204 Centerline is valid? [True, True] Translation: X:77.00, Y:-82.08, Z:0.24 [[ 9.01889189e-02 9.95924632e-01 -2.95147729e-04 7.69978395e+01] [ 9.95917427e-01 -9.01893892e-02 -3.78851402e-03 -8.20774431e+01] [-3.79969362e-03 4.77392171e-05 -9.99992780e-01 2.37667104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.131858064 meters 0.017532690682544094 Centerline is valid? [True, True] Translation: X:77.00, Y:-82.08, Z:0.24 [[ 1.20871615e-02 9.99926948e-01 3.02070762e-06 7.70031964e+01] [ 9.99918208e-01 -1.20870432e-02 -4.18090652e-03 -8.20812031e+01] [-4.18056458e-03 5.35557527e-05 -9.99991260e-01 2.38691561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161858064 meters 0.01735988993469467 Centerline is valid? [True, True] Translation: X:77.01, Y:-82.08, Z:0.24 [[-6.64645694e-02 9.97788733e-01 3.24250056e-04 7.70095519e+01] [ 9.97780360e-01 6.64653401e-02 -4.08791133e-03 -8.20835966e+01] [-4.10042326e-03 5.18290719e-05 -9.99991592e-01 2.39186174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.191858064 meters 0.017229914601381624 Centerline is valid? [True, True] Translation: X:77.02, Y:-82.08, Z:0.24 [[-1.44514958e-01 9.89502401e-01 6.52961375e-04 7.70183487e+01] [ 9.89493871e-01 1.44516423e-01 -4.10882841e-03 -8.20845305e+01] [-4.16005922e-03 5.23141150e-05 -9.99991346e-01 2.39017039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221858064 meters 0.01713599142433451 Centerline is valid? [True, True] Translation: X:77.03, Y:-82.08, Z:0.24 [[-2.21848248e-01 9.75080771e-01 9.19267954e-04 7.70297853e+01] [ 9.75073277e-01 2.21850147e-01 -3.82328644e-03 -8.20842694e+01] [-3.93195282e-03 4.81642187e-05 -9.99992269e-01 2.38587779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251858064 meters 0.017346796042694332 Centerline is valid? [True, True] Translation: X:77.04, Y:-82.08, Z:0.24 [[-2.97613272e-01 9.54686054e-01 9.37174233e-04 7.70388026e+01] [ 9.54681699e-01 2.97614745e-01 -2.88385215e-03 -8.20846373e+01] [-3.03209031e-03 3.64304139e-05 -9.99995403e-01 2.38623751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281858064 meters 0.01748997743529184 Centerline is valid? [True, True] Translation: X:77.04, Y:-82.09, Z:0.24 [[-3.71404119e-01 9.28471006e-01 7.56026155e-04 7.70447849e+01] [ 9.28469208e-01 3.71404887e-01 -1.82727343e-03 -8.20866220e+01] [-1.97736221e-03 2.32901272e-05 -9.99998045e-01 2.37981170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311858064 meters 0.017393728660816697 Centerline is valid? [True, True] Translation: X:77.05, Y:-82.09, Z:0.24 [[-4.42687849e-01 8.96675098e-01 1.11246843e-03 7.70525945e+01] [ 8.96672436e-01 4.42689246e-01 -2.18514561e-03 -8.20857475e+01] [-2.45184347e-03 3.01823683e-05 -9.99996994e-01 2.37816462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341858064 meters 0.0175361034732836 Centerline is valid? [True, True] Translation: X:77.06, Y:-82.08, Z:0.24 [[-5.11849226e-01 8.59074396e-01 1.24580023e-03 7.70599465e+01] [ 8.59071986e-01 5.11850741e-01 -2.03525512e-03 -8.20845739e+01] [-2.38609933e-03 2.84883168e-05 -9.99997153e-01 2.38007171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371858064 meters 0.01757901965670786 Centerline is valid? [True, True] Translation: X:77.07, Y:-82.09, Z:0.24 [[-5.77644947e-01 8.16287111e-01 1.29148438e-03 7.70661553e+01] [ 8.16285171e-01 5.77646390e-01 -1.78012736e-03 -8.20853441e+01] [-2.19911631e-03 2.59379756e-05 -9.99997582e-01 2.38065161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401858064 meters 0.017661378919480643 Centerline is valid? [True, True] Translation: X:77.07, Y:-82.08, Z:0.24 [[-6.39887088e-01 7.68467610e-01 1.43087431e-03 7.70729687e+01] [ 7.68465778e-01 6.39888687e-01 -1.67804299e-03 -8.20831928e+01] [-2.20512197e-03 2.58198991e-05 -9.99997568e-01 2.38203243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431858064 meters 0.01759212834387496 Centerline is valid? [True, True] Translation: X:77.08, Y:-82.08, Z:0.24 [[-6.98362478e-01 7.15742751e-01 1.47094241e-03 7.70805219e+01] [ 7.15741234e-01 6.98364026e-01 -1.47383614e-03 -8.20796002e+01] [-2.08214080e-03 2.35422811e-05 -9.99997832e-01 2.38264388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461858064 meters 0.017389272338111487 Centerline is valid? [True, True] Translation: X:77.09, Y:-82.07, Z:0.24 [[-7.53051781e-01 6.57959011e-01 1.71906658e-03 7.70896131e+01] [ 6.57957366e-01 7.53053743e-01 -1.47129117e-03 -8.20731009e+01] [-2.26259881e-03 2.31140832e-05 -9.99997440e-01 2.38500288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49185806399998 meters 0.01758811619226592 Centerline is valid? [True, True] Translation: X:77.10, Y:-82.05, Z:0.24 [[-7.98120280e-01 6.02495534e-01 1.77457478e-03 7.71027706e+01] [ 6.02494104e-01 7.98122253e-01 -1.31310310e-03 -8.20507008e+01] [-2.20746637e-03 2.11566247e-05 -9.99997563e-01 2.38766873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52185806399999 meters 0.017375680385272735 Centerline is valid? [True, True] Translation: X:77.12, Y:-82.03, Z:0.24 [[-8.39149510e-01 5.43895860e-01 2.32242901e-03 7.71219599e+01] [ 5.43893858e-01 8.39152723e-01 -1.47572812e-03 -8.20312784e+01] [-2.75151504e-03 2.47983464e-05 -9.99996214e-01 2.38904045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.551858064 meters 0.01742976552258567 Centerline is valid? [True, True] Translation: X:77.14, Y:-82.01, Z:0.24 [[-8.75492368e-01 4.83223945e-01 2.78073848e-03 7.71409440e+01] [ 4.83221612e-01 8.75496784e-01 -1.50166996e-03 -8.20112249e+01] [-3.16017048e-03 2.90123438e-05 -9.99995006e-01 2.39487504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.581858064 meters 0.017398448778020197 Centerline is valid? [True, True] Translation: X:77.50, Y:-81.37, Z:-0.75 [[-8.51390820e-01 -5.24522938e-01 3.05926326e-03 7.74974697e+01] [ 5.24519523e-01 -8.51396317e-01 -1.89264768e-03 -8.13653829e+01] [ 3.59738259e-03 -6.73955150e-06 9.99993529e-01 -7.49914289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.611858064 meters 0.017350756352933944 Centerline is valid? [True, True] Translation: X:77.10, Y:-81.99, Z:0.24 [[-8.77031980e-01 4.80418980e-01 3.53679517e-03 7.71024142e+01] [ 4.80415253e-01 8.77039111e-01 -1.89284756e-03 -8.19942258e+01] [-4.01126758e-03 3.90425056e-05 -9.99991954e-01 2.40558711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.641858064 meters 0.017592592799648372 Centerline is valid? [True, True] Translation: X:77.11, Y:-81.97, Z:0.24 [[-9.08495512e-01 4.17873551e-01 4.19521924e-03 7.71132732e+01] [ 4.17869344e-01 9.08505197e-01 -1.87584332e-03 -8.19722983e+01] [-4.59524379e-03 4.88582752e-05 -9.99989441e-01 2.41133613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.671858064 meters 0.017614423266766793 Centerline is valid? [True, True] Translation: X:77.13, Y:-81.95, Z:0.24 [[-9.35885522e-01 3.52274379e-01 4.58817434e-03 7.71277064e+01] [ 3.52270412e-01 9.35896767e-01 -1.67257757e-03 -8.19491155e+01] [-4.88326376e-03 5.09369308e-05 -9.99988076e-01 2.41114178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.701858064 meters 0.0176035627235165 Centerline is valid? [True, True] Translation: X:77.14, Y:-81.92, Z:0.24 [[-9.58468754e-01 2.85157658e-01 4.77042444e-03 7.71370661e+01] [ 2.85154399e-01 9.58480624e-01 -1.36442412e-03 -8.19234004e+01] [-4.96143538e-03 5.25496264e-05 -9.99987691e-01 2.41242010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.731858064 meters 0.01748525978335162 Centerline is valid? [True, True] Translation: X:77.14, Y:-81.90, Z:0.24 [[-9.76366481e-01 2.16068109e-01 4.80281012e-03 7.71432932e+01] [ 2.16065746e-01 9.76378292e-01 -1.01164539e-03 -8.18966562e+01] [-4.90794385e-03 4.99861053e-05 -9.99987955e-01 2.41434193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.761858064 meters 0.01748956094236389 Centerline is valid? [True, True] Translation: X:77.15, Y:-81.87, Z:0.24 [[-9.89290007e-01 1.45879160e-01 4.95508370e-03 7.71488399e+01] [ 1.45877579e-01 9.89302415e-01 -6.81011947e-04 -8.18715059e+01] [-5.00142172e-03 4.91172986e-05 -9.99987492e-01 2.41521122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.791858064 meters 0.01739567647705961 Centerline is valid? [True, True] Translation: X:77.15, Y:-81.84, Z:0.24 [[-9.97133352e-01 7.54964486e-02 5.03634945e-03 7.71529206e+01] [ 7.54957438e-02 9.97146069e-01 -3.30180325e-04 -8.18447225e+01] [-5.04690350e-03 5.09891334e-05 -9.99987263e-01 2.40894244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821858064 meters 0.017370303269251444 Centerline is valid? [True, True] Translation: X:77.15, Y:-81.82, Z:0.24 [[-9.99978227e-01 4.56997446e-03 4.76028469e-03 7.71488823e+01] [ 4.57015444e-03 9.99989556e-01 2.69309665e-05 -8.18178712e+01] [-4.76011190e-03 4.86856164e-05 -9.99988669e-01 2.40469814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.851858064 meters 0.01753365699390136 Centerline is valid? [True, True] Translation: X:77.15, Y:-81.79, Z:0.24 [[-9.97771860e-01 -6.65771787e-02 4.33528086e-03 7.71481580e+01] [-6.65763558e-02 9.97781277e-01 3.34015699e-04 -8.17923953e+01] [-4.34789990e-03 4.46442643e-05 -9.99990547e-01 2.40523162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881858064 meters 0.017259309121303842 Centerline is valid? [True, True] Translation: X:77.14, Y:-81.76, Z:0.24 [[-9.90433463e-01 -1.37914435e-01 4.60038536e-03 7.71394555e+01] [-1.37912729e-01 9.90444146e-01 6.87545252e-04 -8.17644698e+01] [-4.65124716e-03 4.65161261e-05 -9.99989182e-01 2.40131719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.911858064 meters 0.01744233478391643 Centerline is valid? [True, True] Translation: X:77.12, Y:-81.74, Z:0.24 [[-9.77815185e-01 -2.09428266e-01 4.15529829e-03 7.71157418e+01] [-2.09426203e-01 9.77824013e-01 9.30414693e-04 -8.17415335e+01] [-4.25800558e-03 3.95452741e-05 -9.99990934e-01 2.40779650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941858064 meters 0.01712364159095333 Centerline is valid? [True, True] Translation: X:77.08, Y:-81.72, Z:0.24 [[-9.59590706e-01 -2.81377572e-01 3.51267288e-03 7.70750072e+01] [-2.81375580e-01 9.59597135e-01 1.05940957e-03 -8.17212599e+01] [-3.66884492e-03 2.82192076e-05 -9.99993269e-01 2.39279735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.971858064 meters 0.017055932591462094 Centerline is valid? [True, True] Translation: X:77.01, Y:-81.71, Z:0.24 [[-9.36070624e-01 -3.51798243e-01 3.12782678e-03 7.70146958e+01] [-3.51796195e-01 9.36075849e-01 1.20060491e-03 -8.17121477e+01] [-3.35025381e-03 2.34934301e-05 -9.99994388e-01 2.38794903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001858064 meters 0.016906956633485 Centerline is valid? [True, True] Translation: X:76.95, Y:-81.71, Z:0.24 [[-9.06839283e-01 -4.21463775e-01 3.28641251e-03 7.69461660e+01] [-4.21460927e-01 9.06845238e-01 1.54961973e-03 -8.17097107e+01] [-3.63337612e-03 2.01615816e-05 -9.99993399e-01 2.39133457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.031858064 meters 0.01688356490648034 Centerline is valid? [True, True] Translation: X:76.87, Y:-81.72, Z:0.24 [[-8.72467158e-01 -4.88661161e-01 3.36564011e-03 7.68695849e+01] [-4.88657445e-01 8.72473650e-01 1.90577279e-03 -8.17163657e+01] [-3.86770945e-03 1.80790730e-05 -9.99992520e-01 2.39664413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061858064 meters 0.01684106391836923 Centerline is valid? [True, True] Translation: X:76.78, Y:-81.74, Z:0.24 [[-8.32863225e-01 -5.53467747e-01 3.50734227e-03 7.67828316e+01] [-5.53462761e-01 8.32870610e-01 2.34944408e-03 -8.17356349e+01] [-4.22150382e-03 1.55822370e-05 -9.99991089e-01 2.40199798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.091858064 meters 0.016650582695781884 Centerline is valid? [True, True] Translation: X:76.70, Y:-81.76, Z:0.24 [[-7.88088827e-01 -6.15551889e-01 3.44572085e-03 7.66963788e+01] [-6.15545943e-01 7.88096359e-01 2.70551093e-03 -8.17630765e+01] [-4.38094242e-03 1.11834502e-05 -9.99990404e-01 2.40629513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121858064 meters 0.01652098087647471 Centerline is valid? [True, True] Translation: X:76.61, Y:-81.80, Z:0.24 [[-7.39220023e-01 -6.73456075e-01 3.26679923e-03 7.66096691e+01] [-6.73449432e-01 7.39227241e-01 2.99136759e-03 -8.18002663e+01] [-4.42946166e-03 1.12547325e-05 -9.99990190e-01 2.40529505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.151858064 meters 0.016472018876815656 Centerline is valid? [True, True] Translation: X:76.52, Y:-81.85, Z:0.24 [[-6.86006311e-01 -7.27588342e-01 3.24751083e-03 7.65187083e+01] [-7.27580103e-01 6.86013997e-01 3.46250033e-03 -8.18511674e+01] [-4.74711276e-03 1.24728123e-05 -9.99988732e-01 2.40488037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181858064 meters 0.016532374315887412 Centerline is valid? [True, True] Translation: X:76.43, Y:-81.91, Z:0.24 [[-6.28779735e-01 -7.77577111e-01 3.14349250e-03 7.64295886e+01] [-7.77567277e-01 6.28787592e-01 3.91062248e-03 -8.19118876e+01] [-5.01739961e-03 1.46432645e-05 -9.99987413e-01 2.40994061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.211858064 meters 0.016509953892208953 Centerline is valid? [True, True] Translation: X:76.35, Y:-81.98, Z:0.24 [[-5.67484625e-01 -8.23375308e-01 3.78200770e-03 7.63470408e+01] [-8.23356787e-01 5.67497227e-01 5.52263037e-03 -8.19767933e+01] [-6.69347636e-03 2.00661192e-05 -9.99977598e-01 2.41727531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24185806399998 meters 0.016428228556997188 Centerline is valid? [True, True] Translation: X:76.26, Y:-82.06, Z:0.24 [[-5.02473065e-01 -8.64585735e-01 3.51072327e-03 7.62643463e+01] [-8.64564375e-01 5.02485329e-01 6.07743893e-03 -8.20565669e+01] [-7.01855394e-03 1.85030984e-05 -9.99975369e-01 2.41671259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27185806399999 meters 0.016335821451229735 Centerline is valid? [True, True] Translation: X:76.19, Y:-82.14, Z:0.24 [[-4.34320695e-01 -9.00752271e-01 3.29837364e-03 7.61874720e+01] [-9.00725980e-01 4.34333219e-01 6.88213314e-03 -8.21431783e+01] [-7.63169029e-03 1.81220209e-05 -9.99970878e-01 2.41900551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.301858064 meters 0.016450072362947585 Centerline is valid? [True, True] Translation: X:76.12, Y:-82.23, Z:0.24 [[-3.63884405e-01 -9.31439911e-01 2.79876068e-03 7.61194454e+01] [-9.31411975e-01 3.63895167e-01 7.21386292e-03 -8.22301125e+01] [-7.73773532e-03 1.82130021e-05 -9.99970063e-01 2.42034453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.331858064 meters 0.01629227140512454 Centerline is valid? [True, True] Translation: X:76.06, Y:-82.33, Z:0.24 [[-2.91337326e-01 -9.56617933e-01 2.16609127e-03 7.60557433e+01] [-9.56590999e-01 2.91345378e-01 7.17854902e-03 -8.23311548e+01] [-7.49820941e-03 1.93158623e-05 -9.99971888e-01 2.41666757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.361858064 meters 0.016353994913943754 Centerline is valid? [True, True] Translation: X:76.00, Y:-82.44, Z:0.24 [[-2.17215072e-01 -9.76122780e-01 1.38982487e-03 7.59995095e+01] [-9.76102212e-01 2.17219518e-01 6.33667364e-03 -8.24387269e+01] [-6.48726858e-03 1.98098971e-05 -9.99978957e-01 2.41041274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.391858064 meters 0.016280725413867804 Centerline is valid? [True, True] Translation: X:75.95, Y:-82.55, Z:0.24 [[-1.42277304e-01 -9.89826541e-01 7.67051319e-04 7.59531965e+01] [-9.89811301e-01 1.42279370e-01 5.49256484e-03 -8.25469077e+01] [-5.54582203e-03 2.22312548e-05 -9.99984622e-01 2.39606901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.421858064 meters 0.01606377885307916 Centerline is valid? [True, True] Translation: X:75.91, Y:-82.66, Z:0.24 [[-6.58296479e-02 -9.97830824e-01 3.23524870e-04 7.59131742e+01] [-9.97816991e-01 6.58304389e-02 5.25407150e-03 -8.26628740e+01] [-5.26397228e-03 2.30550651e-05 -9.99986145e-01 2.38434248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.451858064 meters 0.016196987882227638 Centerline is valid? [True, True] Translation: X:75.88, Y:-82.79, Z:0.24 [[ 1.11549109e-02 -9.99937779e-01 -7.86495857e-05 7.58831874e+01] [-9.99925270e-01 -1.11551648e-02 5.00160114e-03 -8.27880313e+01] [-5.00216729e-03 2.28512930e-05 -9.99987489e-01 2.38674474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.481858064 meters 0.016171790252135228 Centerline is valid? [True, True] Translation: X:75.86, Y:-82.93, Z:0.24 [[ 8.74070589e-02 -9.96172561e-01 -4.84332226e-04 7.58649855e+01] [-9.96159023e-01 -8.74083961e-02 5.19365867e-03 -8.29308666e+01] [-5.21611497e-03 2.85094871e-05 -9.99986396e-01 2.36894801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.511858064 meters 0.016199553049994816 Centerline is valid? [True, True] Translation: X:75.85, Y:-83.05, Z:0.24 [[ 1.63711952e-01 -9.86507769e-01 -9.04914375e-04 7.58536826e+01] [-9.86493757e-01 -1.63714450e-01 5.25791887e-03 -8.30490949e+01] [-5.33512537e-03 3.19082226e-05 -9.99985768e-01 2.36667678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.541858064 meters 0.016189057026420112 Centerline is valid? [True, True] Translation: X:75.85, Y:-83.15, Z:0.24 [[ 2.39346829e-01 -9.70933057e-01 -1.44733753e-03 7.58476026e+01] [-9.70916219e-01 -2.39351202e-01 5.71822941e-03 -8.31539342e+01] [-5.89843993e-03 3.66034055e-05 -9.99982603e-01 2.36972098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.571858064 meters 0.016263356458298565 Centerline is valid? [True, True] Translation: X:75.85, Y:-83.28, Z:0.24 [[ 3.13014261e-01 -9.49746125e-01 -2.09069825e-03 7.58537045e+01] [-9.49725890e-01 -3.13021239e-01 6.19973135e-03 -8.32765583e+01] [-6.54260378e-03 4.49859372e-05 -9.99978596e-01 2.37989958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601858064 meters 0.01609858492881381 Centerline is valid? [True, True] Translation: X:75.86, Y:-83.38, Z:0.24 [[ 3.85200076e-01 -9.22829420e-01 -2.60059896e-03 7.58626877e+01] [-9.22809205e-01 -3.85208852e-01 6.10834297e-03 -8.33794891e+01] [-6.63873234e-03 4.69224774e-05 -9.99977962e-01 2.38009124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.631858064 meters 0.016176133776173506 Centerline is valid? [True, True] Translation: X:75.89, Y:-83.50, Z:0.24 [[ 4.54628020e-01 -8.90674919e-01 -3.39884999e-03 7.58884719e+01] [-8.90650954e-01 -4.54640722e-01 6.53398646e-03 -8.34989223e+01] [-7.36491348e-03 5.66556546e-05 -9.99972877e-01 2.37817600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661858064 meters 0.01637829017077758 Centerline is valid? [True, True] Translation: X:75.92, Y:-83.61, Z:0.24 [[ 5.20500418e-01 -8.53850486e-01 -4.31996979e-03 7.59196324e+01] [-8.53822278e-01 -5.20518339e-01 6.94090092e-03 -8.36074486e+01] [-8.17511512e-03 7.57446193e-05 -9.99966580e-01 2.38326514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.691858064 meters 0.01637829017077758 Centerline is valid? [True, True] Translation: X:75.96, Y:-83.72, Z:0.24 [[ 5.84554403e-01 -8.11340077e-01 -4.84038177e-03 7.59594049e+01] [-8.11313329e-01 -5.84574438e-01 6.58846061e-03 -8.37161965e+01] [-8.17504559e-03 7.57525861e-05 -9.99966581e-01 2.38323126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721858064 meters 0.016503945516100398 Centerline is valid? [True, True] Translation: X:76.01, Y:-83.82, Z:0.24 [[ 6.44321202e-01 -7.64735427e-01 -5.46957015e-03 7.60065411e+01] [-7.64708994e-01 -6.44344411e-01 6.35880239e-03 -8.38187173e+01] [-8.38708842e-03 8.55182855e-05 -9.99964824e-01 2.38407995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.751858064 meters 0.016699406149768743 Centerline is valid? [True, True] Translation: X:76.06, Y:-83.92, Z:0.24 [[ 7.00093524e-01 -7.14023344e-01 -6.30252769e-03 7.60599457e+01] [-7.13995706e-01 -7.00121886e-01 6.28312835e-03 -8.39154549e+01] [-8.89883788e-03 1.01200235e-04 -9.99960399e-01 2.38170549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781858064 meters 0.016768209118558832 Centerline is valid? [True, True] Translation: X:76.05, Y:-83.92, Z:0.24 [[ 7.52828945e-01 -6.58179903e-01 -6.91337926e-03 7.60548257e+01] [-6.58153559e-01 -7.52860679e-01 5.88991902e-03 -8.39225053e+01] [-9.08143773e-03 1.15963641e-04 -9.99958756e-01 2.37722841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.811858064 meters 0.017505876097298704 Centerline is valid? [True, True] Translation: X:76.05, Y:-83.93, Z:0.24 [[ 8.00658814e-01 -5.99075358e-01 -7.36069552e-03 7.60509375e+01] [-5.99051592e-01 -8.00692636e-01 5.33789770e-03 -8.39280678e+01] [-9.09145767e-03 1.35601532e-04 -9.99958663e-01 2.38316133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841858064 meters 0.017565181985051 Centerline is valid? [True, True] Translation: X:76.05, Y:-83.93, Z:0.24 [[ 8.44468103e-01 -5.35550690e-01 -7.68645599e-03 7.60476717e+01] [-5.35530050e-01 -8.44503071e-01 4.70406588e-03 -8.39339975e+01] [-9.01050142e-03 1.43894563e-04 -9.99959394e-01 2.38172630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.871858064 meters 0.017533765799513303 Centerline is valid? [True, True] Translation: X:76.04, Y:-83.94, Z:0.24 [[ 8.83558428e-01 -4.68257740e-01 -7.69369692e-03 7.60443810e+01] [-4.68241378e-01 -8.83591913e-01 3.91703166e-03 -8.39402198e+01] [-8.63226877e-03 1.41580919e-04 -9.99962731e-01 2.37907445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901858064 meters 0.017761270151818977 Centerline is valid? [True, True] Translation: X:76.04, Y:-83.95, Z:0.24 [[ 9.17241155e-01 -3.98253381e-01 -7.93149154e-03 7.60418426e+01] [-3.98239859e-01 -9.17275435e-01 3.28504443e-03 -8.39460834e+01] [-8.58364240e-03 1.45458125e-04 -9.99963149e-01 2.36652698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.931858064 meters 0.017378647942540227 Centerline is valid? [True, True] Translation: X:76.04, Y:-83.96, Z:0.24 [[ 9.45555907e-01 -3.25357717e-01 -8.14753769e-03 7.60386533e+01] [-3.25346961e-01 -9.45590998e-01 2.64962747e-03 -8.39562239e+01] [-8.56631504e-03 1.45405719e-04 -9.99963298e-01 2.36016250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961858064 meters 0.01769853822764289 Centerline is valid? [True, True] Translation: X:76.04, Y:-83.96, Z:0.24 [[ 9.68117852e-01 -2.50369981e-01 -7.91811328e-03 7.60354342e+01] [-2.50362764e-01 -9.68150223e-01 1.90594169e-03 -8.39643132e+01] [-8.14311372e-03 1.37224554e-04 -9.99966835e-01 2.36179382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99185806399998 meters 0.01752853699745025 Centerline is valid? [True, True] Translation: X:76.03, Y:-83.97, Z:0.24 [[ 9.84822661e-01 -1.73377812e-01 -8.02872735e-03 7.60295898e+01] [-1.73373154e-01 -9.84855379e-01 1.27788272e-03 -8.39735022e+01] [-8.12869183e-03 1.33477924e-04 -9.99966953e-01 2.35756972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02185806399999 meters 0.017225314873677948 Centerline is valid? [True, True] Translation: X:76.03, Y:-83.98, Z:0.24 [[ 9.95384595e-01 -9.55988296e-02 -8.38881345e-03 7.60255209e+01] [-9.55965941e-02 -9.95419934e-01 6.67975730e-04 -8.39838319e+01] [-8.41424983e-03 1.37049243e-04 -9.99964590e-01 2.35393193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.051858064 meters 0.017340931243561553 Centerline is valid? [True, True] Translation: X:76.02, Y:-83.99, Z:0.24 [[ 9.99809010e-01 -1.75754016e-02 -8.54682081e-03 7.60212327e+01] [-1.75759668e-02 -9.99845531e-01 8.98078876e-06 -8.39924517e+01] [-8.54565843e-03 1.41239565e-04 -9.99963475e-01 2.35808920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.081858064 meters 0.017550722597179345 Centerline is valid? [True, True] Translation: X:76.02, Y:-84.00, Z:0.24 [[ 9.98184588e-01 5.96095759e-02 -8.61550458e-03 7.60182360e+01] [ 5.96060354e-02 -9.98221757e-01 -6.67360043e-04 -8.40010887e+01] [-8.63996517e-03 1.52612438e-04 -9.99962663e-01 2.35753138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.111858064 meters 0.018166117951951714 Centerline is valid? [True, True] Translation: X:76.02, Y:-84.01, Z:0.24 [[ 9.90565512e-01 1.36771955e-01 -8.56730023e-03 7.60150617e+01] [ 1.36765441e-01 -9.90602547e-01 -1.34440640e-03 -8.40073071e+01] [-8.67066652e-03 1.60012022e-04 -9.99962396e-01 2.35789602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.141858064 meters 0.01789387589773183 Centerline is valid? [True, True] Translation: X:76.01, Y:-84.02, Z:0.23 [[ 9.77003681e-01 2.13064999e-01 -8.19227912e-03 7.60133356e+01] [ 2.13056113e-01 -9.77038014e-01 -1.95262102e-03 -8.40157936e+01] [-8.42020331e-03 1.62302779e-04 -9.99964536e-01 2.34860285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.171858064 meters 0.018297951854380178 Centerline is valid? [True, True] Translation: X:76.01, Y:-84.02, Z:0.23 [[ 9.57804980e-01 2.87309944e-01 -7.91297523e-03 7.60129983e+01] [ 2.87298635e-01 -9.57837651e-01 -2.55516958e-03 -8.40243219e+01] [-8.31347124e-03 1.73967173e-04 -9.99965427e-01 2.34609014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.201858064 meters 0.017921488965288015 Centerline is valid? [True, True] Translation: X:76.01, Y:-84.04, Z:0.23 [[ 9.32482895e-01 3.61130813e-01 -7.75793761e-03 7.60138527e+01] [ 3.61116721e-01 -9.32515150e-01 -3.19525715e-03 -8.40366022e+01] [-8.38830017e-03 1.78001645e-04 -9.99964802e-01 2.34579993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.231858064 meters 0.01816675947489095 Centerline is valid? [True, True] Translation: X:76.01, Y:-84.05, Z:0.23 [[ 9.01509974e-01 4.32697525e-01 -7.25384834e-03 7.60138492e+01] [ 4.32681945e-01 -9.01539140e-01 -3.67595830e-03 -8.40464083e+01] [-8.13020625e-03 1.75303858e-04 -9.99966934e-01 2.34517677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.261858064 meters 0.01772881190347879 Centerline is valid? [True, True] Translation: X:76.02, Y:-84.06, Z:0.23 [[ 8.64862407e-01 5.01960416e-01 -6.98261228e-03 7.60169840e+01] [ 5.01942401e-01 -8.64890577e-01 -4.25631059e-03 -8.40580321e+01] [-8.17569500e-03 1.76253847e-04 -9.99966563e-01 2.33856294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.291858064 meters 0.018225048780915434 Centerline is valid? [True, True] Translation: X:76.02, Y:-84.07, Z:0.23 [[ 8.22832182e-01 5.68247205e-01 -6.50494404e-03 7.60197908e+01] [ 5.68227790e-01 -8.22857876e-01 -4.70047100e-03 -8.40681767e+01] [-8.02367394e-03 1.71408833e-04 -9.99967795e-01 2.33790868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321858064 meters 0.018104374311560482 Centerline is valid? [True, True] Translation: X:76.02, Y:-84.08, Z:0.23 [[ 7.75577121e-01 6.31226270e-01 -5.79018068e-03 7.60228894e+01] [ 6.31207134e-01 -7.75598718e-01 -4.91761610e-03 -8.40773100e+01] [-7.59498517e-03 1.59187187e-04 -9.99971145e-01 2.33592936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.351858064 meters 0.018181015007672507 Centerline is valid? [True, True] Translation: X:76.03, Y:-84.09, Z:0.23 [[ 7.23349749e-01 6.90464848e-01 -4.84082841e-03 7.60250547e+01] [ 6.90448093e-01 -7.23365934e-01 -4.81211575e-03 -8.40857508e+01] [-6.82428713e-03 1.38501974e-04 -9.99976705e-01 2.33749786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381858064 meters 0.01722109653426542 Centerline is valid? [True, True] Translation: X:76.03, Y:-84.10, Z:0.23 [[ 6.65524612e-01 7.46367208e-01 -3.60300232e-03 7.60336756e+01] [ 7.46355446e-01 -6.65534358e-01 -4.19129992e-03 -8.40978207e+01] [-5.52617065e-03 1.00292850e-04 -9.99984726e-01 2.33249827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.411858064 meters 0.017001361575668096 Centerline is valid? [True, True] Translation: X:76.04, Y:-84.11, Z:0.23 [[ 6.04034559e-01 7.96952483e-01 -2.99857881e-03 7.60403016e+01] [ 7.96941952e-01 -6.04041996e-01 -4.09772550e-03 -8.41069004e+01] [-5.07696004e-03 8.54745701e-05 -9.99987109e-01 2.33147625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441858064 meters 0.016393815806934085 Centerline is valid? [True, True] Translation: X:76.05, Y:-84.12, Z:0.23 [[ 5.37168159e-01 8.43470097e-01 -2.92646083e-03 7.60506922e+01] [ 8.43456795e-01 -5.37176125e-01 -4.73775873e-03 -8.41172297e+01] [-5.56818270e-03 7.66298639e-05 -9.99984495e-01 2.33035939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.471858064 meters 0.016342694018288077 Centerline is valid? [True, True] Translation: X:76.06, Y:-84.13, Z:0.23 [[ 4.68129643e-01 8.83655720e-01 -2.68428964e-03 7.60585344e+01] [ 8.83640300e-01 -4.68137333e-01 -5.22091419e-03 -8.41251748e+01] [-5.87010689e-03 7.21181928e-05 -9.99982768e-01 2.33419400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501858064 meters 0.016157567102227433 Centerline is valid? [True, True] Translation: X:76.07, Y:-84.13, Z:0.23 [[ 3.96182108e-01 9.18168814e-01 -2.40134365e-03 7.60675878e+01] [ 9.18150904e-01 -3.96189380e-01 -5.73518833e-03 -8.41322584e+01] [-6.21725792e-03 6.73831576e-05 -9.99980670e-01 2.33849779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.531858064 meters 0.015915579384027052 Centerline is valid? [True, True] Translation: X:76.08, Y:-84.14, Z:0.24 [[ 3.19951345e-01 9.47431368e-01 -2.22236047e-03 7.60781454e+01] [ 9.47407331e-01 -3.19959059e-01 -6.74903463e-03 -8.41393954e+01] [-7.10531148e-03 5.38821007e-05 -9.99974756e-01 2.35132154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561858064 meters 0.01587971154668 Centerline is valid? [True, True] Translation: X:76.09, Y:-84.14, Z:0.24 [[ 2.43447551e-01 9.69912795e-01 -1.56846531e-03 7.60876035e+01] [ 9.69891563e-01 -2.43452600e-01 -6.41769225e-03 -8.41440867e+01] [-6.60644878e-03 4.11301849e-05 -9.99978176e-01 2.35788780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.591858064 meters 0.01575748457146392 Centerline is valid? [True, True] Translation: X:76.10, Y:-84.15, Z:0.24 [[ 1.65566353e-01 9.86198106e-01 -1.03859756e-03 7.60969596e+01] [ 9.86177452e-01 -1.65569608e-01 -6.38260613e-03 -8.41476653e+01] [-6.46647427e-03 3.25033264e-05 -9.99979092e-01 2.36412099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621858064 meters 0.015734325202947267 Centerline is valid? [True, True] Translation: X:76.11, Y:-84.15, Z:0.24 [[ 8.49994314e-02 9.96380882e-01 -4.83442377e-04 7.61068327e+01] [ 9.96363889e-01 -8.50008052e-02 -5.81922371e-03 -8.41518207e+01] [-5.83925624e-03 1.29461790e-05 -9.99982951e-01 2.36234405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.651858064 meters 0.01562490320404568 Centerline is valid? [True, True] Translation: X:76.12, Y:-84.15, Z:0.24 [[ 5.93080019e-03 9.99982412e-01 -2.58327805e-05 7.61186642e+01] [ 9.99966035e-01 -5.93085091e-03 -5.72313389e-03 -8.41540254e+01] [-5.72318644e-03 8.11086050e-06 -9.99983622e-01 2.35678383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681858064 meters 0.015710550677732783 Centerline is valid? [True, True] Translation: X:76.13, Y:-84.16, Z:0.24 [[-7.29964172e-02 9.97332115e-01 4.19490535e-04 7.61291947e+01] [ 9.97316028e-01 7.29976224e-02 -5.66458870e-03 -8.41561893e+01] [-5.68009804e-03 4.86995423e-06 -9.99983868e-01 2.36099980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.711858064 meters 0.01570619034066244 Centerline is valid? [True, True] Translation: X:76.14, Y:-84.16, Z:0.24 [[-1.51309629e-01 9.88486086e-01 8.08574464e-04 7.61366130e+01] [ 9.88472050e-01 1.51311790e-01 -5.26774614e-03 -8.41571629e+01] [-5.32944062e-03 2.19254189e-06 -9.99985798e-01 2.36371469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74185806399998 meters 0.015644515114010032 Centerline is valid? [True, True] Translation: X:76.15, Y:-84.16, Z:0.24 [[-2.29312970e-01 9.73352054e-01 1.15807489e-03 7.61488505e+01] [ 9.73339563e-01 2.29315894e-01 -4.93112591e-03 -8.41558488e+01] [-5.06528651e-03 -3.57101681e-06 -9.99987171e-01 2.35796256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77185806399999 meters 0.01558644443019049 Centerline is valid? [True, True] Translation: X:76.16, Y:-84.15, Z:0.24 [[-3.05403510e-01 9.52221863e-01 1.48977334e-03 7.61600819e+01] [ 9.52210432e-01 3.05407143e-01 -4.66578522e-03 -8.41540392e+01] [-4.89785011e-03 -6.36946896e-06 -9.99988005e-01 2.35867699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.801858064 meters 0.015686079498164005 Centerline is valid? [True, True] Translation: X:76.17, Y:-84.15, Z:0.24 [[-3.79611666e-01 9.25143892e-01 1.93938900e-03 7.61710031e+01] [ 9.25131687e-01 3.79616620e-01 -4.75211412e-03 -8.41513573e+01] [-5.13261365e-03 -9.76774274e-06 -9.99986828e-01 2.36322128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.831858064 meters 0.015692153456298256 Centerline is valid? [True, True] Translation: X:76.18, Y:-84.15, Z:0.24 [[-4.51484992e-01 8.92276169e-01 2.13065278e-03 7.61817463e+01] [ 8.92266105e-01 4.51490019e-01 -4.23791334e-03 -8.41483710e+01] [-4.74335754e-03 -1.22450142e-05 -9.99988750e-01 2.36996505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.861858064 meters 0.015644788454364244 Centerline is valid? [True, True] Translation: X:76.19, Y:-84.14, Z:0.24 [[-5.19627954e-01 8.54389494e-01 2.31964105e-03 7.61902651e+01] [ 8.54380898e-01 5.19633132e-01 -3.83268951e-03 -8.41448254e+01] [-4.47997200e-03 -9.71560845e-06 -9.99989965e-01 2.36413113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.891858064 meters 0.015708448829489796 Centerline is valid? [True, True] Translation: X:76.20, Y:-84.14, Z:0.24 [[-5.84656339e-01 8.11276861e-01 2.61148491e-03 7.61996375e+01] [ 8.11268706e-01 5.84662171e-01 -3.63755585e-03 -8.41392724e+01] [-4.47790133e-03 -8.10410058e-06 -9.99989974e-01 2.36216897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.921858064 meters 0.01573639970631355 Centerline is valid? [True, True] Translation: X:76.21, Y:-84.13, Z:0.24 [[-6.45027000e-01 7.64156235e-01 2.32789362e-03 7.62081985e+01] [ 7.64151257e-01 6.45031200e-01 -2.75824810e-03 -8.41331398e+01] [-3.60929650e-03 -2.81660063e-07 -9.99993486e-01 2.35799126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.951858064 meters 0.01575288841054732 Centerline is valid? [True, True] Translation: X:76.21, Y:-84.13, Z:0.24 [[-7.02089005e-01 7.12085778e-01 2.20753609e-03 7.62148467e+01] [ 7.12082272e-01 7.02092476e-01 -2.23447129e-03 -8.41276393e+01] [-3.14102971e-03 3.14959164e-06 -9.99995067e-01 2.35385581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.981858064 meters 0.015742743963842995 Centerline is valid? [True, True] Translation: X:76.22, Y:-84.12, Z:0.23 [[-7.55063483e-01 6.55648011e-01 2.19592849e-03 7.62209084e+01] [ 6.55645260e-01 7.55066677e-01 -1.89917853e-03 -8.41228231e+01] [-2.90326505e-03 5.74974584e-06 -9.99995786e-01 2.34925037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.011858064 meters 0.01562913277823319 Centerline is valid? [True, True] Translation: X:76.24, Y:-84.10, Z:0.23 [[-7.98181170e-01 6.02416374e-01 1.15427667e-03 7.62383441e+01] [ 6.02415753e-01 7.98182005e-01 -8.64424284e-04 -8.41001335e+01] [-1.44206621e-03 5.38726151e-06 -9.99998960e-01 2.33404076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.041858064 meters 0.015738536741919575 Centerline is valid? [True, True] Translation: X:76.26, Y:-84.08, Z:0.23 [[-8.38440840e-01 5.44992393e-01 4.99892933e-04 7.62551174e+01] [ 5.44992297e-01 8.38440989e-01 -3.22790167e-04 -8.40767141e+01] [-5.95048911e-04 1.79733924e-06 -9.99999823e-01 2.32536316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.071858064 meters 0.01578295691121319 Centerline is valid? [True, True] Translation: X:76.27, Y:-84.05, Z:0.23 [[-8.74569603e-01 4.84899997e-01 4.22270804e-05 7.62740270e+01] [ 4.84899997e-01 8.74569604e-01 -2.47212265e-05 -8.40542393e+01] [-4.89178436e-05 -1.14452213e-06 -9.99999999e-01 2.32137161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101858064 meters 0.015897005618612108 Centerline is valid? [True, True] Translation: X:76.28, Y:-84.02, Z:0.23 [[-9.06124179e-01 4.23011426e-01 -5.53534504e-04 7.62821848e+01] [ 4.23011351e-01 9.06124348e-01 2.51725412e-04 -8.40249719e+01] [ 6.08053817e-04 -6.05689573e-06 -9.99999815e-01 2.32030249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.131858064 meters 0.01594204272960083 Centerline is valid? [True, True] Translation: X:76.30, Y:-84.00, Z:0.23 [[-9.33663794e-01 3.58150149e-01 -6.24886693e-04 7.62972112e+01] [ 3.58150074e-01 9.33664003e-01 2.32440783e-04 -8.40004200e+01] [ 6.66682913e-04 -6.78167215e-06 -9.99999778e-01 2.31742571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161858064 meters 0.016064456944580353 Centerline is valid? [True, True] Translation: X:76.31, Y:-83.97, Z:0.23 [[-9.56492321e-01 2.91755959e-01 -9.48936885e-04 7.63063486e+01] [ 2.91755826e-01 9.56492792e-01 2.78889411e-04 -8.39735152e+01] [ 9.89018937e-04 -1.01022847e-05 -9.99999511e-01 2.31163661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.191858064 meters 0.016153368873245318 Centerline is valid? [True, True] Translation: X:76.49, Y:-83.35, Z:-0.74 [[-9.41051559e-01 -3.38257953e-01 -1.87631194e-03 7.64913123e+01] [ 3.38257370e-01 -9.41053429e-01 6.29172857e-04 -8.33469566e+01] [-1.97853251e-03 -4.25922456e-05 9.99998042e-01 -7.40350160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221858064 meters 0.01604761112936094 Centerline is valid? [True, True] Translation: X:76.26, Y:-83.96, Z:0.23 [[-9.57189060e-01 2.89455376e-01 -2.16551431e-03 7.62614720e+01] [ 2.89454692e-01 9.57191509e-01 6.29681507e-04 -8.39572499e+01] [ 2.25507661e-03 -2.40940297e-05 -9.99997457e-01 2.30197489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.251858064 meters 0.016175369766508175 Centerline is valid? [True, True] Translation: X:76.27, Y:-83.93, Z:0.23 [[-9.75222247e-01 2.21219167e-01 -1.91018406e-03 7.62691622e+01] [ 2.21218785e-01 9.75224118e-01 4.11411992e-04 -8.39291209e+01] [ 1.95386978e-03 -2.13504694e-05 -9.99998091e-01 2.30423059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281858064 meters 0.016221369529624132 Centerline is valid? [True, True] Translation: X:76.41, Y:-83.30, Z:-0.74 [[-9.63849593e-01 -2.66443602e-01 -1.33020206e-03 7.64073698e+01] [ 2.66443274e-01 -9.63850509e-01 4.20828954e-04 -8.32997417e+01] [-1.39424312e-03 5.11924225e-05 9.99999027e-01 -7.41150577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.311858064 meters 0.01623957886516457 Centerline is valid? [True, True] Translation: X:76.22, Y:-83.92, Z:0.23 [[-9.76096221e-01 2.17336960e-01 -9.02004351e-04 7.62181125e+01] [ 2.17336877e-01 9.76096638e-01 1.89779116e-04 -8.39166026e+01] [ 9.21689430e-04 -1.07961306e-05 -9.99999575e-01 2.31627654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341858064 meters 0.016113027991685572 Centerline is valid? [True, True] Translation: X:76.22, Y:-83.89, Z:0.23 [[-9.89197952e-01 1.46583344e-01 -8.57963042e-04 7.62215526e+01] [ 1.46583297e-01 9.89198324e-01 1.17659904e-04 -8.38867091e+01] [ 8.65942585e-04 -9.37411488e-06 -9.99999625e-01 2.31541947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.371858064 meters 0.016031569197973643 Centerline is valid? [True, True] Translation: X:76.21, Y:-83.86, Z:0.23 [[-9.97149317e-01 7.54367284e-02 -1.59382497e-03 7.62143748e+01] [ 7.54366567e-02 9.97150590e-01 1.05136381e-04 -8.38567125e+01] [ 1.59721465e-03 -1.53961568e-05 -9.99998724e-01 2.31315543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401858064 meters 0.015982789026448188 Centerline is valid? [True, True] Translation: X:76.22, Y:-83.83, Z:0.23 [[-9.99989865e-01 3.67702907e-03 -2.59779533e-03 7.62151764e+01] [ 3.67707479e-03 9.99993239e-01 -1.28236897e-05 -8.38265648e+01] [ 2.59773061e-03 -2.23758475e-05 -9.99996626e-01 2.30680237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.431858064 meters 0.015971765334889195 Centerline is valid? [True, True] Translation: X:76.21, Y:-83.20, Z:-0.74 [[-9.98484436e-01 -5.49579573e-02 -2.90745358e-03 7.62121872e+01] [ 5.49577120e-02 -9.98488669e-01 1.64236365e-04 -8.31977038e+01] [-2.91208555e-03 4.20045762e-06 9.99995760e-01 -7.40328088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461858064 meters 0.01590177286790985 Centerline is valid? [True, True] Translation: X:76.15, Y:-83.82, Z:0.23 [[-9.99992892e-01 -1.58387271e-03 -3.42170621e-03 7.61460692e+01] [-1.58377073e-03 9.99998745e-01 -3.25131576e-05 -8.38242378e+01] [ 3.42175342e-03 -2.70937283e-05 -9.99994145e-01 2.30268108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49185806399998 meters 0.01571305370012672 Centerline is valid? [True, True] Translation: X:76.14, Y:-83.80, Z:0.23 [[-9.97306994e-01 -7.32381994e-02 -3.86332424e-03 7.61363410e+01] [-7.32375388e-02 9.97314477e-01 -3.12366965e-04 -8.37951873e+01] [ 3.87582639e-03 -2.85854001e-05 -9.99992489e-01 2.30148021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52185806399999 meters 0.01572737843005491 Centerline is valid? [True, True] Translation: X:76.13, Y:-83.77, Z:0.23 [[-9.89412359e-01 -1.45062608e-01 -4.47479629e-03 7.61255508e+01] [-1.45060992e-01 9.89422477e-01 -6.85377596e-04 -8.37672783e+01] [ 4.52688669e-03 -2.90026751e-05 -9.99989753e-01 2.29155328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.551858064 meters 0.01571675899345395 Centerline is valid? [True, True] Translation: X:76.03, Y:-83.16, Z:-0.74 [[-9.95916148e-01 9.01648395e-02 -4.61830182e-03 7.60312039e+01] [-9.01639744e-02 -9.95926855e-01 -3.95590117e-04 -8.31555186e+01] [-4.63515913e-03 2.24298627e-05 9.99989257e-01 -7.38955837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.581858064 meters 0.015622128488932402 Centerline is valid? [True, True] Translation: X:76.02, Y:-83.78, Z:0.23 [[-9.88372789e-01 -1.51983873e-01 -4.48700058e-03 7.60248692e+01] [-1.51982189e-01 9.88382973e-01 -7.15850525e-04 -8.37785160e+01] [ 4.54367271e-03 -2.55830077e-05 -9.99989677e-01 2.30216381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.611858064 meters 0.015622128488932402 Centerline is valid? [True, True] Translation: X:76.00, Y:-83.75, Z:0.23 [[-9.74964759e-01 -2.22315417e-01 -4.42432882e-03 7.60041328e+01] [-2.22313009e-01 9.74974797e-01 -1.03504482e-03 -8.37541027e+01] [ 4.54371551e-03 -2.55463666e-05 -9.99989677e-01 2.30215710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.641858064 meters 0.015636974241498677 Centerline is valid? [True, True] Translation: X:75.97, Y:-83.73, Z:0.23 [[-9.56428694e-01 -2.91935175e-01 -4.24345999e-03 7.59707184e+01] [-2.91932186e-01 9.56438107e-01 -1.32127690e-03 -8.37324746e+01] [ 4.44433404e-03 -2.49045933e-05 -9.99990124e-01 2.30854987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.671858064 meters 0.01558736417979792 Centerline is valid? [True, True] Translation: X:75.92, Y:-83.72, Z:0.23 [[-9.32447243e-01 -3.61281804e-01 -4.19482813e-03 7.59213581e+01] [-3.61278037e-01 9.32456679e-01 -1.64994250e-03 -8.37178913e+01] [ 4.50758971e-03 -2.29850670e-05 -9.99989841e-01 2.31841908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.701858064 meters 0.015492493817479741 Centerline is valid? [True, True] Translation: X:75.85, Y:-83.71, Z:0.23 [[-9.02735280e-01 -4.30182492e-01 -3.46963027e-03 7.58534499e+01] [-4.30179254e-01 9.02741947e-01 -1.66924485e-03 -8.37144562e+01] [ 3.85026070e-03 -1.43232600e-05 -9.99992588e-01 2.32758314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.731858064 meters 0.015507302191213095 Centerline is valid? [True, True] Translation: X:75.78, Y:-83.72, Z:0.23 [[-8.68074927e-01 -4.96423416e-01 -3.11676223e-03 7.57813031e+01] [-4.96420176e-01 8.68080522e-01 -1.79355862e-03 -8.37203213e+01] [ 3.59596508e-03 -9.71960874e-06 -9.99993534e-01 2.32763249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.761858064 meters 0.015507520467620942 Centerline is valid? [True, True] Translation: X:75.71, Y:-83.73, Z:0.23 [[-8.28315917e-01 -5.60254036e-01 -2.85592066e-03 7.57083263e+01] [-5.60250678e-01 8.28320841e-01 -1.93988695e-03 -8.37321180e+01] [ 3.45244809e-03 -6.80775955e-06 -9.99994040e-01 2.33020072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.791858064 meters 0.015543685673045673 Centerline is valid? [True, True] Translation: X:75.63, Y:-83.75, Z:0.23 [[-7.83245416e-01 -6.21710541e-01 -1.61905878e-03 7.56256089e+01] [-6.21709209e-01 7.83247090e-01 -1.28669575e-03 -8.37543046e+01] [ 2.06807539e-03 -1.21479895e-06 -9.99997862e-01 2.34465396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821858064 meters 0.015516540423815738 Centerline is valid? [True, True] Translation: X:75.54, Y:-83.79, Z:0.24 [[-7.34006807e-01 -6.79141676e-01 -7.68193448e-04 7.55416218e+01] [-6.79141304e-01 7.34007209e-01 -7.11484604e-04 -8.37873098e+01] [ 1.04705838e-03 -5.22642478e-07 -9.99999452e-01 2.35871727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.851858064 meters 0.01554444917665364 Centerline is valid? [True, True] Translation: X:75.46, Y:-83.83, Z:0.24 [[-6.80208428e-01 -7.33018683e-01 3.23812116e-04 7.54572271e+01] [-7.33018601e-01 6.80208505e-01 3.46099352e-04 -8.38300387e+01] [-4.73957046e-04 -1.94060831e-06 -9.99999888e-01 2.37445186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881858064 meters 0.015530373010815668 Centerline is valid? [True, True] Translation: X:75.37, Y:-83.88, Z:0.24 [[-6.22803495e-01 -7.82376605e-01 1.62894522e-03 7.53725271e+01] [-7.82373954e-01 6.22805626e-01 2.03697815e-03 -8.38839935e+01] [-2.60820030e-03 -5.80719548e-06 -9.99996599e-01 2.39152166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.911858064 meters 0.015474557963323442 Centerline is valid? [True, True] Translation: X:75.29, Y:-83.95, Z:0.24 [[-5.62459139e-01 -8.26820647e-01 2.70838371e-03 7.52912145e+01] [-8.26811112e-01 5.62465659e-01 3.97087357e-03 -8.39465556e+01] [-4.80657308e-03 -5.86761846e-06 -9.99988448e-01 2.41825655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941858064 meters 0.015411467685340928 Centerline is valid? [True, True] Translation: X:75.21, Y:-84.02, Z:0.24 [[-4.99130071e-01 -8.66522848e-01 2.70666505e-03 7.52146161e+01] [-8.66510108e-01 4.99137410e-01 4.69876164e-03 -8.40179722e+01] [-5.42258210e-03 -5.93939284e-08 -9.99985298e-01 2.41246194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.971858064 meters 0.01542602250507742 Centerline is valid? [True, True] Translation: X:75.14, Y:-84.10, Z:0.24 [[-4.33175626e-01 -9.01306162e-01 2.46558267e-03 7.51432546e+01] [-9.01291448e-01 4.33182643e-01 5.15012599e-03 -8.40962939e+01] [-5.70988791e-03 8.70047875e-06 -9.99983698e-01 2.41333850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001858064 meters 0.015564729247736603 Centerline is valid? [True, True] Translation: X:75.08, Y:-84.18, Z:0.24 [[-3.66732485e-01 -9.30323519e-01 2.33137481e-03 7.50784973e+01] [-9.30304124e-01 3.66739893e-01 6.00724758e-03 -8.41842006e+01] [-6.44369186e-03 3.41652269e-05 -9.99979239e-01 2.41220429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.031858064 meters 0.01575597888703702 Centerline is valid? [True, True] Translation: X:75.02, Y:-84.28, Z:0.24 [[-2.96745032e-01 -9.54954828e-01 1.91362343e-03 7.50180708e+01] [-9.54933884e-01 2.96751198e-01 6.32486350e-03 -8.42791207e+01] [-6.60782899e-03 4.94879663e-05 -9.99978167e-01 2.41510616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061858064 meters 0.016027154217644262 Centerline is valid? [True, True] Translation: X:74.96, Y:-84.38, Z:0.24 [[-2.25016364e-01 -9.74353742e-01 1.55632292e-03 7.49648892e+01] [-9.74328272e-01 2.25021736e-01 7.04529596e-03 -8.43783196e+01] [-7.21481696e-03 6.89374618e-05 -9.99973970e-01 2.41765499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.091858064 meters 0.016402705770478695 Centerline is valid? [True, True] Translation: X:74.92, Y:-84.49, Z:0.24 [[-1.51422907e-01 -9.88468546e-01 1.01826512e-03 7.49187924e+01] [-9.88442452e-01 1.51426309e-01 7.18280704e-03 -8.44855334e+01] [-7.25417096e-03 8.11450497e-05 -9.99973685e-01 2.42252919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121858064 meters 0.0165253163554585 Centerline is valid? [True, True] Translation: X:74.88, Y:-84.60, Z:0.24 [[-7.81178472e-02 -9.96944007e-01 4.99122654e-04 7.48828457e+01] [-9.96913744e-01 7.81193653e-02 7.76862139e-03 -8.45950308e+01] [-7.78387169e-03 1.09285745e-04 -9.99969699e-01 2.41921258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.151858064 meters 0.016861346123495703 Centerline is valid? [True, True] Translation: X:74.85, Y:-84.71, Z:0.24 [[-2.53643635e-03 -9.99996778e-01 -1.02692362e-04 7.48543123e+01] [-9.99963582e-01 2.53551532e-03 8.14892646e-03 -8.47069789e+01] [-8.14863983e-03 1.23357855e-04 -9.99966792e-01 2.42062362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181858064 meters 0.016947827477123513 Centerline is valid? [True, True] Translation: X:74.83, Y:-84.83, Z:0.24 [[ 7.34386731e-02 -9.97299469e-01 -7.27938727e-04 7.48341132e+01] [-9.97266341e-01 -7.34421676e-02 8.12974572e-03 -8.48298718e+01] [-8.16125249e-03 1.28911053e-04 -9.99966688e-01 2.42075321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.211858064 meters 0.017123771909549192 Centerline is valid? [True, True] Translation: X:74.82, Y:-84.94, Z:0.24 [[ 1.48922893e-01 -9.88847804e-01 -1.41116869e-03 7.48206682e+01] [-9.88811795e-01 -1.48929515e-01 8.43995075e-03 -8.49358695e+01] [-8.55599144e-03 1.38478366e-04 -9.99963387e-01 2.42433806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24185806399998 meters 0.01681652898585302 Centerline is valid? [True, True] Translation: X:74.82, Y:-85.06, Z:0.24 [[ 2.24843008e-01 -9.74392841e-01 -2.05262508e-03 7.48179355e+01] [-9.74357488e-01 -2.24852338e-01 8.30135238e-03 -8.50571881e+01] [-8.55031588e-03 1.33489580e-04 -9.99963436e-01 2.41415494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27185806399999 meters 0.016869122703870306 Centerline is valid? [True, True] Translation: X:74.82, Y:-85.17, Z:0.24 [[ 2.99244170e-01 -9.54173191e-01 -2.53940342e-03 7.48235353e+01] [-9.54142233e-01 -2.99254919e-01 7.68720036e-03 -8.51748743e+01] [-8.09484947e-03 1.22602159e-04 -9.99967229e-01 2.40769198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.301858064 meters 0.016739302589015386 Centerline is valid? [True, True] Translation: X:74.84, Y:-85.29, Z:0.24 [[ 3.72058053e-01 -9.28204594e-01 -3.00604316e-03 7.48364731e+01] [-9.28176701e-01 -3.72070180e-01 7.19675117e-03 -8.52881312e+01] [-7.79851652e-03 1.12529993e-04 -9.99969585e-01 2.40132380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.331858064 meters 0.016635224617321715 Centerline is valid? [True, True] Translation: X:74.86, Y:-85.40, Z:0.24 [[ 4.42891450e-01 -8.96569008e-01 -3.34318676e-03 7.48596844e+01] [-8.96545116e-01 -4.42904058e-01 6.54609881e-03 -8.54038638e+01] [-7.34974029e-03 9.81065627e-05 -9.99972985e-01 2.39506983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.361858064 meters 0.01680731736305508 Centerline is valid? [True, True] Translation: X:74.89, Y:-85.51, Z:0.24 [[ 5.10429864e-01 -8.59911303e-01 -3.72893287e-03 7.48897851e+01] [-8.59889662e-01 -5.10443476e-01 6.10134306e-03 -8.55140079e+01] [-7.15002332e-03 9.21631173e-05 -9.99974434e-01 2.39356836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.391858064 meters 0.016669952693196044 Centerline is valid? [True, True] Translation: X:74.93, Y:-85.62, Z:0.24 [[ 5.74808255e-01 -8.18278176e-01 -4.03695894e-03 7.49257094e+01] [-8.18259044e-01 -5.74822424e-01 5.59629456e-03 -8.56186233e+01] [-6.89986023e-03 8.64818521e-05 -9.99976192e-01 2.38819720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.421858064 meters 0.016771527568747387 Centerline is valid? [True, True] Translation: X:74.97, Y:-85.72, Z:0.24 [[ 6.35672790e-01 -7.71947770e-01 -4.09209736e-03 7.49697484e+01] [-7.71932551e-01 -6.35685956e-01 4.84777817e-03 -8.57193973e+01] [-6.34352037e-03 7.72224838e-05 -9.99979877e-01 2.38454005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.451858064 meters 0.016688102971478443 Centerline is valid? [True, True] Translation: X:75.02, Y:-85.82, Z:0.24 [[ 6.92541892e-01 -7.21362704e-01 -4.64515736e-03 7.50227152e+01] [-7.21347248e-01 -6.92557466e-01 4.72277421e-03 -8.58196251e+01] [-6.62387158e-03 8.00524929e-05 -9.99978059e-01 2.38273804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.481858064 meters 0.016503931719854405 Centerline is valid? [True, True] Translation: X:75.07, Y:-85.90, Z:0.24 [[ 7.45145115e-01 -6.66879014e-01 -5.58019324e-03 7.50702361e+01] [-6.66861220e-01 -7.45166003e-01 4.87249351e-03 -8.59038911e+01] [-7.40753396e-03 9.04997326e-05 -9.99972560e-01 2.38182387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.511858064 meters 0.016624597293411442 Centerline is valid? [True, True] Translation: X:75.07, Y:-85.92, Z:0.24 [[ 7.94382518e-01 -6.07379546e-01 -6.81928766e-03 7.50683157e+01] [-6.07358375e-01 -7.94411779e-01 5.07246467e-03 -8.59153159e+01] [-8.49823373e-03 1.12274208e-04 -9.99963883e-01 2.39218500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.541858064 meters 0.01665361310851605 Centerline is valid? [True, True] Translation: X:75.07, Y:-85.93, Z:0.24 [[ 8.39221608e-01 -5.43732707e-01 -7.86362017e-03 7.50676724e+01] [-5.43710246e-01 -8.39258439e-01 4.94378350e-03 -8.59269458e+01] [-9.28770638e-03 1.26600918e-04 -9.99956860e-01 2.39469396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.571858064 meters 0.016794547803454716 Centerline is valid? [True, True] Translation: X:75.07, Y:-85.94, Z:0.24 [[ 8.78710860e-01 -4.77277604e-01 -8.56230251e-03 7.50684063e+01] [-4.77256502e-01 -8.78752564e-01 4.49022031e-03 -8.59383118e+01] [-9.66722688e-03 1.40809188e-04 -9.99953261e-01 2.40144979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601858064 meters 0.017597754569460902 Centerline is valid? [True, True] Translation: X:75.07, Y:-85.95, Z:0.24 [[ 9.12329675e-01 -4.09350573e-01 -9.30976689e-03 7.50696503e+01] [-4.09331180e-01 -9.12377158e-01 3.98834230e-03 -8.59473147e+01] [-1.01266489e-02 1.72094825e-04 -9.99948709e-01 2.41534670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.631858064 meters 0.017635258244645645 Centerline is valid? [True, True] Translation: X:75.07, Y:-85.96, Z:0.24 [[ 9.41122391e-01 -3.37936140e-01 -9.37071542e-03 7.50722905e+01] [-3.37921294e-01 -9.41169024e-01 3.17276095e-03 -8.59563263e+01] [-9.89161768e-03 1.80607914e-04 -9.99951060e-01 2.41246140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661858064 meters 0.017958244786765172 Centerline is valid? [True, True] Translation: X:75.08, Y:-85.96, Z:0.24 [[ 9.64297025e-01 -2.64654082e-01 -9.45859600e-03 7.50763863e+01] [-2.64643292e-01 -9.64343393e-01 2.39740678e-03 -8.59639917e+01] [-9.75581806e-03 1.91341759e-04 -9.99952393e-01 2.41199083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.691858064 meters 0.01826938386831243 Centerline is valid? [True, True] Translation: X:75.08, Y:-85.97, Z:0.24 [[ 9.81770572e-01 -1.89816621e-01 -9.80792270e-03 7.50805205e+01] [-1.89809268e-01 -9.81819539e-01 1.68369702e-03 -8.59711915e+01] [-9.94920382e-03 2.08630442e-04 -9.99950484e-01 2.41314831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721858064 meters 0.01900333909352573 Centerline is valid? [True, True] Translation: X:75.08, Y:-85.98, Z:0.24 [[ 9.93379565e-01 -1.14463713e-01 -9.75184391e-03 7.50809724e+01] [-1.14460425e-01 -9.93427404e-01 8.96445561e-04 -8.59762872e+01] [-9.79035947e-03 2.25689498e-04 -9.99952048e-01 2.41502666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.751858064 meters 0.019356913340648783 Centerline is valid? [True, True] Translation: X:75.08, Y:-85.98, Z:0.24 [[ 9.99272084e-01 -3.69805430e-02 -9.36705286e-03 7.50816341e+01] [-3.69809981e-02 -9.99315961e-01 1.24675197e-04 -8.59801821e+01] [-9.36525598e-03 2.21818520e-04 -9.99956120e-01 2.41247896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781858064 meters 0.019444725227135338 Centerline is valid? [True, True] Translation: X:75.08, Y:-85.98, Z:0.24 [[ 9.99115735e-01 4.11367969e-02 -8.68981745e-03 7.50834862e+01] [ 4.11334270e-02 -9.99153502e-01 -5.66243106e-04 -8.59840832e+01] [-8.70575497e-03 2.08300425e-04 -9.99962083e-01 2.40752257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.811858064 meters 0.01949186384574602 Centerline is valid? [True, True] Translation: X:75.08, Y:-85.99, Z:0.24 [[ 9.92764481e-01 1.19865791e-01 -7.13289624e-03 7.50847460e+01] [ 1.19861482e-01 -9.92790091e-01 -1.03004969e-03 -8.59875058e+01] [-7.20493643e-03 1.67637227e-04 -9.99974030e-01 2.39142636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841858064 meters 0.019194600164825857 Centerline is valid? [True, True] Translation: X:75.09, Y:-85.99, Z:0.24 [[ 9.80145767e-01 1.98173440e-01 -6.44694886e-03 7.50878319e+01] [ 1.98168164e-01 -9.80166958e-01 -1.45350605e-03 -8.59908009e+01] [-6.60713255e-03 1.47067785e-04 -9.99978162e-01 2.38440982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.871858064 meters 0.01893558229282862 Centerline is valid? [True, True] Translation: X:75.09, Y:-85.99, Z:0.24 [[ 9.61268404e-01 2.75552519e-01 -5.81926606e-03 7.50910598e+01] [ 2.75546664e-01 -9.61286010e-01 -1.80084938e-03 -8.59935528e+01] [-6.09020764e-03 1.27620264e-04 -9.99981446e-01 2.38347672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901858064 meters 0.017979498711485936 Centerline is valid? [True, True] Translation: X:75.09, Y:-86.00, Z:0.24 [[ 9.35353967e-01 3.53662389e-01 -5.98934483e-03 7.50942435e+01] [ 3.53654385e-01 -9.35373136e-01 -2.38181212e-03 -8.59978077e+01] [-6.44462962e-03 1.09679353e-04 -9.99979227e-01 2.38309024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.931858064 meters 0.017559373915690017 Centerline is valid? [True, True] Translation: X:75.10, Y:-86.00, Z:0.24 [[ 9.03933687e-01 4.27633536e-01 -5.78340081e-03 7.50976610e+01] [ 4.27624097e-01 -9.03952183e-01 -2.84281825e-03 -8.59985344e+01] [-6.44360221e-03 9.65976374e-05 -9.99979235e-01 2.38301169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961858064 meters 0.016958046223177745 Centerline is valid? [True, True] Translation: X:75.10, Y:-86.00, Z:0.24 [[ 8.66520001e-01 4.99113667e-01 -5.35123108e-03 7.51011499e+01] [ 4.99103588e-01 -8.66536520e-01 -3.17292182e-03 -8.59990826e+01] [-6.22068580e-03 7.85815814e-05 -9.99980648e-01 2.38547302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99185806399998 meters 0.016646924158410854 Centerline is valid? [True, True] Translation: X:75.10, Y:-86.00, Z:0.24 [[ 8.23717353e-01 5.66976397e-01 -5.24279111e-03 7.51032775e+01] [ 5.66964379e-01 -8.23734035e-01 -3.69230660e-03 -8.59990548e+01] [-6.41211617e-03 6.89412164e-05 -9.99979440e-01 2.38906770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02185806399999 meters 0.015758721773467703 Centerline is valid? [True, True] Translation: X:75.11, Y:-86.01, Z:0.24 [[ 7.74921102e-01 6.32036981e-01 -5.15176654e-03 7.51144985e+01] [ 6.32022567e-01 -7.74938225e-01 -4.26875839e-03 -8.60079479e+01] [-6.69031398e-03 5.19182365e-05 -9.99977618e-01 2.38272979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.051858064 meters 0.015632962304354663 Centerline is valid? [True, True] Translation: X:75.13, Y:-86.01, Z:0.24 [[ 7.22285842e-01 6.91573379e-01 -5.42445084e-03 7.51253405e+01] [ 6.91553355e-01 -7.22306209e-01 -5.26284233e-03 -8.60149266e+01] [-7.55775617e-03 4.99793245e-05 -9.99971439e-01 2.38129674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.081858064 meters 0.01598829165616542 Centerline is valid? [True, True] Translation: X:75.13, Y:-86.02, Z:0.24 [[ 6.65216308e-01 7.46632137e-01 -5.26464484e-03 7.51339029e+01] [ 7.46608214e-01 -6.65237138e-01 -5.97703325e-03 -8.60193190e+01] [-7.96488238e-03 4.53929062e-05 -9.99968279e-01 2.40310071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.111858064 meters 0.015548685807834143 Centerline is valid? [True, True] Translation: X:75.15, Y:-86.02, Z:0.24 [[ 6.04069549e-01 7.96916245e-01 -4.94760191e-03 7.51455195e+01] [ 7.96888971e-01 -6.04089808e-01 -6.59331508e-03 -8.60238170e+01] [-8.24311578e-03 4.01314719e-05 -9.99966024e-01 2.38561074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.141858064 meters 0.015514035393969424 Centerline is valid? [True, True] Translation: X:75.16, Y:-86.03, Z:0.24 [[ 5.39510930e-01 8.41966764e-01 -4.46377770e-03 7.51570228e+01] [ 8.41937366e-01 -5.39529394e-01 -7.03598618e-03 -8.60268425e+01] [-8.33240579e-03 3.77702100e-05 -9.99965284e-01 2.38323175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.171858064 meters 0.015924734393503535 Centerline is valid? [True, True] Translation: X:75.17, Y:-86.03, Z:0.24 [[ 4.71877019e-01 8.81654683e-01 -4.13511716e-03 7.51655345e+01] [ 8.81620097e-01 -4.71895135e-01 -7.80940232e-03 -8.60295147e+01] [-8.83653780e-03 3.94750998e-05 -9.99960956e-01 2.41404976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.201858064 meters 0.01563139105395082 Centerline is valid? [True, True] Translation: X:75.18, Y:-86.03, Z:0.24 [[ 4.01700785e-01 9.15764554e-01 -3.42938039e-03 7.51756254e+01] [ 9.15730292e-01 -4.01715421e-01 -7.92161119e-03 -8.60304864e+01] [-8.63196573e-03 4.17299219e-05 -9.99962743e-01 2.38748331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.231858064 meters 0.01571163242425543 Centerline is valid? [True, True] Translation: X:75.18, Y:-86.03, Z:0.24 [[ 3.30127511e-01 9.43931867e-01 -2.90819041e-03 7.51820619e+01] [ 9.43893714e-01 -3.30140316e-01 -8.48699105e-03 -8.60311720e+01] [-8.97125221e-03 5.67665852e-05 -9.99959756e-01 2.38862360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.261858064 meters 0.015690641704166584 Centerline is valid? [True, True] Translation: X:75.19, Y:-86.03, Z:0.24 [[ 2.55880119e-01 9.66705726e-01 -2.32472572e-03 7.51913356e+01] [ 9.66663468e-01 -2.55890670e-01 -9.03908658e-03 -8.60313233e+01] [-9.33301237e-03 6.56951216e-05 -9.99956444e-01 2.38486662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.291858064 meters 0.015808445866935136 Centerline is valid? [True, True] Translation: X:75.20, Y:-86.03, Z:0.24 [[ 1.79922771e-01 9.83679459e-01 -1.58692834e-03 7.51991261e+01] [ 9.83637713e-01 -1.79929756e-01 -9.06267855e-03 -8.60317653e+01] [-9.20030637e-03 6.96196726e-05 -9.99957674e-01 2.38845370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321858064 meters 0.015881428371124686 Centerline is valid? [True, True] Translation: X:75.21, Y:-86.03, Z:0.24 [[ 1.02981899e-01 9.94682872e-01 -8.43875750e-04 7.52054332e+01] [ 9.94643376e-01 -1.02985330e-01 -8.86432563e-03 -8.60305199e+01] [-8.90409970e-03 7.35096575e-05 -9.99960355e-01 2.37459223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.351858064 meters 0.01578864672839713 Centerline is valid? [True, True] Translation: X:75.21, Y:-86.03, Z:0.24 [[ 2.46252026e-02 9.99696743e-01 -1.49298581e-04 7.52139329e+01] [ 9.99656087e-01 -2.46255476e-02 -9.01609240e-03 -8.60290268e+01] [-9.01703477e-03 7.27758670e-05 -9.99959343e-01 2.36975868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381858064 meters 0.01580896887964197 Centerline is valid? [True, True] Translation: X:75.22, Y:-86.03, Z:0.24 [[-5.39895191e-02 9.98541348e-01 5.54362002e-04 7.52211866e+01] [ 9.98501219e-01 5.39923194e-02 -8.95233230e-03 -8.60273634e+01] [-8.96920526e-03 7.01990193e-05 -9.99959773e-01 2.37114187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.411858064 meters 0.015616707055547937 Centerline is valid? [True, True] Translation: X:75.23, Y:-86.02, Z:0.24 [[-1.32452339e-01 9.91188664e-01 1.18774650e-03 7.52333544e+01] [ 9.91152973e-01 1.32457649e-01 -8.41157994e-03 -8.60233757e+01] [-8.49478879e-03 6.31050454e-05 -9.99963917e-01 2.35731980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441858064 meters 0.01568700403118313 Centerline is valid? [True, True] Translation: X:75.24, Y:-86.02, Z:0.24 [[-2.10457536e-01 9.77601169e-01 1.89203500e-03 7.52429807e+01] [ 9.77564088e-01 2.10466032e-01 -8.51485260e-03 -8.60201639e+01] [-8.72233895e-03 5.75705749e-05 -9.99961958e-01 2.35273860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.471858064 meters 0.015817598919212666 Centerline is valid? [True, True] Translation: X:75.25, Y:-86.02, Z:0.24 [[-2.86388682e-01 9.58109526e-01 2.76738708e-03 7.52501005e+01] [ 9.58066889e-01 2.86402046e-01 -9.03900674e-03 -8.60173577e+01] [-9.45294378e-03 6.26726993e-05 -9.99955318e-01 2.36550538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501858064 meters 0.015817598919212666 Centerline is valid? [True, True] Translation: X:75.25, Y:-86.01, Z:0.24 [[-3.60570771e-01 9.32725415e-01 3.46705423e-03 7.52542239e+01] [ 9.32683956e-01 3.60587433e-01 -8.79436228e-03 -8.60147435e+01] [-9.45290139e-03 6.26758728e-05 -9.99955318e-01 2.36550178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.531858064 meters 0.015716538305347288 Centerline is valid? [True, True] Translation: X:75.26, Y:-86.01, Z:0.24 [[-4.32762102e-01 9.01497815e-01 4.31877066e-03 7.52616914e+01] [ 9.01454368e-01 4.32783647e-01 -8.85080740e-03 -8.60091236e+01] [-9.84807685e-03 6.28806555e-05 -9.99951505e-01 2.36108926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561858064 meters 0.015820980134738937 Centerline is valid? [True, True] Translation: X:75.27, Y:-86.01, Z:0.24 [[-5.01425844e-01 8.65186831e-01 4.88565369e-03 7.52662545e+01] [ 8.65147077e-01 5.01449641e-01 -8.29419060e-03 -8.60051515e+01] [-9.62593377e-03 6.78874791e-05 -9.99953667e-01 2.35448708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.591858064 meters 0.0158356103362781 Centerline is valid? [True, True] Translation: X:75.27, Y:-86.00, Z:0.23 [[-5.67568616e-01 8.23308841e-01 5.33095783e-03 7.52714810e+01] [ 8.23273626e-01 5.67593647e-01 -7.61500975e-03 -8.59992908e+01] [-9.29532265e-03 6.67964427e-05 -9.99956795e-01 2.34338835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621858064 meters 0.015782913204547465 Centerline is valid? [True, True] Translation: X:75.28, Y:-85.99, Z:0.23 [[-6.30061410e-01 7.76523642e-01 5.80119085e-03 7.52775648e+01] [ 7.76491729e-01 6.30088112e-01 -7.04029899e-03 -8.59926437e+01] [-9.12222000e-03 6.87560089e-05 -9.99958389e-01 2.33445033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.651858064 meters 0.01595487816725008 Centerline is valid? [True, True] Translation: X:75.28, Y:-85.99, Z:0.23 [[-6.88489201e-01 7.25212499e-01 7.03217323e-03 7.52822631e+01] [ 7.25175890e-01 6.88525108e-01 -7.28729813e-03 -8.59864862e+01] [-1.01266675e-02 8.23364186e-05 -9.99948721e-01 2.33971300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681858064 meters 0.01605281724180102 Centerline is valid? [True, True] Translation: X:75.29, Y:-85.98, Z:0.23 [[-7.43008197e-01 6.69236945e-01 7.79300017e-03 7.52871640e+01] [ 6.69201360e-01 7.43049059e-01 -6.90182994e-03 -8.59788765e+01] [-1.04095410e-02 8.69700922e-05 -9.99945815e-01 2.34366876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.711858064 meters 0.016087029952886172 Centerline is valid? [True, True] Translation: X:75.30, Y:-85.96, Z:0.23 [[-7.88465058e-01 6.15020290e-01 8.53783360e-03 7.53032694e+01] [ 6.14985482e-01 7.88511277e-01 -6.54390355e-03 -8.59581540e+01] [-1.07568115e-02 9.10044135e-05 -9.99942140e-01 2.34581712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74185806399998 meters 0.01611486839092412 Centerline is valid? [True, True] Translation: X:75.32, Y:-85.94, Z:0.23 [[-8.29920414e-01 5.57813705e-01 8.71648647e-03 7.53170256e+01] [ 5.57784081e-01 8.29966181e-01 -5.74950757e-03 -8.59356591e+01] [-1.04415431e-02 9.02837000e-05 -9.99945482e-01 2.34202955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77185806399999 meters 0.016402028565928792 Centerline is valid? [True, True] Translation: X:75.33, Y:-85.91, Z:0.23 [[-8.67104945e-01 4.98058009e-01 8.19961621e-03 7.53297475e+01] [ 4.98036676e-01 8.67143709e-01 -4.61052993e-03 -8.59140156e+01] [-9.40655697e-03 8.58963015e-05 -9.99955754e-01 2.33730786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.801858064 meters 0.01631114575235652 Centerline is valid? [True, True] Translation: X:75.64, Y:-85.37, Z:-0.74 [[-8.41711171e-01 -5.39876409e-01 7.46774866e-03 7.56394910e+01] [ 5.39853998e-01 -8.41744290e-01 -4.92042516e-03 -8.53659827e+01] [ 8.94235626e-03 -1.10082851e-04 9.99960010e-01 -7.43378968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.831858064 meters 0.016381222481705482 Centerline is valid? [True, True] Translation: X:75.29, Y:-85.90, Z:0.23 [[-8.66886730e-01 4.98454762e-01 7.08850671e-03 7.52940478e+01] [ 4.98438837e-01 8.66915707e-01 -3.98518581e-03 -8.58960844e+01] [-8.13157266e-03 7.84823437e-05 -9.99966935e-01 2.32573384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.861858064 meters 0.016510868960245992 Centerline is valid? [True, True] Translation: X:75.31, Y:-85.87, Z:0.23 [[-8.99837042e-01 4.36166688e-01 7.20546653e-03 7.53054082e+01] [ 4.36153420e-01 8.99865887e-01 -3.40300959e-03 -8.58724586e+01] [-7.96823296e-03 8.05347860e-05 -9.99968250e-01 2.32444109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.891858064 meters 0.016652257548171043 Centerline is valid? [True, True] Translation: X:75.31, Y:-85.85, Z:0.23 [[-9.28213662e-01 3.71978735e-01 7.15664760e-03 7.53145261e+01] [ 3.71968368e-01 9.28241248e-01 -2.77840813e-03 -8.58485655e+01] [-7.67660423e-03 8.30901448e-05 -9.99970531e-01 2.32664892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.921858064 meters 0.01674222476664918 Centerline is valid? [True, True] Translation: X:75.32, Y:-85.82, Z:0.23 [[-9.52071538e-01 3.05789405e-01 7.25441451e-03 7.53228641e+01] [ 3.05781219e-01 9.52099172e-01 -2.23916311e-03 -8.58240156e+01] [-7.59163440e-03 8.64202408e-05 -9.99971179e-01 2.32852139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.951858064 meters 0.016689365958086632 Centerline is valid? [True, True] Translation: X:75.33, Y:-85.80, Z:0.23 [[-9.71347254e-01 2.37535953e-01 7.82202089e-03 7.53259151e+01] [ 2.37529013e-01 9.71378743e-01 -1.81806646e-03 -8.57997736e+01] [-8.03000097e-03 9.19830374e-05 -9.99967755e-01 2.33346481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.981858064 meters 0.016687588946694386 Centerline is valid? [True, True] Translation: X:75.48, Y:-85.16, Z:-0.74 [[-9.59813427e-01 -2.80531471e-01 7.76397030e-03 7.54788289e+01] [ 2.80521554e-01 -9.59844824e-01 -2.36038020e-03 -8.51608859e+01] [ 8.11436763e-03 -8.75635922e-05 9.99967074e-01 -7.44032302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.011858064 meters 0.01657732783416721 Centerline is valid? [True, True] Translation: X:75.28, Y:-85.79, Z:0.23 [[-9.72520466e-01 2.32677184e-01 8.07911098e-03 7.52767546e+01] [ 2.32669888e-01 9.72554019e-01 -1.84457525e-03 -8.57918880e+01] [-8.28656243e-03 8.58786660e-05 -9.99965662e-01 2.34229091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.041858064 meters 0.016403241476228292 Centerline is valid? [True, True] Translation: X:75.28, Y:-85.77, Z:0.23 [[-9.86852550e-01 1.61402807e-01 8.43677828e-03 7.52820075e+01] [ 1.61397531e-01 9.86888610e-01 -1.30701630e-03 -8.57663866e+01] [-8.53711649e-03 7.18428102e-05 -9.99963556e-01 2.34702307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.071858064 meters 0.016458557684195494 Centerline is valid? [True, True] Translation: X:75.29, Y:-85.74, Z:0.24 [[-9.95833608e-01 9.08200713e-02 8.19383003e-03 7.52868441e+01] [ 9.08174927e-02 9.95867316e-01 -6.86994858e-04 -8.57399449e+01] [-8.22236044e-03 6.00105304e-05 -9.99966194e-01 2.35340780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101858064 meters 0.016325991781150757 Centerline is valid? [True, True] Translation: X:75.28, Y:-85.71, Z:0.24 [[-9.99796351e-01 1.86376092e-02 7.73923146e-03 7.52829331e+01] [ 1.86374172e-02 9.99826304e-01 -9.69325074e-05 -8.57131059e+01] [-7.73969377e-03 4.73265185e-05 -9.99970047e-01 2.35454752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.131858064 meters 0.016137064057494026 Centerline is valid? [True, True] Translation: X:75.28, Y:-85.04, Z:-0.75 [[-9.97082525e-01 -7.59240894e-02 7.87212676e-03 7.52848446e+01] [ 7.59214257e-02 -9.97113600e-01 -6.37097943e-04 -8.50395701e+01] [ 7.89777574e-03 -3.75761396e-05 9.99968811e-01 -7.45635985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161858064 meters 0.016057522772581226 Centerline is valid? [True, True] Translation: X:75.20, Y:-85.72, Z:0.24 [[-9.99917140e-01 1.02021606e-02 7.85042266e-03 7.52001466e+01] [ 1.02020226e-02 9.99947956e-01 -5.76217173e-05 -8.57165287e+01] [-7.85060196e-03 2.24732470e-05 -9.99969183e-01 2.35884258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.191858064 meters 0.015948681361410453 Centerline is valid? [True, True] Translation: X:75.21, Y:-85.03, Z:-0.75 [[-9.97339314e-01 -7.25130609e-02 7.49329822e-03 7.52100663e+01] [ 7.25106842e-02 -9.97367462e-01 -5.88730448e-04 -8.50347801e+01] [ 7.51626247e-03 -4.38198408e-05 9.99971752e-01 -7.46107124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221858064 meters 0.015976096516148966 Centerline is valid? [True, True] Translation: X:75.12, Y:-85.72, Z:0.24 [[-9.99965928e-01 4.14818073e-03 7.13683764e-03 7.51246481e+01] [ 4.14816432e-03 9.99991396e-01 -1.71021764e-05 -8.57203375e+01] [-7.13684718e-03 1.25031815e-05 -9.99974532e-01 2.35364733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.251858064 meters 0.016014173162361707 Centerline is valid? [True, True] Translation: X:75.14, Y:-85.03, Z:-0.75 [[-9.97703333e-01 -6.74550940e-02 6.15381931e-03 7.51363469e+01] [ 6.74533526e-02 -9.97722308e-01 -4.90321641e-04 -8.50262571e+01] [ 6.17287750e-03 -7.40997919e-05 9.99980945e-01 -7.45505684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281858064 meters 0.015826768807806375 Centerline is valid? [True, True] Translation: X:75.05, Y:-85.73, Z:0.23 [[-9.99982162e-01 -6.00165911e-04 5.94273633e-03 7.50513020e+01] [-6.00071494e-04 9.99999820e-01 1.76708712e-05 -8.57285744e+01] [-5.94274586e-03 1.41044893e-05 -9.99982342e-01 2.34173673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.311858064 meters 0.01581205322228568 Centerline is valid? [True, True] Translation: X:75.05, Y:-85.70, Z:0.23 [[-9.97414768e-01 -7.16038259e-02 6.05573026e-03 7.50468058e+01] [-7.16024115e-02 9.97433152e-01 4.50321238e-04 -8.57040664e+01] [-6.07243084e-03 1.55521632e-05 -9.99981563e-01 2.34034407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341858064 meters 0.015891730188590865 Centerline is valid? [True, True] Translation: X:75.04, Y:-85.68, Z:0.23 [[-9.89770912e-01 -1.42539366e-01 6.00587782e-03 7.50383870e+01] [-1.42536646e-01 9.89789134e-01 8.80762828e-04 -8.56834056e+01] [-6.07009598e-03 1.56957495e-05 -9.99981577e-01 2.34172843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.371858064 meters 0.01578520331682919 Centerline is valid? [True, True] Translation: X:75.02, Y:-85.66, Z:0.23 [[-9.76989362e-01 -2.13214225e-01 5.61075025e-03 7.50174510e+01] [-2.13210623e-01 9.77005473e-01 1.23937812e-03 -8.56613258e+01] [-5.74598675e-03 1.45876768e-05 -9.99983492e-01 2.34477336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401858064 meters 0.015739860246748113 Centerline is valid? [True, True] Translation: X:74.98, Y:-85.64, Z:0.23 [[-9.58940412e-01 -2.83556473e-01 5.38626348e-03 7.49827597e+01] [-2.83551926e-01 9.58955539e-01 1.60597142e-03 -8.56436791e+01] [-5.62057079e-03 1.27455113e-05 -9.99984204e-01 2.34815297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.431858064 meters 0.015784846722153363 Centerline is valid? [True, True] Translation: X:74.93, Y:-85.64, Z:0.24 [[-9.35453655e-01 -3.53410167e-01 5.26431819e-03 7.49253713e+01] [-3.53404503e-01 9.35468468e-01 2.00096679e-03 -8.56358572e+01] [-5.63176568e-03 1.13779511e-05 -9.99984141e-01 2.35404503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461858064 meters 0.015663220930832108 Centerline is valid? [True, True] Translation: X:74.86, Y:-85.64, Z:0.24 [[-9.06622004e-01 -4.21912411e-01 5.14398215e-03 7.48607861e+01] [-4.21905557e-01 9.06636596e-01 2.40488895e-03 -8.56378635e+01] [-5.67837496e-03 1.00505898e-05 -9.99983878e-01 2.36457800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49185806399998 meters 0.015674062718672978 Centerline is valid? [True, True] Translation: X:74.78, Y:-85.65, Z:0.24 [[-8.72772863e-01 -4.88098006e-01 5.27886721e-03 7.47849718e+01] [-4.88089000e-01 8.72788827e-01 2.96508240e-03 -8.56482968e+01] [-6.05458713e-03 1.12864383e-05 -9.99981671e-01 2.36792718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52185806399999 meters 0.015668852170990556 Centerline is valid? [True, True] Translation: X:74.71, Y:-85.67, Z:0.24 [[-8.33916566e-01 -5.51867321e-01 5.06164613e-03 7.47063881e+01] [-5.51857056e-01 8.33931928e-01 3.36601542e-03 -8.56671275e+01] [-6.07866222e-03 1.36708947e-05 -9.99981525e-01 2.36820900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.551858064 meters 0.015635446220174605 Centerline is valid? [True, True] Translation: X:74.62, Y:-85.71, Z:0.24 [[-7.91108352e-01 -6.11657582e-01 4.75157720e-03 7.46152393e+01] [-6.11646365e-01 7.91122621e-01 3.70429337e-03 -8.57074414e+01] [-6.02483933e-03 2.42124980e-05 -9.99981850e-01 2.35798481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.581858064 meters 0.015593484585887694 Centerline is valid? [True, True] Translation: X:74.53, Y:-85.75, Z:0.24 [[-7.42748508e-01 -6.69555057e-01 4.54753917e-03 7.45283301e+01] [-6.69542282e-01 7.42762428e-01 4.13619698e-03 -8.57472423e+01] [-6.14715284e-03 2.73843864e-05 -9.99981106e-01 2.35326333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.611858064 meters 0.01549041230088849 Centerline is valid? [True, True] Translation: X:74.45, Y:-85.79, Z:0.24 [[-6.88524342e-01 -7.25204460e-01 3.56677069e-03 7.44461141e+01] [-7.25194613e-01 6.88533580e-01 3.77925144e-03 -8.57857696e+01] [-5.19657139e-03 1.55037189e-05 -9.99986498e-01 2.35234791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.641858064 meters 0.015387855175171446 Centerline is valid? [True, True] Translation: X:74.35, Y:-85.86, Z:0.24 [[-6.30795768e-01 -7.75940938e-01 3.51574996e-03 7.43463697e+01] [-7.75928772e-01 6.30805565e-01 4.34512099e-03 -8.58556577e+01] [-5.58931190e-03 1.29123816e-05 -9.99984380e-01 2.36144214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.671858064 meters 0.015383964675094633 Centerline is valid? [True, True] Translation: X:74.27, Y:-85.91, Z:0.24 [[-5.69533787e-01 -8.21959884e-01 3.63519053e-03 7.42686156e+01] [-8.21942968e-01 5.69545388e-01 5.27325996e-03 -8.59123171e+01] [-6.40481414e-03 1.53804255e-05 -9.99979489e-01 2.36840314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.701858064 meters 0.015300607102915548 Centerline is valid? [True, True] Translation: X:74.19, Y:-85.99, Z:0.24 [[-5.05245718e-01 -8.62969696e-01 3.17310143e-03 7.41864247e+01] [-8.62952453e-01 5.05255682e-01 5.45529102e-03 -8.59896039e+01] [-6.31097836e-03 1.80267754e-05 -9.99980085e-01 2.37296722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.731858064 meters 0.015314700122772393 Centerline is valid? [True, True] Translation: X:74.11, Y:-86.07, Z:0.24 [[-4.39773062e-01 -8.98106177e-01 2.22469501e-03 7.41115242e+01] [-8.98094366e-01 4.39778688e-01 4.60596853e-03 -8.60729180e+01] [-5.11502224e-03 2.75948291e-05 -9.99986918e-01 2.35722554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.761858064 meters 0.015430679301143483 Centerline is valid? [True, True] Translation: X:74.04, Y:-86.17, Z:0.23 [[-3.70813630e-01 -9.28706204e-01 1.42760417e-03 7.40379016e+01] [-9.28699040e-01 3.70816377e-01 3.64802184e-03 -8.61745783e+01] [-3.91731952e-03 2.69216046e-05 -9.99992327e-01 2.34386768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.791858064 meters 0.015500738736205343 Centerline is valid? [True, True] Translation: X:73.98, Y:-86.26, Z:0.23 [[-2.99679446e-01 -9.54039534e-01 8.93024913e-04 7.39779873e+01] [-9.54035036e-01 2.99680776e-01 2.92968762e-03 -8.62617426e+01] [-3.06266021e-03 2.59901078e-05 -9.99995310e-01 2.33402132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821858064 meters 0.015939752548103103 Centerline is valid? [True, True] Translation: X:73.92, Y:-86.37, Z:0.23 [[-2.29290918e-01 -9.73357753e-01 5.99249792e-04 7.39219011e+01] [-9.73354018e-01 2.29291698e-01 2.69677709e-03 -8.63693447e+01] [-2.76233189e-03 3.50643018e-05 -9.99996184e-01 2.33347797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.851858064 meters 0.016255516362050203 Centerline is valid? [True, True] Translation: X:73.88, Y:-86.48, Z:0.23 [[-1.55896005e-01 -9.87773373e-01 4.47438595e-04 7.38750588e+01] [-9.87768366e-01 1.55896639e-01 3.14533549e-03 -8.64776310e+01] [-3.17663282e-03 4.83795473e-05 -9.99994953e-01 2.33891388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881858064 meters 0.016601503466574904 Centerline is valid? [True, True] Translation: X:73.84, Y:-86.60, Z:0.23 [[-8.16099874e-02 -9.96664319e-01 2.12877665e-04 7.38360110e+01] [-9.96658788e-01 8.16102438e-02 3.32085791e-03 -8.65959963e+01] [-3.32715359e-03 5.88487768e-05 -9.99994463e-01 2.34004228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.911858064 meters 0.017359408489308007 Centerline is valid? [True, True] Translation: X:73.81, Y:-86.71, Z:0.23 [[-6.62924357e-03 -9.99978025e-01 -4.95097657e-05 7.38065665e+01] [-9.99971169e-01 6.62901474e-03 3.70376628e-03 -8.67122012e+01] [-3.70335669e-03 7.40615071e-05 -9.99993140e-01 2.34245995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941858064 meters 0.018131494964819087 Centerline is valid? [True, True] Translation: X:73.79, Y:-86.83, Z:0.23 [[ 6.68403932e-02 -9.97763612e-01 -3.69230297e-04 7.37855192e+01] [-9.97755375e-01 -6.68413422e-02 4.05543023e-03 -8.68333740e+01] [-4.07104056e-03 9.73349618e-05 -9.99991709e-01 2.34852584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.971858064 meters 0.018745449230661026 Centerline is valid? [True, True] Translation: X:73.77, Y:-86.95, Z:0.23 [[ 1.42184375e-01 -9.89839894e-01 -7.66539472e-04 7.37737357e+01] [-9.89829608e-01 -1.42186393e-01 4.51410998e-03 -8.69535064e+01] [-4.57723763e-03 1.16907559e-04 -9.99989518e-01 2.34930429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001858064 meters 0.01942439334525908 Centerline is valid? [True, True] Translation: X:73.77, Y:-87.08, Z:0.23 [[ 2.16122020e-01 -9.76365684e-01 -1.15075837e-03 7.37710022e+01] [-9.76354894e-01 -2.16125044e-01 4.59192435e-03 -8.70768662e+01] [-4.73210506e-03 1.31132605e-04 -9.99988795e-01 2.34788302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.031858064 meters 0.01959483044484302 Centerline is valid? [True, True] Translation: X:73.78, Y:-87.20, Z:0.23 [[ 2.90680106e-01 -9.56819195e-01 -1.45044383e-03 7.37769624e+01] [-9.56809379e-01 -2.90683697e-01 4.33599429e-03 -8.71991191e+01] [-4.57038294e-03 1.27410977e-04 -9.99989548e-01 2.34735566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061858064 meters 0.019791907054642958 Centerline is valid? [True, True] Translation: X:73.79, Y:-87.32, Z:0.23 [[ 3.63738716e-01 -9.31499346e-01 -1.76499983e-03 7.37923571e+01] [-9.31490004e-01 -3.63742976e-01 4.17369468e-03 -8.73200993e+01] [-4.52980015e-03 1.25945360e-04 -9.99989732e-01 2.34544522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.091858064 meters 0.01861460206675585 Centerline is valid? [True, True] Translation: X:73.81, Y:-87.44, Z:0.23 [[ 4.34933248e-01 -9.00460747e-01 -1.87426011e-03 7.38144380e+01] [-9.00453459e-01 -4.34937272e-01 3.62456834e-03 -8.74393490e+01] [-4.07896710e-03 1.11238715e-04 -9.99991675e-01 2.33890469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121858064 meters 0.018566536431205274 Centerline is valid? [True, True] Translation: X:73.85, Y:-87.55, Z:0.23 [[ 5.03508215e-01 -8.63988011e-01 -2.04798611e-03 7.38459653e+01] [-8.63981683e-01 -5.03512370e-01 3.30844073e-03 -8.75537117e+01] [-3.88963946e-03 1.03595394e-04 -9.99992430e-01 2.33430443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.151858064 meters 0.019236954315320222 Centerline is valid? [True, True] Translation: X:73.89, Y:-87.67, Z:0.23 [[ 5.69851887e-01 -8.21743574e-01 -2.51523885e-03 7.38870734e+01] [-8.21736374e-01 -5.69857428e-01 3.44133850e-03 -8.76657626e+01] [-4.26122534e-03 1.05810012e-04 -9.99990915e-01 2.34334004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181858064 meters 0.01731209339036421 Centerline is valid? [True, True] Translation: X:73.93, Y:-87.77, Z:0.23 [[ 6.32014121e-01 -7.74950753e-01 -3.07915323e-03 7.39290144e+01] [-7.74942410e-01 -6.32021612e-01 3.59779811e-03 -8.77716001e+01] [-4.73420774e-03 1.12307211e-04 -9.99988787e-01 2.33610764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.211858064 meters 0.01742050710218453 Centerline is valid? [True, True] Translation: X:73.98, Y:-87.87, Z:0.23 [[ 6.90282811e-01 -7.23532427e-01 -3.23532048e-03 7.39818162e+01] [-7.23525172e-01 -6.90290385e-01 3.24181873e-03 -8.78702905e+01] [-4.57887159e-03 1.03064065e-04 -9.99989512e-01 2.33317599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24185806399998 meters 0.01671491818125403 Centerline is valid? [True, True] Translation: X:74.04, Y:-87.97, Z:0.23 [[ 7.45344759e-01 -6.66673148e-01 -2.84661965e-03 7.40389497e+01] [-6.66668661e-01 -7.45350192e-01 2.44724961e-03 -8.79657174e+01] [-3.75324411e-03 7.37074372e-05 -9.99992954e-01 2.32076826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27185806399999 meters 0.01667597261265695 Centerline is valid? [True, True] Translation: X:74.03, Y:-87.97, Z:0.23 [[ 7.96110250e-01 -6.05145284e-01 -2.76684270e-03 7.40332784e+01] [-6.05141898e-01 -7.96115055e-01 2.02533798e-03 -8.79731643e+01] [-3.42834886e-03 6.19401228e-05 -9.99994121e-01 2.31737900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.301858064 meters 0.016542549524758685 Centerline is valid? [True, True] Translation: X:74.03, Y:-87.98, Z:0.23 [[ 8.41753905e-01 -5.39855036e-01 -2.62749730e-03 7.40291652e+01] [-5.39852596e-01 -8.41758004e-01 1.62404077e-03 -8.79795977e+01] [-3.08846348e-03 5.14185786e-05 -9.99995229e-01 2.31708106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.331858064 meters 0.015950085759743007 Centerline is valid? [True, True] Translation: X:74.03, Y:-87.99, Z:0.23 [[ 8.82581206e-01 -4.70148047e-01 -3.35101946e-03 7.40255992e+01] [-4.70144886e-01 -8.82587566e-01 1.72478485e-03 -8.79889751e+01] [-3.76847234e-03 5.32019699e-05 -9.99992898e-01 2.31906298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.361858064 meters 0.015802015856035967 Centerline is valid? [True, True] Translation: X:74.02, Y:-88.00, Z:0.23 [[ 9.16789163e-01 -3.99348874e-01 -4.25522249e-03 7.40230342e+01] [-3.99344892e-01 -9.16799036e-01 1.78443640e-03 -8.79970206e+01] [-4.61379655e-03 6.33494098e-05 -9.99989354e-01 2.32446719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.391858064 meters 0.01587611084644375 Centerline is valid? [True, True] Translation: X:74.02, Y:-88.00, Z:0.23 [[ 9.45293519e-01 -3.26186475e-01 -4.74826144e-03 7.40217031e+01] [-3.26182716e-01 -9.45305442e-01 1.56730693e-03 -8.80034227e+01] [-4.99979170e-03 6.72357327e-05 -9.99987499e-01 2.33046329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.421858064 meters 0.01587611084644375 Centerline is valid? [True, True] Translation: X:74.02, Y:-88.01, Z:0.23 [[ 9.67891813e-01 -2.51320225e-01 -4.85620249e-03 7.40202824e+01] [-2.51317410e-01 -9.67903993e-01 1.19146731e-03 -8.80103027e+01] [-4.99977761e-03 6.72367768e-05 -9.99987499e-01 2.33046183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.451858064 meters 0.01604882509969181 Centerline is valid? [True, True] Translation: X:74.02, Y:-88.02, Z:0.23 [[ 9.84378151e-01 -1.75986227e-01 -5.33878788e-03 7.40173703e+01] [-1.75984076e-01 -9.84392626e-01 8.73822144e-04 -8.80159803e+01] [-5.40924408e-03 7.93702249e-05 -9.99985367e-01 2.33422487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.481858064 meters 0.016496844761444633 Centerline is valid? [True, True] Translation: X:74.01, Y:-88.02, Z:0.23 [[ 9.95050311e-01 -9.92206800e-02 -5.48950562e-03 7.40128401e+01] [-9.92196431e-02 -9.95065450e-01 4.61568690e-04 -8.80205040e+01] [-5.50821453e-03 8.53827199e-05 -9.99984826e-01 2.33372291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.511858064 meters 0.016517830089500776 Centerline is valid? [True, True] Translation: X:74.01, Y:-88.03, Z:0.23 [[ 9.99736261e-01 -2.21382702e-02 -6.10783323e-03 7.40094018e+01] [-2.21384776e-02 -9.99754913e-01 3.36519344e-05 -8.80262544e+01] [-6.10708128e-03 1.01575070e-04 -9.99981346e-01 2.33354545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.541858064 meters 0.016262713482928088 Centerline is valid? [True, True] Translation: X:74.01, Y:-88.04, Z:0.23 [[ 9.98503850e-01 5.41292241e-02 -7.75169269e-03 7.40071225e+01] [ 5.41264618e-02 -9.98533928e-01 -5.65842386e-04 -8.80366147e+01] [-7.77095676e-03 1.45424103e-04 -9.99969795e-01 2.33862403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.571858064 meters 0.017545893531200913 Centerline is valid? [True, True] Translation: X:74.00, Y:-88.04, Z:0.24 [[ 9.91342086e-01 1.31044031e-01 -8.26620322e-03 7.40039871e+01] [ 1.31038080e-01 -9.91376535e-01 -1.25981813e-03 -8.80443968e+01] [-8.36001156e-03 1.65723329e-04 -9.99965041e-01 2.35247334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601858064 meters 0.017605177742867992 Centerline is valid? [True, True] Translation: X:74.00, Y:-88.05, Z:0.24 [[ 9.78185150e-01 2.07557409e-01 -8.58688511e-03 7.40019518e+01] [ 2.07547787e-01 -9.78222822e-01 -2.00662828e-03 -8.80499124e+01] [-8.81637755e-03 1.80664977e-04 -9.99961119e-01 2.35585849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.631858064 meters 0.017277715710301764 Centerline is valid? [True, True] Translation: X:74.00, Y:-88.06, Z:0.23 [[ 9.59519945e-01 2.81521620e-01 -8.18853303e-03 7.40016220e+01] [ 2.81509642e-01 -9.59554865e-01 -2.60413811e-03 -8.80586546e+01] [-8.59046789e-03 1.93571455e-04 -9.99963083e-01 2.34204891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661858064 meters 0.017539025367965297 Centerline is valid? [True, True] Translation: X:74.00, Y:-88.07, Z:0.23 [[ 9.34782091e-01 3.55139992e-01 -7.61756755e-03 7.40002755e+01] [ 3.55126530e-01 -9.34813109e-01 -3.09806603e-03 -8.80663581e+01] [-8.22124916e-03 1.90816307e-04 -9.99966187e-01 2.34165053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.691858064 meters 0.017666860225217667 Centerline is valid? [True, True] Translation: X:74.00, Y:-88.08, Z:0.23 [[ 9.04445472e-01 4.26519762e-01 -7.69937361e-03 7.40005423e+01] [ 4.26502354e-01 -9.04478220e-01 -3.85900960e-03 -8.80756398e+01] [-8.60985959e-03 2.06462800e-04 -9.99962913e-01 2.34065722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721858064 meters 0.019316839614111108 Centerline is valid? [True, True] Translation: X:74.00, Y:-88.08, Z:0.24 [[ 8.68563621e-01 4.95518248e-01 -7.67472383e-03 7.39990703e+01] [ 4.95496651e-01 -8.68597500e-01 -4.63159950e-03 -8.80823684e+01] [-8.96128801e-03 2.20038883e-04 -9.99959823e-01 2.35670753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.751858064 meters 0.017816371549964804 Centerline is valid? [True, True] Translation: X:74.00, Y:-88.09, Z:0.23 [[ 8.26975352e-01 5.62191542e-01 -7.24129616e-03 7.40021042e+01] [ 5.62167678e-01 -8.27007027e-01 -5.18450015e-03 -8.80930257e+01] [-8.90328494e-03 2.16631194e-04 -9.99960342e-01 2.34813820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781858064 meters 0.0178725070738513 Centerline is valid? [True, True] Translation: X:74.00, Y:-88.10, Z:0.23 [[ 7.80196396e-01 6.25500492e-01 -6.53588532e-03 7.40028416e+01] [ 6.25476328e-01 -7.80223745e-01 -5.50180598e-03 -8.81010995e+01] [-8.54083527e-03 2.04447647e-04 -9.99963506e-01 2.34414792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.811858064 meters 0.01743502167436193 Centerline is valid? [True, True] Translation: X:74.01, Y:-88.11, Z:0.23 [[ 7.28377565e-01 6.85149803e-01 -5.98911828e-03 7.40057322e+01] [ 6.85124413e-01 -7.28402161e-01 -5.90173379e-03 -8.81103726e+01] [-8.40605844e-03 1.95399344e-04 -9.99964649e-01 2.33604953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841858064 meters 0.018103768467664667 Centerline is valid? [True, True] Translation: X:74.01, Y:-88.12, Z:0.23 [[ 6.71726625e-01 7.40779722e-01 -5.36141280e-03 7.40069854e+01] [ 7.40753941e-01 -6.71747996e-01 -6.18294060e-03 -8.81181649e+01] [-8.18171533e-03 1.81758165e-04 -9.99966513e-01 2.34218130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.871858064 meters 0.01749364315930393 Centerline is valid? [True, True] Translation: X:74.01, Y:-88.13, Z:0.23 [[ 6.11108391e-01 7.91531515e-01 -4.93920586e-03 7.40095234e+01] [ 7.91503265e-01 -6.11128325e-01 -6.68966551e-03 -8.81253592e+01] [-8.31356968e-03 1.78713161e-04 -9.99965426e-01 2.33944574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901858064 meters 0.016681642222822923 Centerline is valid? [True, True] Translation: X:74.01, Y:-88.13, Z:0.23 [[ 5.46660932e-01 8.37343336e-01 -4.23826751e-03 7.40148450e+01] [ 8.37315769e-01 -5.46677336e-01 -6.79662682e-03 -8.81344917e+01] [-8.00807497e-03 1.66682135e-04 -9.99967921e-01 2.33224932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.931858064 meters 0.01696112050637981 Centerline is valid? [True, True] Translation: X:74.02, Y:-88.14, Z:0.23 [[ 4.78645613e-01 8.78000956e-01 -3.56331593e-03 7.40175871e+01] [ 8.77974188e-01 -4.78658852e-01 -6.85777772e-03 -8.81424071e+01] [-7.72674812e-03 1.53945814e-04 -9.99970136e-01 2.33281595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96185806399998 meters 0.01605257599924105 Centerline is valid? [True, True] Translation: X:74.03, Y:-88.15, Z:0.23 [[ 4.07942073e-01 9.13003691e-01 -2.74306522e-03 7.40256363e+01] [ 9.12980750e-01 -4.07951273e-01 -6.47379558e-03 -8.81516252e+01] [-7.02963621e-03 1.36567850e-04 -9.99975282e-01 2.32367045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99185806399998 meters 0.015963384714816658 Centerline is valid? [True, True] Translation: X:74.03, Y:-88.16, Z:0.23 [[ 3.34713958e-01 9.42317272e-01 -2.17350987e-03 7.40324309e+01] [ 9.42294810e-01 -3.34720990e-01 -6.50774825e-03 -8.81593305e+01] [-6.85988295e-03 1.30147104e-04 -9.99976462e-01 2.31734923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02185806399999 meters 0.016490717279957417 Centerline is valid? [True, True] Translation: X:74.04, Y:-88.17, Z:0.23 [[ 2.59752627e-01 9.65674081e-01 -1.46327753e-03 7.40373952e+01] [ 9.65656195e-01 -2.59756724e-01 -5.87854972e-03 -8.81667924e+01] [-6.05685927e-03 1.13945720e-04 -9.99981651e-01 2.31744869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.051858064 meters 0.016283645833120163 Centerline is valid? [True, True] Translation: X:74.04, Y:-88.17, Z:0.23 [[ 1.84088707e-01 9.82909193e-01 -9.30484248e-04 7.40425717e+01] [ 9.82893425e-01 -1.84091026e-01 -5.56866083e-03 -8.81727593e+01] [-5.64478172e-03 1.10560725e-04 -9.99984062e-01 2.30491230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.081858064 meters 0.017155888419220965 Centerline is valid? [True, True] Translation: X:74.05, Y:-88.18, Z:0.23 [[ 1.06934027e-01 9.94266017e-01 -4.48059244e-04 7.40466153e+01] [ 9.94252799e-01 -1.06934917e-01 -5.12786567e-03 -8.81792725e+01] [-5.14637576e-03 1.02859170e-04 -9.99986752e-01 2.30593939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.111858064 meters 0.016272545224723226 Centerline is valid? [True, True] Translation: X:74.06, Y:-88.19, Z:0.23 [[ 2.89553102e-02 9.99580706e-01 -4.32338132e-05 7.40570664e+01] [ 9.99568460e-01 -2.89551695e-02 -4.94884382e-03 -8.81850118e+01] [-4.94802065e-03 1.00080152e-04 -9.99987753e-01 2.30049611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.141858064 meters 0.016393641572610623 Centerline is valid? [True, True] Translation: X:74.06, Y:-88.19, Z:0.23 [[-4.95012245e-02 9.98774014e-01 3.14138045e-04 7.40647876e+01] [ 9.98763874e-01 4.95021377e-02 -4.50143016e-03 -8.81906834e+01] [-4.51146198e-03 9.09234256e-05 -9.99989819e-01 2.30121583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.171858064 meters 0.016107494889925036 Centerline is valid? [True, True] Translation: X:74.08, Y:-88.19, Z:0.23 [[-1.27495221e-01 9.91838947e-01 6.87534337e-04 7.40751865e+01] [ 9.91828249e-01 1.27497040e-01 -4.60760145e-03 -8.81949090e+01] [-4.65765716e-03 9.44688107e-05 -9.99989149e-01 2.30120019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.201858064 meters 0.01615921163915373 Centerline is valid? [True, True] Translation: X:74.08, Y:-88.20, Z:0.23 [[-2.04987200e-01 9.78764178e-01 9.65408846e-04 7.40848457e+01] [ 9.78755219e-01 2.04989455e-01 -4.18850401e-03 -8.81983441e+01] [-4.29745631e-03 8.63092373e-05 -9.99990762e-01 2.30499646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.231858064 meters 0.01631256725946169 Centerline is valid? [True, True] Translation: X:74.09, Y:-88.20, Z:0.23 [[-2.81488632e-01 9.59563492e-01 1.43345500e-03 7.40946511e+01] [ 9.59552690e-01 2.81492266e-01 -4.55395498e-03 -8.82028341e+01] [-4.77331544e-03 9.35890412e-05 -9.99988603e-01 2.31206630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.261858064 meters 0.016425120277003304 Centerline is valid? [True, True] Translation: X:74.10, Y:-88.21, Z:0.23 [[-3.56205495e-01 9.34405662e-01 1.92480049e-03 7.41036279e+01] [ 9.34393478e-01 3.56210682e-01 -4.77260430e-03 -8.82070803e+01] [-5.14518297e-03 9.84931433e-05 -9.99986759e-01 2.32088638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.291858064 meters 0.015729595531459112 Centerline is valid? [True, True] Translation: X:74.12, Y:-88.21, Z:0.23 [[-4.28743316e-01 9.03422902e-01 2.49572595e-03 7.41166790e+01] [ 9.03408991e-01 4.28750567e-01 -5.01465787e-03 -8.82066070e+01] [-5.60040068e-03 1.04660215e-04 -9.99984312e-01 2.32557694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321858064 meters 0.01594888938353848 Centerline is valid? [True, True] Translation: X:74.13, Y:-88.21, Z:0.23 [[-4.99179372e-01 8.66494832e-01 2.58090155e-03 7.41275430e+01] [ 8.66484148e-01 4.99186036e-01 -4.30381397e-03 -8.82079687e+01] [-5.01758258e-03 8.79351292e-05 -9.99987408e-01 2.32691209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.351858064 meters 0.015559136484302218 Centerline is valid? [True, True] Translation: X:74.14, Y:-88.21, Z:0.23 [[-5.65732380e-01 8.24584985e-01 2.54484139e-03 7.41393028e+01] [ 8.24577237e-01 5.65738099e-01 -3.57550743e-03 -8.82064776e+01] [-4.38802347e-03 7.56379561e-05 -9.99990370e-01 2.32233638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381858064 meters 0.015323457275651157 Centerline is valid? [True, True] Translation: X:74.15, Y:-88.20, Z:0.23 [[-6.29289014e-01 7.77167475e-01 2.46021895e-03 7.41512981e+01] [ 7.77161921e-01 6.29293820e-01 -2.93886094e-03 -8.82034671e+01] [-3.83218772e-03 6.25955824e-05 -9.99992655e-01 2.32465363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.411858064 meters 0.015405640507087353 Centerline is valid? [True, True] Translation: X:74.16, Y:-88.20, Z:0.23 [[-6.88247449e-01 7.25470948e-01 2.71148783e-03 7.41612652e+01] [ 7.25465676e-01 6.88252787e-01 -2.76657117e-03 -8.82009455e+01] [-3.87325606e-03 6.30058028e-05 -9.99992497e-01 2.32787541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441858064 meters 0.015633261832606368 Centerline is valid? [True, True] Translation: X:74.17, Y:-88.20, Z:0.23 [[-7.42806167e-01 6.69501125e-01 2.69094819e-03 7.41704512e+01] [ 6.69497017e-01 7.42811039e-01 -2.34610609e-03 -8.81995620e+01] [-3.56958669e-03 5.88797128e-05 -9.99993627e-01 2.32935348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.471858064 meters 0.01571989679879026 Centerline is valid? [True, True] Translation: X:74.19, Y:-88.18, Z:0.23 [[-7.88210071e-01 6.15401485e-01 2.42816459e-03 7.41915706e+01] [ 6.15398761e-01 7.88213810e-01 -1.83173644e-03 -8.81808186e+01] [-3.04116619e-03 5.04963703e-05 -9.99995374e-01 2.32857491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501858064 meters 0.015778411772102333 Centerline is valid? [True, True] Translation: X:74.21, Y:-88.16, Z:0.23 [[-8.29734965e-01 5.58153189e-01 2.21481730e-03 7.42086175e+01] [ 5.58151342e-01 8.29737920e-01 -1.43689153e-03 -8.81584753e+01] [-2.63972349e-03 4.39641027e-05 -9.99996515e-01 2.32424201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.531858064 meters 0.01598067941963355 Centerline is valid? [True, True] Translation: X:74.23, Y:-88.14, Z:0.23 [[-8.67248405e-01 4.97873775e-01 1.38122592e-03 7.42277810e+01] [ 4.97873191e-01 8.67249505e-01 -7.63092090e-04 -8.81366384e+01] [-1.57779104e-03 2.58849599e-05 -9.99998755e-01 2.32214978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561858064 meters 0.01567985266100895 Centerline is valid? [True, True] Translation: X:74.25, Y:-88.11, Z:0.23 [[-9.00395977e-01 4.35069395e-01 1.30607630e-03 7.42450629e+01] [ 4.35068974e-01 9.00396924e-01 -6.05242116e-04 -8.81124230e+01] [-1.43930940e-03 2.32757097e-05 -9.99998964e-01 2.32533015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.591858064 meters 0.015425828366829635 Centerline is valid? [True, True] Translation: X:74.26, Y:-88.09, Z:0.23 [[-9.29156219e-01 3.69683789e-01 1.61744826e-03 7.42605731e+01] [ 3.69683279e-01 9.29157627e-01 -6.14364098e-04 -8.80870596e+01] [-1.72998483e-03 2.71033539e-05 -9.99998503e-01 2.32870669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621858064 meters 0.015154079856152771 Centerline is valid? [True, True] Translation: X:74.27, Y:-88.06, Z:0.23 [[-9.53203816e-01 3.02325539e-01 1.32397584e-03 7.42722632e+01] [ 3.02325278e-01 9.53204736e-01 -3.98125943e-04 -8.80589662e+01] [-1.38238368e-03 2.07761957e-05 -9.99999044e-01 2.33129739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.651858064 meters 0.015258746522051567 Centerline is valid? [True, True] Translation: X:74.50, Y:-87.33, Z:-0.74 [[-9.41443470e-01 -3.37168800e-01 1.17985002e-03 7.44982277e+01] [ 3.37168500e-01 -9.41444209e-01 -4.50619209e-04 -8.73269758e+01] [ 1.26269771e-03 -2.64242506e-05 9.99999202e-01 -7.43870299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681858064 meters 0.0155172936202439 Centerline is valid? [True, True] Translation: X:74.23, Y:-88.05, Z:0.23 [[-9.54137445e-01 2.99367432e-01 9.36417516e-04 7.42266826e+01] [ 2.99367303e-01 9.54137904e-01 -2.77730796e-04 -8.80456213e+01] [-9.76615001e-04 1.53394344e-05 -9.99999523e-01 2.33944865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71185806399998 meters 0.01557505771850959 Centerline is valid? [True, True] Translation: X:74.45, Y:-87.31, Z:-0.74 [[-9.43361163e-01 -3.31766618e-01 7.92376557e-04 7.44479536e+01] [ 3.31766482e-01 -9.43361495e-01 -3.01138519e-04 -8.73140662e+01] [ 8.47405241e-04 -2.11984005e-05 9.99999641e-01 -7.44652371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74185806399998 meters 0.015908356361894024 Centerline is valid? [True, True] Translation: X:74.18, Y:-88.03, Z:0.23 [[-9.54703625e-01 2.97558188e-01 3.35307673e-04 7.41828689e+01] [ 2.97558172e-01 9.54703684e-01 -9.81676625e-05 -8.80325724e+01] [-3.49330063e-04 6.05251505e-06 -9.99999939e-01 2.34491599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77185806399999 meters 0.01635458548260891 Centerline is valid? [True, True] Translation: X:74.19, Y:-88.01, Z:0.23 [[-9.73267830e-01 2.29672888e-01 3.10450632e-04 7.41920902e+01] [ 2.29672878e-01 9.73267879e-01 -6.74381404e-05 -8.80064201e+01] [-3.17640340e-04 5.66671741e-06 -9.99999950e-01 2.34367435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.801858064 meters 0.016364731487497515 Centerline is valid? [True, True] Translation: X:74.36, Y:-87.26, Z:-0.74 [[-9.66128200e-01 -2.58062020e-01 -5.43584847e-04 7.43583595e+01] [ 2.58062004e-01 -9.66128352e-01 9.99017927e-05 -8.72612963e+01] [-5.50953591e-04 -4.37606561e-05 9.99999847e-01 -7.44040186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.831858064 meters 0.016242745923004596 Centerline is valid? [True, True] Translation: X:74.14, Y:-87.99, Z:0.23 [[-9.73813071e-01 2.27346654e-01 -1.26549333e-03 7.41431478e+01] [ 2.27346497e-01 9.73813893e-01 2.68718882e-04 -8.79935125e+01] [ 1.29344733e-03 -2.60235158e-05 -9.99999163e-01 2.33607207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.861858064 meters 0.0166019818225555 Centerline is valid? [True, True] Translation: X:74.15, Y:-87.96, Z:0.23 [[-9.87420774e-01 1.58104502e-01 -1.78389067e-03 7.41482349e+01] [ 1.58104312e-01 9.87422384e-01 2.48166960e-04 -8.79635485e+01] [ 1.80068989e-03 -3.69955948e-05 -9.99998378e-01 2.33889661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.891858064 meters 0.01668356500401613 Centerline is valid? [True, True] Translation: X:74.15, Y:-87.93, Z:0.23 [[-9.96133655e-01 8.78313591e-02 -1.84244261e-03 7.41532581e+01] [ 8.78312801e-02 9.96135358e-01 1.23871450e-04 -8.79345503e+01] [ 1.84620202e-03 -3.84315725e-05 -9.99998295e-01 2.34445829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.921858064 meters 0.017066652911764648 Centerline is valid? [True, True] Translation: X:74.21, Y:-87.19, Z:-0.74 [[-9.93577646e-01 -1.13147623e-01 -1.03808370e-03 7.42086418e+01] [ 1.13147484e-01 -9.93578185e-01 1.92069216e-04 -8.71853213e+01] [-1.05314950e-03 7.33791201e-05 9.99999443e-01 -7.44992508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.951858064 meters 0.01698295968977352 Centerline is valid? [True, True] Translation: X:74.08, Y:-87.93, Z:0.23 [[-9.96475310e-01 8.38832991e-02 -7.40740895e-04 7.40827734e+01] [ 8.38832881e-02 9.96475585e-01 4.59684826e-05 -8.79285163e+01] [ 7.41986205e-04 -1.63293239e-05 -9.99999725e-01 2.34980236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.981858064 meters 0.017251579344617955 Centerline is valid? [True, True] Translation: X:74.13, Y:-87.18, Z:-0.75 [[-9.94303760e-01 -1.06582087e-01 -5.39791707e-04 7.41293774e+01] [ 1.06582057e-01 -9.94303906e-01 8.26321335e-05 -8.71831434e+01] [-5.45524108e-04 2.46293303e-05 9.99999851e-01 -7.45109836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.011858064 meters 0.01755545731828099 Centerline is valid? [True, True] Translation: X:74.01, Y:-87.92, Z:0.24 [[-9.96764052e-01 8.03812660e-02 -5.25662822e-04 7.40079219e+01] [ 8.03812615e-02 9.96764191e-01 2.98466170e-05 -8.79204606e+01] [ 5.26360986e-04 -1.25034058e-05 -9.99999861e-01 2.35148938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.041858064 meters 0.017625268396661457 Centerline is valid? [True, True] Translation: X:74.01, Y:-87.89, Z:0.24 [[-9.99955845e-01 9.38405647e-03 -4.97478081e-04 7.40079967e+01] [ 9.38406121e-03 9.99955969e-01 -7.18273619e-06 -8.78904492e+01] [ 4.97388773e-04 -1.18507838e-05 -9.99999876e-01 2.35667259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.071858064 meters 0.01793525311827049 Centerline is valid? [True, True] Translation: X:74.00, Y:-87.15, Z:-0.75 [[-9.99545914e-01 -3.01319909e-02 -1.71995500e-04 7.39991719e+01] [ 3.01319860e-02 -9.99545928e-01 3.09098397e-05 -8.71534534e+01] [-1.72848776e-04 2.57132380e-05 9.99999985e-01 -7.46485774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101858064 meters 0.018260385094220375 Centerline is valid? [True, True] Translation: X:73.91, Y:-87.89, Z:0.24 [[-9.99992343e-01 3.76406225e-03 1.06996411e-03 7.39117960e+01] [ 3.76408661e-03 9.99992916e-01 2.07568783e-05 -8.78863526e+01] [-1.06987840e-03 2.47841569e-05 -9.99999427e-01 2.37872319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.131858064 meters 0.01848594428407453 Centerline is valid? [True, True] Translation: X:73.90, Y:-87.16, Z:-0.75 [[-9.99708419e-01 -2.41061376e-02 1.40423878e-03 7.39041302e+01] [ 2.41060992e-02 -9.99709405e-01 -4.43028008e-05 -8.71591245e+01] [ 1.40489868e-03 -1.04391637e-05 9.99999013e-01 -7.48817821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161858064 meters 0.017956438687560868 Centerline is valid? [True, True] Translation: X:73.82, Y:-87.88, Z:0.24 [[-9.99997210e-01 -1.70274096e-03 1.63740570e-03 7.38209431e+01] [-1.70267507e-03 9.99998550e-01 4.16362675e-05 -8.78829611e+01] [-1.63747422e-03 3.88481814e-05 -9.99998659e-01 2.38783457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.191858064 meters 0.018439120105610215 Centerline is valid? [True, True] Translation: X:73.81, Y:-87.17, Z:-0.75 [[-9.99860620e-01 -1.66057059e-02 1.72964189e-03 7.38082307e+01] [ 1.66056205e-02 -9.99862115e-01 -6.37345630e-05 -8.71668163e+01] [ 1.73046176e-03 -3.50039028e-05 9.99998502e-01 -7.49336971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221858064 meters 0.018518470013599388 Centerline is valid? [True, True] Translation: X:73.73, Y:-87.88, Z:0.24 [[-9.99977672e-01 -6.25334321e-03 2.35622774e-03 7.37302526e+01] [-6.25318583e-03 9.99980446e-01 7.41572255e-05 -8.78796909e+01] [-2.35664540e-03 5.94216398e-05 -9.99997221e-01 2.39130525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.251858064 meters 0.017444028741125734 Centerline is valid? [True, True] Translation: X:73.72, Y:-87.85, Z:0.24 [[-9.97039301e-01 -7.68496652e-02 2.60012835e-03 7.37222115e+01] [-7.68492270e-02 9.97042689e-01 2.68165809e-04 -8.78476134e+01] [-2.61304742e-03 6.75539964e-05 -9.99996584e-01 2.39220476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281858064 meters 0.02028711179651876 Centerline is valid? [True, True] Translation: X:73.70, Y:-87.82, Z:0.24 [[-9.89295373e-01 -1.45875343e-01 3.87935329e-03 7.37034255e+01] [-1.45873783e-01 9.89302973e-01 6.83715908e-04 -8.78230594e+01] [-3.93759304e-03 1.10501046e-04 -9.99992242e-01 2.40734064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.311858064 meters 0.017712348397826757 Centerline is valid? [True, True] Translation: X:73.67, Y:-87.79, Z:0.24 [[-9.76433719e-01 -2.15772746e-01 4.39474999e-03 7.36746029e+01] [-2.15769949e-01 9.76443600e-01 1.10668638e-03 -8.77942506e+01] [-4.53001826e-03 1.32350914e-04 -9.99989731e-01 2.40558122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341858064 meters 0.017712348397826757 Centerline is valid? [True, True] Translation: X:73.62, Y:-87.78, Z:0.24 [[-9.58076443e-01 -2.86480400e-01 4.30221525e-03 7.36230895e+01] [-2.86476889e-01 9.58086094e-01 1.42455320e-03 -8.77796640e+01] [-4.52999917e-03 1.32345622e-04 -9.99989731e-01 2.40557599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.371858064 meters 0.01848417672826711 Centerline is valid? [True, True] Translation: X:73.56, Y:-87.77, Z:0.24 [[-9.35095641e-01 -3.54364154e-01 4.71056251e-03 7.35614216e+01] [-3.54358794e-01 9.35107492e-01 1.95548253e-03 -8.77722049e+01] [-5.09783521e-03 1.59333939e-04 -9.99986993e-01 2.40721510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401858064 meters 0.018991353797784365 Centerline is valid? [True, True] Translation: X:73.49, Y:-87.77, Z:0.24 [[-9.07610630e-01 -4.19783960e-01 4.93677758e-03 7.34885136e+01] [-4.19776598e-01 9.07624036e-01 2.49346211e-03 -8.77729807e+01] [-5.52745339e-03 1.90749025e-04 -9.99984705e-01 2.40249977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.431858064 meters 0.02017161099384789 Centerline is valid? [True, True] Translation: X:73.41, Y:-87.78, Z:0.24 [[-8.74552343e-01 -4.84910443e-01 4.47899580e-03 7.34094723e+01] [-4.84902965e-01 8.74563792e-01 2.69945868e-03 -8.77845916e+01] [-5.22616326e-03 1.88939572e-04 -9.99986326e-01 2.40175767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46185806399998 meters 0.02066891948585886 Centerline is valid? [True, True] Translation: X:73.32, Y:-87.81, Z:0.24 [[-8.36651978e-01 -5.47718525e-01 4.22913095e-03 7.33229533e+01] [-5.47710328e-01 8.36662643e-01 3.00295064e-03 -8.78061558e+01] [-5.18312757e-03 1.96085889e-04 -9.99986548e-01 2.39609220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49185806399998 meters 0.019941512777288457 Centerline is valid? [True, True] Translation: X:73.23, Y:-87.83, Z:0.24 [[-7.94458934e-01 -6.07306316e-01 3.74717302e-03 7.32316663e+01] [-6.07298385e-01 7.94467747e-01 3.10975202e-03 -8.78343334e+01] [-4.86558015e-03 1.94918149e-04 -9.99988144e-01 2.38975213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52185806399999 meters 0.0217107990749428 Centerline is valid? [True, True] Translation: X:73.14, Y:-87.88, Z:0.24 [[-7.46814313e-01 -6.65024182e-01 3.34962328e-03 7.31419241e+01] [-6.65016330e-01 7.46821801e-01 3.23704268e-03 -8.78776555e+01] [-4.65428335e-03 1.89915618e-04 -9.99989151e-01 2.39035094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.551858064 meters 0.021464364111342824 Centerline is valid? [True, True] Translation: X:73.05, Y:-87.93, Z:0.24 [[-6.94657493e-01 -7.19335021e-01 2.84531170e-03 7.30508567e+01] [-7.19327920e-01 6.94663298e-01 3.20098144e-03 -8.79283100e+01] [-4.27911166e-03 1.76873598e-04 -9.99990829e-01 2.38460205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.581858064 meters 0.02096885270436152 Centerline is valid? [True, True] Translation: X:72.96, Y:-87.99, Z:0.24 [[-6.37986806e-01 -7.70044248e-01 2.16573207e-03 7.29600291e+01] [-7.70039006e-01 6.37990465e-01 2.84519868e-03 -8.79865502e+01] [-3.57264529e-03 1.47501046e-04 -9.99993607e-01 2.37962471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.611858064 meters 0.021270262664658344 Centerline is valid? [True, True] Translation: X:72.87, Y:-88.06, Z:0.24 [[-5.77368231e-01 -8.16481803e-01 1.84162221e-03 7.28723749e+01] [-8.16476857e-01 5.77371152e-01 2.84531218e-03 -8.80592117e+01] [-3.38644515e-03 1.39150946e-04 -9.99994256e-01 2.38028776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.641858064 meters 0.021312207978236526 Centerline is valid? [True, True] Translation: X:72.79, Y:-88.13, Z:0.24 [[-5.12815836e-01 -8.58496877e-01 1.74104604e-03 7.27928270e+01] [-8.58490919e-01 5.12818770e-01 3.20163069e-03 -8.81330445e+01] [-3.64143104e-03 1.47174698e-04 -9.99993359e-01 2.38362888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.671858064 meters 0.021579986385744755 Centerline is valid? [True, True] Translation: X:72.72, Y:-88.22, Z:0.24 [[-4.44937369e-01 -8.95560230e-01 1.61589383e-03 7.27154600e+01] [-8.95552998e-01 4.44940276e-01 3.60262237e-03 -8.82204547e+01] [-3.94534156e-03 1.55822756e-04 -9.99992205e-01 2.38445524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.701858064 meters 0.021435488718579327 Centerline is valid? [True, True] Translation: X:72.64, Y:-88.32, Z:0.24 [[-3.72831201e-01 -9.27897647e-01 1.68866127e-03 7.26406300e+01] [-9.27885780e-01 3.72834980e-01 4.69651267e-03 -8.83158860e+01] [-4.98747505e-03 1.84121686e-04 -9.99987546e-01 2.39457671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.731858064 meters 0.02065464908633883 Centerline is valid? [True, True] Translation: X:72.58, Y:-88.41, Z:0.24 [[-2.99356110e-01 -9.54140324e-01 1.47036313e-03 7.25760001e+01] [-9.54125382e-01 2.99359657e-01 5.34332832e-03 -8.84145232e+01] [-5.53845242e-03 1.96647201e-04 -9.99984643e-01 2.39704867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.761858064 meters 0.019707842660565283 Centerline is valid? [True, True] Translation: X:72.52, Y:-88.52, Z:0.24 [[-2.23922569e-01 -9.74606129e-01 1.25568901e-03 7.25182859e+01] [-9.74584713e-01 2.23925978e-01 6.46480802e-03 -8.85204087e+01] [-6.58182291e-03 2.23841101e-04 -9.99978315e-01 2.39916514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.791858064 meters 0.019748583932086314 Centerline is valid? [True, True] Translation: X:72.47, Y:-88.63, Z:0.24 [[-1.47426206e-01 -9.89072652e-01 8.96026613e-04 7.24680704e+01] [-9.89042344e-01 1.47428707e-01 7.74719881e-03 -8.86289801e+01] [-7.79464251e-03 2.55931866e-04 -9.99969589e-01 2.40968900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821858064 meters 0.020123955222588485 Centerline is valid? [True, True] Translation: X:72.43, Y:-88.75, Z:0.24 [[-7.14588696e-02 -9.97443501e-01 3.04167218e-04 7.24291048e+01] [-9.97412227e-01 7.14590390e-02 7.90289485e-03 -8.87467961e+01] [-7.90442660e-03 2.61351830e-04 -9.99968725e-01 2.41181099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.851858064 meters 0.020567218285320352 Centerline is valid? [True, True] Translation: X:72.40, Y:-88.86, Z:0.24 [[ 4.34399347e-03 -9.99990518e-01 -3.07032077e-04 7.23995858e+01] [-9.99958069e-01 -4.34632734e-03 8.06041501e-03 -8.88608942e+01] [-8.06167304e-03 2.72004813e-04 -9.99967467e-01 2.41016845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881858064 meters 0.02049007258708216 Centerline is valid? [True, True] Translation: X:72.38, Y:-88.98, Z:0.24 [[ 7.98388640e-02 -9.96807431e-01 -8.37195227e-04 7.23781616e+01] [-9.96780981e-01 -7.98428481e-02 7.26602454e-03 -8.89764620e+01] [-7.30967131e-03 2.54389135e-04 -9.99973252e-01 2.40359033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.911858064 meters 0.020885892158949433 Centerline is valid? [True, True] Translation: X:72.36, Y:-89.09, Z:0.24 [[ 1.53744096e-01 -9.88110055e-01 -1.12812667e-03 7.23640519e+01] [-9.88092905e-01 -1.53748079e-01 5.82569657e-03 -8.90931474e+01] [-5.92987667e-03 2.19027502e-04 -9.99982394e-01 2.38993471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941858064 meters 0.021474802509363726 Centerline is valid? [True, True] Translation: X:72.36, Y:-89.21, Z:0.24 [[ 2.28048775e-01 -9.73648616e-01 -1.45941052e-03 7.23612032e+01] [-9.73634107e-01 -2.28053350e-01 5.31941018e-03 -8.92095538e+01] [-5.51205981e-03 2.07846885e-04 -9.99984787e-01 2.38661726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.971858064 meters 0.02091436348463225 Centerline is valid? [True, True] Translation: X:72.37, Y:-89.32, Z:0.24 [[ 3.00475242e-01 -9.53788015e-01 -1.74701156e-03 7.23653622e+01] [-9.53775589e-01 -3.00480253e-01 4.87271584e-03 -8.93248835e+01] [-5.17248045e-03 2.02126508e-04 -9.99986602e-01 2.37849455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001858064 meters 0.02276073889063595 Centerline is valid? [True, True] Translation: X:72.38, Y:-89.44, Z:0.24 [[ 3.69904021e-01 -9.29067360e-01 -2.20344863e-03 7.23816546e+01] [-9.29054330e-01 -3.69910516e-01 4.92573654e-03 -8.94421205e+01] [-5.39141986e-03 2.25073734e-04 -9.99985441e-01 2.37624626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.031858064 meters 0.022223316179013353 Centerline is valid? [True, True] Translation: X:72.40, Y:-89.55, Z:0.24 [[ 4.38694268e-01 -8.98633054e-01 -2.44391681e-03 7.24014324e+01] [-8.98621783e-01 -4.38701021e-01 4.50628203e-03 -8.95521696e+01] [-5.12164278e-03 2.19276784e-04 -9.99986860e-01 2.37508720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061858064 meters 0.02331448531146287 Centerline is valid? [True, True] Translation: X:72.43, Y:-89.66, Z:0.24 [[ 5.04798293e-01 -8.63233633e-01 -2.52557234e-03 7.24309222e+01] [-8.63224787e-01 -5.04804569e-01 3.91332429e-03 -8.96608872e+01] [-4.65303360e-03 2.04697225e-04 -9.99989154e-01 2.37345171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.091858064 meters 0.023382673168771413 Centerline is valid? [True, True] Translation: X:72.47, Y:-89.77, Z:0.24 [[ 5.69160602e-01 -8.22222087e-01 -2.65487128e-03 7.24679787e+01] [-8.22214667e-01 -5.69166761e-01 3.49847563e-03 -8.97662593e+01] [-4.38758843e-03 1.91679606e-04 -9.99990356e-01 2.37179318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121858064 meters 0.021834964062920497 Centerline is valid? [True, True] Translation: X:72.51, Y:-89.87, Z:0.24 [[ 6.30517757e-01 -7.76169878e-01 -2.77125565e-03 7.25091009e+01] [-7.76163593e-01 -6.30523821e-01 3.12854177e-03 -8.98675529e+01] [-4.17562258e-03 1.78346600e-04 -9.99991266e-01 2.36489081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.151858064 meters 0.021450588289227926 Centerline is valid? [True, True] Translation: X:72.55, Y:-89.96, Z:0.24 [[ 6.88437231e-01 -7.25289253e-01 -3.11087365e-03 7.25547479e+01] [-7.25282996e-01 -6.88444237e-01 3.01802331e-03 -8.99601870e+01] [-4.33060290e-03 1.78544149e-04 -9.99990607e-01 2.36237086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181858064 meters 0.022568671746635106 Centerline is valid? [True, True] Translation: X:72.55, Y:-89.97, Z:0.24 [[ 7.45738332e-01 -6.66227604e-01 -3.88846945e-03 7.25526340e+01] [-6.66219838e-01 -7.45748446e-01 3.22220249e-03 -8.99735784e+01] [-5.04654030e-03 1.87655575e-04 -9.99987249e-01 2.36987833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21185806399998 meters 0.020680598907356455 Centerline is valid? [True, True] Translation: X:72.55, Y:-89.99, Z:0.24 [[ 7.96739146e-01 -6.04306883e-01 -4.46375789e-03 7.25512820e+01] [-6.04298731e-01 -7.96751627e-01 3.14470026e-03 -8.99887480e+01] [-5.45687037e-03 1.91937432e-04 -9.99985093e-01 2.37121826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24185806399998 meters 0.02004672673978662 Centerline is valid? [True, True] Translation: X:72.55, Y:-90.00, Z:0.24 [[ 8.43034729e-01 -5.37842145e-01 -4.27468548e-03 7.25525290e+01] [-5.37836189e-01 -8.43045551e-01 2.53629956e-03 -9.00037044e+01] [-4.96788338e-03 1.60891939e-04 -9.99987647e-01 2.37522141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27185806399999 meters 0.020212557533768293 Centerline is valid? [True, True] Translation: X:72.56, Y:-90.01, Z:0.24 [[ 8.82887254e-01 -4.69567634e-01 -4.04158539e-03 7.25562776e+01] [-4.69563445e-01 -8.82896493e-01 1.98849512e-03 -9.00140326e+01] [-4.50203451e-03 1.42163762e-04 -9.99989856e-01 2.37358098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.301858064 meters 0.0201208589765545 Centerline is valid? [True, True] Translation: X:72.56, Y:-90.02, Z:0.24 [[ 9.17099301e-01 -3.98637529e-01 -4.12212454e-03 7.25622238e+01] [-3.98634172e-01 -9.17108555e-01 1.64172133e-03 -9.00238561e+01] [-4.43488741e-03 1.37598220e-04 -9.99990156e-01 2.37222835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.331858064 meters 0.01914342234247806 Centerline is valid? [True, True] Translation: X:72.57, Y:-90.04, Z:0.24 [[ 9.45357329e-01 -3.26012532e-01 -3.91779844e-03 7.25671994e+01] [-3.26010293e-01 -9.45365438e-01 1.21516448e-03 -9.00378075e+01] [-4.09991009e-03 1.28477970e-04 -9.99991587e-01 2.37289345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.361858064 meters 0.018431421263805595 Centerline is valid? [True, True] Translation: X:72.57, Y:-90.05, Z:0.24 [[ 9.67765431e-01 -2.51822862e-01 -3.91367372e-03 7.25720951e+01] [-2.51821338e-01 -9.67773336e-01 8.85484381e-04 -9.00546115e+01] [-4.01053429e-03 1.28605382e-04 -9.99991950e-01 2.37105094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.391858064 meters 0.01824516317012243 Centerline is valid? [True, True] Translation: X:72.58, Y:-90.07, Z:0.24 [[ 9.84454580e-01 -1.75608849e-01 -3.27289802e-03 7.25784830e+01] [-1.75608237e-01 -9.84460015e-01 4.75599786e-04 -9.00693384e+01] [-3.30555677e-03 1.06541464e-04 -9.99994531e-01 2.36766530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.421858064 meters 0.018864896023333647 Centerline is valid? [True, True] Translation: X:72.58, Y:-90.08, Z:0.24 [[ 9.95157064e-01 -9.82557455e-02 -2.86801972e-03 7.25824453e+01] [-9.82556071e-02 -9.95161193e-01 1.89444608e-04 -9.00810689e+01] [-2.87275595e-03 9.32718788e-05 -9.99995869e-01 2.36824997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.451858064 meters 0.018975497663643235 Centerline is valid? [True, True] Translation: X:72.59, Y:-90.09, Z:0.24 [[ 9.99792851e-01 -2.01212178e-02 -3.06468878e-03 7.25885141e+01] [-2.01214288e-02 -9.99797543e-01 -3.80332689e-05 -9.00925696e+01] [-3.06330303e-03 9.96913075e-05 -9.99995303e-01 2.37052279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.481858064 meters 0.01905202898322567 Centerline is valid? [True, True] Translation: X:72.59, Y:-90.10, Z:0.24 [[ 9.98268115e-01 5.87170858e-02 -3.61598265e-03 7.25945667e+01] [ 5.87162780e-02 -9.98274657e-01 -3.29254925e-04 -9.01028485e+01] [-3.62907673e-03 1.16367651e-04 -9.99993408e-01 2.37859923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.511858064 meters 0.018819694523313005 Centerline is valid? [True, True] Translation: X:72.60, Y:-90.11, Z:0.24 [[ 9.90500707e-01 1.37455497e-01 -3.78634676e-03 7.26019951e+01] [ 1.37454027e-01 -9.90507936e-01 -6.46815538e-04 -9.01122789e+01] [-3.83931487e-03 1.20222637e-04 -9.99992623e-01 2.38353503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.541858064 meters 0.017569475991719694 Centerline is valid? [True, True] Translation: X:72.61, Y:-90.13, Z:0.24 [[ 9.76550849e-01 2.15245829e-01 -4.20387871e-03 7.26112249e+01] [ 2.15243248e-01 -9.76559888e-01 -1.06252223e-03 -9.01263687e+01] [-4.33404280e-03 1.32750478e-04 -9.99990599e-01 2.38397965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.571858064 meters 0.018957778355603954 Centerline is valid? [True, True] Translation: X:72.62, Y:-90.13, Z:0.24 [[ 9.55994805e-01 2.93343570e-01 -4.84594571e-03 7.26193231e+01] [ 2.93339032e-01 -9.56007076e-01 -1.63808711e-03 -9.01347559e+01] [-5.11328071e-03 1.44497750e-04 -9.99986917e-01 2.40229423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601858064 meters 0.017371237436184225 Centerline is valid? [True, True] Translation: X:72.63, Y:-90.15, Z:0.24 [[ 9.29504788e-01 3.68781956e-01 -4.55166441e-03 7.26300998e+01] [ 3.68776835e-01 -9.29515923e-01 -1.94781218e-03 -9.01453950e+01] [-4.94916253e-03 1.31952356e-04 -9.99987744e-01 2.39854208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.631858064 meters 0.017034834101774168 Centerline is valid? [True, True] Translation: X:72.64, Y:-90.15, Z:0.24 [[ 8.97050760e-01 4.41911918e-01 -3.71361390e-03 7.26409297e+01] [ 4.41907645e-01 -8.97058441e-01 -1.94610173e-03 -9.01522601e+01] [-4.19133424e-03 1.04677661e-04 -9.99991211e-01 2.39380471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661858064 meters 0.016451249438755675 Centerline is valid? [True, True] Translation: X:72.65, Y:-90.16, Z:0.24 [[ 8.58804870e-01 5.12292005e-01 -3.33115651e-03 7.26529148e+01] [ 5.12287737e-01 -8.58811326e-01 -2.09328115e-03 -9.01597772e+01] [-3.93320613e-03 9.12094201e-05 -9.99992261e-01 2.38934180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.691858064 meters 0.01616311293072684 Centerline is valid? [True, True] Translation: X:72.66, Y:-90.17, Z:0.24 [[ 8.14454406e-01 5.80220671e-01 -2.82722453e-03 7.26641604e+01] [ 5.80216868e-01 -8.14459310e-01 -2.10218704e-03 -9.01656255e+01] [-3.52239172e-03 7.17321326e-05 -9.99993794e-01 2.39086639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721858064 meters 0.01573023001836535 Centerline is valid? [True, True] Translation: X:72.68, Y:-90.17, Z:0.24 [[ 7.65880449e-01 6.42978039e-01 -2.52574070e-03 7.26766965e+01] [ 6.42974260e-01 -7.65884611e-01 -2.20528552e-03 -9.01706097e+01] [-3.35237609e-03 6.49988098e-05 -9.99994379e-01 2.39141422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.751858064 meters 0.016221051093871466 Centerline is valid? [True, True] Translation: X:72.69, Y:-90.17, Z:0.24 [[ 7.12605010e-01 7.01562600e-01 -2.00454204e-03 7.26863368e+01] [ 7.01559612e-01 -7.12607827e-01 -2.04801047e-03 -9.01725034e+01] [-2.86525990e-03 5.31167892e-05 -9.99995894e-01 2.39027666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781858064 meters 0.015717159060175283 Centerline is valid? [True, True] Translation: X:72.70, Y:-90.17, Z:0.24 [[ 6.54676071e-01 7.55908081e-01 -1.48837997e-03 7.26959333e+01] [ 7.55905986e-01 -6.54677762e-01 -1.78027418e-03 -9.01732336e+01] [-2.32013291e-03 4.04275801e-05 -9.99997308e-01 2.37760115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.811858064 meters 0.01564435624044461 Centerline is valid? [True, True] Translation: X:72.71, Y:-90.17, Z:0.24 [[ 5.93296143e-01 8.04983668e-01 -9.89948053e-04 7.27058595e+01] [ 8.04982465e-01 -5.93296968e-01 -1.39231734e-03 -9.01741098e+01] [-1.70812590e-03 2.91656857e-05 -9.99998541e-01 2.37504291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841858064 meters 0.015613748441342412 Centerline is valid? [True, True] Translation: X:72.72, Y:-90.17, Z:0.24 [[ 5.28154177e-01 8.49148049e-01 -8.69393109e-04 7.27161328e+01] [ 8.49146810e-01 -5.28154892e-01 -1.45129228e-03 -9.01739189e+01] [-1.69153623e-03 2.82636939e-05 -9.99998569e-01 2.37411940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.871858064 meters 0.015724169393746316 Centerline is valid? [True, True] Translation: X:72.72, Y:-90.17, Z:0.24 [[ 4.60022342e-01 8.87907095e-01 -6.59483359e-04 7.27243755e+01] [ 8.87906105e-01 -4.60022814e-01 -1.32659867e-03 -9.01736469e+01] [-1.48127376e-03 2.47057253e-05 -9.99998903e-01 2.37511855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901858064 meters 0.015243619048123373 Centerline is valid? [True, True] Translation: X:72.74, Y:-90.17, Z:0.24 [[ 3.89986495e-01 9.20820408e-01 -5.56466627e-04 7.27367624e+01] [ 9.20819372e-01 -3.89986891e-01 -1.38136755e-03 -9.01731575e+01] [-1.48900612e-03 2.63094398e-05 -9.99998891e-01 2.37681705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.931858064 meters 0.016390195285940982 Centerline is valid? [True, True] Translation: X:72.75, Y:-90.17, Z:0.24 [[ 3.17444560e-01 9.48276740e-01 -4.19126218e-04 7.27451656e+01] [ 9.48275803e-01 -3.17444835e-01 -1.33330686e-03 -9.01719078e+01] [-1.39739334e-03 2.58037587e-05 -9.99999023e-01 2.38131500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96185806399998 meters 0.015553640215391927 Centerline is valid? [True, True] Translation: X:72.76, Y:-90.17, Z:0.24 [[ 2.43030520e-01 9.70018575e-01 -3.61970704e-04 7.27595710e+01] [ 9.70017299e-01 -2.43030787e-01 -1.57348934e-03 -9.01700368e+01] [-1.61428391e-03 3.12880865e-05 -9.99998697e-01 2.37801520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99185806399998 meters 0.01609829542362519 Centerline is valid? [True, True] Translation: X:72.77, Y:-90.17, Z:0.24 [[ 1.68567793e-01 9.85690039e-01 -2.15673876e-04 7.27683341e+01] [ 9.85688974e-01 -1.68567928e-01 -1.44929221e-03 -9.01665856e+01] [-1.46490859e-03 3.17166270e-05 -9.99998927e-01 2.38062698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02185806399999 meters 0.016316784062230204 Centerline is valid? [True, True] Translation: X:72.78, Y:-90.16, Z:0.24 [[ 9.15910895e-02 9.95796690e-01 -1.57751876e-04 7.27787236e+01] [ 9.95794089e-01 -9.15912109e-02 -2.27666674e-03 -9.01637204e+01] [-2.28154589e-03 5.14340022e-05 -9.99997396e-01 2.38249949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.051858064 meters 0.016596997669387256 Centerline is valid? [True, True] Translation: X:72.79, Y:-90.16, Z:0.24 [[ 1.39898297e-02 9.99902137e-01 2.51364330e-05 7.27892214e+01] [ 9.99898484e-01 -1.39897107e-02 -2.70346238e-03 -9.01597567e+01] [-2.70284616e-03 6.29548597e-05 -9.99996345e-01 2.39086545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.081858064 meters 0.017091342455145715 Centerline is valid? [True, True] Translation: X:72.80, Y:-90.16, Z:0.24 [[-6.39697015e-02 9.97951804e-01 2.71069173e-04 7.27985592e+01] [ 9.97947047e-01 6.39702338e-02 -3.08241621e-03 -9.01561685e+01] [-3.09344317e-03 7.33314364e-05 -9.99995213e-01 2.40107308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.111858064 meters 0.016782657721611794 Centerline is valid? [True, True] Translation: X:72.81, Y:-90.15, Z:0.24 [[-1.42389411e-01 9.89810610e-01 4.59477140e-04 7.28074381e+01] [ 9.89806819e-01 1.42390138e-01 -2.74050388e-03 -9.01510648e+01] [-2.77800484e-03 6.45748718e-05 -9.99996139e-01 2.40687191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.141858064 meters 0.016859328537284064 Centerline is valid? [True, True] Translation: X:72.82, Y:-90.15, Z:0.24 [[-2.20111497e-01 9.75474474e-01 6.92973042e-04 7.28152456e+01] [ 9.75470523e-01 2.20112578e-01 -2.77714571e-03 -9.01472599e+01] [-2.86156684e-03 6.46930761e-05 -9.99995904e-01 2.40509925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.171858064 meters 0.01677078860073398 Centerline is valid? [True, True] Translation: X:72.82, Y:-90.14, Z:0.24 [[-2.96711256e-01 9.54966776e-01 9.41450076e-04 7.28217189e+01] [ 9.54962634e-01 2.96712743e-01 -2.81336555e-03 -9.01423712e+01] [-2.96601086e-03 6.42924190e-05 -9.99995599e-01 2.40406128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.201858064 meters 0.015585886658444993 Centerline is valid? [True, True] Translation: X:72.83, Y:-90.13, Z:0.24 [[-3.73048474e-01 9.27811403e-01 9.14848504e-04 7.28319151e+01] [ 9.27808899e-01 3.73049593e-01 -2.15592081e-03 -9.01342251e+01] [-2.34157177e-03 4.45416154e-05 -9.99997258e-01 2.39136209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.231858064 meters 0.015585886658444993 Centerline is valid? [True, True] Translation: X:72.84, Y:-90.13, Z:0.24 [[-4.44555067e-01 8.95750872e-01 1.08085182e-03 7.28416865e+01] [ 8.95748463e-01 4.44556378e-01 -2.07764669e-03 -9.01260335e+01] [-2.34155341e-03 4.45429954e-05 -9.99997258e-01 2.39136047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.261858064 meters 0.01591579266747804 Centerline is valid? [True, True] Translation: X:72.85, Y:-90.12, Z:0.24 [[-5.15135422e-01 8.57108226e-01 9.93277435e-04 7.28492345e+01] [ 8.57106749e-01 5.15136379e-01 -1.59109316e-03 -9.01186715e+01] [-1.87541238e-03 3.17163462e-05 -9.99998241e-01 2.38798679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.291858064 meters 0.01479813447349671 Centerline is valid? [True, True] Translation: X:72.86, Y:-90.11, Z:0.24 [[-5.84463661e-01 8.11419834e-01 2.86594685e-04 7.28587264e+01] [ 8.11419741e-01 5.84463731e-01 -3.88336415e-04 -9.01076816e+01] [-4.82608068e-04 5.58006246e-06 -9.99999884e-01 2.38579618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321858064 meters 0.01468687234887753 Centerline is valid? [True, True] Translation: X:72.87, Y:-90.10, Z:0.24 [[-6.48391772e-01 7.61306637e-01 5.61518371e-04 7.28650135e+01] [ 7.61306362e-01 6.48392015e-01 -6.47255590e-04 -9.00992141e+01] [-8.56844004e-04 7.81230862e-06 -9.99999633e-01 2.38902973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.351858064 meters 0.01421948749762169 Centerline is valid? [True, True] Translation: X:72.87, Y:-90.09, Z:0.24 [[-7.07988454e-01 7.06223473e-01 8.69196008e-04 7.28713394e+01] [ 7.06222954e-01 7.07988988e-01 -8.55761827e-04 -9.00883204e+01] [-1.21974029e-03 7.97667917e-06 -9.99999256e-01 2.39168395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381858064 meters 0.01415820452821913 Centerline is valid? [True, True] Translation: X:72.89, Y:-90.06, Z:0.24 [[-7.58022027e-01 6.52228465e-01 7.97236034e-04 7.28871616e+01] [ 6.52228110e-01 7.58022447e-01 -6.80780876e-04 -9.00647697e+01] [-1.04834747e-03 3.93285099e-06 -9.99999450e-01 2.39185847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.411858064 meters 0.014127841020389376 Centerline is valid? [True, True] Translation: X:72.90, Y:-90.04, Z:0.24 [[-8.05725166e-01 5.92289241e-01 6.41489593e-04 7.28980261e+01] [ 5.92289052e-01 8.05725421e-01 -4.73646506e-04 -9.00366771e+01] [-7.97400202e-04 -1.68164683e-06 -9.99999682e-01 2.38858777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441858064 meters 0.014333511821618098 Centerline is valid? [True, True] Translation: X:72.91, Y:-90.01, Z:0.24 [[-8.47137293e-01 5.31373951e-01 3.62907172e-04 7.29096984e+01] [ 5.31373901e-01 8.47137371e-01 -2.30359288e-04 -9.00097659e+01] [-4.29839152e-04 -2.30654431e-06 -9.99999908e-01 2.39131508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.471858064 meters 0.01449827533792779 Centerline is valid? [True, True] Translation: X:72.92, Y:-89.98, Z:0.24 [[-8.83948545e-01 4.67583553e-01 7.68394448e-04 7.29194962e+01] [ 4.67583370e-01 8.83948879e-01 -4.13982016e-04 -8.99815229e+01] [-8.72792593e-04 -6.65033532e-06 -9.99999619e-01 2.39760625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501858064 meters 0.01510005725872668 Centerline is valid? [True, True] Translation: X:72.92, Y:-89.95, Z:0.24 [[-9.16558819e-01 3.99895679e-01 1.83796579e-03 7.29228883e+01] [ 3.99894823e-01 9.16560661e-01 -8.27434307e-04 -8.99509282e+01] [-2.01549454e-03 -2.33992068e-05 -9.99997969e-01 2.41466970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.531858064 meters 0.01508666010981868 Centerline is valid? [True, True] Translation: X:73.15, Y:-89.44, Z:-0.75 [[-8.76099450e-01 -4.82124434e-01 2.40501600e-03 7.31494372e+01] [ 4.82122851e-01 -8.76102748e-01 -1.23777927e-03 -8.94438240e+01] [ 2.70380475e-03 7.50954330e-05 9.99996342e-01 -7.52152933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561858064 meters 0.015116119631075384 Centerline is valid? [True, True] Translation: X:72.88, Y:-89.94, Z:0.24 [[-9.18863844e-01 3.94561329e-01 3.25477185e-03 7.28816512e+01] [ 3.94558664e-01 9.18869607e-01 -1.45083350e-03 -8.99359041e+01] [-3.56315373e-03 -4.89200119e-05 -9.99993651e-01 2.42294270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.591858064 meters 0.01508635497101721 Centerline is valid? [True, True] Translation: X:72.89, Y:-89.91, Z:0.24 [[-9.44100876e-01 3.29634833e-01 3.79650023e-03 7.28869644e+01] [ 3.29631953e-01 9.44108508e-01 -1.37882140e-03 -8.99122369e+01] [-4.03881573e-03 -5.02987079e-05 -9.99991843e-01 2.42548049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621858064 meters 0.014799469141873533 Centerline is valid? [True, True] Translation: X:72.89, Y:-89.89, Z:0.24 [[-9.64577281e-01 2.63775417e-01 3.63290334e-03 7.28901723e+01] [ 2.63773392e-01 9.64584122e-01 -1.03443533e-03 -8.98881054e+01] [-3.77709949e-03 -3.95295817e-05 -9.99992866e-01 2.41754036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.651858064 meters 0.01451813196293164 Centerline is valid? [True, True] Translation: X:73.05, Y:-89.33, Z:-0.75 [[-9.38562013e-01 -3.45099483e-01 2.77407531e-03 7.30462025e+01] [ 3.45097918e-01 -9.38566112e-01 -1.03945428e-03 -8.93320585e+01] [ 2.96236821e-03 -1.82646885e-05 9.99995612e-01 -7.51590033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681858064 meters 0.014259398495458871 Centerline is valid? [True, True] Translation: X:72.85, Y:-89.88, Z:0.24 [[-9.64086735e-01 2.65572785e-01 2.80430352e-03 7.28455834e+01] [ 2.65571620e-01 9.64090813e-01 -7.86854270e-04 -8.98845655e+01] [-2.91257034e-03 -1.38523361e-05 -9.99995758e-01 2.41157329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71185806399998 meters 0.01417115627042216 Centerline is valid? [True, True] Translation: X:72.85, Y:-89.87, Z:0.24 [[-9.79100213e-01 2.03357003e-01 2.94997512e-03 7.28525273e+01] [ 2.03356101e-01 9.79104657e-01 -6.05710630e-04 -8.98672358e+01] [-3.01150988e-03 6.84403183e-06 -9.99995465e-01 2.41694234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74185806399998 meters 0.014377979623117714 Centerline is valid? [True, True] Translation: X:72.85, Y:-89.84, Z:0.24 [[-9.90576084e-01 1.36940569e-01 2.51051482e-03 7.28519271e+01] [ 1.36940168e-01 9.90579265e-01 -3.32040164e-04 -8.98432445e+01] [-2.53233370e-03 1.48792759e-05 -9.99996794e-01 2.41508735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77185806399999 meters 0.014629852228366796 Centerline is valid? [True, True] Translation: X:72.85, Y:-89.82, Z:0.24 [[-9.97618987e-01 6.89241329e-02 2.41275930e-03 7.28469649e+01] [ 6.89239818e-02 9.97621904e-01 -1.45850393e-04 -8.98194964e+01] [-2.41707414e-03 2.07938575e-05 -9.99997079e-01 2.41218070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.801858064 meters 0.015648516940171185 Centerline is valid? [True, True] Translation: X:72.90, Y:-89.19, Z:-0.75 [[-9.93549082e-01 -1.13387994e-01 1.83963033e-03 7.28974352e+01] [ 1.13387707e-01 -9.93550784e-01 -2.60009241e-04 -8.91865367e+01] [ 1.85724808e-03 -4.97404779e-05 9.99998274e-01 -7.50833851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.831858064 meters 0.016931254443532915 Centerline is valid? [True, True] Translation: X:72.79, Y:-89.83, Z:0.24 [[-9.97451497e-01 7.13228020e-02 1.88944812e-03 7.27884889e+01] [ 7.13227302e-02 9.97453286e-01 -1.05447245e-04 -8.98311017e+01] [-1.89215703e-03 2.95820859e-05 -9.99998209e-01 2.40589582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.861858064 meters 0.01596177303384358 Centerline is valid? [True, True] Translation: X:72.79, Y:-89.80, Z:0.24 [[-9.99997252e-01 1.22788787e-03 1.99725779e-03 7.27869304e+01] [ 1.22795192e-03 9.99999246e-01 3.08467252e-05 -8.98026193e+01] [-1.99721841e-03 3.32991770e-05 -9.99998005e-01 2.40293969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.891858064 meters 0.01625709986390232 Centerline is valid? [True, True] Translation: X:72.78, Y:-89.78, Z:0.24 [[-9.97619342e-01 -6.89033181e-02 2.82514935e-03 7.27788422e+01] [-6.89028983e-02 9.97623341e-01 2.45777764e-04 -8.97792890e+01] [-2.83536984e-03 5.05316727e-05 -9.99995979e-01 2.41029395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.921858064 meters 0.01641843303910605 Centerline is valid? [True, True] Translation: X:72.76, Y:-89.76, Z:0.24 [[-9.90147542e-01 -1.39982905e-01 3.55409720e-03 7.27639768e+01] [-1.39981771e-01 9.90153919e-01 5.67051055e-04 -8.97551681e+01] [-3.59848072e-03 6.39553894e-05 -9.99993523e-01 2.41407686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.951858064 meters 0.01686147374198795 Centerline is valid? [True, True] Translation: X:72.74, Y:-89.73, Z:0.24 [[-9.77448925e-01 -2.11127559e-01 4.33041295e-03 7.27403474e+01] [-2.11125134e-01 9.77458515e-01 1.01484595e-03 -8.97343522e+01] [-4.44706095e-03 7.77010712e-05 -9.99990109e-01 2.42131200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.981858064 meters 0.01641484888829478 Centerline is valid? [True, True] Translation: X:72.70, Y:-89.72, Z:0.24 [[-9.59477997e-01 -2.81726455e-01 5.67264293e-03 7.26974261e+01] [-2.81720901e-01 9.59494760e-01 1.77195545e-03 -8.97201366e+01] [-5.94207789e-03 1.02050184e-04 -9.99982341e-01 2.42819239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.011858064 meters 0.016409573280128917 Centerline is valid? [True, True] Translation: X:72.63, Y:-89.71, Z:0.24 [[-9.36281716e-01 -3.51198240e-01 6.02858201e-03 7.26339027e+01] [-3.51190180e-01 9.36301118e-01 2.38197575e-03 -8.97145072e+01] [-6.48111377e-03 1.13021540e-04 -9.99978991e-01 2.43026618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.041858064 meters 0.016527141372349924 Centerline is valid? [True, True] Translation: X:72.57, Y:-89.71, Z:0.24 [[-9.07756040e-01 -4.19452976e-01 6.17846007e-03 7.25684316e+01] [-4.19442350e-01 9.07777058e-01 2.98807323e-03 -8.97144636e+01] [-6.86202051e-03 1.20933708e-04 -9.99976449e-01 2.43495657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.071858064 meters 0.016422287025167737 Centerline is valid? [True, True] Translation: X:72.49, Y:-89.73, Z:0.24 [[-8.74502984e-01 -4.84978054e-01 6.38889110e-03 7.24922808e+01] [-4.84963956e-01 8.74526311e-01 3.70050692e-03 -8.97267095e+01] [-7.38191801e-03 1.37722443e-04 -9.99972744e-01 2.43417922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101858064 meters 0.016814081478315653 Centerline is valid? [True, True] Translation: X:72.41, Y:-89.75, Z:0.24 [[-8.36296491e-01 -5.48247225e-01 5.75847573e-03 7.24106437e+01] [-5.48233090e-01 8.36316305e-01 3.93925726e-03 -8.97485194e+01] [-6.97559401e-03 1.37400081e-04 -9.99975661e-01 2.43295577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.131858064 meters 0.01691735727100884 Centerline is valid? [True, True] Translation: X:72.32, Y:-89.78, Z:0.24 [[-7.93215915e-01 -6.08923748e-01 4.51464039e-03 7.23244569e+01] [-6.08913024e-01 7.93228754e-01 3.61571615e-03 -8.97806009e+01] [-5.78283800e-03 1.19020263e-04 -9.99983272e-01 2.41901116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161858064 meters 0.0170814508572147 Centerline is valid? [True, True] Translation: X:72.24, Y:-89.82, Z:0.24 [[-7.45386003e-01 -6.66624565e-01 3.37592275e-03 7.22374051e+01] [-6.66617126e-01 7.45393641e-01 3.15065267e-03 -8.98220757e+01] [-4.61669382e-03 9.80044754e-05 -9.99989338e-01 2.40595124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.191858064 meters 0.01688887919337784 Centerline is valid? [True, True] Translation: X:72.15, Y:-89.87, Z:0.24 [[-6.92356539e-01 -7.21552402e-01 2.13407296e-03 7.21512593e+01] [-7.21548680e-01 6.92359825e-01 2.31856687e-03 -8.98728894e+01] [-3.15051388e-03 6.54374045e-05 -9.99995035e-01 2.39161419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221858064 meters 0.018753289780320592 Centerline is valid? [True, True] Translation: X:72.07, Y:-89.94, Z:0.24 [[-6.35024423e-01 -7.72489776e-01 1.87826245e-03 7.20653280e+01] [-7.72486108e-01 6.35027198e-01 2.38132904e-03 -8.99381034e+01] [-3.03230008e-03 6.12704461e-05 -9.99995401e-01 2.39825124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.251858064 meters 0.016952192213059155 Centerline is valid? [True, True] Translation: X:71.98, Y:-90.01, Z:0.24 [[-5.73359636e-01 -8.19301613e-01 1.89583363e-03 7.19759325e+01] [-8.19296754e-01 5.73362767e-01 2.82254340e-03 -9.00091068e+01] [-3.39951478e-03 6.50821181e-05 -9.99994220e-01 2.39210356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281858064 meters 0.016429599247284613 Centerline is valid? [True, True] Translation: X:71.90, Y:-90.09, Z:0.24 [[-5.06790417e-01 -8.62067707e-01 1.65614454e-03 7.18979415e+01] [-8.62062738e-01 5.06793120e-01 2.92754448e-03 -9.00864106e+01] [-3.36306421e-03 5.59509934e-05 -9.99994343e-01 2.39538070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.311858064 meters 0.015897501145770727 Centerline is valid? [True, True] Translation: X:71.82, Y:-90.18, Z:0.24 [[-4.37493650e-01 -8.99219901e-01 1.69550210e-03 7.18203773e+01] [-8.99212618e-01 4.37496932e-01 3.61969916e-03 -9.01751505e+01] [-3.99668249e-03 5.89785102e-05 -9.99992012e-01 2.39697322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341858064 meters 0.015726676402177238 Centerline is valid? [True, True] Translation: X:71.75, Y:-90.27, Z:0.24 [[-3.65584572e-01 -9.30776942e-01 1.48505832e-03 7.17513756e+01] [-9.30768641e-01 3.65587585e-01 3.93117671e-03 -9.02687801e+01] [-4.20196752e-03 5.49318447e-05 -9.99991170e-01 2.40632694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.371858064 meters 0.015349897596718719 Centerline is valid? [True, True] Translation: X:71.69, Y:-90.37, Z:0.24 [[-2.90938014e-01 -9.56741047e-01 1.28085436e-03 7.16871092e+01] [-9.56731004e-01 2.90940830e-01 4.38412096e-03 -9.03710976e+01] [-4.56712130e-03 5.00743675e-05 -9.99989569e-01 2.40856619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401858064 meters 0.01506820642258193 Centerline is valid? [True, True] Translation: X:71.63, Y:-90.48, Z:0.24 [[-2.12757758e-01 -9.77104104e-01 1.30618005e-03 7.16309992e+01] [-9.77084356e-01 2.12761763e-01 6.21242618e-03 -9.04828126e+01] [-6.34809229e-03 4.54937791e-05 -9.99979850e-01 2.42506445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.431858064 meters 0.014969634455257477 Centerline is valid? [True, True] Translation: X:71.58, Y:-90.61, Z:0.24 [[-1.35240913e-01 -9.90812266e-01 9.73959270e-04 7.15822050e+01] [-9.90784327e-01 1.35244413e-01 7.44085803e-03 -9.06125927e+01] [-7.50421596e-03 4.13248501e-05 -9.99971842e-01 2.43257703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46185806399998 meters 0.014912103752333592 Centerline is valid? [True, True] Translation: X:71.55, Y:-90.71, Z:0.24 [[-5.74211328e-02 -9.98349951e-01 4.35128550e-04 7.15473533e+01] [-9.98316060e-01 5.74227689e-02 8.22623089e-03 -9.07078706e+01] [-8.23764349e-03 3.79636769e-05 -9.99966069e-01 2.42967909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49185806399998 meters 0.014988924084332788 Centerline is valid? [True, True] Translation: X:71.52, Y:-90.83, Z:0.24 [[ 2.05264845e-02 -9.99789289e-01 -2.00161083e-04 7.15209923e+01] [-9.99755473e-01 -2.05274365e-02 8.22302750e-03 -9.08259960e+01] [-8.22540362e-03 3.13222914e-05 -9.99966170e-01 2.43308749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52185806399999 meters 0.015087954111567407 Centerline is valid? [True, True] Translation: X:71.50, Y:-90.95, Z:0.24 [[ 9.70772791e-02 -9.95276536e-01 -7.86943491e-04 7.15023413e+01] [-9.95246579e-01 -9.70804629e-02 7.72204845e-03 -9.09489097e+01] [-7.76197046e-03 3.35673647e-05 -9.99969875e-01 2.43482190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.551858064 meters 0.015116815789266562 Centerline is valid? [True, True] Translation: X:71.49, Y:-91.07, Z:0.24 [[ 1.72952895e-01 -9.84929245e-01 -1.29550894e-03 7.14935161e+01] [-9.84903164e-01 -1.72957743e-01 7.16781542e-03 -9.10706862e+01] [-7.28385933e-03 3.62564288e-05 -9.99973472e-01 2.43062657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.581858064 meters 0.01527208026758334 Centerline is valid? [True, True] Translation: X:71.50, Y:-91.19, Z:0.24 [[ 2.46796328e-01 -9.69066155e-01 -1.53645832e-03 7.14969073e+01] [-9.69048391e-01 -2.46801107e-01 5.86759160e-03 -9.11873102e+01] [-6.06528404e-03 4.08023997e-05 -9.99981605e-01 2.41198537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.611858064 meters 0.015489372338485725 Centerline is valid? [True, True] Translation: X:71.51, Y:-91.31, Z:0.24 [[ 3.19278054e-01 -9.47659674e-01 -1.63273453e-03 7.15080840e+01] [-9.47647935e-01 -3.19282226e-01 4.71715485e-03 -9.13100062e+01] [-4.99156055e-03 4.11734840e-05 -9.99987541e-01 2.39782111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.641858064 meters 0.015579171417456988 Centerline is valid? [True, True] Translation: X:71.52, Y:-91.42, Z:0.24 [[ 3.89965080e-01 -9.20828333e-01 -1.55505707e-03 7.15243419e+01] [-9.20821398e-01 -3.89968178e-01 3.57392796e-03 -9.14222695e+01] [-3.89739690e-03 3.82227205e-05 -9.99992404e-01 2.38641322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.671858064 meters 0.016672452694701117 Centerline is valid? [True, True] Translation: X:71.55, Y:-91.54, Z:0.24 [[ 4.58052654e-01 -8.88923799e-01 -1.49841511e-03 7.15542311e+01] [-8.88919306e-01 -4.58055104e-01 2.82662335e-03 -9.15383909e+01] [-3.19900946e-03 3.72277896e-05 -9.99994882e-01 2.38863233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.701858064 meters 0.0167803250290126 Centerline is valid? [True, True] Translation: X:71.59, Y:-91.65, Z:0.24 [[ 5.22680340e-01 -8.52527279e-01 -1.58137968e-03 7.15857675e+01] [-8.52523621e-01 -5.22682731e-01 2.49766474e-03 -9.16460841e+01] [-2.95588717e-03 4.26832769e-05 -9.99995630e-01 2.38934013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.731858064 meters 0.017190667115579778 Centerline is valid? [True, True] Translation: X:71.63, Y:-91.76, Z:0.24 [[ 5.86359213e-01 -8.10049240e-01 -1.76124676e-03 7.16268955e+01] [-8.10045807e-01 -5.86361857e-01 2.35870131e-03 -9.17554769e+01] [-2.94339212e-03 4.36443123e-05 -9.99995667e-01 2.39946343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.761858064 meters 0.01741811666802248 Centerline is valid? [True, True] Translation: X:71.67, Y:-91.86, Z:0.24 [[ 6.46594912e-01 -7.62829861e-01 -2.37148807e-03 7.16748345e+01] [-7.62825034e-01 -6.46599258e-01 2.71405332e-03 -9.18610909e+01] [-3.60376334e-03 5.41373973e-05 -9.99993505e-01 2.40538115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.791858064 meters 0.018164006929196518 Centerline is valid? [True, True] Translation: X:71.73, Y:-91.95, Z:0.24 [[ 7.03231535e-01 -7.10954039e-01 -3.12438127e-03 7.17263575e+01] [-7.10947428e-01 -7.03238473e-01 3.06672245e-03 -9.19543021e+01] [-4.37748383e-03 6.46548911e-05 -9.99990417e-01 2.41416154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821858064 meters 0.018345083518218713 Centerline is valid? [True, True] Translation: X:71.73, Y:-91.96, Z:0.24 [[ 7.56761670e-01 -6.53674158e-01 -4.67650608e-03 7.17255643e+01] [-6.53662401e-01 -7.56776114e-01 3.92152344e-03 -9.19553309e+01] [-6.10246664e-03 8.91975701e-05 -9.99981376e-01 2.41840446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.851858064 meters 0.017894671168823473 Centerline is valid? [True, True] Translation: X:71.72, Y:-91.96, Z:0.24 [[ 8.05656225e-01 -5.92356994e-01 -5.58922984e-03 7.17198405e+01] [-5.92343589e-01 -8.05675606e-01 3.98622632e-03 -9.19624341e+01] [-6.86437517e-03 9.92164123e-05 -9.99976435e-01 2.41583168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881858064 meters 0.017751755831492848 Centerline is valid? [True, True] Translation: X:71.72, Y:-91.97, Z:0.24 [[ 8.49429077e-01 -5.27653531e-01 -7.21069426e-03 7.17152356e+01] [-5.27635740e-01 -8.49459673e-01 4.33460051e-03 -9.19696380e+01] [-8.41236125e-03 1.22684289e-04 -9.99964608e-01 2.42909212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.911858064 meters 0.017867210810949514 Centerline is valid? [True, True] Translation: X:71.71, Y:-91.98, Z:0.24 [[ 8.88021032e-01 -4.59733191e-01 -8.00247745e-03 7.17095131e+01] [-4.59715852e-01 -8.88057079e-01 3.99493264e-03 -9.19796092e+01] [-8.94325988e-03 1.31281532e-04 -9.99960000e-01 2.42971381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941858064 meters 0.018274766097646968 Centerline is valid? [True, True] Translation: X:71.70, Y:-91.99, Z:0.24 [[ 9.21179820e-01 -3.89048151e-01 -8.32314280e-03 7.17044767e+01] [-3.89033574e-01 -9.21217411e-01 3.37040555e-03 -9.19872844e+01] [-8.97867411e-03 1.33232417e-04 -9.99959682e-01 2.43754665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.971858064 meters 0.018175967150732743 Centerline is valid? [True, True] Translation: X:71.70, Y:-91.99, Z:0.24 [[ 9.48790048e-01 -3.15797112e-01 -8.34439671e-03 7.17018809e+01] [-3.15786096e-01 -9.48826732e-01 2.64087316e-03 -9.19945930e+01] [-8.75136677e-03 1.29410292e-04 -9.99961698e-01 2.43768611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001858064 meters 0.01821097891583323 Centerline is valid? [True, True] Translation: X:71.70, Y:-92.00, Z:0.24 [[ 9.70604909e-01 -2.40532619e-01 -8.37677791e-03 7.16996507e+01] [-2.40524779e-01 -9.70641048e-01 1.94613945e-03 -9.20022794e+01] [-8.59895450e-03 1.25890152e-04 -9.99963020e-01 2.43842627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.031858064 meters 0.01808558353400229 Centerline is valid? [True, True] Translation: X:71.69, Y:-92.01, Z:0.24 [[ 9.86400658e-01 -1.64160511e-01 -8.06650199e-03 7.16944886e+01] [-1.64156035e-01 -9.86433633e-01 1.21843209e-03 -9.20114829e+01] [-8.15708730e-03 1.22302762e-04 -9.99966723e-01 2.42780087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061858064 meters 0.01829984314504355 Centerline is valid? [True, True] Translation: X:71.69, Y:-92.02, Z:0.24 [[ 9.96184164e-01 -8.69425692e-02 -7.62241741e-03 7.16903367e+01] [-8.69409351e-02 -9.96213318e-01 5.46105777e-04 -9.20199832e+01] [-7.64103358e-03 1.18678170e-04 -9.99970800e-01 2.42245586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.091858064 meters 0.018202724641705515 Centerline is valid? [True, True] Translation: X:71.69, Y:-92.03, Z:0.24 [[ 9.99929464e-01 -1.03167784e-02 -5.88477818e-03 7.16864680e+01] [-1.03171935e-02 -9.99946776e-01 -4.01863856e-05 -9.20285054e+01] [-5.88405037e-03 1.00897946e-04 -9.99982684e-01 2.40647940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121858064 meters 0.0185689523523004 Centerline is valid? [True, True] Translation: X:71.68, Y:-92.04, Z:0.24 [[ 9.97702593e-01 6.75635851e-02 -4.96962829e-03 7.16834295e+01] [ 6.75623094e-02 -9.97714966e-01 -4.24307144e-04 -9.20370328e+01] [-4.98694023e-03 8.75727740e-05 -9.99987561e-01 2.39830027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.151858064 meters 0.0185689523523004 Centerline is valid? [True, True] Translation: X:71.68, Y:-92.05, Z:0.24 [[ 9.89352873e-01 1.45453342e-01 -4.92115614e-03 7.16807002e+01] [ 1.45451101e-01 -9.89365108e-01 -8.12006549e-04 -9.20459382e+01] [-4.98692924e-03 8.75734317e-05 -9.99987561e-01 2.39829926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181858064 meters 0.018604449220371078 Centerline is valid? [True, True] Translation: X:71.68, Y:-92.05, Z:0.24 [[ 9.74964972e-01 2.22309128e-01 -4.68560362e-03 7.16789825e+01] [ 2.22306139e-01 -9.74976228e-01 -1.15589843e-03 -9.20545652e+01] [-4.82531891e-03 8.53220365e-05 -9.99988354e-01 2.39302905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21185806399998 meters 0.018277698949020288 Centerline is valid? [True, True] Translation: X:71.68, Y:-92.07, Z:0.24 [[ 9.54422712e-01 2.98432601e-01 -3.90772764e-03 7.16791985e+01] [ 2.98429795e-01 -9.54430709e-01 -1.29601683e-03 -9.20664299e+01] [-4.11642893e-03 7.07655405e-05 -9.99991525e-01 2.38980385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24185806399998 meters 0.018723748985863306 Centerline is valid? [True, True] Translation: X:71.68, Y:-92.08, Z:0.24 [[ 9.27845877e-01 3.72944598e-01 -3.78886786e-03 7.16781657e+01] [ 3.72941191e-01 -9.27853610e-01 -1.59554761e-03 -9.20763272e+01] [-4.11056558e-03 6.73973812e-05 -9.99991549e-01 2.39402825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27185806399999 meters 0.01840554585069531 Centerline is valid? [True, True] Translation: X:71.68, Y:-92.09, Z:0.24 [[ 8.95428380e-01 4.45192797e-01 -3.37482449e-03 7.16792013e+01] [ 4.45189385e-01 -8.95434738e-01 -1.74384587e-03 -9.20863010e+01] [-3.79828271e-03 5.90530377e-05 -9.99992785e-01 2.39607090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.301858064 meters 0.01820377551243126 Centerline is valid? [True, True] Translation: X:71.68, Y:-92.10, Z:0.24 [[ 8.56908243e-01 5.15449019e-01 -4.53575524e-03 7.16810437e+01] [ 5.15441342e-01 -8.56920244e-01 -2.81402809e-03 -9.20959854e+01] [-5.33726850e-03 7.34481008e-05 -9.99985754e-01 2.41095747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.331858064 meters 0.0178669850034623 Centerline is valid? [True, True] Translation: X:71.68, Y:-92.11, Z:0.24 [[ 8.13618240e-01 5.81375919e-01 -5.23459825e-03 7.16848357e+01] [ 5.81363201e-01 -8.13635074e-01 -3.84640839e-03 -9.21065429e+01] [-6.49526194e-03 8.63052273e-05 -9.99978902e-01 2.41774947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.361858064 meters 0.017752987241564426 Centerline is valid? [True, True] Translation: X:71.69, Y:-92.12, Z:0.24 [[ 7.65511818e-01 6.43394210e-01 -5.96212137e-03 7.16868552e+01] [ 6.43373635e-01 -7.65535029e-01 -5.14645694e-03 -9.21160328e+01] [-7.87541335e-03 1.03801914e-04 -9.99968983e-01 2.42422317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.391858064 meters 0.018101073030808077 Centerline is valid? [True, True] Translation: X:71.69, Y:-92.12, Z:0.24 [[ 7.12755000e-01 7.01387437e-01 -5.99777172e-03 7.16885441e+01] [ 7.01361272e-01 -7.12780226e-01 -6.05939635e-03 -9.21240145e+01] [-8.52507755e-03 1.12260240e-04 -9.99963655e-01 2.43150298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.421858064 meters 0.017892261092221824 Centerline is valid? [True, True] Translation: X:71.69, Y:-92.13, Z:0.24 [[ 6.56289550e-01 7.54489297e-01 -5.47057073e-03 7.16946790e+01] [ 7.54461564e-01 -6.56312339e-01 -6.47006952e-03 -9.21344109e+01] [-8.47200128e-03 1.18903663e-04 -9.99964105e-01 2.42487508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.451858064 meters 0.018229755603041086 Centerline is valid? [True, True] Translation: X:71.70, Y:-92.14, Z:0.24 [[ 5.96066108e-01 8.02921931e-01 -4.64410470e-03 7.16989270e+01] [ 8.02895972e-01 -5.96084188e-01 -6.45743643e-03 -9.21428316e+01] [-7.95309470e-03 1.20326045e-04 -9.99968366e-01 2.43409115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.481858064 meters 0.01819594909087744 Centerline is valid? [True, True] Translation: X:71.71, Y:-92.15, Z:0.24 [[ 5.32549518e-01 8.46390236e-01 -3.81819010e-03 7.17050194e+01] [ 8.46366825e-01 -5.32563191e-01 -6.29641999e-03 -9.21506041e+01] [-7.36265591e-03 1.21565993e-04 -9.99972888e-01 2.42916570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.511858064 meters 0.018649151151561467 Centerline is valid? [True, True] Translation: X:71.71, Y:-92.16, Z:0.24 [[ 4.67519449e-01 8.83977903e-01 -2.93797031e-03 7.17088118e+01] [ 8.83958678e-01 -4.67528662e-01 -5.83142290e-03 -9.21568321e+01] [-6.52843432e-03 1.29259266e-04 -9.99978681e-01 2.41967460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.541858064 meters 0.019036295190089942 Centerline is valid? [True, True] Translation: X:71.71, Y:-92.16, Z:0.24 [[ 3.98485388e-01 9.17172086e-01 -2.18159000e-03 7.17131198e+01] [ 9.17156589e-01 -3.98491340e-01 -5.33312696e-03 -9.21635342e+01] [-5.76073991e-03 1.24313519e-04 -9.99983399e-01 2.41308044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.571858064 meters 0.01956063437784323 Centerline is valid? [True, True] Translation: X:71.72, Y:-92.17, Z:0.24 [[ 3.26752133e-01 9.45108835e-01 -1.52789673e-03 7.17166306e+01] [ 9.45096795e-01 -3.26755685e-01 -4.77185107e-03 -9.21704744e+01] [-5.00916755e-03 1.15202215e-04 -9.99987447e-01 2.40691784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601858064 meters 0.020024181863762227 Centerline is valid? [True, True] Translation: X:71.72, Y:-92.18, Z:0.24 [[ 2.52602929e-01 9.67569378e-01 -1.12190023e-03 7.17201055e+01] [ 9.67557674e-01 -2.52605394e-01 -4.76054366e-03 -9.21761211e+01] [-4.88955432e-03 1.17024095e-04 -9.99988039e-01 2.40193105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.631858064 meters 0.02003746020573334 Centerline is valid? [True, True] Translation: X:71.73, Y:-92.18, Z:0.24 [[ 1.77568165e-01 9.84108235e-01 -7.27743503e-04 7.17265437e+01] [ 9.84096935e-01 -1.77569614e-01 -4.71741221e-03 -9.21816469e+01] [-4.77166934e-03 1.21492077e-04 -9.99988608e-01 2.39910914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661858064 meters 0.02053144275429158 Centerline is valid? [True, True] Translation: X:71.73, Y:-92.19, Z:0.24 [[ 1.00049184e-01 9.94982426e-01 -3.64846307e-04 7.17324701e+01] [ 9.94970465e-01 -1.00049771e-01 -4.88018808e-03 -9.21882369e+01] [-4.89220416e-03 1.25247537e-04 -9.99988025e-01 2.40445680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.691858064 meters 0.020235596790649527 Centerline is valid? [True, True] Translation: X:71.74, Y:-92.19, Z:0.24 [[ 2.15123629e-02 9.99768582e-01 1.89167862e-05 7.17400968e+01] [ 9.99756340e-01 -2.15120059e-02 -4.94912460e-03 -9.21935170e+01] [-4.94757235e-03 1.25379542e-04 -9.99987753e-01 2.40865728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721858064 meters 0.020734004154665444 Centerline is valid? [True, True] Translation: X:71.75, Y:-92.20, Z:0.24 [[-5.75576999e-02 9.98342090e-01 4.26687364e-04 7.17457107e+01] [ 9.98328670e-01 5.75591392e-02 -5.17814175e-03 -9.21991432e+01] [-5.19411662e-03 1.27932300e-04 -9.99986502e-01 2.41377875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.751858064 meters 0.019363902805345678 Centerline is valid? [True, True] Translation: X:71.76, Y:-92.20, Z:0.24 [[-1.37319008e-01 9.90526466e-01 8.99826666e-04 7.17557718e+01] [ 9.90510904e-01 1.37321896e-01 -5.55388187e-03 -9.22021264e+01] [-5.62483289e-03 1.28634575e-04 -9.99984172e-01 2.40782159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781858064 meters 0.01938717550101557 Centerline is valid? [True, True] Translation: X:71.76, Y:-92.21, Z:0.24 [[-2.15642221e-01 9.76471372e-01 1.44658202e-03 7.17622684e+01] [ 9.76453340e-01 2.15647032e-01 -5.93573069e-03 -9.22066613e+01] [-6.10802221e-03 1.32525691e-04 -9.99981337e-01 2.40853204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.811858064 meters 0.018548066800436795 Centerline is valid? [True, True] Translation: X:71.77, Y:-92.21, Z:0.24 [[-2.92700214e-01 9.56202185e-01 1.99164704e-03 7.17725043e+01] [ 9.56182986e-01 2.92706961e-01 -6.06074797e-03 -9.22086429e+01] [-6.37826940e-03 1.30396787e-04 -9.99979650e-01 2.40689353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841858064 meters 0.01782785483817117 Centerline is valid? [True, True] Translation: X:71.79, Y:-92.21, Z:0.24 [[-3.68138998e-01 9.29765680e-01 3.07557942e-03 7.17854859e+01] [ 9.29736580e-01 3.68151814e-01 -7.35758317e-03 -9.22083552e+01] [-7.97310846e-03 1.50865396e-04 -9.99968203e-01 2.41587113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.871858064 meters 0.017589765609140037 Centerline is valid? [True, True] Translation: X:71.80, Y:-92.21, Z:0.24 [[-4.40634945e-01 8.97677596e-01 3.97236593e-03 7.17965915e+01] [ 8.97644277e-01 4.40652822e-01 -7.73580455e-03 -9.22073204e+01] [-8.69469269e-03 1.57105738e-04 -9.99962188e-01 2.41990147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901858064 meters 0.017287601168111292 Centerline is valid? [True, True] Translation: X:71.81, Y:-92.20, Z:0.24 [[-5.09979636e-01 8.60173085e-01 4.79943074e-03 7.18083823e+01] [ 8.60137923e-01 5.10002194e-01 -7.77921370e-03 -9.22048067e+01] [-9.13919045e-03 1.60931816e-04 -9.99958224e-01 2.42180108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.931858064 meters 0.016996293926706513 Centerline is valid? [True, True] Translation: X:71.82, Y:-92.20, Z:0.24 [[-5.76041595e-01 8.17403535e-01 5.24808158e-03 7.18192617e+01] [ 8.17372014e-01 5.76065480e-01 -7.18006869e-03 -9.22017905e+01] [-8.89225216e-03 1.53616794e-04 -9.99960451e-01 2.42089730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96185806399998 meters 0.017092110647603655 Centerline is valid? [True, True] Translation: X:71.83, Y:-92.20, Z:0.24 [[-6.38140132e-01 7.69903513e-01 5.07479441e-03 7.18287794e+01] [ 7.69880847e-01 6.38160295e-01 -5.90923582e-03 -9.21999503e+01] [-7.78807371e-03 1.36066497e-04 -9.99969663e-01 2.41301513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99185806399998 meters 0.017219222812746085 Centerline is valid? [True, True] Translation: X:71.84, Y:-92.20, Z:0.24 [[-6.96010488e-01 7.18012985e-01 5.17242060e-03 7.18373210e+01] [ 7.17994559e-01 6.96029694e-01 -5.14568529e-03 -9.21969913e+01] [-7.29482719e-03 1.32318918e-04 -9.99973384e-01 2.40540913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02185806399999 meters 0.017384292741129116 Centerline is valid? [True, True] Translation: X:71.86, Y:-92.18, Z:0.24 [[-7.44641128e-01 6.67447260e-01 4.87293742e-03 7.18566808e+01] [ 6.67434021e-01 7.44657063e-01 -4.20548855e-03 -9.21777066e+01] [-6.43560907e-03 1.20784479e-04 -9.99979284e-01 2.39744683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.051858064 meters 0.017180556779888157 Centerline is valid? [True, True] Translation: X:71.88, Y:-92.16, Z:0.24 [[-7.89499431e-01 6.13735075e-01 4.46165132e-03 7.18797472e+01] [ 6.13726050e-01 7.89512030e-01 -3.33014204e-03 -9.21596691e+01] [-5.56635236e-03 1.09086392e-04 -9.99984502e-01 2.38635584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.081858064 meters 0.017536121736272413 Centerline is valid? [True, True] Translation: X:71.90, Y:-92.14, Z:0.24 [[-8.30300624e-01 5.57303149e-01 3.75144884e-03 7.18977912e+01] [ 5.57297961e-01 8.30309094e-01 -2.40646172e-03 -9.21390207e+01] [-4.45599078e-03 9.25881215e-05 -9.99990068e-01 2.37275414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.111858064 meters 0.01769256992115705 Centerline is valid? [True, True] Translation: X:72.30, Y:-91.52, Z:-0.75 [[-8.16060693e-01 -5.77957415e-01 3.18936048e-03 7.23020541e+01] [ 5.77952465e-01 -8.16066918e-01 -2.39450246e-03 -9.15198327e+01] [ 3.98665202e-03 -1.10760587e-04 9.99992047e-01 -7.47337790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.141858064 meters 0.017971391714870333 Centerline is valid? [True, True] Translation: X:71.86, Y:-92.12, Z:0.24 [[-8.31893129e-01 5.54926557e-01 3.21514113e-03 7.18612635e+01] [ 5.54922791e-01 8.31899338e-01 -2.04605918e-03 -9.21177424e+01] [-3.81008635e-03 8.20525200e-05 -9.99992738e-01 2.36519274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.171858064 meters 0.017569782560971026 Centerline is valid? [True, True] Translation: X:71.88, Y:-92.09, Z:0.24 [[-8.68877839e-01 4.95018364e-01 2.84955537e-03 7.18781777e+01] [ 4.95015969e-01 8.68882509e-01 -1.54166735e-03 -9.20937504e+01] [-3.23908247e-03 7.10548208e-05 -9.99994752e-01 2.35954475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.201858064 meters 0.0177642167671957 Centerline is valid? [True, True] Translation: X:71.89, Y:-92.07, Z:0.24 [[-9.01461075e-01 4.32854529e-01 2.21042270e-03 7.18939955e+01] [ 4.32853376e-01 9.01463784e-01 -1.00058637e-03 -9.20690022e+01] [-2.42572435e-03 5.47992663e-05 -9.99997056e-01 2.35662010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.231858064 meters 0.017662544144041142 Centerline is valid? [True, True] Translation: X:71.91, Y:-92.04, Z:0.24 [[-9.29588106e-01 3.68595420e-01 1.83540535e-03 7.19073770e+01] [ 3.68594798e-01 9.29589917e-01 -6.78798938e-04 -9.20427658e+01] [-1.95637649e-03 4.55174449e-05 -9.99998085e-01 2.35822934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.261858064 meters 0.017863377000307105 Centerline is valid? [True, True] Translation: X:71.92, Y:-92.02, Z:0.24 [[-9.53167105e-01 3.02436319e-01 2.17777073e-03 7.19206316e+01] [ 3.02435659e-01 9.53169591e-01 -6.34178011e-04 -9.20166498e+01] [-2.26758330e-03 5.41579081e-05 -9.99997428e-01 2.36528858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.291858064 meters 0.01847448786833913 Centerline is valid? [True, True] Translation: X:71.92, Y:-91.99, Z:0.24 [[-9.72019259e-01 2.34879950e-01 3.15749389e-03 7.19227173e+01] [ 2.34878977e-01 9.72024384e-01 -6.80844690e-04 -9.19881795e+01] [-3.22907782e-03 7.98347824e-05 -9.99994783e-01 2.37562629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321858064 meters 0.01920388652709115 Centerline is valid? [True, True] Translation: X:72.09, Y:-91.27, Z:-0.75 [[-9.67664222e-01 -2.52223263e-01 3.06233562e-03 7.20874898e+01] [ 2.52221733e-01 -9.67669065e-01 -8.82442651e-04 -9.12739334e+01] [ 3.18590001e-03 -8.15205845e-05 9.99994922e-01 -7.48663031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.351858064 meters 0.01879350865270466 Centerline is valid? [True, True] Translation: X:71.87, Y:-91.98, Z:0.24 [[-9.72949938e-01 2.30993760e-01 3.20958621e-03 7.18733333e+01] [ 2.30992776e-01 9.72955228e-01 -6.78857179e-04 -9.19775991e+01] [-3.27959546e-03 8.08971803e-05 -9.99994619e-01 2.38617462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381858064 meters 0.018205384218714527 Centerline is valid? [True, True] Translation: X:71.88, Y:-91.95, Z:0.24 [[-9.86872418e-01 1.61466801e-01 3.36208483e-03 7.18781858e+01] [ 1.61466153e-01 9.86878141e-01 -4.65032230e-04 -9.19479893e+01] [-3.39305529e-03 8.39354225e-05 -9.99994240e-01 2.38575810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.411858064 meters 0.01838761371349113 Centerline is valid? [True, True] Translation: X:71.99, Y:-91.23, Z:-0.75 [[-9.83787841e-01 -1.79300568e-01 3.57635682e-03 7.19864662e+01] [ 1.79299111e-01 -9.83794339e-01 -7.26708666e-04 -9.12304713e+01] [ 3.64869887e-03 -7.36895516e-05 9.99993341e-01 -7.50062644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441858064 meters 0.01831783132189477 Centerline is valid? [True, True] Translation: X:71.82, Y:-91.94, Z:0.24 [[-9.87640648e-01 1.56687753e-01 3.85998431e-03 7.18236854e+01] [ 1.56686930e-01 9.87648186e-01 -5.16593854e-04 -9.19383200e+01] [-3.89325043e-03 9.46000027e-05 -9.99992417e-01 2.39811331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.471858064 meters 0.01831340016462237 Centerline is valid? [True, True] Translation: X:71.92, Y:-91.22, Z:-0.75 [[-9.84486171e-01 -1.75420059e-01 3.84462883e-03 7.19235393e+01] [ 1.75418350e-01 -9.84493674e-01 -7.79961025e-04 -9.12247521e+01] [ 3.92183357e-03 -9.34423962e-05 9.99992305e-01 -7.50569990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501858064 meters 0.018410466473043986 Centerline is valid? [True, True] Translation: X:71.76, Y:-91.93, Z:0.24 [[-9.88427471e-01 1.51644750e-01 3.87344030e-03 7.17619232e+01] [ 1.51643949e-01 9.88435057e-01 -5.01498048e-04 -9.19285257e+01] [-3.90469373e-03 9.16893356e-05 -9.99992372e-01 2.40385658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.531858064 meters 0.017622309822225273 Centerline is valid? [True, True] Translation: X:71.86, Y:-91.22, Z:-0.75 [[-9.85121975e-01 -1.71804269e-01 4.24117427e-03 7.18588552e+01] [ 1.71802350e-01 -9.85131102e-01 -8.15427571e-04 -9.12191261e+01] [ 4.31820662e-03 -7.46519135e-05 9.99990674e-01 -7.50436669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561858064 meters 0.017756848375796948 Centerline is valid? [True, True] Translation: X:71.70, Y:-91.92, Z:0.24 [[-9.89091122e-01 1.47232373e-01 4.62385584e-03 7.17020972e+01] [ 1.47231279e-01 9.89101924e-01 -5.77999433e-04 -9.19191432e+01] [-4.65856494e-03 1.09082100e-04 -9.99989143e-01 2.39919740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.591858064 meters 0.017644539201288473 Centerline is valid? [True, True] Translation: X:71.70, Y:-91.89, Z:0.24 [[-9.97035020e-01 7.68273283e-02 4.32778284e-03 7.16995508e+01] [ 7.68270508e-02 9.97044408e-01 -2.30572165e-04 -9.18898601e+01] [-4.33270592e-03 1.02602268e-04 -9.99990609e-01 2.39690430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621858064 meters 0.01810920612949362 Centerline is valid? [True, True] Translation: X:71.70, Y:-91.86, Z:0.24 [[-9.99982617e-01 5.07962573e-03 2.99399789e-03 7.16994704e+01] [ 5.07980940e-03 9.99987096e-01 5.37439253e-05 -9.18604427e+01] [-2.99368626e-03 6.89519297e-05 -9.99995517e-01 2.40129087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.651858064 meters 0.017330596081743914 Centerline is valid? [True, True] Translation: X:71.68, Y:-91.15, Z:-0.75 [[-9.99636963e-01 -2.68336135e-02 2.42902630e-03 7.16818409e+01] [ 2.68333073e-02 -9.99639909e-01 -1.58569763e-04 -9.11536324e+01] [ 2.43240663e-03 -9.33333870e-05 9.99997037e-01 -7.50584322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681858064 meters 0.01753716704312485 Centerline is valid? [True, True] Translation: X:71.60, Y:-91.86, Z:0.24 [[-9.99995712e-01 -2.19172361e-03 1.94227501e-03 7.16019650e+01] [-2.19163817e-03 9.99997597e-01 4.61154295e-05 -9.18581743e+01] [-1.94237141e-03 4.18584677e-05 -9.99998113e-01 2.40040451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71185806399998 meters 0.017430984087379316 Centerline is valid? [True, True] Translation: X:71.60, Y:-91.83, Z:0.24 [[-9.97167807e-01 -7.51822198e-02 1.99946927e-03 7.15972268e+01] [-7.51819886e-02 9.97169811e-01 1.90646755e-04 -9.18294532e+01] [-2.00814364e-03 3.97827311e-05 -9.99997983e-01 2.39852376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74185806399998 meters 0.0170085995571021 Centerline is valid? [True, True] Translation: X:71.58, Y:-91.80, Z:0.24 [[-9.89155677e-01 -1.46859960e-01 1.78879258e-03 7.15842870e+01] [-1.46859656e-01 9.89157293e-01 3.00730874e-04 -9.18014735e+01] [-1.81356255e-03 3.47681886e-05 -9.99998355e-01 2.40322384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77185806399999 meters 0.01686542341448514 Centerline is valid? [True, True] Translation: X:71.56, Y:-91.78, Z:0.24 [[-9.75894704e-01 -2.18236365e-01 1.55452239e-03 7.15570394e+01] [-2.18236040e-01 9.75895941e-01 3.78012558e-04 -9.17777901e+01] [-1.59954818e-03 2.96476418e-05 -9.99998720e-01 2.40333878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.801858064 meters 0.01683377261794849 Centerline is valid? [True, True] Translation: X:71.51, Y:-91.76, Z:0.24 [[-9.57391272e-01 -2.88789041e-01 1.68574433e-03 7.15132784e+01] [-2.88788534e-01 9.57392756e-01 5.42307507e-04 -9.17604945e+01] [-1.77053187e-03 3.23768418e-05 -9.99998432e-01 2.40323063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.831858064 meters 0.016862573505286697 Centerline is valid? [True, True] Translation: X:71.45, Y:-91.75, Z:0.24 [[-9.33494897e-01 -3.58587695e-01 1.46401575e-03 7.14495377e+01] [-3.58587205e-01 9.33496044e-01 5.93099244e-04 -9.17525791e+01] [-1.57933100e-03 2.86778027e-05 -9.99998752e-01 2.40123344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.861858064 meters 0.016406555719536794 Centerline is valid? [True, True] Translation: X:71.38, Y:-91.75, Z:0.24 [[-9.04379485e-01 -4.26725837e-01 1.67525603e-03 7.13808652e+01] [-4.26725035e-01 9.04381036e-01 8.27790525e-04 -9.17510319e+01] [-1.86830939e-03 3.37630797e-05 -9.99998254e-01 2.40517108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.891858064 meters 0.016638713512381775 Centerline is valid? [True, True] Translation: X:71.30, Y:-91.76, Z:0.24 [[-8.70200472e-01 -4.92694572e-01 1.78832023e-03 7.13049055e+01] [-4.92693441e-01 8.70202308e-01 1.05613560e-03 -9.17605700e+01] [-2.07655267e-03 3.79560500e-05 -9.99997843e-01 2.40860005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.921858064 meters 0.01629909297239292 Centerline is valid? [True, True] Translation: X:71.22, Y:-91.78, Z:0.24 [[-8.30721921e-01 -5.56682870e-01 2.29617894e-03 7.12221506e+01] [-5.56680575e-01 8.30725093e-01 1.59942724e-03 -9.17797761e+01] [-2.79786721e-03 5.04410522e-05 -9.99996085e-01 2.40792243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.951858064 meters 0.016409654105066583 Centerline is valid? [True, True] Translation: X:71.14, Y:-91.81, Z:0.24 [[-7.86596160e-01 -6.17463036e-01 2.42509272e-03 7.11358632e+01] [-6.17459876e-01 7.86599896e-01 1.97611182e-03 -9.18093820e+01] [-3.12775369e-03 5.70045178e-05 -9.99995107e-01 2.40687267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.981858064 meters 0.016529775501721824 Centerline is valid? [True, True] Translation: X:71.05, Y:-91.85, Z:0.24 [[-7.37842486e-01 -6.74970539e-01 1.79945608e-03 7.10471151e+01] [-6.74968380e-01 7.37844678e-01 1.70797458e-03 -9.18501304e+01] [-2.48055162e-03 4.56402600e-05 -9.99996922e-01 2.40532676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.011858064 meters 0.017599475057558656 Centerline is valid? [True, True] Translation: X:70.96, Y:-91.90, Z:0.24 [[-6.84970791e-01 -7.28569274e-01 1.35185352e-03 7.09591471e+01] [-7.28567744e-01 6.84972124e-01 1.49370483e-03 -9.19029087e+01] [-2.01424942e-03 3.82273109e-05 -9.99997971e-01 2.40207589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.041858064 meters 0.017599475057558656 Centerline is valid? [True, True] Translation: X:70.87, Y:-91.96, Z:0.24 [[-6.27602342e-01 -7.78533093e-01 1.23438606e-03 7.08716717e+01] [-7.78531465e-01 6.27603555e-01 1.59214773e-03 -9.19633734e+01] [-2.01424477e-03 3.82272575e-05 -9.99997971e-01 2.40207378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.071858064 meters 0.017256794061263802 Centerline is valid? [True, True] Translation: X:70.79, Y:-92.03, Z:0.24 [[-5.66948920e-01 -8.23752409e-01 9.43750905e-04 7.07862735e+01] [-8.23751168e-01 5.66949704e-01 1.43060435e-03 -9.20320595e+01] [-1.71352308e-03 3.36636818e-05 -9.99998531e-01 2.39771238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101858064 meters 0.01738463441301141 Centerline is valid? [True, True] Translation: X:70.71, Y:-92.11, Z:0.24 [[-5.02666793e-01 -8.64479875e-01 7.99875027e-04 7.07065295e+01] [-8.64478675e-01 5.02667429e-01 1.44119062e-03 -9.21084869e+01] [-1.64795141e-03 3.29637626e-05 -9.99998642e-01 2.39666304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.131858064 meters 0.017612052035560922 Centerline is valid? [True, True] Translation: X:70.63, Y:-92.20, Z:0.24 [[-4.35208593e-01 -9.00329473e-01 5.66917752e-04 7.06299881e+01] [-9.00328625e-01 4.35208961e-01 1.23584629e-03 -9.21978293e+01] [-1.35939652e-03 2.74386435e-05 -9.99999076e-01 2.39582888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161858064 meters 0.017031985412232827 Centerline is valid? [True, True] Translation: X:70.56, Y:-92.29, Z:0.24 [[-3.64336575e-01 -9.31267182e-01 5.44193115e-04 7.05594454e+01] [-9.31266014e-01 3.64336981e-01 1.47516667e-03 -9.22896936e+01] [-1.57204398e-03 3.06686180e-05 -9.99998764e-01 2.39014258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.191858064 meters 0.01711617016668465 Centerline is valid? [True, True] Translation: X:70.50, Y:-92.39, Z:0.24 [[-2.91024121e-01 -9.56715556e-01 5.53122039e-04 7.04964200e+01] [-9.56713573e-01 2.91024644e-01 1.94832371e-03 -9.23902468e+01] [-2.02496374e-03 3.78298317e-05 -9.99997949e-01 2.38762643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221858064 meters 0.016945969834200002 Centerline is valid? [True, True] Translation: X:70.44, Y:-92.50, Z:0.24 [[-2.15582346e-01 -9.76485592e-01 3.74489811e-04 7.04403156e+01] [-9.76483841e-01 2.15582669e-01 1.84949550e-03 -9.24961322e+01] [-1.88673923e-03 3.30353306e-05 -9.99998220e-01 2.38753669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.251858064 meters 0.016562331526159962 Centerline is valid? [True, True] Translation: X:70.39, Y:-92.61, Z:0.24 [[-1.38583318e-01 -9.90350752e-01 2.29166306e-04 7.03913444e+01] [-9.90349015e-01 1.38583504e-01 1.85482345e-03 -9.26062442e+01] [-1.86868447e-03 3.00929623e-05 -9.99998254e-01 2.39063779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281858064 meters 0.016270058354603743 Centerline is valid? [True, True] Translation: X:70.35, Y:-92.72, Z:0.24 [[-5.89300192e-02 -9.98262114e-01 7.08441936e-05 7.03494550e+01] [-9.98260930e-01 5.89300585e-02 1.53732429e-03 -9.27220826e+01] [-1.53882745e-03 1.98735593e-05 -9.99998816e-01 2.39319424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.311858064 meters 0.015859655442394722 Centerline is valid? [True, True] Translation: X:70.32, Y:-92.84, Z:0.24 [[ 1.95096149e-02 -9.99809668e-01 -5.49483187e-05 7.03183834e+01] [-9.99808086e-01 -1.95096818e-02 1.77866187e-03 -9.28381325e+01] [-1.77939536e-03 2.02367652e-05 -9.99998417e-01 2.39073839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341858064 meters 0.015846629427458906 Centerline is valid? [True, True] Translation: X:70.30, Y:-92.96, Z:0.24 [[ 9.72963243e-02 -9.95255426e-01 -2.49825856e-04 7.02976865e+01] [-9.95252749e-01 -9.72966421e-02 2.30838781e-03 -9.29572803e+01] [-2.32174271e-03 2.40422214e-05 -9.99997304e-01 2.38986255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.371858064 meters 0.015473374672144635 Centerline is valid? [True, True] Translation: X:70.29, Y:-93.08, Z:0.24 [[ 1.74813829e-01 -9.84601363e-01 -5.29929248e-04 7.02854708e+01] [-9.84597279e-01 -1.74814630e-01 2.83607309e-03 -9.30805038e+01] [-2.88504082e-03 2.59820992e-05 -9.99995838e-01 2.38790600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401858064 meters 0.015520804515173769 Centerline is valid? [True, True] Translation: X:70.28, Y:-93.20, Z:0.24 [[ 2.50486339e-01 -9.68119750e-01 -8.61993413e-04 7.02829263e+01] [-9.68114397e-01 -2.50487820e-01 3.21969850e-03 -9.31989227e+01] [-3.33297256e-03 2.80177440e-05 -9.99994445e-01 2.38549616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.431858064 meters 0.015458157538736465 Centerline is valid? [True, True] Translation: X:70.29, Y:-93.33, Z:0.24 [[ 3.24398210e-01 -9.45919960e-01 -1.10963296e-03 7.02918711e+01] [-9.45914704e-01 -3.24400107e-01 3.15324534e-03 -9.33252537e+01] [-3.34268275e-03 2.67109878e-05 -9.99994413e-01 2.38464376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46185806399998 meters 0.015266397714401246 Centerline is valid? [True, True] Translation: X:70.30, Y:-93.43, Z:0.24 [[ 3.96319600e-01 -9.18111608e-01 -1.35973101e-03 7.03036668e+01] [-9.18106427e-01 -3.96321932e-01 3.08470903e-03 -9.34341271e+01] [-3.37099839e-03 2.58471282e-05 -9.99994318e-01 2.37959011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49185806399998 meters 0.015250828216609407 Centerline is valid? [True, True] Translation: X:70.33, Y:-93.55, Z:0.24 [[ 4.65893796e-01 -8.84839263e-01 -1.56495311e-03 7.03283716e+01] [-8.84834442e-01 -4.65896424e-01 2.92089039e-03 -9.35519320e+01] [-3.31362455e-03 2.38996988e-05 -9.99994510e-01 2.37754375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52185806399999 meters 0.0151909412861808 Centerline is valid? [True, True] Translation: X:70.36, Y:-93.66, Z:0.24 [[ 5.32247975e-01 -8.46586651e-01 -1.77086415e-03 7.03607089e+01] [-8.46582112e-01 -5.32250920e-01 2.77228425e-03 -9.36632906e+01] [-3.28952291e-03 2.36392345e-05 -9.99994589e-01 2.37160866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.551858064 meters 0.015088999230733017 Centerline is valid? [True, True] Translation: X:70.40, Y:-93.77, Z:0.24 [[ 5.95404155e-01 -8.03424389e-01 -1.77294171e-03 7.03972555e+01] [-8.03420932e-01 -5.95406794e-01 2.35711730e-03 -9.37656215e+01] [-2.94938706e-03 2.09810510e-05 -9.99995650e-01 2.36777106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.581858064 meters 0.015013637542271908 Centerline is valid? [True, True] Translation: X:70.44, Y:-93.87, Z:0.24 [[ 6.54769968e-01 -7.55825973e-01 -1.84033363e-03 7.04422910e+01] [-7.55823075e-01 -6.54772554e-01 2.09332155e-03 -9.38661238e+01] [-2.78718676e-03 2.03225374e-05 -9.99996116e-01 2.35858584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.611858064 meters 0.014988820914560715 Centerline is valid? [True, True] Translation: X:70.49, Y:-93.96, Z:0.24 [[ 7.10134241e-01 -7.04062761e-01 -2.23363846e-03 7.04919458e+01] [-7.04059382e-01 -7.10137753e-01 2.18124731e-03 -9.39602105e+01] [-3.12192600e-03 2.36357163e-05 -9.99995127e-01 2.35737860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.641858064 meters 0.014889120381374167 Centerline is valid? [True, True] Translation: X:70.49, Y:-93.97, Z:0.24 [[ 7.62851545e-01 -6.46567849e-01 -2.74535752e-03 7.04890446e+01] [-6.46563793e-01 -7.62856485e-01 2.29034323e-03 -9.39713999e+01] [-3.57517608e-03 2.78568985e-05 -9.99993609e-01 2.35657350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.671858064 meters 0.015118360736397858 Centerline is valid? [True, True] Translation: X:70.49, Y:-93.98, Z:0.24 [[ 8.10929333e-01 -5.85135741e-01 -3.12760671e-03 7.04869097e+01] [-5.85131535e-01 -8.10935364e-01 2.21883999e-03 -9.39807267e+01] [-3.83460946e-03 3.07388843e-05 -9.99992647e-01 2.36295264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.701858064 meters 0.01529151166423895 Centerline is valid? [True, True] Translation: X:70.49, Y:-93.99, Z:0.24 [[ 8.53920541e-01 -5.20388644e-01 -3.92036153e-03 7.04885067e+01] [-5.20383369e-01 -8.53929539e-01 2.34343455e-03 -9.39868834e+01] [-4.56720924e-03 3.89840446e-05 -9.99989569e-01 2.36758868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.731858064 meters 0.015183263647569528 Centerline is valid? [True, True] Translation: X:70.49, Y:-94.00, Z:0.24 [[ 8.91255589e-01 -4.53472314e-01 -5.13183981e-03 7.04870808e+01] [-4.53465171e-01 -8.91270362e-01 2.54592848e-03 -9.39993993e+01] [-5.72836480e-03 5.80376303e-05 -9.99983591e-01 2.36891827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.761858064 meters 0.01533208855319248 Centerline is valid? [True, True] Translation: X:70.49, Y:-94.01, Z:0.24 [[ 9.23532106e-01 -3.83476753e-01 -5.83344028e-03 7.04879028e+01] [-3.83469587e-01 -9.23550526e-01 2.34540504e-03 -9.40110147e+01] [-6.28688515e-03 7.08900799e-05 -9.99980235e-01 2.37272044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.791858064 meters 0.016147574388941828 Centerline is valid? [True, True] Translation: X:70.49, Y:-94.02, Z:0.24 [[ 9.50415646e-01 -3.10909305e-01 -6.74567809e-03 7.04887833e+01] [-3.10902115e-01 -9.50439581e-01 2.11617163e-03 -9.40189218e+01] [-7.06929690e-03 8.60029604e-05 -9.99975009e-01 2.38844138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821858064 meters 0.016032675587893175 Centerline is valid? [True, True] Translation: X:70.49, Y:-94.03, Z:0.24 [[ 9.71221783e-01 -2.38049164e-01 -7.80019414e-03 7.04917869e+01] [-2.38042453e-01 -9.71253099e-01 1.79133464e-03 -9.40288773e+01] [-8.00238844e-03 1.16994128e-04 -9.99967974e-01 2.38243676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.851858064 meters 0.016402599384930897 Centerline is valid? [True, True] Translation: X:70.49, Y:-94.04, Z:0.24 [[ 9.86694630e-01 -1.62374718e-01 -8.25583986e-03 7.04939074e+01] [-1.62370147e-01 -9.86729159e-01 1.22543453e-03 -9.40364887e+01] [-8.34525751e-03 1.31372263e-04 -9.99965169e-01 2.38483213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881858064 meters 0.016484635853321394 Centerline is valid? [True, True] Translation: X:70.49, Y:-94.04, Z:0.24 [[ 9.96297003e-01 -8.55777574e-02 -8.29028179e-03 7.04938661e+01] [-8.55759543e-02 -9.96331485e-01 5.72645557e-04 -9.40438089e+01] [-8.30887449e-03 1.38923723e-04 -9.99965471e-01 2.38420474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.911858064 meters 0.01642521650968953 Centerline is valid? [True, True] Translation: X:70.49, Y:-94.05, Z:0.24 [[ 9.99932426e-01 -7.72243365e-03 -8.68949769e-03 7.04948487e+01] [-7.72343360e-03 -9.99970171e-01 -8.15241227e-05 -9.40533663e+01] [-8.68860892e-03 1.48631372e-04 -9.99962242e-01 2.38401261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941858064 meters 0.016439262805084467 Centerline is valid? [True, True] Translation: X:70.50, Y:-94.06, Z:0.24 [[ 9.97490955e-01 7.02242109e-02 -8.96410185e-03 7.04958832e+01] [ 7.02199552e-02 -9.97531220e-01 -7.88988695e-04 -9.40619394e+01] [-8.99737756e-03 1.57550257e-04 -9.99959510e-01 2.38599812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.971858064 meters 0.01688798456761185 Centerline is valid? [True, True] Translation: X:70.50, Y:-94.07, Z:0.24 [[ 9.88926696e-01 1.48159803e-01 -8.52421696e-03 7.04966904e+01] [ 1.48152986e-01 -9.88963422e-01 -1.42925906e-03 -9.40682978e+01] [-8.64189752e-03 1.50544242e-04 -9.99962647e-01 2.38692005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001858064 meters 0.016633882445996836 Centerline is valid? [True, True] Translation: X:70.50, Y:-94.08, Z:0.24 [[ 9.74291951e-01 2.25147536e-01 -7.98633097e-03 7.05001957e+01] [ 2.25138767e-01 -9.74324672e-01 -1.99227520e-03 -9.40754811e+01] [-8.22983515e-03 1.43024983e-04 -9.99966124e-01 2.38124606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.031858064 meters 0.016579324013845036 Centerline is valid? [True, True] Translation: X:70.50, Y:-94.08, Z:0.24 [[ 9.53569962e-01 3.01067851e-01 -7.90423248e-03 7.05032190e+01] [ 3.01056272e-01 -9.53602710e-01 -2.64422789e-03 -9.40812151e+01] [-8.33358952e-03 1.41837525e-04 -9.99965265e-01 2.37801179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061858064 meters 0.016264353565118298 Centerline is valid? [True, True] Translation: X:70.51, Y:-94.09, Z:0.24 [[ 9.26802924e-01 3.75466379e-01 -7.83192305e-03 7.05070814e+01] [ 3.75451704e-01 -9.26836004e-01 -3.32249807e-03 -9.40875010e+01] [-8.50639458e-03 1.38792067e-04 -9.99963810e-01 2.37462027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.091858064 meters 0.016321261673143614 Centerline is valid? [True, True] Translation: X:70.51, Y:-94.09, Z:0.24 [[ 8.94279435e-01 4.47437152e-01 -8.01795891e-03 7.05104706e+01] [ 4.47417741e-01 -8.94315367e-01 -4.17021499e-03 -9.40927622e+01] [-9.03649298e-03 1.41960445e-04 -9.99959160e-01 2.38106618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121858064 meters 0.016008991239195993 Centerline is valid? [True, True] Translation: X:70.52, Y:-94.10, Z:0.24 [[ 8.56152202e-01 5.16656735e-01 -8.32012478e-03 7.05157789e+01] [ 5.16630662e-01 -8.56192616e-01 -5.19252947e-03 -9.40992364e+01] [-9.80638473e-03 1.47163968e-04 -9.99951905e-01 2.38008897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.151858064 meters 0.01599676160677177 Centerline is valid? [True, True] Translation: X:70.52, Y:-94.10, Z:0.24 [[ 8.12274601e-01 5.83219864e-01 -8.03511919e-03 7.05211475e+01] [ 5.83189664e-01 -8.12314331e-01 -5.93662982e-03 -9.41033647e+01] [-9.98940290e-03 1.36175155e-04 -9.99950095e-01 2.38265403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181858064 meters 0.015882424044032083 Centerline is valid? [True, True] Translation: X:70.52, Y:-94.11, Z:0.24 [[ 7.63802295e-01 6.45404584e-01 -7.67971515e-03 7.05247102e+01] [ 6.45370196e-01 -7.63840890e-01 -6.66369026e-03 -9.41074916e+01] [-1.01668567e-02 1.33482637e-04 -9.99948307e-01 2.38250612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21185806399998 meters 0.015912293036923587 Centerline is valid? [True, True] Translation: X:70.53, Y:-94.11, Z:0.24 [[ 7.10239962e-01 7.03922883e-01 -7.19520162e-03 7.05274263e+01] [ 7.03884976e-01 -7.10276396e-01 -7.30627699e-03 -9.41105781e+01] [-1.02536374e-02 1.24615576e-04 -9.99947422e-01 2.39100226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24185806399998 meters 0.01590463246782391 Centerline is valid? [True, True] Translation: X:70.53, Y:-94.11, Z:0.24 [[ 6.52719096e-01 7.57568689e-01 -6.88928201e-03 7.05309913e+01] [ 7.57524432e-01 -6.52755440e-01 -8.18961656e-03 -9.41120192e+01] [-1.07012134e-02 1.26719677e-04 -9.99942732e-01 2.39208357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27185806399999 meters 0.01579684267684866 Centerline is valid? [True, True] Translation: X:70.53, Y:-94.11, Z:0.24 [[ 5.91261056e-01 8.06457718e-01 -6.02603806e-03 7.05342040e+01] [ 8.06413739e-01 -5.91291751e-01 -8.42297330e-03 -9.41135918e+01] [-1.03559184e-02 1.20696204e-04 -9.99946369e-01 2.38653284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.301858064 meters 0.01590628007121411 Centerline is valid? [True, True] Translation: X:70.54, Y:-94.12, Z:0.24 [[ 5.26149738e-01 8.50374542e-01 -5.43979757e-03 7.05358153e+01] [ 8.50326701e-01 -5.26177844e-01 -9.02097691e-03 -9.41154040e+01] [-1.05335101e-02 1.20779512e-04 -9.99944514e-01 2.38738362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.331858064 meters 0.015416913657226326 Centerline is valid? [True, True] Translation: X:70.54, Y:-94.12, Z:0.24 [[ 4.57991031e-01 8.88942541e-01 -5.03719745e-03 7.05432561e+01] [ 8.88885622e-01 -4.58018713e-01 -1.00602848e-02 -9.41187445e+01] [-1.12501459e-02 1.30027829e-04 -9.99936707e-01 2.37756299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.361858064 meters 0.015832535871944442 Centerline is valid? [True, True] Translation: X:70.55, Y:-94.12, Z:0.24 [[ 3.87533428e-01 9.21845281e-01 -4.37253888e-03 7.05474744e+01] [ 9.21782426e-01 -3.87558069e-01 -1.07657740e-02 -9.41216267e+01] [-1.16189907e-02 1.41567820e-04 -9.99932487e-01 2.38590603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.391858064 meters 0.016299890097862032 Centerline is valid? [True, True] Translation: X:70.55, Y:-94.12, Z:0.24 [[ 3.14773713e-01 9.49160169e-01 -3.53318664e-03 7.05479048e+01] [ 9.49094925e-01 -3.14793506e-01 -1.11297619e-02 -9.41231604e+01] [-1.16761508e-02 1.50026957e-04 -9.99931820e-01 2.39276572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.421858064 meters 0.01668128178475012 Centerline is valid? [True, True] Translation: X:70.55, Y:-94.12, Z:0.24 [[ 2.40241590e-01 9.70709447e-01 -2.67365950e-03 7.05462871e+01] [ 9.70641695e-01 -2.40256414e-01 -1.14698013e-02 -9.41238853e+01] [-1.17762083e-02 1.60357911e-04 -9.99930645e-01 2.39563776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.451858064 meters 0.017292712231621002 Centerline is valid? [True, True] Translation: X:70.54, Y:-94.13, Z:0.24 [[ 1.65048235e-01 9.86284009e-01 -1.71251140e-03 7.05411080e+01] [ 9.86219475e-01 -1.65057028e-01 -1.12838412e-02 -9.41252238e+01] [-1.14117342e-02 1.73465990e-04 -9.99934869e-01 2.38919545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.481858064 meters 0.015652577243831407 Centerline is valid? [True, True] Translation: X:70.55, Y:-94.13, Z:0.24 [[ 8.79361880e-02 9.96125780e-01 -8.11214241e-04 7.05538055e+01] [ 9.96062700e-01 -8.79397497e-02 -1.12115501e-02 -9.41271667e+01] [-1.12394521e-02 1.77880733e-04 -9.99936820e-01 2.35993567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.511858064 meters 0.016050277706813772 Centerline is valid? [True, True] Translation: X:70.56, Y:-94.13, Z:0.24 [[ 9.84617832e-03 9.99951523e-01 7.13247002e-05 7.05616832e+01] [ 9.99884039e-01 -9.84468509e-03 -1.16185925e-02 -9.41283984e+01] [-1.16173271e-02 1.85715163e-04 -9.99932499e-01 2.36678615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.541858064 meters 0.015825818373007727 Centerline is valid? [True, True] Translation: X:70.57, Y:-94.13, Z:0.24 [[-6.84591793e-02 9.97653501e-01 9.11998882e-04 7.05681982e+01] [ 9.97595501e-01 6.84650346e-02 -1.07590164e-02 -9.41292881e+01] [-1.07962104e-02 1.73252548e-04 -9.99941704e-01 2.35870586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.571858064 meters 0.015770172426957378 Centerline is valid? [True, True] Translation: X:70.58, Y:-94.13, Z:0.24 [[-1.46780896e-01 9.89167605e-01 1.67857483e-03 7.05765277e+01] [ 9.89114936e-01 1.46790405e-01 -1.02088147e-02 -9.41289282e+01] [-1.03446274e-02 1.61844471e-04 -9.99946480e-01 2.35215133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601858064 meters 0.01556128831082507 Centerline is valid? [True, True] Translation: X:70.59, Y:-94.13, Z:0.23 [[-2.24657476e-01 9.74434662e-01 2.47149888e-03 7.05855241e+01] [ 9.74382964e-01 2.24671019e-01 -1.00385872e-02 -9.41282581e+01] [-1.03372215e-02 1.52942746e-04 -9.99946558e-01 2.34823769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.631858064 meters 0.01548469090855391 Centerline is valid? [True, True] Translation: X:70.59, Y:-94.13, Z:0.24 [[-3.02727669e-01 9.53070773e-01 3.47263989e-03 7.05940447e+01] [ 9.53013090e-01 3.02747556e-01 -1.04865404e-02 -9.41265340e+01] [-1.10457484e-02 1.34905351e-04 -9.99938985e-01 2.36037705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661858064 meters 0.01540562372508126 Centerline is valid? [True, True] Translation: X:70.60, Y:-94.13, Z:0.24 [[-3.78027330e-01 9.25783456e-01 4.50885513e-03 7.06021789e+01] [ 9.25721427e-01 3.78054198e-01 -1.07173875e-02 -9.41254862e+01] [-1.16265716e-02 1.22478435e-04 -9.99932402e-01 2.37172402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.691858064 meters 0.015267303322712015 Centerline is valid? [True, True] Translation: X:70.61, Y:-94.13, Z:0.24 [[-4.50915961e-01 8.92549150e-01 5.55071438e-03 7.06086325e+01] [ 8.92484412e-01 4.50950112e-01 -1.07504394e-02 -9.41254180e+01] [-1.20983908e-02 1.06381366e-04 -9.99926806e-01 2.38284126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721858064 meters 0.014762572321575393 Centerline is valid? [True, True] Translation: X:70.62, Y:-94.12, Z:0.24 [[-5.22404448e-01 8.52672283e-01 6.60084584e-03 7.06172288e+01] [ 8.52605829e-01 5.22446145e-01 -1.06455122e-02 -9.41216062e+01] [-1.25257196e-02 6.66567214e-05 -9.99921548e-01 2.37594118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.751858064 meters 0.014759216640113381 Centerline is valid? [True, True] Translation: X:70.62, Y:-94.12, Z:0.24 [[-5.88466280e-01 8.08490965e-01 7.05671320e-03 7.06244967e+01] [ 8.08433859e-01 5.88508588e-01 -9.60924063e-03 -9.41191152e+01] [-1.19219205e-02 5.01718013e-05 -9.99928930e-01 2.37526414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781858064 meters 0.014623189243274715 Centerline is valid? [True, True] Translation: X:70.63, Y:-94.11, Z:0.24 [[-6.50296561e-01 7.59647541e-01 7.07087034e-03 7.06309005e+01] [ 7.59603318e-01 6.50335000e-01 -8.19680272e-03 -9.41149298e+01] [-1.08251155e-02 4.07039462e-05 -9.99941406e-01 2.36603878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.811858064 meters 0.014638258153830172 Centerline is valid? [True, True] Translation: X:70.64, Y:-94.11, Z:0.24 [[-7.07622490e-01 7.06554962e-01 7.10614274e-03 7.06368749e+01] [ 7.06519899e-01 7.07658169e-01 -7.03908594e-03 -9.41110868e+01] [-1.00022211e-02 3.96157315e-05 -9.99949976e-01 2.35893970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841858064 meters 0.014684707408758636 Centerline is valid? [True, True] Translation: X:70.66, Y:-94.10, Z:0.24 [[-7.55414726e-01 6.55214355e-01 6.53754851e-03 7.06556317e+01] [ 6.55190278e-01 7.55443014e-01 -5.61723213e-03 -9.40951965e+01] [-8.61923648e-03 3.99983529e-05 -9.99962853e-01 2.35578310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.871858064 meters 0.014705308054243683 Centerline is valid? [True, True] Translation: X:70.67, Y:-94.08, Z:0.23 [[-7.99491940e-01 6.00635037e-01 7.08458591e-03 7.06733226e+01] [ 6.00611975e-01 7.99523327e-01 -5.26353980e-03 -9.40754468e+01] [-8.82575812e-03 4.69294939e-05 -9.99961051e-01 2.34457248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901858064 meters 0.01478114579934602 Centerline is valid? [True, True] Translation: X:70.69, Y:-94.05, Z:0.23 [[-8.39800377e-01 5.42844341e-01 7.43958626e-03 7.06851403e+01] [ 5.42823571e-01 8.39833328e-01 -4.74885177e-03 -9.40523071e+01] [-8.82589980e-03 5.02952752e-05 -9.99961050e-01 2.34887236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.931858064 meters 0.014745575648250759 Centerline is valid? [True, True] Translation: X:70.70, Y:-94.03, Z:0.24 [[-8.75812847e-01 4.82594089e-01 7.40291684e-03 7.06988179e+01] [ 4.82577366e-01 8.75844131e-01 -4.01785948e-03 -9.40300743e+01] [-8.42279651e-03 5.35871630e-05 -9.99964526e-01 2.35046502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96185806399998 meters 0.014745575648250759 Centerline is valid? [True, True] Translation: X:70.71, Y:-94.01, Z:0.24 [[-9.07796989e-01 4.19339737e-01 7.66892963e-03 7.07120560e+01] [ 4.19325272e-01 9.07829380e-01 -3.48336544e-03 -9.40056248e+01] [-8.42279317e-03 5.35873435e-05 -9.99964526e-01 2.35046467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99185806399998 meters 0.014950677584733923 Centerline is valid? [True, True] Translation: X:70.73, Y:-93.99, Z:0.24 [[-9.34899928e-01 3.54808520e-01 8.54627901e-03 7.07266376e+01] [ 3.54794346e-01 9.34938987e-01 -3.17216897e-03 -9.39852296e+01] [-9.11576202e-03 6.65109276e-05 -9.99958448e-01 2.35688068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02185806399999 meters 0.014961185043646604 Centerline is valid? [True, True] Translation: X:70.74, Y:-93.96, Z:0.24 [[-9.57550569e-01 2.88125349e-01 8.98277757e-03 7.07354650e+01] [ 2.88113388e-01 9.57592699e-01 -2.62629601e-03 -9.39605800e+01] [-9.35854467e-03 7.32472406e-05 -9.99956205e-01 2.36236334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.051858064 meters 0.014960794282807131 Centerline is valid? [True, True] Translation: X:70.94, Y:-93.28, Z:-0.75 [[-9.41542529e-01 -3.36794170e-01 8.20688334e-03 7.09430321e+01] [ 3.36780390e-01 -9.41578290e-01 -3.04839986e-03 -9.32788795e+01] [ 8.75410648e-03 -1.06280742e-04 9.99961676e-01 -7.46709127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.081858064 meters 0.015195102717948952 Centerline is valid? [True, True] Translation: X:70.69, Y:-93.95, Z:0.24 [[-9.58133921e-01 2.86221119e-01 7.54053987e-03 7.06908606e+01] [ 2.86212877e-01 9.58163590e-01 -2.17346876e-03 -9.39544301e+01] [-7.84716341e-03 7.57254630e-05 -9.99969208e-01 2.35454108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.111858064 meters 0.01545084249457046 Centerline is valid? [True, True] Translation: X:70.90, Y:-93.26, Z:-0.75 [[-9.43511581e-01 -3.31265162e-01 7.02067218e-03 7.08979546e+01] [ 3.31255238e-01 -9.43537696e-01 -2.56589935e-03 -9.32598049e+01] [ 7.47426191e-03 -9.53213156e-05 9.99972063e-01 -7.45806184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.141858064 meters 0.015509569382235718 Centerline is valid? [True, True] Translation: X:70.64, Y:-93.95, Z:0.24 [[-9.58887309e-01 2.83693245e-01 7.29879394e-03 7.06408713e+01] [ 2.83685678e-01 9.58915083e-01 -2.07367515e-03 -9.39458343e+01] [-7.58721123e-03 8.21425233e-05 -9.99971213e-01 2.35343485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.171858064 meters 0.015604704042540926 Centerline is valid? [True, True] Translation: X:70.65, Y:-93.92, Z:0.24 [[-9.76364971e-01 2.16007768e-01 7.21724158e-03 7.06466506e+01] [ 2.16002528e-01 9.76391641e-01 -1.50703719e-03 -9.39217011e+01] [-7.37238608e-03 8.75241092e-05 -9.99972820e-01 2.35054604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.201858064 meters 0.01616334017799452 Centerline is valid? [True, True] Translation: X:70.66, Y:-93.90, Z:0.24 [[-9.89161438e-01 1.46637896e-01 7.54835753e-03 7.06565148e+01] [ 1.46634350e-01 9.89190234e-01 -1.02400918e-03 -9.38978811e+01] [-7.61692010e-03 9.39381147e-05 -9.99970986e-01 2.36154366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.231858064 meters 0.015668681788032032 Centerline is valid? [True, True] Translation: X:70.76, Y:-93.16, Z:-0.75 [[-9.82039808e-01 -1.88526457e-01 7.45589550e-03 7.07612600e+01] [ 1.88520294e-01 -9.82068107e-01 -1.52730821e-03 -9.31617575e+01] [ 7.61013519e-03 -9.42898496e-05 9.99971038e-01 -7.45756669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.261858064 meters 0.015972339449675695 Centerline is valid? [True, True] Translation: X:70.59, Y:-93.89, Z:0.24 [[-9.89699690e-01 1.42949136e-01 7.75037657e-03 7.05920756e+01] [ 1.42945553e-01 9.89730031e-01 -1.01723480e-03 -9.38911418e+01] [-7.81619328e-03 1.01124897e-04 -9.99969448e-01 2.36527507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.291858064 meters 0.01620558219400843 Centerline is valid? [True, True] Translation: X:70.60, Y:-93.87, Z:0.24 [[-9.97295939e-01 7.31756421e-02 6.79236076e-03 7.06001870e+01] [ 7.31745861e-02 9.97319065e-01 -4.04192207e-04 -9.38670037e+01] [-6.80372791e-03 9.39289404e-05 -9.99976850e-01 2.36350041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321858064 meters 0.01602244978486684 Centerline is valid? [True, True] Translation: X:70.65, Y:-93.11, Z:-0.75 [[-9.93627882e-01 -1.12545103e-01 6.10177457e-03 7.06472990e+01] [ 1.12542195e-01 -9.93646609e-01 -8.19010502e-04 -9.31142455e+01] [ 6.15518323e-03 -1.27084568e-04 9.99981049e-01 -7.45901595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.351858064 meters 0.016007092473150134 Centerline is valid? [True, True] Translation: X:70.52, Y:-93.86, Z:0.23 [[-9.97621206e-01 6.87184681e-02 5.44982920e-03 7.05237361e+01] [ 6.87178761e-02 9.97636089e-01 -2.96035481e-04 -9.38644949e+01] [-5.45728939e-03 7.91694134e-05 -9.99985106e-01 2.34956181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381858064 meters 0.01657338648527426 Centerline is valid? [True, True] Translation: X:70.52, Y:-93.84, Z:0.23 [[-9.99985876e-01 -2.08059160e-03 4.89076084e-03 7.05218725e+01] [-2.08021328e-03 9.99997833e-01 8.24414541e-05 -9.38395468e+01] [-4.89092176e-03 7.22664641e-05 -9.99988037e-01 2.34860870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.411858064 meters 0.016290577062085327 Centerline is valid? [True, True] Translation: X:70.52, Y:-93.81, Z:0.23 [[-9.97351012e-01 -7.26312387e-02 3.95744287e-03 7.05171788e+01] [-7.26304229e-02 9.97358862e-01 3.49656444e-04 -9.38134515e+01] [-3.97238670e-03 6.12994591e-05 -9.99992108e-01 2.33994430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441858064 meters 0.01634819104931502 Centerline is valid? [True, True] Translation: X:70.45, Y:-93.05, Z:-0.74 [[-9.99343503e-01 3.59916450e-02 4.14307571e-03 7.04461580e+01] [-3.59915535e-02 -9.99352089e-01 9.66771113e-05 -9.30478634e+01] [ 4.14387093e-03 -5.25020879e-05 9.99991413e-01 -7.44681413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.471858064 meters 0.016132579394030098 Centerline is valid? [True, True] Translation: X:70.41, Y:-93.82, Z:0.23 [[-9.96802163e-01 -7.98084860e-02 4.00654940e-03 7.04092640e+01] [-7.98075991e-02 9.96810214e-01 3.81020288e-04 -9.38231265e+01] [-4.02417801e-03 6.00487593e-05 -9.99991901e-01 2.34224156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501858064 meters 0.016231506557186276 Centerline is valid? [True, True] Translation: X:70.31, Y:-93.06, Z:-0.74 [[-9.99151690e-01 4.09355072e-02 4.49282141e-03 7.03149565e+01] [-4.09352518e-02 -9.99161790e-01 1.48830828e-04 -9.30550129e+01] [ 4.49514795e-03 -3.52102022e-05 9.99989896e-01 -7.44609897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.531858064 meters 0.016219058314720765 Centerline is valid? [True, True] Translation: X:70.29, Y:-93.84, Z:0.23 [[-9.96024107e-01 -8.89525946e-02 4.83878272e-03 7.02908421e+01] [-8.89512415e-02 9.96035859e-01 4.94557246e-04 -9.38362845e+01] [-4.86359325e-03 6.21752094e-05 -9.99988171e-01 2.34362238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561858064 meters 0.016081321950374625 Centerline is valid? [True, True] Translation: X:70.28, Y:-93.81, Z:0.23 [[-9.87001780e-01 -1.60633690e-01 4.92991303e-03 7.02790991e+01] [-1.60631378e-01 9.87014090e-01 8.64002439e-04 -9.38099246e+01] [-5.00468152e-03 6.08732226e-05 -9.99987475e-01 2.34549301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.591858064 meters 0.01617009464803198 Centerline is valid? [True, True] Translation: X:70.25, Y:-93.79, Z:0.23 [[-9.72703405e-01 -2.31998987e-01 4.95530970e-03 7.02534563e+01] [-2.31995671e-01 9.72716026e-01 1.24193348e-03 -9.37875131e+01] [-5.10823646e-03 5.84225258e-05 -9.99986951e-01 2.34781551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621858064 meters 0.016032927690685803 Centerline is valid? [True, True] Translation: X:70.20, Y:-93.77, Z:0.23 [[-9.52769573e-01 -3.03664253e-01 4.26168070e-03 7.02025573e+01] [-3.03661001e-01 9.52779103e-01 1.40610000e-03 -9.37743528e+01] [-4.48742262e-03 4.55830707e-05 -9.99989930e-01 2.34561298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.651858064 meters 0.01610681098987298 Centerline is valid? [True, True] Translation: X:70.14, Y:-93.77, Z:0.23 [[-9.27736227e-01 -3.73216429e-01 3.87167326e-03 7.01388400e+01] [-3.73212991e-01 9.27744305e-01 1.60240402e-03 -9.37695330e+01] [-4.18996632e-03 4.16495004e-05 -9.99991221e-01 2.34729531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681858064 meters 0.01613925668661406 Centerline is valid? [True, True] Translation: X:70.07, Y:-93.77, Z:0.23 [[-8.97416835e-01 -4.41171969e-01 3.21200233e-03 7.00679247e+01] [-4.41169000e-01 8.97422583e-01 1.61917679e-03 -9.37715811e+01] [-3.59685883e-03 3.60406535e-05 -9.99993531e-01 2.34556624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71185806399998 meters 0.01625780094901655 Centerline is valid? [True, True] Translation: X:69.99, Y:-93.78, Z:0.23 [[-8.61937896e-01 -5.07007298e-01 2.58122885e-03 6.99894780e+01] [-5.07004918e-01 8.61941761e-01 1.55400868e-03 -9.37839057e+01] [-3.01276268e-03 3.07632524e-05 -9.99995461e-01 2.34357473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74185806399998 meters 0.016424276911286166 Centerline is valid? [True, True] Translation: X:69.90, Y:-93.81, Z:0.23 [[-8.21472503e-01 -5.70245196e-01 1.82849855e-03 6.99046544e+01] [-5.70243719e-01 8.21474538e-01 1.29785394e-03 -9.38078422e+01] [-2.24215997e-03 2.34615123e-05 -9.99997486e-01 2.33922167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77185806399999 meters 0.01638446075278041 Centerline is valid? [True, True] Translation: X:69.82, Y:-93.84, Z:0.23 [[-7.76004017e-01 -6.30725584e-01 1.73291505e-03 6.98167991e+01] [-6.30723943e-01 7.76005952e-01 1.43899487e-03 -9.38404180e+01] [-2.25236327e-03 2.36747862e-05 -9.99997463e-01 2.33868461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.801858064 meters 0.016448512638563256 Centerline is valid? [True, True] Translation: X:69.73, Y:-93.88, Z:0.23 [[-7.26023689e-01 -6.87667289e-01 1.81747703e-03 6.97261488e+01] [-6.87665040e-01 7.26025963e-01 1.75884729e-03 -9.38843383e+01] [-2.52903726e-03 2.71493838e-05 -9.99996802e-01 2.33969746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.831858064 meters 0.016481738954911933 Centerline is valid? [True, True] Translation: X:69.64, Y:-93.94, Z:0.23 [[-6.71451723e-01 -7.41046848e-01 1.46712263e-03 6.96362599e+01] [-7.41045002e-01 6.71453325e-01 1.65429263e-03 -9.39378469e+01] [-2.21101271e-03 2.35737380e-05 -9.99997555e-01 2.34162745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.861858064 meters 0.016288168963366222 Centerline is valid? [True, True] Translation: X:69.54, Y:-94.01, Z:0.23 [[-6.12674297e-01 -7.90334160e-01 1.45672313e-03 6.95388188e+01] [-7.90331828e-01 6.12676028e-01 1.91974417e-03 -9.40113357e+01] [-2.40973874e-03 2.48832567e-05 -9.99997096e-01 2.33986459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.891858064 meters 0.016473321080574553 Centerline is valid? [True, True] Translation: X:69.46, Y:-94.08, Z:0.23 [[-5.51032039e-01 -8.34482922e-01 1.39461412e-03 6.94581643e+01] [-8.34480115e-01 5.51033803e-01 2.16472267e-03 -9.40772821e+01] [-2.57490362e-03 2.90537931e-05 -9.99996685e-01 2.33698768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.921858064 meters 0.016550945217194878 Centerline is valid? [True, True] Translation: X:69.38, Y:-94.15, Z:0.23 [[-4.85823495e-01 -8.74056519e-01 8.56961565e-04 6.93818065e+01] [-8.74055080e-01 4.85824250e-01 1.58596227e-03 -9.41514248e+01] [-1.80255337e-03 2.14661246e-05 -9.99998375e-01 2.33329974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.951858064 meters 0.017077202989024556 Centerline is valid? [True, True] Translation: X:69.31, Y:-94.24, Z:0.23 [[-4.18157771e-01 -9.08374272e-01 5.10721947e-04 6.93067308e+01] [-9.08373546e-01 4.18158083e-01 1.14882348e-03 -9.42445051e+01] [-1.25712420e-03 1.64631582e-05 -9.99999210e-01 2.32911067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.981858064 meters 0.016914655182385593 Centerline is valid? [True, True] Translation: X:69.24, Y:-94.34, Z:0.23 [[-3.49701068e-01 -9.36861333e-01 7.38729275e-05 6.92381185e+01] [-9.36861310e-01 3.49701076e-01 2.08450919e-04 -9.43362466e+01] [-2.21123048e-04 3.68682131e-06 -9.99999976e-01 2.31777161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.011858064 meters 0.01747591975550711 Centerline is valid? [True, True] Translation: X:69.18, Y:-94.44, Z:0.23 [[-2.78067473e-01 -9.60561544e-01 -3.00441277e-05 6.91778850e+01] [-9.60561537e-01 2.78067475e-01 -1.10454595e-04 -9.44397725e+01] [ 1.14452731e-04 -1.85459654e-06 -9.99999993e-01 2.31379901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.041858064 meters 0.017540711310603002 Centerline is valid? [True, True] Translation: X:69.12, Y:-94.55, Z:0.23 [[-2.04962470e-01 -9.78769825e-01 -1.23135617e-04 6.91238481e+01] [-9.78769610e-01 2.04962507e-01 -6.49778608e-04 -9.45499745e+01] [ 6.61221879e-04 -1.26588288e-05 -9.99999781e-01 2.30764501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.071858064 meters 0.01836937119669396 Centerline is valid? [True, True] Translation: X:69.08, Y:-94.66, Z:0.23 [[-1.32366209e-01 -9.91200865e-01 -1.79474296e-04 6.90802318e+01] [-9.91199528e-01 1.32366325e-01 -1.62864792e-03 -9.46584051e+01] [ 1.63807358e-03 -3.76831138e-05 -9.99998658e-01 2.30786482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101858064 meters 0.018752327200143318 Centerline is valid? [True, True] Translation: X:69.04, Y:-94.77, Z:0.23 [[-5.70640587e-02 -9.98370518e-01 -3.40896277e-05 6.90439605e+01] [-9.98369965e-01 5.70640629e-02 -1.05181856e-03 -9.47746210e+01] [ 1.05204994e-03 -2.59869758e-05 -9.99999446e-01 2.30735941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.131858064 meters 0.01919768444133255 Centerline is valid? [True, True] Translation: X:69.02, Y:-94.90, Z:0.23 [[ 1.89406711e-02 -9.99820607e-01 6.40486199e-05 6.90169026e+01] [-9.99819597e-01 -1.89407431e-02 -1.42181861e-03 -9.48973041e+01] [ 1.42277668e-03 -3.71068665e-05 -9.99998987e-01 2.31061583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161858064 meters 0.019651674603041847 Centerline is valid? [True, True] Translation: X:69.00, Y:-95.02, Z:0.23 [[ 9.54795105e-02 -9.95431383e-01 1.55504373e-04 6.89990236e+01] [-9.95430581e-01 -9.54796310e-02 -1.26432957e-03 -9.50193701e+01] [ 1.27340084e-03 -3.40762392e-05 -9.99999189e-01 2.31154719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.191858064 meters 0.01979688989135852 Centerline is valid? [True, True] Translation: X:68.99, Y:-95.14, Z:0.23 [[ 1.71636368e-01 -9.85160339e-01 2.50643509e-04 6.89880156e+01] [-9.85159562e-01 -1.71636547e-01 -1.23793012e-03 -9.51420155e+01] [ 1.26257924e-03 -3.44500209e-05 -9.99999202e-01 2.31804705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221858064 meters 0.020010504546157586 Centerline is valid? [True, True] Translation: X:68.99, Y:-95.27, Z:0.23 [[ 2.47499614e-01 -9.68887936e-01 3.30085083e-04 6.89882130e+01] [-9.68887241e-01 -2.47499832e-01 -1.16064773e-03 -9.52672698e+01] [ 1.20623358e-03 -3.25553611e-05 -9.99999272e-01 2.32003438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.251858064 meters 0.01922408492305213 Centerline is valid? [True, True] Translation: X:69.00, Y:-95.39, Z:0.23 [[ 3.22399961e-01 -9.46603495e-01 2.98344339e-04 6.89957873e+01] [-9.46603151e-01 -3.22400098e-01 -8.06458080e-04 -9.53906871e+01] [ 8.59582281e-04 -2.24116384e-05 -9.99999630e-01 2.32352113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281858064 meters 0.019785445210771642 Centerline is valid? [True, True] Translation: X:69.01, Y:-95.51, Z:0.23 [[ 3.96374557e-01 -9.18088886e-01 8.49053357e-05 6.90144112e+01] [-9.18088868e-01 -3.96374566e-01 -1.84666989e-04 -9.55125478e+01] [ 2.03195026e-04 -4.75334731e-06 -9.99999979e-01 2.33090543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.311858064 meters 0.019451011949793744 Centerline is valid? [True, True] Translation: X:69.04, Y:-95.63, Z:0.23 [[ 4.67065114e-01 -8.84222913e-01 1.38973488e-04 6.90411319e+01] [-8.84222878e-01 -4.67065135e-01 -2.49478863e-04 -9.56310364e+01] [ 2.85504598e-04 -6.36066396e-06 -9.99999959e-01 2.32801969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341858064 meters 0.01926674363230103 Centerline is valid? [True, True] Translation: X:69.07, Y:-95.74, Z:0.23 [[ 5.34786433e-01 -8.44987234e-01 2.14649968e-04 6.90744631e+01] [-8.44987172e-01 -5.34786476e-01 -3.23824811e-04 -9.57437890e+01] [ 3.88419731e-04 -8.19935387e-06 -9.99999925e-01 2.32842178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.371858064 meters 0.01822305415867494 Centerline is valid? [True, True] Translation: X:69.12, Y:-95.86, Z:0.23 [[ 5.99232266e-01 -8.00575126e-01 3.97924677e-04 6.91163848e+01] [-8.00574964e-01 -5.99232398e-01 -5.10247454e-04 -9.58569481e+01] [ 6.46940778e-04 -1.28117955e-05 -9.99999791e-01 2.32672120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401858064 meters 0.018002482648586386 Centerline is valid? [True, True] Translation: X:69.16, Y:-95.96, Z:0.23 [[ 6.60530994e-01 -7.50798550e-01 5.86486503e-04 6.91630579e+01] [-7.50798274e-01 -6.60531254e-01 -6.43625507e-04 -9.59610950e+01] [ 8.70625763e-04 -1.51984582e-05 -9.99999621e-01 2.32323795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.431858064 meters 0.01743319320814868 Centerline is valid? [True, True] Translation: X:69.21, Y:-96.06, Z:0.23 [[ 7.16655376e-01 -6.97427097e-01 7.19362217e-04 6.92125457e+01] [-6.97426768e-01 -7.16655736e-01 -6.77356157e-04 -9.60560519e+01] [ 9.87941597e-04 -1.62715344e-05 -9.99999512e-01 2.32441710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46185806399998 meters 0.01718030665175541 Centerline is valid? [True, True] Translation: X:69.21, Y:-96.07, Z:0.23 [[ 7.69524181e-01 -6.38617191e-01 7.85794732e-04 6.92060180e+01] [-6.38616879e-01 -7.69524582e-01 -6.31749685e-04 -9.60676335e+01] [ 1.00813457e-03 -1.56751200e-05 -9.99999492e-01 2.32206576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49185806399998 meters 0.017060357030858727 Centerline is valid? [True, True] Translation: X:69.20, Y:-96.08, Z:0.23 [[ 8.17132205e-01 -5.76447679e-01 1.74148172e-03 6.92004383e+01] [-5.76446455e-01 -8.17134060e-01 -1.18838235e-03 -9.60795817e+01] [ 2.10806428e-03 -3.28054773e-05 -9.99997778e-01 2.31163705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52185806399999 meters 0.017313598179131275 Centerline is valid? [True, True] Translation: X:69.19, Y:-96.09, Z:0.23 [[ 8.59487159e-01 -5.11154499e-01 1.70327836e-03 6.91948252e+01] [-5.11153567e-01 -8.59488847e-01 -9.76528206e-04 -9.60883712e+01] [ 1.96310554e-03 -3.13233553e-05 -9.99998073e-01 2.31138192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.551858064 meters 0.017368904108650392 Centerline is valid? [True, True] Translation: X:69.19, Y:-96.10, Z:0.23 [[ 8.96680792e-01 -4.42675361e-01 1.44299519e-03 6.91915093e+01] [-4.42674834e-01 -8.96681953e-01 -6.83408212e-04 -9.60972930e+01] [ 1.59643573e-03 -2.59786418e-05 -9.99998725e-01 2.31465374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.581858064 meters 0.017580566235519512 Centerline is valid? [True, True] Translation: X:69.19, Y:-96.11, Z:0.23 [[ 9.27846889e-01 -3.72959681e-01 1.10718460e-03 6.91895542e+01] [-3.72959443e-01 -9.27847550e-01 -4.21923857e-04 -9.61063685e+01] [ 1.18465911e-03 -2.14542156e-05 -9.99999298e-01 2.32143780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.611858064 meters 0.01776166567394748 Centerline is valid? [True, True] Translation: X:69.19, Y:-96.12, Z:0.23 [[ 9.53914344e-01 -3.00077247e-01 1.03461366e-03 6.91873797e+01] [-3.00077093e-01 -9.53914905e-01 -3.04079112e-04 -9.61155941e+01] [ 1.07818062e-03 -2.03984334e-05 -9.99999419e-01 2.32231693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.641858064 meters 0.01777879700603436 Centerline is valid? [True, True] Translation: X:69.19, Y:-96.12, Z:0.23 [[ 9.74324589e-01 -2.25146749e-01 7.32961431e-04 6.91856308e+01] [-2.25146696e-01 -9.74324864e-01 -1.54421349e-04 -9.61248415e+01] [ 7.48910011e-04 -1.45673274e-05 -9.99999719e-01 2.32072480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.671858064 meters 0.017878349196297615 Centerline is valid? [True, True] Translation: X:69.18, Y:-96.13, Z:0.23 [[ 9.88830036e-01 -1.49046244e-01 6.13351705e-04 6.91816154e+01] [-1.49046223e-01 -9.88830227e-01 -7.97757130e-05 -9.61347699e+01] [ 6.18390976e-04 -1.25331340e-05 -9.99999809e-01 2.32455315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.701858064 meters 0.018187964936004303 Centerline is valid? [True, True] Translation: X:69.18, Y:-96.14, Z:0.23 [[ 9.97480567e-01 -7.09402416e-02 2.62874710e-05 6.91776199e+01] [-7.09402416e-02 -9.97480567e-01 -1.48838296e-06 -9.61438233e+01] [ 2.63268277e-05 -3.80206473e-07 -1.00000000e+00 2.32982897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.731858064 meters 0.01792787206869421 Centerline is valid? [True, True] Translation: X:69.17, Y:-96.15, Z:0.23 [[ 9.99973543e-01 7.26987044e-03 -2.49363909e-04 6.91747874e+01] [ 7.26986891e-03 -9.99973574e-01 -7.03926432e-06 -9.61548235e+01] [-2.49408494e-04 5.22623515e-06 -9.99999969e-01 2.33206007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.761858064 meters 0.018000332523432135 Centerline is valid? [True, True] Translation: X:69.17, Y:-96.16, Z:0.23 [[ 9.96358953e-01 8.52528227e-02 -8.90280059e-04 6.91714668e+01] [ 8.52527720e-02 -9.96359351e-01 -9.48893391e-05 -9.61641727e+01] [-8.95128446e-04 1.86449997e-05 -9.99999599e-01 2.33280800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.791858064 meters 0.018583318759276386 Centerline is valid? [True, True] Translation: X:69.17, Y:-96.17, Z:0.23 [[ 9.86730570e-01 1.62361473e-01 -1.23848361e-03 6.91690203e+01] [ 1.62361311e-01 -9.86731347e-01 -2.31115377e-04 -9.61719146e+01] [-1.25957484e-03 2.69667852e-05 -9.99999206e-01 2.33780691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821858064 meters 0.017988044942897543 Centerline is valid? [True, True] Translation: X:69.17, Y:-96.18, Z:0.23 [[ 9.71132176e-01 2.38540591e-01 -8.27044903e-04 6.91687876e+01] [ 2.38540487e-01 -9.71132528e-01 -2.22580786e-04 -9.61835033e+01] [-8.56264759e-04 1.88716683e-05 -9.99999633e-01 2.33790403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.851858064 meters 0.017988044942897543 Centerline is valid? [True, True] Translation: X:69.17, Y:-96.19, Z:0.23 [[ 9.49481128e-01 3.13823098e-01 -8.07090898e-04 6.91689909e+01] [ 3.13822967e-01 -9.49481471e-01 -2.86635498e-04 -9.61940655e+01] [-8.56270693e-04 1.88713351e-05 -9.99999633e-01 2.33790458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881858064 meters 0.018537993918782466 Centerline is valid? [True, True] Translation: X:69.17, Y:-96.20, Z:0.23 [[ 9.22634559e-01 3.85675344e-01 -2.25991761e-05 6.91685862e+01] [ 3.85675344e-01 -9.22634559e-01 -1.02429527e-05 -9.62025904e+01] [-2.48012352e-05 7.34557144e-07 -1.00000000e+00 2.33569586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.911858064 meters 0.019542899484149216 Centerline is valid? [True, True] Translation: X:69.17, Y:-96.21, Z:0.23 [[ 8.90153292e-01 4.55660768e-01 6.17001327e-04 6.91674376e+01] [ 4.55660645e-01 -8.90153506e-01 3.35151241e-04 -9.62088321e+01] [ 7.01941166e-04 -1.71927577e-05 -9.99999754e-01 2.32675276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941858064 meters 0.019554706875643407 Centerline is valid? [True, True] Translation: X:69.17, Y:-96.22, Z:0.23 [[ 8.52415135e-01 5.22864848e-01 8.87860235e-04 6.91679372e+01] [ 5.22864531e-01 -8.52415597e-01 5.76658331e-04 -9.62151506e+01] [ 1.05834028e-03 -2.73216645e-05 -9.99999440e-01 2.31794135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.971858064 meters 0.019521380002655898 Centerline is valid? [True, True] Translation: X:69.17, Y:-96.22, Z:0.23 [[ 8.09544848e-01 5.87056397e-01 1.38765366e-03 6.91701509e+01] [ 5.87055434e-01 -8.09546036e-01 1.06469196e-03 -9.62229340e+01] [ 1.74840375e-03 -4.72862703e-05 -9.99998470e-01 2.31225821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001858064 meters 0.02025928340995306 Centerline is valid? [True, True] Translation: X:69.17, Y:-96.23, Z:0.23 [[ 7.62516947e-01 6.46966823e-01 1.35485112e-03 6.91696038e+01] [ 6.46965676e-01 -7.62518149e-01 1.21936129e-03 -9.62282020e+01] [ 1.82198487e-03 -5.32414788e-05 -9.99998339e-01 2.30559038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.031858064 meters 0.021575935912193592 Centerline is valid? [True, True] Translation: X:69.17, Y:-96.23, Z:0.23 [[ 7.10137497e-01 7.04062186e-01 1.08363493e-03 6.91685906e+01] [ 7.04061263e-01 -7.10138322e-01 1.14095514e-03 -9.62343498e+01] [ 1.57283406e-03 -4.72896452e-05 -9.99998762e-01 2.30549976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061858064 meters 0.01982287121876383 Centerline is valid? [True, True] Translation: X:69.18, Y:-96.25, Z:0.23 [[ 6.52856115e-01 7.57481260e-01 1.01667436e-03 6.91752784e+01] [ 7.57480224e-01 -6.52856905e-01 1.25403637e-03 -9.62459008e+01] [ 1.61365192e-03 -4.85945911e-05 -9.99998697e-01 2.31152120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.091858064 meters 0.01934110778159689 Centerline is valid? [True, True] Translation: X:69.18, Y:-96.26, Z:0.23 [[ 5.91084766e-01 8.06608976e-01 8.70877454e-04 6.91826665e+01] [ 8.06607985e-01 -5.91085406e-01 1.26524083e-03 -9.62561074e+01] [ 1.53531756e-03 -4.54078693e-05 -9.99998820e-01 2.31202659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121858064 meters 0.019670441212950224 Centerline is valid? [True, True] Translation: X:69.19, Y:-96.27, Z:0.23 [[ 5.24252622e-01 8.51562725e-01 3.37644579e-04 6.91875165e+01] [ 8.51562525e-01 -5.24252730e-01 5.83479119e-04 -9.62656632e+01] [ 6.73880161e-04 -1.83649880e-05 -9.99999773e-01 2.32099603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.151858064 meters 0.019721489564598123 Centerline is valid? [True, True] Translation: X:69.19, Y:-96.27, Z:0.23 [[ 4.55040553e-01 8.90470715e-01 1.53231736e-05 6.91906121e+01] [ 8.90470715e-01 -4.55040554e-01 3.17064427e-05 -9.62736663e+01] [ 3.52063241e-05 -7.82879869e-07 -9.99999999e-01 2.32553215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181858064 meters 0.01919880358843141 Centerline is valid? [True, True] Translation: X:69.20, Y:-96.28, Z:0.23 [[ 3.82891161e-01 9.23793446e-01 -1.67933389e-04 6.91964926e+01] [ 9.23793343e-01 -3.82891198e-01 -4.36406499e-04 -9.62813074e+01] [-4.67449680e-04 1.19604441e-05 -9.99999891e-01 2.33278538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21185806399998 meters 0.01865763332063332 Centerline is valid? [True, True] Translation: X:69.21, Y:-96.29, Z:0.23 [[ 3.08488718e-01 9.51227944e-01 -3.31717573e-04 6.92053560e+01] [ 9.51227290e-01 -3.08488895e-01 -1.11526471e-03 -9.62884423e+01] [-1.16320214e-03 2.85077725e-05 -9.99999323e-01 2.34594650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24185806399998 meters 0.01892434366324292 Centerline is valid? [True, True] Translation: X:69.21, Y:-96.30, Z:0.23 [[ 2.33220096e-01 9.72423950e-01 -2.17700502e-04 6.92119209e+01] [ 9.72423418e-01 -2.33220197e-01 -1.01817736e-03 -9.62954346e+01] [-1.04087221e-03 2.57623560e-05 -9.99999458e-01 2.34767073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27185806399999 meters 0.018790467758853995 Centerline is valid? [True, True] Translation: X:69.22, Y:-96.30, Z:0.23 [[ 1.57738608e-01 9.87480897e-01 -9.98414611e-05 6.92205092e+01] [ 9.87480612e-01 -1.57738638e-01 -7.50880810e-04 -9.63012487e+01] [-7.57229312e-04 1.98513863e-05 -9.99999713e-01 2.34079242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.301858064 meters 0.01953762970618814 Centerline is valid? [True, True] Translation: X:69.23, Y:-96.31, Z:0.23 [[ 8.06162201e-02 9.96745215e-01 -2.81186869e-05 6.92276678e+01] [ 9.96745078e-01 -8.06162238e-02 -5.23267365e-04 -9.63081121e+01] [-5.23831065e-04 1.41566743e-05 -9.99999863e-01 2.34034801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.331858064 meters 0.018930467260077407 Centerline is valid? [True, True] Translation: X:69.24, Y:-96.31, Z:0.23 [[ 3.04206033e-03 9.99995373e-01 1.94019767e-05 6.92393234e+01] [ 9.99995063e-01 -3.04204412e-03 -7.86895821e-04 -9.63130108e+01] [-7.86833158e-04 2.17956655e-05 -9.99999690e-01 2.34058500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.361858064 meters 0.019753253023474904 Centerline is valid? [True, True] Translation: X:69.25, Y:-96.32, Z:0.23 [[-7.32716208e-02 9.97312017e-01 1.06534925e-04 6.92484411e+01] [ 9.97311484e-01 7.32716918e-02 -1.03075624e-03 -9.63189269e+01] [-1.03579158e-03 3.07233237e-05 -9.99999463e-01 2.34941364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.391858064 meters 0.021151662185834547 Centerline is valid? [True, True] Translation: X:69.26, Y:-96.32, Z:0.24 [[-1.50343526e-01 9.88633784e-01 2.53941000e-04 6.92556426e+01] [ 9.88632815e-01 1.50343735e-01 -1.38482967e-03 -9.63245307e+01] [-1.40726783e-03 4.28542304e-05 -9.99999009e-01 2.35796064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.421858064 meters 0.02013289554961584 Centerline is valid? [True, True] Translation: X:69.27, Y:-96.33, Z:0.24 [[-2.26793790e-01 9.73942721e-01 3.91755234e-04 6.92683111e+01] [ 9.73941607e-01 2.26794124e-01 -1.47380196e-03 -9.63272092e+01] [-1.52424648e-03 4.72975891e-05 -9.99998837e-01 2.36002516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.451858064 meters 0.019284214950104957 Centerline is valid? [True, True] Translation: X:69.28, Y:-96.33, Z:0.24 [[-3.01572815e-01 9.53442789e-01 8.27659285e-04 6.92837547e+01] [ 9.53439888e-01 3.01573940e-01 -2.35331428e-03 -9.63279441e+01] [-2.49335101e-03 7.94277630e-05 -9.99996888e-01 2.37049945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.481858064 meters 0.021284546250133658 Centerline is valid? [True, True] Translation: X:69.29, Y:-96.33, Z:0.24 [[-3.75279178e-01 9.26910899e-01 1.31275903e-03 6.92934835e+01] [ 9.26906157e-01 3.75281460e-01 -2.96699689e-03 -9.63300994e+01] [-3.24279588e-03 1.03352272e-04 -9.99994737e-01 2.37920475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.511858064 meters 0.02027406526891443 Centerline is valid? [True, True] Translation: X:69.31, Y:-96.33, Z:0.24 [[-4.46773080e-01 8.94644847e-01 2.10066273e-03 6.93062348e+01] [ 8.94636393e-01 4.46777996e-01 -3.89189236e-03 -9.63290663e+01] [-4.42039133e-03 1.40536587e-04 -9.99990220e-01 2.38454907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.541858064 meters 0.020205204033500835 Centerline is valid? [True, True] Translation: X:69.32, Y:-96.33, Z:0.24 [[-5.15816210e-01 8.56693884e-01 3.03741940e-03 6.93175244e+01] [ 8.56680990e-01 5.15825123e-01 -4.70361061e-03 -9.63276836e+01] [-5.59633168e-03 1.75900858e-04 -9.99984325e-01 2.39312861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.571858064 meters 0.02023865227549336 Centerline is valid? [True, True] Translation: X:69.33, Y:-96.33, Z:0.24 [[-5.81599124e-01 8.13465360e-01 4.07023302e-03 6.93279716e+01] [ 8.13447896e-01 5.81613329e-01 -5.33444623e-03 -9.63255045e+01] [-6.70668900e-03 2.08413237e-04 -9.99977488e-01 2.40555376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601858064 meters 0.019238438575825918 Centerline is valid? [True, True] Translation: X:69.34, Y:-96.32, Z:0.24 [[-6.44409614e-01 7.64662729e-01 5.21165843e-03 6.93421098e+01] [ 7.64640604e-01 6.44430646e-01 -5.82143853e-03 -9.63190642e+01] [-7.80998947e-03 2.33654699e-04 -9.99969474e-01 2.41221301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.631858064 meters 0.019798339117069498 Centerline is valid? [True, True] Translation: X:69.35, Y:-96.32, Z:0.24 [[-7.02893966e-01 7.11267326e-01 6.23401543e-03 6.93524941e+01] [ 7.11242472e-01 7.02921566e-01 -5.95126553e-03 -9.63150644e+01] [-8.61496461e-03 2.50787915e-04 -9.99962859e-01 2.42466574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661858064 meters 0.019328419716515582 Centerline is valid? [True, True] Translation: X:69.37, Y:-96.29, Z:0.24 [[-7.52643805e-01 6.58382302e-01 7.74902236e-03 6.93744480e+01] [ 6.58351116e-01 7.52683645e-01 -6.41392933e-03 -9.62927510e+01] [-1.00553799e-02 2.74173348e-04 -9.99949406e-01 2.43634604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.691858064 meters 0.01856762540228481 Centerline is valid? [True, True] Translation: X:69.40, Y:-96.27, Z:0.24 [[-7.97901087e-01 6.02725981e-01 8.67449491e-03 6.93989130e+01] [ 6.02694117e-01 7.97948191e-01 -6.20375928e-03 -9.62718397e+01] [-1.06609644e-02 2.78080776e-04 -9.99943132e-01 2.43701837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721858064 meters 0.018555186134184474 Centerline is valid? [True, True] Translation: X:69.42, Y:-96.25, Z:0.24 [[-8.39106135e-01 5.43886256e-01 9.41466600e-03 6.94159449e+01] [ 5.43855690e-01 8.39158903e-01 -5.77265283e-03 -9.62465848e+01] [-1.10400673e-02 2.76351273e-04 -9.99939018e-01 2.44662868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.751858064 meters 0.018167827513458072 Centerline is valid? [True, True] Translation: X:69.43, Y:-96.22, Z:0.25 [[-8.76628007e-01 4.81047284e-01 1.08095918e-02 6.94322822e+01] [ 4.81014591e-01 8.76694607e-01 -5.61508517e-03 -9.62182448e+01] [-1.21778323e-02 2.77230453e-04 -9.99925809e-01 2.45599136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781858064 meters 0.01810601522630682 Centerline is valid? [True, True] Translation: X:69.44, Y:-96.19, Z:0.25 [[-9.08899905e-01 4.16861339e-01 1.12954133e-02 6.94381896e+01] [ 4.16832790e-01 9.08970051e-01 -4.88594814e-03 -9.61882624e+01] [-1.23039553e-02 2.67460833e-04 -9.99924268e-01 2.45880955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.811858064 meters 0.017991867484491306 Centerline is valid? [True, True] Translation: X:69.46, Y:-96.16, Z:0.25 [[-9.36559535e-01 3.50311461e-01 1.17523217e-02 6.94596205e+01] [ 3.50287313e-01 9.36633233e-01 -4.12119071e-03 -9.61648569e+01] [-1.24513154e-02 2.56948751e-04 -9.99922446e-01 2.45745615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841858064 meters 0.017604193135791056 Centerline is valid? [True, True] Translation: X:69.47, Y:-96.13, Z:0.25 [[-9.59604651e-01 2.81082996e-01 1.22989032e-02 6.94685368e+01] [ 2.81063076e-01 9.59683434e-01 -3.35477015e-03 -9.61337038e+01] [-1.27460225e-02 2.37514534e-04 -9.99918738e-01 2.45958974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.871858064 meters 0.017387875216620843 Centerline is valid? [True, True] Translation: X:69.47, Y:-96.10, Z:0.25 [[-9.77372493e-01 2.11172270e-01 1.22180854e-02 6.94722271e+01] [ 2.11158554e-01 9.77448835e-01 -2.41663914e-03 -9.61032174e+01] [-1.24528805e-02 2.17996619e-04 -9.99922436e-01 2.45786220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901858064 meters 0.01722105085905973 Centerline is valid? [True, True] Translation: X:69.48, Y:-96.07, Z:0.25 [[-9.90058868e-01 1.40112891e-01 1.23213619e-02 6.94765898e+01] [ 1.40104583e-01 9.90135514e-01 -1.53910974e-03 -9.60733214e+01] [-1.24154672e-02 2.02470038e-04 -9.99922905e-01 2.45606005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.931858064 meters 0.016844356325077966 Centerline is valid? [True, True] Translation: X:69.56, Y:-95.38, Z:-0.76 [[-9.84282264e-01 -1.76202402e-01 1.18801425e-02 6.95647559e+01] [ 1.76186893e-01 -9.84353933e-01 -2.34789945e-03 -9.53786941e+01] [ 1.21079705e-02 -2.17870396e-04 9.99926672e-01 -7.55664017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96185806399998 meters 0.016488813232684914 Centerline is valid? [True, True] Translation: X:69.42, Y:-96.06, Z:0.25 [[-9.90950686e-01 1.33696710e-01 1.19133503e-02 6.94154537e+01] [ 1.33689122e-01 9.91022281e-01 -1.43463517e-03 -9.60581095e+01] [-1.19982016e-02 1.71032627e-04 -9.99928004e-01 2.45079527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99185806399998 meters 0.016797381762014472 Centerline is valid? [True, True] Translation: X:69.50, Y:-95.37, Z:-0.76 [[-9.84948404e-01 -1.72420698e-01 1.21550281e-02 6.95023103e+01] [ 1.72405661e-01 -9.85023390e-01 -2.28224926e-03 -9.53748976e+01] [ 1.23664940e-02 -1.52302118e-04 9.99923520e-01 -7.56352889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02185806399999 meters 0.016437989246676943 Centerline is valid? [True, True] Translation: X:69.36, Y:-96.05, Z:0.24 [[-9.91507041e-01 1.29482236e-01 1.21712085e-02 6.93560177e+01] [ 1.29474666e-01 9.91581726e-01 -1.41121180e-03 -9.60482719e+01] [-1.22514748e-02 1.76636715e-04 -9.99924932e-01 2.44788296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.051858064 meters 0.016722885460542986 Centerline is valid? [True, True] Translation: X:69.36, Y:-96.02, Z:0.24 [[-9.98117301e-01 6.01619620e-02 1.19328395e-02 6.93551300e+01] [ 6.01599398e-02 9.98188611e-01 -5.28663664e-04 -9.60181884e+01] [-1.19430299e-02 1.90210556e-04 -9.99928661e-01 2.44054581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.081858064 meters 0.01720874861577451 Centerline is valid? [True, True] Translation: X:69.39, Y:-95.34, Z:-0.76 [[-9.95445330e-01 -9.46156860e-02 1.16819377e-02 6.93865157e+01] [ 9.46068188e-02 -9.95513853e-01 -1.31059076e-03 -9.53391851e+01] [ 1.17535332e-02 -1.99430492e-04 9.99930905e-01 -7.55045899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.111858064 meters 0.017468870969892872 Centerline is valid? [True, True] Translation: X:69.28, Y:-96.01, Z:0.25 [[-9.98280235e-01 5.74601451e-02 1.16148458e-02 6.92832567e+01] [ 5.74587115e-02 9.98347779e-01 -4.57358214e-04 -9.60141402e+01] [-1.16219354e-02 2.10802408e-04 -9.99932441e-01 2.45113715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.141858064 meters 0.017917481219080555 Centerline is valid? [True, True] Translation: X:69.32, Y:-95.34, Z:-0.76 [[-9.96137533e-01 -8.69701028e-02 1.20920170e-02 6.93151955e+01] [ 8.69614251e-02 -9.96210905e-01 -1.24258003e-03 -9.53393334e+01] [ 1.21542665e-02 -1.86241578e-04 9.99926117e-01 -7.56464685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.171858064 meters 0.01822249842956491 Centerline is valid? [True, True] Translation: X:69.21, Y:-96.01, Z:0.25 [[-9.98412596e-01 5.49805032e-02 1.22242208e-02 6.92127176e+01] [ 5.49794597e-02 9.98487397e-01 -4.21658098e-04 -9.60090165e+01] [-1.22289134e-02 2.51092299e-04 -9.99925193e-01 2.46510096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.201858064 meters 0.018648002729561953 Centerline is valid? [True, True] Translation: X:69.24, Y:-95.34, Z:-0.76 [[-9.96670305e-01 -8.05785695e-02 1.24658302e-02 6.92400329e+01] [ 8.05692809e-02 -9.96748232e-01 -1.24636116e-03 -9.53370024e+01] [ 1.25257242e-02 -2.37848182e-04 9.99921522e-01 -7.57122450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.231858064 meters 0.018858783810686387 Centerline is valid? [True, True] Translation: X:69.14, Y:-96.00, Z:0.25 [[-9.98576435e-01 5.19905419e-02 1.19200002e-02 6.91411178e+01] [ 5.19900470e-02 9.98647541e-01 -3.51595491e-04 -9.60047769e+01] [-1.19221586e-02 2.68626401e-04 -9.99928892e-01 2.46348481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.261858064 meters 0.01920176647726837 Centerline is valid? [True, True] Translation: X:69.14, Y:-95.98, Z:0.25 [[-9.99756452e-01 -1.85611481e-02 1.19381938e-02 6.91364028e+01] [-1.85565150e-02 9.99827689e-01 4.98755715e-04 -9.59765810e+01] [-1.19453942e-02 2.77102971e-04 -9.99928613e-01 2.46507451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.291858064 meters 0.0194083238800405 Centerline is valid? [True, True] Translation: X:69.13, Y:-95.95, Z:0.25 [[-9.95930744e-01 -8.93828245e-02 1.15179425e-02 6.91258801e+01] [-8.93736702e-02 9.95997307e-01 1.30809404e-03 -9.59487109e+01] [-1.15887608e-02 2.73370279e-04 -9.99932811e-01 2.46266655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321858064 meters 0.01977977170536383 Centerline is valid? [True, True] Translation: X:69.05, Y:-95.29, Z:-0.76 [[-9.97535711e-01 6.92787455e-02 1.10887425e-02 6.90479188e+01] [-6.92777447e-02 -9.97597298e-01 4.74798266e-04 -9.52859061e+01] [ 1.10949930e-02 -2.94574847e-04 9.99938405e-01 -7.55323561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.351858064 meters 0.01986611920128778 Centerline is valid? [True, True] Translation: X:69.02, Y:-95.96, Z:0.24 [[-9.95361360e-01 -9.56491382e-02 1.03443392e-02 6.90155757e+01] [-9.56414211e-02 9.95415081e-01 1.23929385e-03 -9.59590735e+01] [-1.04154487e-02 2.44197904e-04 -9.99945728e-01 2.44227983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381858064 meters 0.0198059977530128 Centerline is valid? [True, True] Translation: X:69.00, Y:-95.93, Z:0.24 [[-9.85954347e-01 -1.66732051e-01 9.71849710e-03 6.89960866e+01] [-1.66721631e-01 9.86002216e-01 1.87835349e-03 -9.59327232e+01] [-9.89564140e-03 2.31687107e-04 -9.99951010e-01 2.43620663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.411858064 meters 0.01826821918114906 Centerline is valid? [True, True] Translation: X:68.97, Y:-95.91, Z:0.24 [[-9.71126733e-01 -2.38391383e-01 9.07839195e-03 6.89653131e+01] [-2.38378935e-01 9.71169143e-01 2.44520936e-03 -9.59062418e+01] [-9.39957097e-03 2.10510773e-04 -9.99955801e-01 2.41948443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441858064 meters 0.01828407072560356 Centerline is valid? [True, True] Translation: X:68.91, Y:-95.89, Z:0.24 [[-9.50984383e-01 -3.09100993e-01 9.23474681e-03 6.89137112e+01] [-3.09084226e-01 9.51029195e-01 3.22660230e-03 -9.58925082e+01] [-9.77985980e-03 2.14133829e-04 -9.99952153e-01 2.42084859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.471858064 meters 0.017727410857615356 Centerline is valid? [True, True] Translation: X:68.85, Y:-95.89, Z:0.24 [[-9.25425732e-01 -3.78817093e-01 9.21003185e-03 6.88500370e+01] [-3.78796024e-01 9.25471536e-01 4.00098123e-03 -9.58855710e+01] [-1.00392624e-02 2.13887533e-04 -9.99949582e-01 2.41598568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501858064 meters 0.017945168951726334 Centerline is valid? [True, True] Translation: X:68.78, Y:-95.89, Z:0.24 [[-8.94251252e-01 -4.47469569e-01 9.25650511e-03 6.87778319e+01] [-4.47443172e-01 8.94299134e-01 4.86482682e-03 -9.58891702e+01] [-1.04549465e-02 2.08617457e-04 -9.99945324e-01 2.41414706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.531858064 meters 0.017561623819274834 Centerline is valid? [True, True] Translation: X:68.70, Y:-95.90, Z:0.24 [[-8.57885236e-01 -5.13765759e-01 8.81283172e-03 6.86958259e+01] [-5.13736306e-01 8.57930479e-01 5.50464267e-03 -9.59022979e+01] [-1.03888939e-02 1.94880070e-04 -9.99946015e-01 2.41041367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561858064 meters 0.01754984175676905 Centerline is valid? [True, True] Translation: X:68.61, Y:-95.92, Z:0.24 [[-8.16299323e-01 -5.77573023e-01 8.05095978e-03 6.86138210e+01] [-5.77542812e-01 8.16339006e-01 5.91001111e-03 -9.59232784e+01] [-9.98577548e-03 1.74564121e-04 -9.99950126e-01 2.40903606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.591858064 meters 0.01728043600662279 Centerline is valid? [True, True] Translation: X:68.53, Y:-95.96, Z:0.24 [[-7.69726390e-01 -6.38329195e-01 7.55795222e-03 6.85253052e+01] [-6.38296368e-01 7.69763478e-01 6.47563976e-03 -9.59566367e+01] [-9.95142551e-03 1.60257364e-04 -9.99950471e-01 2.40635888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621858064 meters 0.017104525993095917 Centerline is valid? [True, True] Translation: X:68.44, Y:-96.00, Z:0.24 [[-7.17757028e-01 -6.96263453e-01 6.48482365e-03 6.84371292e+01] [-6.96233453e-01 7.17786311e-01 6.46458022e-03 -9.59989342e+01] [-9.15576859e-03 1.25046725e-04 -9.99958077e-01 2.39811173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.651858064 meters 0.01669662277287824 Centerline is valid? [True, True] Translation: X:68.35, Y:-96.06, Z:0.24 [[-6.62272761e-01 -7.49240791e-01 5.74700282e-03 6.83457006e+01] [-7.49211117e-01 6.62297686e-01 6.66911279e-03 -9.60554611e+01] [-8.80299801e-03 1.11053339e-04 -9.99961247e-01 2.39013946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681858064 meters 0.01666172854428546 Centerline is valid? [True, True] Translation: X:68.27, Y:-96.11, Z:0.24 [[-6.02094453e-01 -7.98406484e-01 5.41818057e-03 6.82656393e+01] [-7.98372655e-01 6.02118823e-01 7.35025440e-03 -9.61127922e+01] [-9.13087928e-03 9.98201962e-05 -9.99958308e-01 2.39025812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71185806399998 meters 0.01648870556695646 Centerline is valid? [True, True] Translation: X:68.18, Y:-96.18, Z:0.24 [[-5.38751132e-01 -8.42450218e-01 4.98472443e-03 6.81826057e+01] [-8.42412546e-01 5.38774184e-01 7.96751318e-03 -9.61845742e+01] [-9.39787406e-03 9.33123466e-05 -9.99955835e-01 2.39191554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74185806399998 meters 0.01648870556695646 Centerline is valid? [True, True] Translation: X:68.11, Y:-96.26, Z:0.24 [[-4.73027883e-01 -8.81036652e-01 4.36343725e-03 6.81052996e+01] [-8.80997334e-01 4.73047999e-01 8.32401027e-03 -9.62628613e+01] [-9.39787340e-03 9.33123751e-05 -9.99955835e-01 2.39191524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77185806399999 meters 0.016490921059673615 Centerline is valid? [True, True] Translation: X:68.03, Y:-96.35, Z:0.24 [[-4.03909246e-01 -9.14792210e-01 3.54025522e-03 6.80320343e+01] [-9.14755228e-01 4.03924752e-01 8.22605039e-03 -9.63502500e+01] [-8.95512353e-03 8.41108437e-05 -9.99959899e-01 2.39582744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.801858064 meters 0.016456092063902517 Centerline is valid? [True, True] Translation: X:67.97, Y:-96.44, Z:0.24 [[-3.33056140e-01 -9.42902586e-01 2.88472408e-03 6.79679577e+01] [-9.42864957e-01 3.33068621e-01 8.42410242e-03 -9.64415492e+01] [-8.90391903e-03 8.57937878e-05 -9.99960356e-01 2.39774324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.831858064 meters 0.016399193041914967 Centerline is valid? [True, True] Translation: X:67.91, Y:-96.54, Z:0.24 [[-2.59823447e-01 -9.65654148e-01 1.96030692e-03 6.79091446e+01] [-9.65624435e-01 2.59830831e-01 7.57557008e-03 -9.65442290e+01] [-7.82472885e-03 7.53904683e-05 -9.99969384e-01 2.38610062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.861858064 meters 0.01658773655141378 Centerline is valid? [True, True] Translation: X:67.86, Y:-96.65, Z:0.24 [[-1.85518212e-01 -9.82640013e-01 1.26383880e-03 6.78593049e+01] [-9.82614460e-01 1.85522502e-01 7.08691848e-03 -9.66507917e+01] [-7.19836020e-03 7.28861632e-05 -9.99974089e-01 2.37922468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.891858064 meters 0.016604941232279558 Centerline is valid? [True, True] Translation: X:67.82, Y:-96.76, Z:0.24 [[-1.10726134e-01 -9.93850717e-01 6.89599156e-04 6.78183967e+01] [-9.93826764e-01 1.10728253e-01 6.90053378e-03 -9.67608756e+01] [-6.93445856e-03 7.87273297e-05 -9.99975953e-01 2.37029411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.921858064 meters 0.016645574502252278 Centerline is valid? [True, True] Translation: X:67.78, Y:-96.87, Z:0.24 [[-3.48332302e-02 -9.99393126e-01 1.61107939e-04 6.77845612e+01] [-9.99367927e-01 3.48334961e-02 7.09746244e-03 -9.68748693e+01] [-7.09876713e-03 8.62214363e-05 -9.99974800e-01 2.37610413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.951858064 meters 0.016819402366094135 Centerline is valid? [True, True] Translation: X:67.76, Y:-96.99, Z:0.24 [[ 4.09432543e-02 -9.99161387e-01 -4.15045615e-04 6.77600593e+01] [-9.99132117e-01 -4.09452321e-02 7.64855289e-03 -9.69926556e+01] [-7.65913285e-03 1.01528758e-04 -9.99970663e-01 2.38168818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.981858064 meters 0.01704417730986296 Centerline is valid? [True, True] Translation: X:67.75, Y:-97.11, Z:0.24 [[ 1.16026549e-01 -9.93245511e-01 -1.09273650e-03 6.77459349e+01] [-9.93210995e-01 -1.16031627e-01 8.28141426e-03 -9.71113944e+01] [-8.35226954e-03 1.24453995e-04 -9.99965111e-01 2.39025284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.011858064 meters 0.01735573950211382 Centerline is valid? [True, True] Translation: X:67.74, Y:-97.23, Z:0.24 [[ 1.90995208e-01 -9.81589361e-01 -1.77674606e-03 6.77407558e+01] [-9.81553305e-01 -1.91003423e-01 8.41434293e-03 -9.72343919e+01] [-8.59879408e-03 1.36871789e-04 -9.99963020e-01 2.39482122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.041858064 meters 0.017328918729857444 Centerline is valid? [True, True] Translation: X:67.74, Y:-97.35, Z:0.24 [[ 2.64901433e-01 -9.64272250e-01 -2.50181689e-03 6.77432270e+01] [-9.64234452e-01 -2.64913204e-01 8.53911170e-03 -9.73513776e+01] [-8.89679278e-03 1.50315119e-04 -9.99960411e-01 2.39583787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.071858064 meters 0.017509262605479373 Centerline is valid? [True, True] Translation: X:67.76, Y:-97.47, Z:0.24 [[ 3.36404141e-01 -9.41711631e-01 -3.38493620e-03 6.77568645e+01] [-9.41669213e-01 -3.36421122e-01 8.93985972e-03 -9.74677714e+01] [-9.55753391e-03 1.80084381e-04 -9.99954310e-01 2.38938971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101858064 meters 0.01794198235975273 Centerline is valid? [True, True] Translation: X:67.78, Y:-97.59, Z:0.24 [[ 4.07207795e-01 -9.13327453e-01 -3.84392413e-03 6.77793399e+01] [-9.13290751e-01 -4.07225899e-01 8.18968733e-03 -9.75861892e+01] [-9.04521173e-03 1.75715834e-04 -9.99959076e-01 2.39420240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.131858064 meters 0.018018708898900313 Centerline is valid? [True, True] Translation: X:67.81, Y:-97.70, Z:0.24 [[ 4.75499455e-01 -8.79704630e-01 -4.47586011e-03 6.78064585e+01] [-8.79669207e-01 -4.75520485e-01 7.89650924e-03 -9.76975937e+01] [-9.07495890e-03 1.82490476e-04 -9.99958805e-01 2.39376251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161858064 meters 0.018120123977740904 Centerline is valid? [True, True] Translation: X:67.84, Y:-97.81, Z:0.24 [[ 5.41363559e-01 -8.40773395e-01 -5.05926676e-03 6.78434077e+01] [-8.40739794e-01 -5.41387168e-01 7.51892557e-03 -9.78054346e+01] [-9.06073467e-03 1.83054585e-04 -9.99958934e-01 2.39257419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.191858064 meters 0.01808170641045434 Centerline is valid? [True, True] Translation: X:67.89, Y:-97.91, Z:0.24 [[ 6.04282750e-01 -7.96747880e-01 -5.93073965e-03 6.78876856e+01] [-7.96712563e-01 -6.04311823e-01 7.50417758e-03 -9.79114387e+01] [-9.56295367e-03 1.90449723e-04 -9.99954256e-01 2.39215080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221858064 meters 0.018052822470416275 Centerline is valid? [True, True] Translation: X:67.94, Y:-98.01, Z:0.24 [[ 6.63420397e-01 -7.48219754e-01 -6.36994996e-03 6.79362161e+01] [-7.48187930e-01 -6.63450951e-01 6.90336297e-03 -9.80097589e+01] [-9.39138190e-03 1.86087871e-04 -9.99955883e-01 2.38891630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.251858064 meters 0.017995832131449986 Centerline is valid? [True, True] Translation: X:67.99, Y:-98.10, Z:0.24 [[ 7.18992128e-01 -6.94984959e-01 -6.79902963e-03 6.79901970e+01] [-6.94956195e-01 -7.19024252e-01 6.32544156e-03 -9.81021523e+01] [-9.28475394e-03 1.77085080e-04 -9.99956880e-01 2.38390283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281858064 meters 0.017540211441560042 Centerline is valid? [True, True] Translation: X:67.99, Y:-98.11, Z:0.24 [[ 7.72161609e-01 -6.35384443e-01 -7.28424652e-03 6.79872678e+01] [-6.35358139e-01 -7.72195949e-01 5.78367360e-03 -9.81095817e+01] [-9.29972188e-03 1.62174610e-04 -9.99956744e-01 2.37512967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.311858064 meters 0.01736344469007717 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.12, Z:0.24 [[ 8.20288567e-01 -5.71903503e-01 -7.28359018e-03 6.79848033e+01] [-5.71882471e-01 -8.20320891e-01 4.90662950e-03 -9.81159263e+01] [-8.78099978e-03 1.40505471e-04 -9.99961436e-01 2.37835574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341858064 meters 0.01687305054558332 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.12, Z:0.24 [[ 8.64026820e-01 -5.03386080e-01 -7.75293266e-03 6.79836454e+01] [-5.03367011e-01 -8.64061596e-01 4.38312165e-03 -9.81222836e+01] [-8.90541379e-03 1.15435879e-04 -9.99960339e-01 2.37364523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.371858064 meters 0.016577567317927654 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.13, Z:0.24 [[ 9.01450756e-01 -4.32808487e-01 -7.95914662e-03 6.79836009e+01] [-4.32792589e-01 -9.01485886e-01 3.71105277e-03 -9.81289615e+01] [-8.78123348e-03 9.93283470e-05 -9.99961439e-01 2.36967497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401858064 meters 0.016075681948682977 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.14, Z:0.24 [[ 9.33018078e-01 -3.59731990e-01 -8.37624387e-03 6.79823050e+01] [-3.59718348e-01 -9.33055672e-01 3.13411436e-03 -9.81385747e+01] [-8.94294305e-03 8.89032519e-05 -9.99960007e-01 2.35881212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.431858064 meters 0.01603958416493415 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.15, Z:0.24 [[ 9.58698311e-01 -2.84299618e-01 -8.44248590e-03 6.79817210e+01] [-2.84289277e-01 -9.58735481e-01 2.42592197e-03 -9.81465302e+01] [-8.78379946e-03 7.43809184e-05 -9.99961419e-01 2.36069394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46185806399998 meters 0.015700412793708204 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.16, Z:0.24 [[ 9.78416986e-01 -2.06479558e-01 -8.14820489e-03 6.79823871e+01] [-2.06472851e-01 -9.78450913e-01 1.66513992e-03 -9.81557271e+01] [-8.31643587e-03 5.31819157e-05 -9.99965416e-01 2.35286315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49185806399998 meters 0.015835011666910617 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.16, Z:0.24 [[ 9.91603419e-01 -1.29055200e-01 -8.21065062e-03 6.79795761e+01] [-1.29051204e-01 -9.91637410e-01 1.01683235e-03 -9.81625216e+01] [-8.27321582e-03 5.12999111e-05 -9.99965775e-01 2.35356627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52185806399999 meters 0.015758084991225194 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.17, Z:0.24 [[ 9.98674374e-01 -5.09283857e-02 -7.46955444e-03 6.79782654e+01] [-5.09273043e-02 -9.98702307e-01 3.35027019e-04 -9.81700418e+01] [-7.47692364e-03 4.58213737e-05 -9.99972046e-01 2.35048367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.551858064 meters 0.015747142372563295 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.18, Z:0.23 [[ 9.99641835e-01 2.57459735e-02 -7.30393821e-03 6.79768859e+01] [ 2.57448699e-02 -9.99668516e-01 -2.45090723e-04 -9.81757924e+01] [-7.30782717e-03 5.69640008e-05 -9.99973296e-01 2.33965899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.581858064 meters 0.0159306938891452 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.18, Z:0.23 [[ 9.94688834e-01 1.02641742e-01 -7.66785341e-03 6.79752861e+01] [ 1.02638149e-01 -9.94718386e-01 -8.61580077e-04 -9.81824317e+01] [-7.71578885e-03 6.99898005e-05 -9.99970230e-01 2.33901821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.611858064 meters 0.016019328949760877 Centerline is valid? [True, True] Translation: X:67.97, Y:-98.19, Z:0.23 [[ 9.83880735e-01 1.78688006e-01 -7.02108707e-03 6.79747800e+01] [ 1.78682904e-01 -9.83905783e-01 -1.35247969e-03 -9.81896660e+01] [-7.14976008e-03 7.61304881e-05 -9.99974437e-01 2.33764456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.641858064 meters 0.016355583465161565 Centerline is valid? [True, True] Translation: X:67.97, Y:-98.20, Z:0.23 [[ 9.67657427e-01 2.52195780e-01 -6.03259787e-03 6.79744129e+01] [ 2.52190324e-01 -9.67676227e-01 -1.66103972e-03 -9.81970794e+01] [-6.25650876e-03 8.59546053e-05 -9.99980424e-01 2.32662149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.671858064 meters 0.016688654195064045 Centerline is valid? [True, True] Translation: X:67.97, Y:-98.20, Z:0.23 [[ 9.45321150e-01 3.26092809e-01 -5.60382547e-03 6.79734704e+01] [ 3.26086522e-01 -9.45337756e-01 -2.02690827e-03 -9.82048409e+01] [-5.95846800e-03 8.87473037e-05 -9.99982244e-01 2.32410576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.701858064 meters 0.017139077650775242 Centerline is valid? [True, True] Translation: X:67.97, Y:-98.21, Z:0.23 [[ 9.17755804e-01 3.97110320e-01 -5.26089012e-03 6.79743148e+01] [ 3.97103177e-01 -9.17770878e-01 -2.38385853e-03 -9.82119311e+01] [-5.77494657e-03 9.86838267e-05 -9.99983320e-01 2.32441787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.731858064 meters 0.017312782317224544 Centerline is valid? [True, True] Translation: X:67.97, Y:-98.22, Z:0.23 [[ 8.84421382e-01 4.66661871e-01 -5.05153307e-03 6.79749231e+01] [ 4.66653574e-01 -8.84435802e-01 -2.78477030e-03 -9.82188088e+01] [-5.76730281e-03 1.05594435e-04 -9.99983363e-01 2.32520537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.761858064 meters 0.018284330036691054 Centerline is valid? [True, True] Translation: X:67.97, Y:-98.22, Z:0.23 [[ 8.45837655e-01 5.33417512e-01 -4.94157949e-03 6.79745940e+01] [ 5.33407605e-01 -8.45852082e-01 -3.25299129e-03 -9.82244010e+01] [-5.91504782e-03 1.15626441e-04 -9.99982499e-01 2.33342230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.791858064 meters 0.018760692129118448 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.23, Z:0.23 [[ 8.02145752e-01 5.97104483e-01 -5.33184193e-03 6.79751933e+01] [ 5.97090128e-01 -8.02163460e-01 -4.14271687e-03 -9.82297180e+01] [-6.75064359e-03 1.39472565e-04 -9.99977204e-01 2.33472951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821858064 meters 0.018976671818169394 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.23, Z:0.23 [[ 7.53983090e-01 6.56866080e-01 -6.03757259e-03 6.79750376e+01] [ 6.56843070e-01 -7.54007241e-01 -5.50108585e-03 -9.82348472e+01] [-8.16585015e-03 1.81987989e-04 -9.99966642e-01 2.34212946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.851858064 meters 0.01886793434033547 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.24, Z:0.24 [[ 7.00368657e-01 7.13754605e-01 -6.17321530e-03 6.79780918e+01] [ 7.13724298e-01 -7.00395833e-01 -6.58056313e-03 -9.82418890e+01] [-9.02060151e-03 2.02846403e-04 -9.99959293e-01 2.35168180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881858064 meters 0.018794635896809447 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.25, Z:0.24 [[ 6.42284698e-01 7.66439197e-01 -6.42835385e-03 6.79815027e+01] [ 7.66397161e-01 -6.42316825e-01 -8.03044284e-03 -9.82488181e+01] [-1.02838860e-02 2.31158421e-04 -9.99947093e-01 2.36035183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.911858064 meters 0.018968308779057193 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.26, Z:0.24 [[ 5.79545719e-01 8.14915030e-01 -6.34457717e-03 6.79830554e+01] [ 8.14861539e-01 -5.79580396e-01 -9.34005139e-03 -9.82559718e+01] [-1.12885408e-02 2.43034887e-04 -9.99936253e-01 2.37775740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941858064 meters 0.0189616271048738 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.26, Z:0.24 [[ 5.13733187e-01 8.57931468e-01 -5.63984911e-03 6.79848762e+01] [ 8.57874503e-01 -5.13764087e-01 -9.88939476e-03 -9.82619244e+01] [-1.13819749e-02 2.42227543e-04 -9.99935194e-01 2.37875391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.971858064 meters 0.019060185027121593 Centerline is valid? [True, True] Translation: X:67.99, Y:-98.27, Z:0.24 [[ 4.44371809e-01 8.95830122e-01 -4.69981534e-03 6.79858469e+01] [ 8.95774486e-01 -4.44396604e-01 -9.98640875e-03 -9.82685824e+01] [-1.10347077e-02 2.27703852e-04 -9.99939090e-01 2.38535537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001858064 meters 0.01891254199102473 Centerline is valid? [True, True] Translation: X:67.99, Y:-98.27, Z:0.24 [[ 3.72622447e-01 9.27975505e-01 -3.73819300e-03 6.79878613e+01] [ 9.27922862e-01 -3.72641136e-01 -9.88668245e-03 -9.82743245e+01] [-1.05676036e-02 2.15245062e-04 -9.99944138e-01 2.38261575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.031858064 meters 0.01826821483399747 Centerline is valid? [True, True] Translation: X:67.99, Y:-98.28, Z:0.24 [[ 2.98384094e-01 9.54441215e-01 -2.98315816e-03 6.79941641e+01] [ 9.54386148e-01 -2.98398930e-01 -1.02546834e-02 -9.82804408e+01] [-1.06776637e-02 2.12749591e-04 -9.99942970e-01 2.37340777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061858064 meters 0.01763920066990099 Centerline is valid? [True, True] Translation: X:68.00, Y:-98.29, Z:0.24 [[ 2.21451622e-01 9.75169079e-01 -2.10859449e-03 6.80034092e+01] [ 9.75116190e-01 -2.21461576e-01 -1.01580443e-02 -9.82865230e+01] [-1.03727834e-02 1.93390756e-04 -9.99946183e-01 2.35957500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.091858064 meters 0.017835117512282884 Centerline is valid? [True, True] Translation: X:68.01, Y:-98.29, Z:0.24 [[ 1.43700580e-01 9.89620348e-01 -1.30793849e-03 6.80118644e+01] [ 9.89566728e-01 -1.43706411e-01 -1.03032769e-02 -9.82918488e+01] [-1.03842916e-02 1.86294449e-04 -9.99946064e-01 2.35676109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121858064 meters 0.017683146017017353 Centerline is valid? [True, True] Translation: X:68.02, Y:-98.30, Z:0.23 [[ 6.52705864e-02 9.97867484e-01 -4.84112205e-04 6.80214561e+01] [ 9.97816364e-01 -6.52721436e-02 -1.01019935e-02 -9.82967016e+01] [-1.01120499e-02 1.76307957e-04 -9.99948856e-01 2.34922522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.151858064 meters 0.017988269980962927 Centerline is valid? [True, True] Translation: X:68.03, Y:-98.30, Z:0.23 [[-1.43644281e-02 9.99896775e-01 3.19266179e-04 6.80298926e+01] [ 9.99842223e-01 1.43669798e-02 -1.04460325e-02 -9.83017004e+01] [-1.04495411e-02 1.69164523e-04 -9.99945388e-01 2.34929945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181858064 meters 0.017819874207366738 Centerline is valid? [True, True] Translation: X:68.04, Y:-98.31, Z:0.23 [[-9.33061796e-02 9.95636715e-01 1.21969223e-03 6.80395011e+01] [ 9.95574305e-01 9.33139889e-02 -1.11490874e-02 -9.83057973e+01] [-1.12142551e-02 1.74015496e-04 -9.99937103e-01 2.34617343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21185806399998 meters 0.017694277475520402 Centerline is valid? [True, True] Translation: X:68.05, Y:-98.31, Z:0.23 [[-1.71300132e-01 9.85216518e-01 2.16290935e-03 6.80484430e+01] [ 9.85150477e-01 1.71313696e-01 -1.14085953e-02 -9.83087475e+01] [-1.16104726e-02 1.76497292e-04 -9.99932581e-01 2.34728056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24185806399998 meters 0.017565407829738734 Centerline is valid? [True, True] Translation: X:68.06, Y:-98.31, Z:0.23 [[-2.48442429e-01 9.68641604e-01 3.13106229e-03 6.80583977e+01] [ 9.68573339e-01 2.48462096e-01 -1.15010674e-02 -9.83105188e+01] [-1.19183627e-02 1.75310330e-04 -9.99928958e-01 2.34212238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27185806399999 meters 0.017383503739674726 Centerline is valid? [True, True] Translation: X:68.07, Y:-98.31, Z:0.23 [[-3.23562269e-01 9.46197930e-01 4.11533166e-03 6.80683117e+01] [ 9.46128305e-01 3.23588390e-01 -1.14797390e-02 -9.83122952e+01] [-1.21937788e-02 1.79221369e-04 -9.99925637e-01 2.34669202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.301858064 meters 0.017056986791980193 Centerline is valid? [True, True] Translation: X:68.08, Y:-98.31, Z:0.24 [[-3.96471141e-01 9.18030543e-01 5.52782646e-03 6.80808142e+01] [ 9.17948280e-01 3.96509624e-01 -1.22912053e-02 -9.83118476e+01] [-1.34755383e-02 2.01150591e-04 -9.99909181e-01 2.35018151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.331858064 meters 0.01708785278716332 Centerline is valid? [True, True] Translation: X:68.09, Y:-98.31, Z:0.24 [[-4.66650305e-01 8.84417795e-01 6.53119311e-03 6.80917798e+01] [ 8.84337421e-01 4.66695960e-01 -1.19250401e-02 -9.83126429e+01] [-1.35947991e-02 2.10954879e-04 -9.99907564e-01 2.35909967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.361858064 meters 0.017310628550621772 Centerline is valid? [True, True] Translation: X:68.10, Y:-98.31, Z:0.24 [[-5.34118018e-01 8.45376317e-01 7.53829909e-03 6.81005434e+01] [ 8.45297855e-01 5.34171166e-01 -1.15196441e-02 -9.83125349e+01] [-1.37651764e-02 2.19258555e-04 -9.99905231e-01 2.35730374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.391858064 meters 0.01754109391701707 Centerline is valid? [True, True] Translation: X:68.11, Y:-98.31, Z:0.24 [[-5.98095668e-01 8.01378190e-01 8.63532552e-03 6.81085610e+01] [ 8.01300278e-01 5.98157957e-01 -1.11768804e-02 -9.83133951e+01] [-1.41221968e-02 2.34645016e-04 -9.99900249e-01 2.35109344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.421858064 meters 0.017206060207652574 Centerline is valid? [True, True] Translation: X:68.12, Y:-98.31, Z:0.23 [[-6.58048277e-01 7.52918590e-01 9.27697941e-03 6.81176608e+01] [ 7.52849030e-01 6.58113619e-01 -1.02373128e-02 -9.83120042e+01] [-1.38131696e-02 2.47518891e-04 -9.99904563e-01 2.33616768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.451858064 meters 0.017601526704842066 Centerline is valid? [True, True] Translation: X:68.12, Y:-98.31, Z:0.23 [[-7.13145565e-01 7.00943258e-01 1.00971434e-02 6.81246016e+01] [ 7.00878624e-01 7.13216985e-01 -9.52298658e-03 -9.83111254e+01] [-1.38765274e-02 2.85596339e-04 -9.99903676e-01 2.32799730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.481858064 meters 0.017910129208473687 Centerline is valid? [True, True] Translation: X:68.15, Y:-98.29, Z:0.23 [[-7.60257967e-01 6.49532535e-01 1.07382336e-02 6.81470286e+01] [ 6.49473272e-01 7.60333740e-01 -8.77913382e-03 -9.82945212e+01] [-1.38669743e-02 2.99789263e-04 -9.99903804e-01 2.33219792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.511858064 meters 0.018586815745362875 Centerline is valid? [True, True] Translation: X:68.65, Y:-97.70, Z:-0.74 [[-7.45504019e-01 -6.66410444e-01 1.09944458e-02 6.86454071e+01] [ 6.66332803e-01 -7.45585041e-01 -1.01756108e-02 -9.76990862e+01] [ 1.49784276e-02 -2.59998897e-04 9.99887783e-01 -7.44579100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.541858064 meters 0.018680704566602854 Centerline is valid? [True, True] Translation: X:68.11, Y:-98.27, Z:0.23 [[-7.60964917e-01 6.48688240e-01 1.16602842e-02 6.81142399e+01] [ 6.48619287e-01 7.61054162e-01 -9.46481981e-03 -9.82715632e+01] [-1.50138251e-02 3.60689412e-04 -9.99887221e-01 2.34199827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.571858064 meters 0.018379545910727994 Centerline is valid? [True, True] Translation: X:68.14, Y:-98.25, Z:0.23 [[-8.04429332e-01 5.93945743e-01 1.10409896e-02 6.81361340e+01] [ 5.93895492e-01 8.04505029e-01 -7.73323712e-03 -9.82523457e+01] [-1.34756549e-02 3.36351164e-04 -9.99909143e-01 2.33106669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601858064 meters 0.01924876836201909 Centerline is valid? [True, True] Translation: X:68.15, Y:-98.23, Z:0.23 [[-8.44249174e-01 5.35836767e-01 1.10585510e-02 6.81523279e+01] [ 5.35795834e-01 8.44321534e-01 -6.63116229e-03 -9.82310371e+01] [-1.28901933e-02 3.26772255e-04 -9.99916865e-01 2.33916260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.631858064 meters 0.019089289838499956 Centerline is valid? [True, True] Translation: X:68.17, Y:-98.21, Z:0.23 [[-8.79921575e-01 4.74989908e-01 1.10729589e-02 6.81679063e+01] [ 4.74956831e-01 8.79991185e-01 -5.61450785e-03 -9.82066703e+01] [-1.24109408e-02 3.18850869e-04 -9.99922930e-01 2.33613006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661858064 meters 0.019089289838499956 Centerline is valid? [True, True] Translation: X:68.18, Y:-98.18, Z:0.23 [[-9.11340586e-01 4.11494108e-01 1.14426674e-02 6.81828290e+01] [ 4.11466043e-01 9.11412364e-01 -4.81644012e-03 -9.81826562e+01] [-1.24109253e-02 3.18851739e-04 -9.99922931e-01 2.33612844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.691858064 meters 0.018635614452434796 Centerline is valid? [True, True] Translation: X:68.20, Y:-98.16, Z:0.23 [[-9.38489309e-01 3.45148726e-01 1.04963256e-02 6.81997079e+01] [ 3.45130418e-01 9.38547964e-01 -3.56571016e-03 -9.81562820e+01] [-1.10820054e-02 2.76220380e-04 -9.99938555e-01 2.33888528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721858064 meters 0.018534576192827508 Centerline is valid? [True, True] Translation: X:68.20, Y:-98.13, Z:0.23 [[-9.60859693e-01 2.76858798e-01 9.89220137e-03 6.82011016e+01] [ 2.76846748e-01 9.60910582e-01 -2.59469619e-03 -9.81265696e+01] [-1.02238854e-02 2.45484788e-04 -9.99947705e-01 2.34435652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.751858064 meters 0.018557311812123955 Centerline is valid? [True, True] Translation: X:68.21, Y:-98.10, Z:0.23 [[-9.78239175e-01 2.07279274e-01 9.13336859e-03 6.82060868e+01] [ 2.07272296e-01 9.78281788e-01 -1.71445500e-03 -9.80977414e+01] [-9.29037913e-03 2.15947230e-04 -9.99956820e-01 2.34658807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781858064 meters 0.018085340034541614 Centerline is valid? [True, True] Translation: X:68.37, Y:-97.35, Z:-0.74 [[-9.73463486e-01 -2.28695848e-01 8.18839662e-03 6.83662943e+01] [ 2.28685586e-01 -9.73497892e-01 -2.18091733e-03 -9.73460377e+01] [ 8.47015359e-03 -2.50475101e-04 9.99964096e-01 -7.44682828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.811858064 meters 0.017413037878646887 Centerline is valid? [True, True] Translation: X:68.16, Y:-98.09, Z:0.23 [[-9.79893187e-01 1.99433795e-01 5.95847193e-03 6.81635600e+01] [ 1.99430834e-01 9.79911296e-01 -1.09307145e-03 -9.80850494e+01] [-6.05676933e-03 1.17209756e-04 -9.99981651e-01 2.33344679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841858064 meters 0.017219980611062422 Centerline is valid? [True, True] Translation: X:68.17, Y:-98.06, Z:0.23 [[-9.91768234e-01 1.27954843e-01 4.82990957e-03 6.81651671e+01] [ 1.27953752e-01 9.91779991e-01 -5.35463091e-04 -9.80554529e+01] [-4.85872277e-03 8.69497662e-05 -9.99988193e-01 2.33034978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.871858064 meters 0.01641208323319245 Centerline is valid? [True, True] Translation: X:68.17, Y:-98.02, Z:0.23 [[-9.98510470e-01 5.44513960e-02 3.44782324e-03 6.81669343e+01] [ 5.44512518e-02 9.98516421e-01 -1.35742986e-04 -9.80232613e+01] [-3.45009951e-03 5.21974986e-05 -9.99994047e-01 2.32375172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901858064 meters 0.016139150428467253 Centerline is valid? [True, True] Translation: X:68.17, Y:-97.99, Z:0.23 [[-9.99836072e-01 -1.79245884e-02 2.55691804e-03 6.81653464e+01] [-1.79244384e-02 9.99839341e-01 8.15657291e-05 -9.79935023e+01] [-2.55796928e-03 3.57210384e-05 -9.99996728e-01 2.32550734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.931858064 meters 0.01579503873993822 Centerline is valid? [True, True] Translation: X:68.14, Y:-97.25, Z:-0.74 [[-9.99749743e-01 -2.23095795e-02 1.65323647e-03 6.81444437e+01] [ 2.23094105e-02 -9.99751107e-01 -1.20559157e-04 -9.72508897e+01] [ 1.65551461e-03 -8.36462555e-05 9.99998626e-01 -7.43021043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96185806399998 meters 0.015717307404166332 Centerline is valid? [True, True] Translation: X:68.07, Y:-97.99, Z:0.23 [[-9.99672005e-01 -2.56054669e-02 4.92889611e-04 6.80655509e+01] [-2.56054608e-02 9.99672126e-01 1.87091931e-05 -9.79934554e+01] [-4.93207063e-04 6.08239094e-06 -9.99999878e-01 2.32374582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99185806399998 meters 0.01561467316868029 Centerline is valid? [True, True] Translation: X:68.05, Y:-97.25, Z:-0.74 [[-9.99840668e-01 -1.78486402e-02 -2.52472764e-04 6.80542427e+01] [ 1.78486515e-02 -9.99840699e-01 -4.23385939e-05 -9.72543173e+01] [-2.51676859e-04 -4.68381464e-05 9.99999967e-01 -7.42484217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02185806399999 meters 0.015446141439795356 Centerline is valid? [True, True] Translation: X:67.98, Y:-98.00, Z:0.23 [[-9.99502670e-01 -3.15229589e-02 -8.46232121e-04 6.79808337e+01] [-3.15229393e-02 9.99503028e-01 -3.65630120e-05 -9.79957597e+01] [ 8.46964142e-04 -9.86910431e-06 -9.99999641e-01 2.31737804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.051858064 meters 0.015962907161741296 Centerline is valid? [True, True] Translation: X:67.95, Y:-97.26, Z:-0.74 [[-9.99943123e-01 -1.05194191e-02 -1.75861938e-03 6.79513307e+01] [ 1.05194706e-02 -9.99944669e-01 -2.00629247e-05 -9.72556829e+01] [-1.75831103e-03 -3.85615285e-05 9.99998453e-01 -7.42484523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.081858064 meters 0.01593103232236009 Centerline is valid? [True, True] Translation: X:67.88, Y:-98.00, Z:0.23 [[-9.99374157e-01 -3.53005601e-02 -2.27269397e-03 6.78800106e+01] [-3.53003948e-02 9.99376740e-01 -1.12798268e-04 -9.80008223e+01] [ 2.27525934e-03 -3.25006793e-05 -9.99997411e-01 2.32393219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.111858064 meters 0.016234719186486002 Centerline is valid? [True, True] Translation: X:67.88, Y:-97.97, Z:0.23 [[-9.94456278e-01 -1.05126669e-01 -2.25721405e-03 6.78771981e+01] [-1.05126317e-01 9.94458839e-01 -2.74416212e-04 -9.79739489e+01] [ 2.27355492e-03 -3.56023252e-05 -9.99997415e-01 2.32902961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.141858064 meters 0.017025497056222548 Centerline is valid? [True, True] Translation: X:67.86, Y:-97.95, Z:0.23 [[-9.84655620e-01 -1.74492697e-01 -2.36838722e-03 6.78601119e+01] [-1.74492090e-01 9.84658467e-01 -4.61946292e-04 -9.79502833e+01] [ 2.41265878e-03 -4.15931762e-05 -9.99997089e-01 2.32836274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.171858064 meters 0.01714963221194543 Centerline is valid? [True, True] Translation: X:67.83, Y:-97.93, Z:0.23 [[-9.70165724e-01 -2.42413946e-01 -3.73446339e-03 6.78292082e+01] [-2.42411840e-01 9.70172909e-01 -1.01366384e-03 -9.79293456e+01] [ 3.86880146e-03 -7.81437772e-05 -9.99992513e-01 2.32714720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.201858064 meters 0.017269682419565398 Centerline is valid? [True, True] Translation: X:67.77, Y:-97.92, Z:0.23 [[-9.50272682e-01 -3.11389092e-01 -4.32015225e-03 6.77718994e+01] [-3.11385402e-01 9.50282497e-01 -1.51919850e-03 -9.79182070e+01] [ 4.57842691e-03 -9.84204923e-05 -9.99989514e-01 2.32528883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.231858064 meters 0.01724560978330817 Centerline is valid? [True, True] Translation: X:67.71, Y:-97.91, Z:0.23 [[-9.25009796e-01 -3.79919133e-01 -4.28135757e-03 6.77081826e+01] [-3.79914537e-01 9.25019698e-01 -1.87164891e-03 -9.79131644e+01] [ 4.67141532e-03 -1.04743597e-04 -9.99989083e-01 2.32836032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.261858064 meters 0.018485514304384283 Centerline is valid? [True, True] Translation: X:67.63, Y:-97.92, Z:0.23 [[-8.94577780e-01 -4.46893460e-01 -4.10262519e-03 6.76335699e+01] [-4.46888204e-01 8.94587180e-01 -2.17009642e-03 -9.79208884e+01] [ 4.63995780e-03 -1.07905229e-04 -9.99989230e-01 2.32735739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.291858064 meters 0.018330418626694368 Centerline is valid? [True, True] Translation: X:67.55, Y:-97.93, Z:0.23 [[-8.59681422e-01 -5.10812514e-01 -4.29281747e-03 6.75537208e+01] [-5.10805392e-01 8.59692130e-01 -2.70046652e-03 -9.79326322e+01] [ 5.06993349e-03 -1.28746592e-04 -9.99987140e-01 2.33968373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321858064 meters 0.018183346099886154 Centerline is valid? [True, True] Translation: X:67.47, Y:-97.95, Z:0.23 [[-8.19160312e-01 -5.73552266e-01 -3.76590712e-03 6.74724323e+01] [-5.73545514e-01 8.19168959e-01 -2.78568201e-03 -9.79528528e+01] [ 4.68264845e-03 -1.22001011e-04 -9.99989029e-01 2.34816473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.351858064 meters 0.018300304781455303 Centerline is valid? [True, True] Translation: X:67.38, Y:-97.99, Z:0.24 [[-7.73937658e-01 -6.33257011e-01 -2.46172234e-03 6.73804429e+01] [-6.33253447e-01 7.73941568e-01 -2.12640716e-03 -9.79898843e+01] [ 3.25179149e-03 -8.68124168e-05 -9.99994709e-01 2.36319460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381858064 meters 0.01862519876783387 Centerline is valid? [True, True] Translation: X:67.29, Y:-98.03, Z:0.24 [[-7.23443537e-01 -6.90381151e-01 -1.82063451e-03 6.72922550e+01] [-6.90378725e-01 7.23445825e-01 -1.83147509e-03 -9.80342746e+01] [ 2.58154631e-03 -6.80414837e-05 -9.99996665e-01 2.36522928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.411858064 meters 0.018585896448764534 Centerline is valid? [True, True] Translation: X:67.20, Y:-98.09, Z:0.24 [[-6.68919714e-01 -7.43333257e-01 -1.44451779e-03 6.72011044e+01] [-7.43331331e-01 6.68921271e-01 -1.69301143e-03 -9.80908943e+01] [ 2.22474038e-03 -5.87333907e-05 -9.99997524e-01 2.37182567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441858064 meters 0.019009047987976573 Centerline is valid? [True, True] Translation: X:67.11, Y:-98.16, Z:0.24 [[-6.10373608e-01 -7.92112588e-01 -1.30682788e-03 6.71140582e+01] [-7.92110562e-01 6.10375004e-01 -1.79242571e-03 -9.81559307e+01] [ 2.21745804e-03 -5.88971795e-05 -9.99997540e-01 2.37661204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.471858064 meters 0.019816795458836155 Centerline is valid? [True, True] Translation: X:67.03, Y:-98.23, Z:0.24 [[-5.47915487e-01 -8.36533153e-01 -9.50649081e-04 6.70304945e+01] [-8.36531739e-01 5.47916310e-01 -1.53873971e-03 -9.82300844e+01] [ 1.80808292e-03 -4.78511911e-05 -9.99998364e-01 2.38356923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501858064 meters 0.019401034359276027 Centerline is valid? [True, True] Translation: X:66.95, Y:-98.31, Z:0.24 [[-4.81877376e-01 -8.76238516e-01 -5.06554007e-04 6.69491842e+01] [-8.76237968e-01 4.81877642e-01 -9.80438692e-04 -9.83135083e+01] [ 1.10319520e-03 -2.85893707e-05 -9.99999391e-01 2.38721092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.531858064 meters 0.01927261066675046 Centerline is valid? [True, True] Translation: X:66.88, Y:-98.40, Z:0.24 [[-4.12979063e-01 -9.10740511e-01 -1.21402733e-04 6.68750709e+01] [-9.10740466e-01 4.12979081e-01 -2.85785046e-04 -9.84022374e+01] [ 3.10412808e-04 -7.45685934e-06 -9.99999952e-01 2.39043408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561858064 meters 0.0192646296532264 Centerline is valid? [True, True] Translation: X:66.81, Y:-98.50, Z:0.24 [[-3.41470591e-01 -9.39892456e-01 -7.97813650e-05 6.68058080e+01] [-9.39892426e-01 3.41470600e-01 -2.36556232e-04 -9.85038883e+01] [ 2.49580409e-04 -5.79109573e-06 -9.99999969e-01 2.38942809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.591858064 meters 0.01922412947061078 Centerline is valid? [True, True] Translation: X:66.75, Y:-98.61, Z:0.24 [[-2.68052170e-01 -9.63404311e-01 -4.09174102e-04 6.67457481e+01] [-9.63402931e-01 2.68052479e-01 -1.63125650e-03 -9.86085258e+01] [ 1.68123968e-03 -4.30623160e-05 -9.99998586e-01 2.37415994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621858064 meters 0.018734445687180596 Centerline is valid? [True, True] Translation: X:66.69, Y:-98.72, Z:0.24 [[-1.92932502e-01 -9.81211951e-01 -3.95952041e-04 6.66917736e+01] [-9.81209195e-01 1.92932899e-01 -2.32658198e-03 -9.87217260e+01] [ 2.35926222e-03 -6.03614975e-05 -9.99997215e-01 2.36242340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.651858064 meters 0.019427831685593245 Centerline is valid? [True, True] Translation: X:66.65, Y:-98.83, Z:0.24 [[-1.16994699e-01 -9.93132498e-01 -2.86935362e-04 6.66495997e+01] [-9.93127555e-01 1.16995022e-01 -3.13447508e-03 -9.88328664e+01] [ 3.14651907e-03 -8.17535528e-05 -9.99995046e-01 2.35723210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681858064 meters 0.019452384614949487 Centerline is valid? [True, True] Translation: X:66.61, Y:-98.95, Z:0.24 [[-4.09240154e-02 -9.99162261e-01 -3.34566359e-05 6.66142014e+01] [-9.99159638e-01 4.09239847e-02 -2.29038380e-03 -9.89463272e+01] [ 2.28983424e-03 -6.03031818e-05 -9.99997377e-01 2.35790116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71185806399998 meters 0.019674119719037125 Centerline is valid? [True, True] Translation: X:66.59, Y:-99.05, Z:0.24 [[ 3.47759170e-02 -9.99395127e-01 1.22379505e-04 6.65879821e+01] [-9.99393133e-01 -3.47760922e-02 -1.99740938e-03 -9.90516388e+01] [ 2.00045708e-03 -5.28434937e-05 -9.99997998e-01 2.35915207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74185806399998 meters 0.018574596660397884 Centerline is valid? [True, True] Translation: X:66.57, Y:-99.17, Z:0.24 [[ 1.11856907e-01 -9.93724300e-01 2.19263266e-04 6.65690714e+01] [-9.93723052e-01 -1.11857114e-01 -1.57536421e-03 -9.91745138e+01] [ 1.59000385e-03 -4.16715936e-05 -9.99998735e-01 2.36015435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77185806399999 meters 0.01895260516236881 Centerline is valid? [True, True] Translation: X:66.56, Y:-99.30, Z:0.24 [[ 1.88329451e-01 -9.82105898e-01 1.52339635e-04 6.65621707e+01] [-9.82105650e-01 -1.88329512e-01 -6.97859081e-04 -9.92960694e+01] [ 7.14061569e-04 -1.81861983e-05 -9.99999745e-01 2.35948617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.801858064 meters 0.018490275592383733 Centerline is valid? [True, True] Translation: X:66.56, Y:-99.42, Z:0.24 [[ 2.64613678e-01 -9.64354488e-01 1.50267229e-04 6.65620147e+01] [-9.64354358e-01 -2.64613721e-01 -5.00524043e-04 -9.94213222e+01] [ 5.22445378e-04 -1.24653488e-05 -9.99999863e-01 2.36156057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.831858064 meters 0.01831692581542375 Centerline is valid? [True, True] Translation: X:66.57, Y:-99.54, Z:0.24 [[ 3.38607653e-01 -9.40927653e-01 9.52434793e-05 6.65717140e+01] [-9.40927621e-01 -3.38607666e-01 -2.47472080e-04 -9.95440103e+01] [ 2.65103496e-04 -5.82128018e-06 -9.99999965e-01 2.36464204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.861858064 meters 0.0181939091371726 Centerline is valid? [True, True] Translation: X:66.59, Y:-99.66, Z:0.24 [[ 4.10565185e-01 -9.11831248e-01 -6.42611873e-05 6.65899182e+01] [-9.11831238e-01 -4.10565190e-01 1.32425629e-04 -9.96614002e+01] [-1.47133233e-04 4.22600520e-06 -9.99999989e-01 2.37263409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.891858064 meters 0.018387013773131084 Centerline is valid? [True, True] Translation: X:66.62, Y:-99.78, Z:0.24 [[ 4.79588072e-01 -8.77493723e-01 -2.18891166e-04 6.66173847e+01] [-8.77493642e-01 -4.79588121e-01 3.77562729e-04 -9.97758085e+01] [-4.36286528e-04 1.10010252e-05 -9.99999905e-01 2.37743073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.921858064 meters 0.018472201207243636 Centerline is valid? [True, True] Translation: X:66.65, Y:-99.89, Z:0.24 [[ 5.45629318e-01 -8.38026442e-01 -5.74577932e-04 6.66541984e+01] [-8.38026023e-01 -5.45629620e-01 8.37671779e-04 -9.98890478e+01] [-1.01549784e-03 2.44529775e-05 -9.99999484e-01 2.37217307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.951858064 meters 0.017912929841386833 Centerline is valid? [True, True] Translation: X:66.70, Y:-100.00, Z:0.24 [[ 6.07981670e-01 -7.93950799e-01 -6.46491345e-04 6.66950389e+01] [-7.93950393e-01 -6.07982013e-01 8.03156781e-04 -9.99950432e+01] [-1.03072208e-03 2.49774571e-05 -9.99999469e-01 2.36686253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.981858064 meters 0.018396159284877037 Centerline is valid? [True, True] Translation: X:66.74, Y:-100.09, Z:0.24 [[ 6.66916364e-01 -7.45132378e-01 -5.49295623e-04 6.67443376e+01] [-7.45132149e-01 -6.66916590e-01 5.84549161e-04 -1.00094590e+02] [-8.01900871e-04 1.94524273e-05 -9.99999678e-01 2.36255337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.011858064 meters 0.018158030212512194 Centerline is valid? [True, True] Translation: X:66.79, Y:-100.19, Z:0.24 [[ 7.22162555e-01 -6.91723120e-01 -6.07734950e-04 6.67949755e+01] [-6.91722898e-01 -7.22162810e-01 5.55239958e-04 -1.00188652e+02] [-8.22955895e-04 1.94106742e-05 -9.99999661e-01 2.36350397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.041858064 meters 0.017985640808538407 Centerline is valid? [True, True] Translation: X:66.79, Y:-100.20, Z:0.24 [[ 7.74412525e-01 -6.32679786e-01 -1.23718118e-03 6.67903633e+01] [-6.32679051e-01 -7.74413512e-01 9.64960016e-04 -1.00199081e+02] [-1.56860052e-03 3.54614954e-05 -9.99998769e-01 2.36859820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.071858064 meters 0.017477508260102158 Centerline is valid? [True, True] Translation: X:66.79, Y:-100.21, Z:0.24 [[ 8.22048199e-01 -5.69415657e-01 -1.60263774e-03 6.67851815e+01] [-5.69414672e-01 -8.22049760e-01 1.05978706e-03 -1.00211928e+02] [-1.92090731e-03 4.13693994e-05 -9.99998154e-01 2.37312312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101858064 meters 0.01803554791137053 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.22, Z:0.24 [[ 8.64507180e-01 -5.02617733e-01 -1.65853191e-03 6.67813135e+01] [-5.02616895e-01 -8.64508770e-01 9.19048072e-04 -1.00221726e+02] [-1.89574524e-03 3.90825022e-05 -9.99998202e-01 2.37656925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.131858064 meters 0.01756804572757384 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.23, Z:0.24 [[ 9.01942821e-01 -4.31853225e-01 -1.39281462e-03 6.67797004e+01] [-4.31852760e-01 -9.01943896e-01 6.34854321e-04 -1.00232797e+02] [-1.53040453e-03 2.88885414e-05 -9.99998829e-01 2.37087710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161858064 meters 0.0171051006255971 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.25, Z:0.24 [[ 9.33341109e-01 -3.58988658e-01 -1.23181285e-03 6.67788678e+01] [-3.58988378e-01 -9.33341922e-01 4.48706211e-04 -1.00245515e+02] [-1.31078301e-03 2.34105434e-05 -9.99999141e-01 2.37075282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.191858064 meters 0.01706264131414282 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.26, Z:0.24 [[ 9.58921100e-01 -2.83666644e-01 -1.88648619e-03 6.67781368e+01] [-2.83666161e-01 -9.58922955e-01 5.24601329e-04 -1.00255738e+02] [-1.95780681e-03 3.20810100e-05 -9.99998083e-01 2.37264024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221858064 meters 0.016730418756759066 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.27, Z:0.24 [[ 9.78590187e-01 -2.05793283e-01 -3.22044123e-03 6.67785857e+01] [-2.05792325e-01 -9.78595485e-01 6.29663892e-04 -1.00268214e+02] [-3.28108985e-03 4.65591824e-05 -9.99994616e-01 2.37840290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.251858064 meters 0.016748084077157614 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.28, Z:0.24 [[ 9.91847783e-01 -1.27373439e-01 -3.73926880e-03 6.67778409e+01] [-1.27372719e-01 -9.91854830e-01 4.30873446e-04 -1.00277776e+02] [-3.76369365e-03 4.89199621e-05 -9.99992916e-01 2.37925124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281858064 meters 0.016470088072424977 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.29, Z:0.24 [[ 9.98852677e-01 -4.77722628e-02 -3.33789750e-03 6.67778681e+01] [-4.77721239e-02 -9.98858253e-01 1.21379673e-04 -1.00290765e+02] [-3.33988505e-03 3.82180418e-05 -9.99994422e-01 2.37101451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.311858064 meters 0.016568221318486974 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.30, Z:0.24 [[ 9.99500673e-01 3.14327523e-02 -3.22285387e-03 6.67774718e+01] [ 3.14324787e-02 -9.99505868e-01 -1.35526501e-04 -1.00300540e+02] [-3.22552133e-03 3.41565432e-05 -9.99994797e-01 2.36924091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341858064 meters 0.016380745791892103 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.31, Z:0.24 [[ 9.93919965e-01 1.10061762e-01 -3.08424504e-03 6.67788414e+01] [ 1.10061134e-01 -9.93924749e-01 -3.73213179e-04 -1.00311820e+02] [-3.10658397e-03 3.14885238e-05 -9.99995174e-01 2.36321738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.371858064 meters 0.01642646582337542 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.32, Z:0.24 [[ 9.82055935e-01 1.88563581e-01 -3.14899376e-03 6.67805483e+01] [ 1.88562516e-01 -9.82060983e-01 -6.34395790e-04 -1.00322492e+02] [-3.21212785e-03 2.92299639e-05 -9.99994841e-01 2.36503680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401858064 meters 0.016442675145040792 Centerline is valid? [True, True] Translation: X:66.78, Y:-100.33, Z:0.24 [[ 9.64188068e-01 2.65201962e-01 -3.04765837e-03 6.67821510e+01] [ 2.65200546e-01 -9.64192884e-01 -8.66988303e-04 -1.00327354e+02] [-3.16845751e-03 2.76991122e-05 -9.99994980e-01 2.36492386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.431858064 meters 0.016314692743461905 Centerline is valid? [True, True] Translation: X:66.79, Y:-100.33, Z:0.24 [[ 9.40464998e-01 3.39880642e-01 -2.59555031e-03 6.67857487e+01] [ 3.39879276e-01 -9.40468579e-01 -9.63880994e-04 -1.00334916e+02] [-2.76863800e-03 2.43225770e-05 -9.99996167e-01 2.36498685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46185806399998 meters 0.01649975764767796 Centerline is valid? [True, True] Translation: X:66.79, Y:-100.34, Z:0.24 [[ 9.11066946e-01 4.12250267e-01 -2.59558280e-03 6.67877677e+01] [ 4.12248513e-01 -9.11070643e-01 -1.20266033e-03 -1.00340036e+02] [-2.86055633e-03 2.56789244e-05 -9.99995908e-01 2.36504338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49185806399998 meters 0.01649571172381505 Centerline is valid? [True, True] Translation: X:66.79, Y:-100.35, Z:0.24 [[ 8.76785147e-01 4.80879132e-01 -1.75115008e-03 6.67926310e+01] [ 4.80878124e-01 -8.76786895e-01 -9.84936446e-04 -1.00347718e+02] [-2.00902082e-03 2.14878838e-05 -9.99997982e-01 2.35525601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52185806399999 meters 0.017065137222462903 Centerline is valid? [True, True] Translation: X:66.80, Y:-100.35, Z:0.24 [[ 8.37157042e-01 5.46961660e-01 -1.01499337e-03 6.67959843e+01] [ 5.46961236e-01 -8.37157657e-01 -6.80984243e-04 -1.00353051e+02] [-1.22218175e-03 1.49287232e-05 -9.99999253e-01 2.35627841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.551858064 meters 0.017065137222462903 Centerline is valid? [True, True] Translation: X:66.80, Y:-100.36, Z:0.24 [[ 7.91757841e-01 6.10834350e-01 -9.58575531e-04 6.67983765e+01] [ 6.10833879e-01 -7.91758421e-01 -7.58385193e-04 -1.00355501e+02] [-1.22220798e-03 1.49270126e-05 -9.99999253e-01 2.35628078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.581858064 meters 0.01712375963213838 Centerline is valid? [True, True] Translation: X:66.80, Y:-100.36, Z:0.24 [[ 7.42451323e-01 6.69899016e-01 -1.15788422e-03 6.68038266e+01] [ 6.69898156e-01 -7.42452226e-01 -1.07347948e-03 -1.00361048e+02] [-1.57879656e-03 2.13417582e-05 -9.99998753e-01 2.35841454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.611858064 meters 0.017853518679784457 Centerline is valid? [True, True] Translation: X:66.81, Y:-100.36, Z:0.24 [[ 6.90310599e-01 7.23510968e-01 -1.77636945e-03 6.68075561e+01] [ 7.23508406e-01 -6.90312883e-01 -1.92600688e-03 -1.00364792e+02] [-2.61973781e-03 4.43247342e-05 -9.99996568e-01 2.37030686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.641858064 meters 0.01818057600425698 Centerline is valid? [True, True] Translation: X:66.81, Y:-100.37, Z:0.24 [[ 6.32701391e-01 7.74393353e-01 -1.97105571e-03 6.68115032e+01] [ 7.74389303e-01 -6.32704459e-01 -2.50504508e-03 -1.00367904e+02] [-3.18698600e-03 5.85810479e-05 -9.99994920e-01 2.37687630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.671858064 meters 0.01867229542733671 Centerline is valid? [True, True] Translation: X:66.81, Y:-100.37, Z:0.24 [[ 5.71346853e-01 8.20706263e-01 -2.00074842e-03 6.68141436e+01] [ 8.20700787e-01 -5.71350352e-01 -2.99906003e-03 -1.00371333e+02] [-3.60447567e-03 7.14877115e-05 -9.99993501e-01 2.37891578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.701858064 meters 0.01897141843201321 Centerline is valid? [True, True] Translation: X:66.82, Y:-100.37, Z:0.24 [[ 5.06395303e-01 8.62299803e-01 -1.68712676e-03 6.68183677e+01] [ 8.62294528e-01 -5.06398108e-01 -3.01696073e-03 -1.00373477e+02] [-3.45588245e-03 7.29745693e-05 -9.99994026e-01 2.37459626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.731858064 meters 0.019055755809674155 Centerline is valid? [True, True] Translation: X:66.83, Y:-100.38, Z:0.24 [[ 4.39024762e-01 8.98474072e-01 -1.26466794e-03 6.68257404e+01] [ 8.98469876e-01 -4.39026578e-01 -2.74680367e-03 -1.00376925e+02] [-3.02315471e-03 6.96487755e-05 -9.99995428e-01 2.36636220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.761858064 meters 0.018839084438753047 Centerline is valid? [True, True] Translation: X:66.84, Y:-100.38, Z:0.24 [[ 3.68016312e-01 9.29818385e-01 -1.32852497e-03 6.68361667e+01] [ 9.29811404e-01 -3.68018698e-01 -3.60436201e-03 -1.00380683e+02] [-3.84032409e-03 9.11863495e-05 -9.99992622e-01 2.37087081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.791858064 meters 0.01932847521543901 Centerline is valid? [True, True] Translation: X:66.84, Y:-100.38, Z:0.24 [[ 2.94479338e-01 9.55657083e-01 -1.20824166e-03 6.68446567e+01] [ 9.55647476e-01 -2.94481797e-01 -4.28637237e-03 -1.00384582e+02] [-4.45210729e-03 1.07595009e-04 -9.99990084e-01 2.38067880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821858064 meters 0.019124930795808442 Centerline is valid? [True, True] Translation: X:66.86, Y:-100.39, Z:0.24 [[ 2.18919466e-01 9.75742203e-01 -1.19172362e-03 6.68573691e+01] [ 9.75723824e-01 -2.18922659e-01 -5.99074716e-03 -1.00386965e+02] [-6.10632014e-03 1.48698038e-04 -9.99981345e-01 2.39481513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.851858064 meters 0.01873395288555304 Centerline is valid? [True, True] Translation: X:66.87, Y:-100.39, Z:0.24 [[ 1.41731081e-01 9.89904910e-01 -7.54883759e-04 6.68693307e+01] [ 9.89884417e-01 -1.41733006e-01 -6.37149744e-03 -1.00388471e+02] [-6.41416854e-03 1.55791553e-04 -9.99979417e-01 2.39249630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881858064 meters 0.01897637689518111 Centerline is valid? [True, True] Translation: X:66.88, Y:-100.39, Z:0.24 [[ 6.38878531e-02 9.97957054e-01 -2.45498230e-04 6.68794662e+01] [ 9.97937772e-01 -6.38881452e-02 -6.20550634e-03 -1.00389374e+02] [-6.20851326e-03 1.51464521e-04 -9.99980716e-01 2.39277693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.911858064 meters 0.018914487265745336 Centerline is valid? [True, True] Translation: X:66.89, Y:-100.39, Z:0.24 [[-1.42009202e-02 9.99899138e-01 2.19647777e-04 6.68927258e+01] [ 9.99883208e-01 1.42019342e-02 -5.64578922e-03 -1.00388367e+02] [-5.64833920e-03 1.39446722e-04 -9.99984038e-01 2.38663076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941858064 meters 0.019318016173803035 Centerline is valid? [True, True] Translation: X:66.90, Y:-100.39, Z:0.24 [[-9.26150514e-02 9.95701751e-01 6.89500746e-04 6.69026552e+01] [ 9.95684552e-01 9.26175055e-02 -5.85403608e-03 -1.00387587e+02] [-5.89273381e-03 1.44353389e-04 -9.99982627e-01 2.38870203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.971858064 meters 0.019315026989503787 Centerline is valid? [True, True] Translation: X:66.91, Y:-100.38, Z:0.24 [[-1.70243753e-01 9.85401296e-01 1.16218532e-03 6.69122460e+01] [ 9.85383858e-01 1.70247657e-01 -5.86417350e-03 -1.00384780e+02] [-5.97642350e-03 1.46859751e-04 -9.99982130e-01 2.39197006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001858064 meters 0.01865862706453364 Centerline is valid? [True, True] Translation: X:66.93, Y:-100.38, Z:0.24 [[-2.47828682e-01 9.68802668e-01 1.52801947e-03 6.69259946e+01] [ 9.68787432e-01 2.47833357e-01 -5.43501172e-03 -1.00380160e+02] [-5.64414804e-03 1.33374269e-04 -9.99984063e-01 2.38835059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.031858064 meters 0.018990496005745736 Centerline is valid? [True, True] Translation: X:66.93, Y:-100.38, Z:0.24 [[-3.23630813e-01 9.46181557e-01 1.88616070e-03 6.69346357e+01] [ 9.46167672e-01 3.23636285e-01 -5.12757459e-03 -1.00376292e+02] [-5.46204655e-03 1.25183144e-04 -9.99985075e-01 2.38618776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061858064 meters 0.01885859869170047 Centerline is valid? [True, True] Translation: X:66.94, Y:-100.37, Z:0.24 [[-3.97603541e-01 9.17554938e-01 2.08801593e-03 6.69421391e+01] [ 9.17543701e-01 3.97609008e-01 -4.54230256e-03 -1.00371563e+02] [-4.99802609e-03 1.09810283e-04 -9.99987504e-01 2.38362929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.091858064 meters 0.018546256659482827 Centerline is valid? [True, True] Translation: X:66.95, Y:-100.37, Z:0.24 [[-4.69684569e-01 8.82832146e-01 1.95140649e-03 6.69504934e+01] [ 8.82825234e-01 4.69688616e-01 -3.49442977e-03 -1.00365407e+02] [-4.00154834e-03 8.14711474e-05 -9.99991990e-01 2.37525397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121858064 meters 0.01794394142891692 Centerline is valid? [True, True] Translation: X:66.96, Y:-100.36, Z:0.24 [[-5.38232603e-01 8.42793652e-01 2.12722503e-03 6.69592810e+01] [ 8.42787607e-01 5.38236802e-01 -3.19276328e-03 -1.00357594e+02] [-3.83579142e-03 7.43496036e-05 -9.99992641e-01 2.37293658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.151858064 meters 0.017785512130021698 Centerline is valid? [True, True] Translation: X:66.97, Y:-100.35, Z:0.24 [[-6.03341659e-01 7.97478487e-01 2.62772305e-03 6.69659348e+01] [ 7.97471481e-01 6.03347376e-01 -3.34362395e-03 -1.00349198e+02] [-4.25189798e-03 7.81865686e-05 -9.99990958e-01 2.37805953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181858064 meters 0.017695602646370545 Centerline is valid? [True, True] Translation: X:66.97, Y:-100.34, Z:0.24 [[-6.64528415e-01 7.47257091e-01 2.97079176e-03 6.69707454e+01] [ 7.47250138e-01 6.64535051e-01 -3.22449215e-03 -1.00341197e+02] [-4.38371988e-03 7.71578998e-05 -9.99990388e-01 2.38281774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21185806399998 meters 0.01774711926456945 Centerline is valid? [True, True] Translation: X:66.97, Y:-100.34, Z:0.24 [[-7.21724064e-01 6.92174629e-01 2.94255322e-03 6.69747547e+01] [ 6.92169250e-01 7.21730059e-01 -2.72975896e-03 -1.00335096e+02] [-4.01319900e-03 6.66121278e-05 -9.99991945e-01 2.38443116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24185806399998 meters 0.017049582974040037 Centerline is valid? [True, True] Translation: X:66.99, Y:-100.31, Z:0.24 [[-7.70491513e-01 6.37441440e-01 3.35234615e-03 6.69912781e+01] [ 6.37435746e-01 7.70498804e-01 -2.69490246e-03 -1.00307191e+02] [-4.30082121e-03 6.05057924e-05 -9.99990750e-01 2.37928201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27185806399999 meters 0.016926825179116766 Centerline is valid? [True, True] Translation: X:67.01, Y:-100.28, Z:0.24 [[-8.14336060e-01 5.80384723e-01 3.21791209e-03 6.70069108e+01] [ 5.80380437e-01 8.14342416e-01 -2.23094381e-03 -1.00281341e+02] [-3.91528801e-03 5.08752304e-05 -9.99992334e-01 2.38142338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.301858064 meters 0.016718587536420203 Centerline is valid? [True, True] Translation: X:67.02, Y:-100.25, Z:0.24 [[-8.54147394e-01 5.20020456e-01 3.30984632e-03 6.70164421e+01] [ 5.20016752e-01 8.54153806e-01 -1.96310780e-03 -1.00251675e+02] [-3.84797404e-03 4.43921242e-05 -9.99992596e-01 2.38174623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.331858064 meters 0.016371308388885703 Centerline is valid? [True, True] Translation: X:67.03, Y:-100.22, Z:0.24 [[-8.90118457e-01 4.55716861e-01 3.35774577e-03 6.70286728e+01] [ 4.55713758e-01 8.90124790e-01 -1.68207908e-03 -1.00221635e+02] [-3.75536455e-03 3.29213108e-05 -9.99992948e-01 2.38686358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.361858064 meters 0.016236939073759424 Centerline is valid? [True, True] Translation: X:67.03, Y:-100.19, Z:0.24 [[-9.20611703e-01 3.90462260e-01 3.64898314e-03 6.70344160e+01] [ 3.90459323e-01 9.20618934e-01 -1.51483796e-03 -1.00191443e+02] [-3.95081002e-03 3.02019301e-05 -9.99992195e-01 2.39060576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.391858064 meters 0.016026898786585177 Centerline is valid? [True, True] Translation: X:67.04, Y:-100.16, Z:0.24 [[-9.46719047e-01 3.22041636e-01 3.49721909e-03 6.70393941e+01] [ 3.22039516e-01 9.46725506e-01 -1.16863466e-03 -1.00160538e+02] [-3.68725553e-03 1.98740580e-05 -9.99993202e-01 2.39473103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.421858064 meters 0.015984536024236228 Centerline is valid? [True, True] Translation: X:67.21, Y:-99.64, Z:-0.75 [[-9.26426927e-01 -3.76459922e-01 3.32799105e-03 6.72100740e+01] [ 3.76457396e-01 -9.26432904e-01 -1.37920551e-03 -9.96439535e+01] [ 3.60237601e-03 -2.48862738e-05 9.99993511e-01 -7.49756605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.451858064 meters 0.01578209406399774 Centerline is valid? [True, True] Translation: X:66.99, Y:-100.14, Z:0.24 [[-9.48590126e-01 3.16481855e-01 4.00115331e-03 6.69932589e+01] [ 3.16479100e-01 9.48598564e-01 -1.32061425e-03 -1.00143470e+02] [-4.21343873e-03 1.35597604e-05 -9.99991123e-01 2.39152823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.481858064 meters 0.015783614952518815 Centerline is valid? [True, True] Translation: X:67.16, Y:-99.63, Z:-0.75 [[-9.27143136e-01 -3.74682740e-01 4.29538586e-03 6.71612148e+01] [ 3.74678778e-01 -9.27153086e-01 -1.72323350e-03 -9.96311334e+01] [ 4.62814611e-03 1.17058136e-05 9.99989290e-01 -7.50558404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.511858064 meters 0.01579523857158028 Centerline is valid? [True, True] Translation: X:66.95, Y:-100.13, Z:0.24 [[-9.50705660e-01 3.10063589e-01 4.39531837e-03 6.69478955e+01] [ 3.10060278e-01 9.50715820e-01 -1.43286452e-03 -1.00125382e+02] [-4.62297782e-03 5.81222058e-07 -9.99989314e-01 2.39444092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.541858064 meters 0.015853211202056593 Centerline is valid? [True, True] Translation: X:67.11, Y:-99.62, Z:-0.75 [[-9.27313486e-01 -3.74267016e-01 3.72827117e-03 6.71109132e+01] [ 3.74263825e-01 -9.27320980e-01 -1.54599090e-03 -9.96191932e+01] [ 4.03591747e-03 -3.82611845e-05 9.99991855e-01 -7.49625270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.571858064 meters 0.015790777523318502 Centerline is valid? [True, True] Translation: X:66.90, Y:-100.11, Z:0.24 [[-9.52528921e-01 3.04431450e-01 3.18545149e-03 6.69018437e+01] [ 3.04429725e-01 9.52534247e-01 -1.02504324e-03 -1.00109191e+02] [-3.34630704e-03 -6.63721601e-06 -9.99994401e-01 2.38906084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601858064 meters 0.015850135813142003 Centerline is valid? [True, True] Translation: X:66.90, Y:-100.08, Z:0.24 [[-9.72040413e-01 2.34789854e-01 3.34079783e-03 6.68988796e+01] [ 2.34788427e-01 9.72046153e-01 -8.18708672e-04 -1.00078833e+02] [-3.43963417e-03 -1.14372491e-05 -9.99994084e-01 2.39056488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.631858064 meters 0.016058539255526028 Centerline is valid? [True, True] Translation: X:67.02, Y:-99.57, Z:-0.75 [[-9.50937380e-01 -3.09371528e-01 2.71242354e-03 6.70247156e+01] [ 3.09370181e-01 -9.50941248e-01 -9.13222494e-04 -9.95680118e+01] [ 2.86188046e-03 -2.92744445e-05 9.99995904e-01 -7.49637958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661858064 meters 0.016347919943238132 Centerline is valid? [True, True] Translation: X:66.85, Y:-100.07, Z:0.24 [[-9.74021431e-01 2.26431481e-01 3.32204950e-03 6.68546056e+01] [ 2.26430068e-01 9.74027096e-01 -8.00632326e-04 -1.00066260e+02] [-3.41705459e-03 -2.76211519e-05 -9.99994161e-01 2.39567577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.691858064 meters 0.016863463205620016 Centerline is valid? [True, True] Translation: X:66.85, Y:-100.04, Z:0.24 [[-9.88026847e-01 1.54254150e-01 2.93389595e-03 6.68509340e+01] [ 1.54253376e-01 9.88031202e-01 -4.89754850e-04 -1.00036287e+02] [-2.97432746e-03 -3.13275861e-05 -9.99995576e-01 2.39806835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721858064 meters 0.017000076601482082 Centerline is valid? [True, True] Translation: X:66.84, Y:-100.01, Z:0.24 [[-9.96555179e-01 8.28908509e-02 2.62347240e-03 6.68421644e+01] [ 8.28904849e-02 9.96558631e-01 -2.48133731e-04 -1.00007587e+02] [-2.63501209e-03 -2.98180550e-05 -9.99996528e-01 2.39721521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.751858064 meters 0.017198698106524385 Centerline is valid? [True, True] Translation: X:66.84, Y:-99.98, Z:0.24 [[-9.99930130e-01 1.15332086e-02 2.59237790e-03 6.68352082e+01] [ 1.15330913e-02 9.99933490e-01 -6.01611093e-05 -9.99798836e+01] [-2.59289933e-03 -3.02587748e-05 -9.99996638e-01 2.39899988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781858064 meters 0.016641133122547683 Centerline is valid? [True, True] Translation: X:66.85, Y:-99.45, Z:-0.75 [[-9.94693323e-01 -1.02861362e-01 2.17540611e-03 6.68459215e+01] [ 1.02861114e-01 -9.94695702e-01 -2.26214768e-04 -9.94528884e+01] [ 2.18713586e-03 -1.24962484e-06 9.99997608e-01 -7.50099135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.811858064 meters 0.016682470804753494 Centerline is valid? [True, True] Translation: X:66.78, Y:-99.99, Z:0.24 [[-9.99966812e-01 7.82468961e-03 2.26898005e-03 6.67787437e+01] [ 7.82461310e-03 9.99969386e-01 -4.25921295e-05 -9.99852435e+01] [-2.26924386e-03 -2.48368250e-05 -9.99997425e-01 2.39988384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841858064 meters 0.016601775752288574 Centerline is valid? [True, True] Translation: X:66.79, Y:-99.45, Z:-0.75 [[-9.95276404e-01 -9.70464411e-02 2.62079329e-03 6.67869650e+01] [ 9.70462425e-02 -9.95279853e-01 -2.03120343e-04 -9.94463505e+01] [ 2.62813487e-03 5.21772569e-05 9.99996545e-01 -7.50514131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.871858064 meters 0.016468842124856043 Centerline is valid? [True, True] Translation: X:66.72, Y:-99.99, Z:0.24 [[-9.99985431e-01 4.96477238e-03 2.11876297e-03 6.67165924e+01] [ 4.96471816e-03 9.99987675e-01 -3.08493677e-05 -9.99906622e+01] [-2.11889002e-03 -2.03298573e-05 -9.99997755e-01 2.40106692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901858064 meters 0.016440666876856108 Centerline is valid? [True, True] Translation: X:66.72, Y:-99.44, Z:-0.75 [[-9.95888417e-01 -9.05606314e-02 2.24362999e-03 6.67230466e+01] [ 9.05604695e-02 -9.95890943e-01 -1.73866520e-04 -9.94406465e+01] [ 2.25015625e-03 3.00325322e-05 9.99997468e-01 -7.51401539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.931858064 meters 0.016165519241155422 Centerline is valid? [True, True] Translation: X:66.66, Y:-100.00, Z:0.24 [[-9.99992412e-01 3.03807772e-03 2.43839422e-03 6.66567822e+01] [ 3.03802684e-03 9.99995385e-01 -2.45694052e-05 -9.99963224e+01] [-2.43845761e-03 -1.71613116e-05 -9.99997027e-01 2.40834335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96185806399998 meters 0.015952919918775187 Centerline is valid? [True, True] Translation: X:66.66, Y:-99.43, Z:-0.75 [[-9.96539636e-01 -8.30868069e-02 2.30987009e-03 6.66595421e+01] [ 8.30866036e-02 -9.96542313e-01 -1.84005389e-04 -9.94315878e+01] [ 2.31717171e-03 8.55059766e-06 9.99997315e-01 -7.50755459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99185806399998 meters 0.015928249351604626 Centerline is valid? [True, True] Translation: X:66.60, Y:-100.00, Z:0.24 [[-9.99995468e-01 2.54858896e-03 1.60273442e-03 6.65952611e+01] [ 2.54857859e-03 9.99996752e-01 -8.51077086e-06 -1.00004704e+02] [-1.60275090e-03 -4.42603768e-06 -9.99998716e-01 2.40745695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02185806399999 meters 0.01587270413524312 Centerline is valid? [True, True] Translation: X:66.58, Y:-99.98, Z:0.24 [[-9.97791886e-01 -6.64054574e-02 1.29136312e-03 6.65802108e+01] [-6.64054025e-02 9.97792722e-01 8.53858556e-05 -9.99812932e+01] [-1.29418281e-03 -5.56173822e-07 -9.99999163e-01 2.41223694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.051858064 meters 0.015863643981666384 Centerline is valid? [True, True] Translation: X:66.58, Y:-99.96, Z:0.24 [[-9.90664895e-01 -1.36312999e-01 1.35373587e-03 6.65760061e+01] [-1.36312870e-01 9.90665820e-01 1.87158073e-04 -9.99566599e+01] [-1.36661193e-03 8.79311576e-07 -9.99999066e-01 2.41345045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.081858064 meters 0.015938327100742094 Centerline is valid? [True, True] Translation: X:66.56, Y:-99.93, Z:0.24 [[-9.78721455e-01 -2.05187709e-01 1.52213226e-03 6.65584741e+01] [-2.05187456e-01 9.78722639e-01 3.22617581e-04 -9.99343385e+01] [-1.55594247e-03 3.43030197e-06 -9.99998790e-01 2.41464661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.111858064 meters 0.015938327100742094 Centerline is valid? [True, True] Translation: X:66.53, Y:-99.91, Z:0.24 [[-9.61416854e-01 -2.75091618e-01 1.49499778e-03 6.65274785e+01] [-2.75091280e-01 9.61418016e-01 4.31337149e-04 -9.99133160e+01] [-1.55597503e-03 3.43395346e-06 -9.99998789e-01 2.41465270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.141858064 meters 0.015962781124556655 Centerline is valid? [True, True] Translation: X:66.48, Y:-99.90, Z:0.24 [[-9.39374278e-01 -3.42890678e-01 1.39584507e-03 6.64830534e+01] [-3.42890291e-01 9.39375315e-01 5.15188278e-04 -9.99018472e+01] [-1.48787566e-03 5.33289602e-06 -9.99998893e-01 2.41394533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.171858064 meters 0.015978590845090696 Centerline is valid? [True, True] Translation: X:66.42, Y:-99.90, Z:0.24 [[-9.12079287e-01 -4.10012522e-01 1.05148927e-03 6.64192421e+01] [-4.10012242e-01 9.12079893e-01 4.78877215e-04 -9.99005909e+01] [-1.15538788e-03 5.65051440e-06 -9.99999333e-01 2.41144635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.201858064 meters 0.01607808523622517 Centerline is valid? [True, True] Translation: X:66.35, Y:-99.91, Z:0.24 [[-8.79571086e-01 -4.75767118e-01 5.95569675e-04 6.63522823e+01] [-4.75767005e-01 8.79571287e-01 3.26791066e-04 -9.99054589e+01] [-6.79322429e-04 4.08357236e-06 -9.99999769e-01 2.40346370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.231858064 meters 0.016088676904987765 Centerline is valid? [True, True] Translation: X:66.28, Y:-99.92, Z:0.24 [[-8.41547236e-01 -5.40182710e-01 9.42791022e-04 6.62764705e+01] [-5.40182363e-01 8.41547765e-01 6.11792873e-04 -9.99213974e+01] [-1.12388361e-03 5.57351916e-06 -9.99999368e-01 2.40467392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.261858064 meters 0.016107529634244968 Centerline is valid? [True, True] Translation: X:66.20, Y:-99.95, Z:0.24 [[-7.98399431e-01 -6.02125472e-01 1.80697705e-03 6.61951666e+01] [-6.02123906e-01 7.98401475e-01 1.37350632e-03 -9.99450707e+01] [-2.26971628e-03 8.58258078e-06 -9.99997424e-01 2.41542167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.291858064 meters 0.016024542017603165 Centerline is valid? [True, True] Translation: X:66.11, Y:-99.98, Z:0.24 [[-7.50713440e-01 -6.60624408e-01 2.17322799e-03 6.61122744e+01] [-6.60621602e-01 7.50716586e-01 1.92532159e-03 -9.99781478e+01] [-2.90339273e-03 9.68343480e-06 -9.99995785e-01 2.42840129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321858064 meters 0.016074748468556527 Centerline is valid? [True, True] Translation: X:66.03, Y:-100.02, Z:0.24 [[-6.98727629e-01 -7.15384374e-01 2.21306642e-03 6.60268180e+01] [-7.15380740e-01 6.98731133e-01 2.28029898e-03 -1.00023845e+02] [-3.17762866e-03 1.01228051e-05 -9.99994951e-01 2.42925542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.351858064 meters 0.015972922801717748 Centerline is valid? [True, True] Translation: X:65.95, Y:-100.08, Z:0.24 [[-6.42717416e-01 -7.66101115e-01 1.84552994e-03 6.59455624e+01] [-7.66097913e-01 6.42720065e-01 2.21479828e-03 -1.00078575e+02] [-2.88291855e-03 9.63279280e-06 -9.99995844e-01 2.42858868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381858064 meters 0.016004174729516395 Centerline is valid? [True, True] Translation: X:65.86, Y:-100.14, Z:0.24 [[-5.82794020e-01 -8.12618315e-01 1.61393072e-03 6.58625834e+01] [-8.12615154e-01 5.82796254e-01 2.26648282e-03 -1.00143842e+02] [-2.78237823e-03 9.38807524e-06 -9.99996129e-01 2.42571715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.411858064 meters 0.01591310305395401 Centerline is valid? [True, True] Translation: X:65.79, Y:-100.22, Z:0.24 [[-5.19691406e-01 -8.54352650e-01 1.54647722e-03 6.57858867e+01] [-8.54348800e-01 5.19693707e-01 2.56481512e-03 -1.00215777e+02] [-2.99495108e-03 1.16814140e-05 -9.99995515e-01 2.42287150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441858064 meters 0.015869833598454633 Centerline is valid? [True, True] Translation: X:65.71, Y:-100.30, Z:0.24 [[-4.53122652e-01 -8.91447493e-01 1.10900932e-03 6.57102087e+01] [-8.91444768e-01 4.53124009e-01 2.20401042e-03 -1.00296453e+02] [-2.46727831e-03 1.00664882e-05 -9.99996956e-01 2.42122643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.471858064 meters 0.015869833598454633 Centerline is valid? [True, True] Translation: X:65.64, Y:-100.38, Z:0.24 [[-3.83706184e-01 -9.23454756e-01 9.37431511e-04 6.56391688e+01] [-9.23451935e-01 3.83707329e-01 2.28231481e-03 -1.00384579e+02] [-2.46731380e-03 1.00653622e-05 -9.99996956e-01 2.42124301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501858064 meters 0.0158992117546299 Centerline is valid? [True, True] Translation: X:65.57, Y:-100.48, Z:0.24 [[-3.12011136e-01 -9.50078132e-01 7.70796989e-04 6.55748787e+01] [-9.50075149e-01 3.12012088e-01 2.38072936e-03 -1.00480734e+02] [-2.50237688e-03 1.04990078e-05 -9.99996869e-01 2.42034551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.531858064 meters 0.01580098932262024 Centerline is valid? [True, True] Translation: X:65.52, Y:-100.58, Z:0.24 [[-2.37914879e-01 -9.71285927e-01 3.99377197e-04 6.55196789e+01] [-9.71284509e-01 2.37915214e-01 1.65930592e-03 -1.00583146e+02] [-1.70667839e-03 6.86468008e-06 -9.99998544e-01 2.41227230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561858064 meters 0.015906736331016073 Centerline is valid? [True, True] Translation: X:65.47, Y:-100.69, Z:0.24 [[-1.62196983e-01 -9.86758371e-01 2.37272259e-04 6.54713835e+01] [-9.86757266e-01 1.62197157e-01 1.47674470e-03 -1.00689261e+02] [-1.49567508e-03 5.39341020e-06 -9.99998881e-01 2.40433262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.591858064 meters 0.01578296203976486 Centerline is valid? [True, True] Translation: X:65.43, Y:-100.80, Z:0.24 [[-8.50594776e-02 -9.96375868e-01 1.22663297e-04 6.54314146e+01] [-9.96374764e-01 8.50595659e-02 1.48340700e-03 -1.00804652e+02] [-1.48846462e-03 3.95921082e-06 -9.99998892e-01 2.39445270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621858064 meters 0.015818355640470683 Centerline is valid? [True, True] Translation: X:65.40, Y:-100.92, Z:0.24 [[-7.53004580e-03 -9.99971649e-01 6.14345737e-06 6.53991644e+01] [-9.99971009e-01 7.53004793e-03 1.13097543e-03 -1.00920144e+02] [-1.13098963e-03 2.37301754e-06 -9.99999360e-01 2.39692287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.651858064 meters 0.015614465776009504 Centerline is valid? [True, True] Translation: X:65.38, Y:-101.04, Z:0.24 [[ 6.96843325e-02 -9.97569087e-01 -1.05110452e-04 6.53755085e+01] [-9.97568000e-01 -6.96844117e-02 1.47268984e-03 -1.01036542e+02] [-1.47643442e-03 2.23141445e-06 -9.99998910e-01 2.39898311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681858064 meters 0.015793375966788332 Centerline is valid? [True, True] Translation: X:65.36, Y:-101.15, Z:0.24 [[ 1.46762581e-01 -9.89171712e-01 -2.63071863e-04 6.53610680e+01] [-9.89170140e-01 -1.46762817e-01 1.76352373e-03 -1.01154784e+02] [-1.78303695e-03 1.40353837e-06 -9.99998410e-01 2.40475125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71185806399998 meters 0.0156991723134003 Centerline is valid? [True, True] Translation: X:65.36, Y:-101.27, Z:0.24 [[ 2.23106962e-01 -9.74793759e-01 -6.40646704e-04 6.53574031e+01] [-9.74789733e-01 -2.23107882e-01 2.80178756e-03 -1.01271933e+02] [-2.87409835e-03 -6.02480755e-07 -9.99995870e-01 2.41468596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74185806399998 meters 0.015640455078269864 Centerline is valid? [True, True] Translation: X:65.36, Y:-101.39, Z:0.24 [[ 2.97579334e-01 -9.54696692e-01 -8.75227880e-04 6.53628106e+01] [-9.54692549e-01 -2.97580621e-01 2.81243496e-03 -1.01391951e+02] [-2.94547321e-03 -1.34898615e-06 -9.99995662e-01 2.41339449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77185806399999 meters 0.015651588549899786 Centerline is valid? [True, True] Translation: X:65.38, Y:-101.51, Z:0.24 [[ 3.69769908e-01 -9.29122779e-01 -1.03805102e-03 6.53767982e+01] [-9.29119114e-01 -3.69771365e-01 2.60960561e-03 -1.01509154e+02] [-2.80848556e-03 -4.80585289e-07 -9.99996056e-01 2.40914918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.801858064 meters 0.015683478089275282 Centerline is valid? [True, True] Translation: X:65.40, Y:-101.62, Z:0.24 [[ 4.39171687e-01 -8.98402371e-01 -1.18742091e-03 6.54001613e+01] [-8.98399099e-01 -4.39173292e-01 2.42456795e-03 -1.01623622e+02] [-2.69972114e-03 1.97628482e-06 -9.99996356e-01 2.40751488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.831858064 meters 0.015711021184386033 Centerline is valid? [True, True] Translation: X:65.43, Y:-101.74, Z:0.24 [[ 5.06106050e-01 -8.62470227e-01 -1.33179287e-03 6.54301382e+01] [-8.62467261e-01 -5.06107802e-01 2.26178049e-03 -1.01736043e+02] [-2.62474910e-03 3.92696243e-06 -9.99996555e-01 2.41206281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.861858064 meters 0.015733641728678846 Centerline is valid? [True, True] Translation: X:65.47, Y:-101.84, Z:0.24 [[ 5.70436403e-01 -8.21340272e-01 -1.57106534e-03 6.54675786e+01] [-8.21337181e-01 -5.70438566e-01 2.25340166e-03 -1.01842926e+02] [-2.74700579e-03 4.95204320e-06 -9.99996227e-01 2.41323951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.891858064 meters 0.015730510826934017 Centerline is valid? [True, True] Translation: X:65.52, Y:-101.94, Z:0.24 [[ 6.30438115e-01 -7.76236654e-01 -2.10725632e-03 6.55151187e+01] [-7.76232375e-01 -6.30441637e-01 2.57750076e-03 -1.01944119e+02] [-3.32925268e-03 1.07658546e-05 -9.99994458e-01 2.40507003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.921858064 meters 0.01578310744489228 Centerline is valid? [True, True] Translation: X:65.57, Y:-102.04, Z:0.24 [[ 6.87537787e-01 -7.26143573e-01 -2.70240542e-03 6.55669260e+01] [-7.26138046e-01 -6.87543098e-01 2.83318588e-03 -1.02041320e+02] [-3.91531991e-03 1.43970369e-05 -9.99992335e-01 2.40091733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.951858064 meters 0.01576623360551018 Centerline is valid? [True, True] Translation: X:65.62, Y:-102.13, Z:0.24 [[ 7.40453618e-01 -6.72099155e-01 -3.34138508e-03 6.56239471e+01] [-6.72092428e-01 -7.40461157e-01 3.00723271e-03 -1.02133382e+02] [-4.49532443e-03 1.90032692e-05 -9.99989896e-01 2.39793493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.981858064 meters 0.015745675080131902 Centerline is valid? [True, True] Translation: X:65.62, Y:-102.14, Z:0.24 [[ 7.90100419e-01 -6.12965100e-01 -3.88785945e-03 6.56211451e+01] [-6.12957839e-01 -7.90109984e-01 2.98362839e-03 -1.02139629e+02] [-4.90069664e-03 2.57278843e-05 -9.99987991e-01 2.40248844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.011858064 meters 0.01583678301168688 Centerline is valid? [True, True] Translation: X:65.62, Y:-102.15, Z:0.24 [[ 8.35125844e-01 -5.50045002e-01 -3.91410704e-03 6.56188972e+01] [-5.50039120e-01 -8.35135016e-01 2.54397925e-03 -1.02148057e+02] [-4.66811092e-03 2.83691765e-05 -9.99989104e-01 2.40475618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.041858064 meters 0.01591326553703828 Centerline is valid? [True, True] Translation: X:65.62, Y:-102.15, Z:0.24 [[ 8.75317649e-01 -4.83529886e-01 -4.22645662e-03 6.56162862e+01] [-4.83524424e-01 -8.75327852e-01 2.29850682e-03 -1.02154435e+02] [-4.81093194e-03 3.16714178e-05 -9.99988427e-01 2.40699134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.071858064 meters 0.01596270252079517 Centerline is valid? [True, True] Translation: X:65.62, Y:-102.16, Z:0.24 [[ 9.09877376e-01 -4.14851612e-01 -4.61536610e-03 6.56157715e+01] [-4.14846496e-01 -9.09889081e-01 2.06051685e-03 -1.02160090e+02] [-5.05427995e-03 3.98507858e-05 -9.99987226e-01 2.40727547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101858064 meters 0.01602956594195686 Centerline is valid? [True, True] Translation: X:65.62, Y:-102.17, Z:0.24 [[ 9.39356242e-01 -3.42898537e-01 -5.51749699e-03 6.56155651e+01] [-3.42892928e-01 -9.39372445e-01 1.96202003e-03 -1.02166454e+02] [-5.85575844e-03 4.88749325e-05 -9.99982854e-01 2.40752202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.131858064 meters 0.015965876603044403 Centerline is valid? [True, True] Translation: X:65.62, Y:-102.17, Z:0.24 [[ 9.63195416e-01 -2.68735792e-01 -5.97200376e-03 6.56157643e+01] [-2.68730970e-01 -9.63213928e-01 1.61074633e-03 -1.02173183e+02] [-6.18518240e-03 5.33988824e-05 -9.99980870e-01 2.40517208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161858064 meters 0.01592765094376219 Centerline is valid? [True, True] Translation: X:65.62, Y:-102.18, Z:0.24 [[ 9.81227083e-01 -1.92747450e-01 -6.46777368e-03 6.56162765e+01] [-1.92743651e-01 -9.81248397e-01 1.21153716e-03 -1.02179655e+02] [-6.58001326e-03 5.78292328e-05 -9.99978350e-01 2.40984685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.191858064 meters 0.015928618452108297 Centerline is valid? [True, True] Translation: X:65.61, Y:-102.18, Z:0.24 [[ 9.93374918e-01 -1.14705115e-01 -7.00064197e-03 6.56125171e+01] [-1.14702671e-01 -9.93399584e-01 7.50868305e-04 -1.02184657e+02] [-7.04056325e-03 5.70985921e-05 -9.99975213e-01 2.41692703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221858064 meters 0.015926680644806807 Centerline is valid? [True, True] Translation: X:65.61, Y:-102.19, Z:0.24 [[ 9.99321554e-01 -3.60912798e-02 -7.33832204e-03 6.56101609e+01] [-3.60907158e-02 -9.99348496e-01 2.09305346e-04 -1.02190319e+02] [-7.34109519e-03 5.56819512e-05 -9.99973052e-01 2.42159128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.251858064 meters 0.015938248407092286 Centerline is valid? [True, True] Translation: X:65.61, Y:-102.20, Z:0.24 [[ 9.99067503e-01 4.25314970e-02 -7.42940391e-03 6.56071531e+01] [ 4.25299162e-02 -9.99095125e-01 -3.70710326e-04 -1.02195052e+02] [-7.43844809e-03 5.43927143e-05 -9.99972333e-01 2.43181398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281858064 meters 0.015835829973715528 Centerline is valid? [True, True] Translation: X:65.61, Y:-102.20, Z:0.24 [[ 9.92671048e-01 1.20610262e-01 -7.57335999e-03 6.56056630e+01] [ 1.20606323e-01 -9.92699935e-01 -9.76300414e-04 -1.02199439e+02] [-7.63582582e-03 5.57500520e-05 -9.99970845e-01 2.43018088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.311858064 meters 0.015775197922904428 Centerline is valid? [True, True] Translation: X:65.61, Y:-102.21, Z:0.24 [[ 9.80186690e-01 1.97951878e-01 -7.00757779e-03 6.56056917e+01] [ 1.97946436e-01 -9.80211738e-01 -1.46885282e-03 -1.02210652e+02] [-7.15967218e-03 5.26249345e-05 -9.99974368e-01 2.41676637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341858064 meters 0.016013811619729125 Centerline is valid? [True, True] Translation: X:65.60, Y:-102.22, Z:0.24 [[ 9.61615364e-01 2.74312938e-01 -6.95001990e-03 6.56041933e+01] [ 2.74305388e-01 -9.61640478e-01 -2.03580849e-03 -1.02218718e+02] [-7.24186907e-03 5.12368162e-05 -9.99973776e-01 2.41849208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.371858064 meters 0.015857847292391494 Centerline is valid? [True, True] Translation: X:65.60, Y:-102.22, Z:0.24 [[ 9.36945840e-01 3.49404224e-01 -7.01288534e-03 6.56013016e+01] [ 3.49394055e-01 -9.36972084e-01 -2.66616776e-03 -1.02221782e+02] [-7.50244807e-03 4.77943471e-05 -9.99971855e-01 2.42010677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401858064 meters 0.015803628284977434 Centerline is valid? [True, True] Translation: X:65.60, Y:-102.23, Z:0.24 [[ 9.06322899e-01 4.22520666e-01 -7.42217810e-03 6.56038642e+01] [ 4.22506096e-01 -9.06353289e-01 -3.50915509e-03 -1.02232647e+02] [-8.20980608e-03 4.45121216e-05 -9.99966298e-01 2.41611813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.431858064 meters 0.01562364034260368 Centerline is valid? [True, True] Translation: X:65.61, Y:-102.24, Z:0.24 [[ 8.69626396e-01 4.93657617e-01 -7.21732946e-03 6.56060445e+01] [ 4.93640318e-01 -8.69656344e-01 -4.13273691e-03 -1.02243051e+02] [-8.31675341e-03 3.11722943e-05 -9.99965415e-01 2.42444040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46185806399998 meters 0.015606542076963397 Centerline is valid? [True, True] Translation: X:65.61, Y:-102.25, Z:0.24 [[ 8.27909853e-01 5.60819556e-01 -6.83380206e-03 6.56083449e+01] [ 5.60800200e-01 -8.27938057e-01 -4.65939017e-03 -1.02251276e+02] [-8.27104192e-03 2.51574726e-05 -9.99965794e-01 2.41827847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49185806399998 meters 0.015765410971679748 Centerline is valid? [True, True] Translation: X:65.61, Y:-102.26, Z:0.24 [[ 7.80792391e-01 6.24755857e-01 -6.58487488e-03 6.56111065e+01] [ 6.24733461e-01 -7.80820158e-01 -5.28994723e-03 -1.02259122e+02] [-8.44652856e-03 1.65588705e-05 -9.99964327e-01 2.41504592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52185806399999 meters 0.01585536183863412 Centerline is valid? [True, True] Translation: X:65.61, Y:-102.27, Z:0.24 [[ 7.29455065e-01 6.84000173e-01 -6.25072573e-03 6.56141321e+01] [ 6.83974867e-01 -7.29481846e-01 -5.88371963e-03 -1.02265791e+02] [-8.58425619e-03 1.65697896e-05 -9.99963154e-01 2.41322235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.551858064 meters 0.015894769385966043 Centerline is valid? [True, True] Translation: X:65.62, Y:-102.27, Z:0.24 [[ 6.73637454e-01 7.39039827e-01 -5.71971368e-03 6.56177962e+01] [ 7.39012986e-01 -6.73661736e-01 -6.29855212e-03 -1.02272514e+02] [-8.50803311e-03 1.59979268e-05 -9.99963806e-01 2.40973655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.581858064 meters 0.01574094348425322 Centerline is valid? [True, True] Translation: X:65.62, Y:-102.28, Z:0.24 [[ 6.14161061e-01 7.89162305e-01 -5.38952955e-03 6.56223831e+01] [ 7.89131614e-01 -6.14184708e-01 -6.95989688e-03 -1.02280204e+02] [-8.80265490e-03 2.14494975e-05 -9.99961256e-01 2.40299030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.611858064 meters 0.015798711439665925 Centerline is valid? [True, True] Translation: X:65.63, Y:-102.29, Z:0.24 [[ 5.50919785e-01 8.34545024e-01 -4.68962314e-03 6.56260568e+01] [ 8.34514398e-01 -5.50939744e-01 -7.14966678e-03 -1.02287494e+02] [-8.55041861e-03 2.53348556e-05 -9.99963444e-01 2.41010359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.641858064 meters 0.01574419706580171 Centerline is valid? [True, True] Translation: X:65.63, Y:-102.29, Z:0.24 [[ 4.84247461e-01 8.74920806e-01 -4.24021184e-03 6.56326322e+01] [ 8.74886723e-01 -4.84266024e-01 -7.72276808e-03 -1.02294664e+02] [-8.81020100e-03 3.00257924e-05 -9.99961189e-01 2.40826727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.671858064 meters 0.015879122008726453 Centerline is valid? [True, True] Translation: X:65.64, Y:-102.30, Z:0.24 [[ 4.15827727e-01 9.09435187e-01 -3.86556418e-03 6.56368938e+01] [ 9.09394808e-01 -4.15845691e-01 -8.56999240e-03 -1.02301606e+02] [-9.40133084e-03 4.83164605e-05 -9.99955805e-01 2.41627290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.701858064 meters 0.015843754550803373 Centerline is valid? [True, True] Translation: X:65.64, Y:-102.31, Z:0.24 [[ 3.44257293e-01 9.38869157e-01 -3.40922932e-03 6.56417401e+01] [ 9.38821332e-01 -3.44274168e-01 -9.47645892e-03 -1.02307180e+02] [-1.00708646e-02 6.16828874e-05 -9.99949286e-01 2.41119105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.731858064 meters 0.015872262003155255 Centerline is valid? [True, True] Translation: X:65.65, Y:-102.31, Z:0.24 [[ 2.70708187e-01 9.62657365e-01 -2.80629748e-03 6.56468240e+01] [ 9.62602661e-01 -2.70722721e-01 -1.02627990e-02 -1.02313097e+02] [-1.06392875e-02 7.68742821e-05 -9.99943398e-01 2.41288919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.761858064 meters 0.015824708778801013 Centerline is valid? [True, True] Translation: X:65.65, Y:-102.32, Z:0.24 [[ 1.95381689e-01 9.80725108e-01 -2.06338508e-03 6.56531053e+01] [ 9.80665498e-01 -1.95392564e-01 -1.08133242e-02 -1.02317724e+02] [-1.10080686e-02 8.92349847e-05 -9.99939405e-01 2.41083088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.791858064 meters 0.01612923346115484 Centerline is valid? [True, True] Translation: X:65.66, Y:-102.32, Z:0.24 [[ 1.19182400e-01 9.92871506e-01 -1.31433194e-03 6.56577854e+01] [ 9.92800369e-01 -1.19189595e-01 -1.18856464e-02 -1.02322973e+02] [-1.19575744e-02 1.11690631e-04 -9.99928499e-01 2.41050652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821858064 meters 0.016063292230015815 Centerline is valid? [True, True] Translation: X:65.66, Y:-102.33, Z:0.24 [[ 4.14423027e-02 9.99140820e-01 -3.97058130e-04 6.56631947e+01] [ 9.99062424e-01 -4.14440251e-02 -1.25166471e-02 -1.02327703e+02] [-1.25223487e-02 1.22032820e-04 -9.99921585e-01 2.40881463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.851858064 meters 0.016043333831777626 Centerline is valid? [True, True] Translation: X:65.67, Y:-102.33, Z:0.24 [[-3.64101990e-02 9.99336734e-01 6.24523900e-04 6.56705706e+01] [ 9.99247181e-01 3.64152972e-02 -1.33790108e-02 -1.02331481e+02] [-1.33928792e-02 1.36921300e-04 -9.99910302e-01 2.40435920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881858064 meters 0.01599082615443702 Centerline is valid? [True, True] Translation: X:65.68, Y:-102.34, Z:0.24 [[-1.14458477e-01 9.93426622e-01 1.67433394e-03 6.56783844e+01] [ 9.93337324e-01 1.14470638e-01 -1.33204380e-02 -1.02336267e+02] [-1.34245398e-02 1.38541356e-04 -9.99909877e-01 2.40857246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.911858064 meters 0.01589757944299088 Centerline is valid? [True, True] Translation: X:65.69, Y:-102.34, Z:0.24 [[-1.92288226e-01 9.81334294e-01 2.87081373e-03 6.56882331e+01] [ 9.81235633e-01 1.92309603e-01 -1.39157833e-02 -1.02338294e+02] [-1.42081204e-02 1.41103453e-04 -9.99899050e-01 2.40678369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941858064 meters 0.015980585601531913 Centerline is valid? [True, True] Translation: X:65.70, Y:-102.34, Z:0.24 [[-2.68982931e-01 9.63136795e-01 3.96188853e-03 6.56989550e+01] [ 9.63039645e-01 2.69012073e-01 -1.36801661e-02 -1.02339250e+02] [-1.42416672e-02 1.35724530e-04 -9.99898573e-01 2.40793843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.971858064 meters 0.015912077124646245 Centerline is valid? [True, True] Translation: X:65.71, Y:-102.34, Z:0.24 [[-3.43647241e-01 9.39085949e-01 4.91472460e-03 6.57088391e+01] [ 9.38995370e-01 3.43682358e-01 -1.30434765e-02 -1.02340154e+02] [-1.39380496e-02 1.32548924e-04 -9.99902852e-01 2.40350011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001858064 meters 0.016052653842586383 Centerline is valid? [True, True] Translation: X:65.72, Y:-102.34, Z:0.24 [[-4.15699168e-01 9.09484297e-01 5.70214987e-03 6.57194318e+01] [ 9.09403123e-01 4.15738253e-01 -1.21517722e-02 -1.02339800e+02] [-1.34224478e-02 1.34071295e-04 -9.99909906e-01 2.39325381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.031858064 meters 0.01635239384019872 Centerline is valid? [True, True] Translation: X:65.73, Y:-102.34, Z:0.24 [[-4.84708497e-01 8.74653969e-01 6.17307737e-03 6.57282463e+01] [ 8.74586647e-01 4.84747785e-01 -1.08527495e-02 -1.02339645e+02] [-1.24847860e-02 1.38471129e-04 -9.99922052e-01 2.39195241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061858064 meters 0.016462049882346133 Centerline is valid? [True, True] Translation: X:65.74, Y:-102.34, Z:0.24 [[-5.50580154e-01 8.34759732e-01 6.13871524e-03 6.57379672e+01] [ 8.34710600e-01 5.50614358e-01 -9.05773996e-03 -1.02337795e+02] [-1.09411013e-02 1.37038819e-04 -9.99940135e-01 2.36669120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.091858064 meters 0.01648732799389816 Centerline is valid? [True, True] Translation: X:65.75, Y:-102.34, Z:0.24 [[-6.14078131e-01 7.89219220e-01 6.40872936e-03 6.57475729e+01] [ 7.89178454e-01 6.14111558e-01 -8.02258849e-03 -1.02335075e+02] [-1.02672558e-02 1.31134987e-04 -9.99947282e-01 2.36062996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121858064 meters 0.016390675688816456 Centerline is valid? [True, True] Translation: X:65.76, Y:-102.33, Z:0.24 [[-6.73819265e-01 7.38869128e-01 6.32532897e-03 6.57580974e+01] [ 7.38838241e-01 6.73848942e-01 -6.75698911e-03 -1.02329795e+02] [-9.25484689e-03 1.20405495e-04 -9.99957166e-01 2.35786740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.151858064 meters 0.016445965670600585 Centerline is valid? [True, True] Translation: X:65.77, Y:-102.32, Z:0.23 [[-7.30527618e-01 6.82860883e-01 5.51492495e-03 6.57687761e+01] [ 6.82842326e-01 7.30548429e-01 -5.03492979e-03 -1.02324956e+02] [-7.46707636e-03 8.76689096e-05 -9.99972117e-01 2.34811204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181858064 meters 0.016358301854864487 Centerline is valid? [True, True] Translation: X:65.79, Y:-102.31, Z:0.23 [[-7.77706675e-01 6.28604881e-01 5.31340605e-03 6.57948868e+01] [ 6.28590839e-01 7.77724822e-01 -4.20218007e-03 -1.02308402e+02] [-6.77387868e-03 7.18948817e-05 -9.99977054e-01 2.34523693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21185806399998 meters 0.016006278289469787 Centerline is valid? [True, True] Translation: X:65.81, Y:-102.28, Z:0.23 [[-8.21010504e-01 5.70886498e-01 5.50987535e-03 6.58137385e+01] [ 5.70874146e-01 8.21028990e-01 -3.75590309e-03 -1.02284070e+02] [-6.66796176e-03 6.18095019e-05 -9.99977767e-01 2.34059638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24185806399998 meters 0.015723560936491854 Centerline is valid? [True, True] Translation: X:65.83, Y:-102.25, Z:0.23 [[-8.61178291e-01 5.08269866e-01 5.80466944e-03 6.58300449e+01] [ 5.08258614e-01 8.61197853e-01 -3.38219930e-03 -1.02254687e+02] [-6.71803884e-03 3.75966315e-05 -9.99977433e-01 2.34945945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27185806399999 meters 0.01572192517512109 Centerline is valid? [True, True] Translation: X:65.85, Y:-102.23, Z:0.24 [[-8.96039122e-01 4.43926610e-01 6.56176251e-03 6.58451003e+01] [ 4.43914902e-01 8.96063148e-01 -3.22412082e-03 -1.02228185e+02] [-7.31102660e-03 2.39257700e-05 -9.99973274e-01 2.35751224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.301858064 meters 0.015553109854630275 Centerline is valid? [True, True] Translation: X:65.86, Y:-102.20, Z:0.24 [[-9.26071239e-01 3.77288503e-01 6.74133162e-03 6.58590348e+01] [ 3.77278569e-01 9.26095776e-01 -2.73787742e-03 -1.02200879e+02] [-7.27608840e-03 7.89041375e-06 -9.99973529e-01 2.35705816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.331858064 meters 0.015544581586365876 Centerline is valid? [True, True] Translation: X:65.87, Y:-102.17, Z:0.24 [[-9.51081854e-01 3.08869285e-01 6.56293801e-03 6.58680157e+01] [ 3.08861890e-01 9.51104497e-01 -2.13732496e-03 -1.02171897e+02] [-6.90219389e-03 -5.72954575e-06 -9.99976180e-01 2.35612072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.361858064 meters 0.015544581586365876 Centerline is valid? [True, True] Translation: X:65.88, Y:-102.15, Z:0.24 [[-9.70577769e-01 2.40694686e-01 6.69792049e-03 6.58752035e+01] [ 2.40688915e-01 9.70600880e-01 -1.66689042e-03 -1.02145017e+02] [-6.90221918e-03 -5.73157573e-06 -9.99976179e-01 2.35612346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.391858064 meters 0.015562982818248063 Centerline is valid? [True, True] Translation: X:65.87, Y:-102.11, Z:0.24 [[-9.85693899e-01 1.68433590e-01 6.13710348e-03 6.58731793e+01] [ 1.68430182e-01 9.85713003e-01 -1.07170337e-03 -1.02111292e+02] [-6.22993355e-03 -2.26980173e-05 -9.99980594e-01 2.35444057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.421858064 meters 0.015441871309073691 Centerline is valid? [True, True] Translation: X:66.00, Y:-101.44, Z:-0.74 [[-9.70014719e-01 -2.42971739e-01 6.01483153e-03 6.59963595e+01] [ 2.42967198e-01 -9.70033367e-01 -1.48563105e-03 -1.01441871e+02] [ 6.19555364e-03 2.03227784e-05 9.99980807e-01 -7.44586658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.451858064 meters 0.015696006721420644 Centerline is valid? [True, True] Translation: X:65.82, Y:-102.10, Z:0.23 [[-9.86871159e-01 1.61390150e-01 6.20763315e-03 6.58183940e+01] [ 1.61386680e-01 9.86890682e-01 -1.05918731e-03 -1.02096993e+02] [-6.29719771e-03 -4.34521065e-05 -9.99980172e-01 2.34659011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.481858064 meters 0.015643987802718487 Centerline is valid? [True, True] Translation: X:65.94, Y:-101.44, Z:-0.75 [[-9.70394182e-01 -2.41443815e-01 6.32582707e-03 6.59417848e+01] [ 2.41439076e-01 -9.70414798e-01 -1.51384723e-03 -1.01437860e+02] [ 6.50418525e-03 5.82732992e-05 9.99978846e-01 -7.45510337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.511858064 meters 0.015669413816989962 Centerline is valid? [True, True] Translation: X:65.78, Y:-102.09, Z:0.24 [[-9.87503099e-01 1.57442104e-01 7.04365492e-03 6.57751805e+01] [ 1.57437745e-01 9.87528218e-01 -1.17267985e-03 -1.02088754e+02] [-7.14043718e-03 -4.90878434e-05 -9.99974506e-01 2.35709870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.541858064 meters 0.015419693918811105 Centerline is valid? [True, True] Translation: X:65.78, Y:-102.06, Z:0.24 [[-9.95949881e-01 8.96849929e-02 6.35897000e-03 6.57811183e+01] [ 8.96829986e-02 9.95970181e-01 -5.98641976e-04 -1.02062369e+02] [-6.38703371e-03 -2.59259069e-05 -9.99979602e-01 2.35845105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.571858064 meters 0.015228728506029113 Centerline is valid? [True, True] Translation: X:65.85, Y:-101.39, Z:-0.75 [[-9.86631316e-01 -1.62860902e-01 5.91376317e-03 6.58491673e+01] [ 1.62857973e-01 -9.86649039e-01 -9.76637994e-04 -1.01394836e+02] [ 5.99386489e-03 -4.78144547e-07 9.99982037e-01 -7.46229792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601858064 meters 0.0153074269622871 Centerline is valid? [True, True] Translation: X:65.72, Y:-102.06, Z:0.24 [[-9.95972414e-01 8.94684370e-02 5.86075098e-03 6.57204031e+01] [ 8.94668905e-02 9.95989658e-01 -5.26041695e-04 -1.02059481e+02] [-5.88431149e-03 4.20148894e-07 -9.99982687e-01 2.35809699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.631858064 meters 0.015307170654870018 Centerline is valid? [True, True] Translation: X:65.79, Y:-101.39, Z:-0.75 [[-9.87999198e-01 -1.54342470e-01 5.99890592e-03 6.57891101e+01] [ 1.54339695e-01 -9.88017410e-01 -9.25703533e-04 -1.01386522e+02] [ 6.06989886e-03 1.12749587e-05 9.99981578e-01 -7.46389047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661858064 meters 0.015460760185964359 Centerline is valid? [True, True] Translation: X:65.66, Y:-102.06, Z:0.24 [[-9.95852075e-01 9.07600992e-02 6.42253299e-03 6.56622762e+01] [ 9.07584568e-02 9.95872785e-01 -5.47319905e-04 -1.02059408e+02] [-6.44570062e-03 3.78495197e-05 -9.99979226e-01 2.36429315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.691858064 meters 0.015489771718405754 Centerline is valid? [True, True] Translation: X:65.72, Y:-101.38, Z:-0.75 [[-9.89397179e-01 -1.45092557e-01 6.43218242e-03 6.57245355e+01] [ 1.45089265e-01 -9.89418086e-01 -9.77951917e-04 -1.01378217e+02] [ 6.50601117e-03 -3.43422454e-05 9.99978835e-01 -7.46540835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721858064 meters 0.015713504716522563 Centerline is valid? [True, True] Translation: X:65.60, Y:-102.05, Z:0.24 [[-9.96056350e-01 8.84533396e-02 6.91038216e-03 6.55967364e+01] [ 8.84515963e-02 9.96080320e-01 -5.58078875e-04 -1.02053280e+02] [-6.93265961e-03 5.53563261e-05 -9.99975967e-01 2.38472407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.751858064 meters 0.015739824202198615 Centerline is valid? [True, True] Translation: X:65.65, Y:-101.37, Z:-0.75 [[-9.90199949e-01 -1.39478233e-01 7.06285344e-03 6.56537958e+01] [ 1.39474370e-01 -9.90225136e-01 -1.03889624e-03 -1.01373305e+02] [ 7.13871843e-03 -4.36279694e-05 9.99974518e-01 -7.49188987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781858064 meters 0.01565687474877864 Centerline is valid? [True, True] Translation: X:65.53, Y:-102.05, Z:0.24 [[-9.96388538e-01 8.45660259e-02 7.64645867e-03 6.55323552e+01] [ 8.45640477e-02 9.96417876e-01 -5.82228077e-04 -1.02047804e+02] [-7.66830482e-03 6.64901134e-05 -9.99970596e-01 2.39051439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.811858064 meters 0.01583394581936882 Centerline is valid? [True, True] Translation: X:65.59, Y:-101.37, Z:-0.75 [[-9.90958778e-01 -1.33929796e-01 7.96934250e-03 6.55869699e+01] [ 1.33925098e-01 -9.90990821e-01 -1.12267291e-03 -1.01367404e+02] [ 8.04790462e-03 -4.52275983e-05 9.99967614e-01 -7.49827954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841858064 meters 0.015982542140484376 Centerline is valid? [True, True] Translation: X:65.47, Y:-102.05, Z:0.24 [[-9.96567354e-01 8.23556724e-02 8.42928291e-03 6.54659215e+01] [ 8.23535176e-02 9.96602997e-01 -6.03001122e-04 -1.02045457e+02] [-8.45030918e-03 9.32498655e-05 -9.99964291e-01 2.39192827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.871858064 meters 0.016097722392590524 Centerline is valid? [True, True] Translation: X:65.52, Y:-101.36, Z:-0.75 [[-9.91921387e-01 -1.26599399e-01 8.03450244e-03 6.55209666e+01] [ 1.26594338e-01 -9.91953920e-01 -1.13751738e-03 -1.01360411e+02] [ 8.11386521e-03 -1.11205303e-04 9.99967076e-01 -7.49460610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901858064 meters 0.0162161295140548 Centerline is valid? [True, True] Translation: X:65.41, Y:-102.04, Z:0.24 [[-9.96784129e-01 7.97469618e-02 7.86271336e-03 6.54053212e+01] [ 7.97452926e-02 9.96815134e-01 -5.26074018e-04 -1.02042610e+02] [-7.87962447e-03 1.02632146e-04 -9.99968950e-01 2.39448998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.931858064 meters 0.0163632635029344 Centerline is valid? [True, True] Translation: X:65.45, Y:-101.36, Z:-0.75 [[-9.92727611e-01 -1.20140528e-01 7.62518016e-03 6.54545720e+01] [ 1.20136116e-01 -9.92756889e-01 -1.03575505e-03 -1.01355591e+02] [ 7.69438630e-03 -1.12163112e-04 9.99970391e-01 -7.49464126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96185806399998 meters 0.01818713170832061 Centerline is valid? [True, True] Translation: X:65.34, Y:-102.04, Z:0.24 [[-9.96927895e-01 7.80181764e-02 6.92358636e-03 6.53407826e+01] [ 7.80170653e-02 9.96951931e-01 -4.30838982e-04 -1.02039679e+02] [-6.93609606e-03 1.10642489e-04 -9.99975939e-01 2.39938114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99185806399998 meters 0.016532119046534816 Centerline is valid? [True, True] Translation: X:65.39, Y:-101.35, Z:-0.75 [[-9.93547548e-01 -1.13268352e-01 5.79218633e-03 6.53863029e+01] [ 1.13265463e-01 -9.93564418e-01 -8.25542533e-04 -1.01350164e+02] [ 5.84841808e-03 -1.64161096e-04 9.99982884e-01 -7.48526617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02185806399999 meters 0.01682550480698318 Centerline is valid? [True, True] Translation: X:65.27, Y:-102.04, Z:0.24 [[-9.97214751e-01 7.43931466e-02 5.32911823e-03 6.52741373e+01] [ 7.43925700e-02 9.97228987e-01 -3.06613722e-04 -1.02036750e+02] [-5.33716114e-03 9.06870745e-05 -9.99985753e-01 2.38087756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.051858064 meters 0.016926064053408157 Centerline is valid? [True, True] Translation: X:65.27, Y:-102.01, Z:0.24 [[-9.99975614e-01 4.04460278e-03 5.69325201e-03 6.52662938e+01] [ 4.04511165e-03 9.99991815e-01 7.78686465e-05 -1.02008631e+02] [-5.69289046e-03 1.00896588e-04 -9.99983790e-01 2.37574031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.081858064 meters 0.01696728103586594 Centerline is valid? [True, True] Translation: X:65.26, Y:-101.32, Z:-0.75 [[-9.99319831e-01 -3.64519895e-02 5.57917034e-03 6.52607002e+01] [ 3.64508286e-02 -9.99335400e-01 -3.09653402e-04 -1.01315611e+02] [ 5.58674991e-03 -1.06077403e-04 9.99984388e-01 -7.48160439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.111858064 meters 0.018138304334467233 Centerline is valid? [True, True] Translation: X:65.18, Y:-102.01, Z:0.24 [[-9.99980683e-01 -1.99837058e-03 5.88561815e-03 6.51812594e+01] [-1.99773336e-03 9.99997998e-01 1.14143820e-04 -1.02008587e+02] [-5.88583447e-03 1.02383719e-04 -9.99982673e-01 2.38789439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.141858064 meters 0.016688052134134948 Centerline is valid? [True, True] Translation: X:65.17, Y:-101.32, Z:-0.75 [[-9.99423795e-01 -3.36080029e-02 4.75194693e-03 6.51719203e+01] [ 3.36068589e-02 -9.99435079e-01 -3.20403872e-04 -1.01319624e+02] [ 4.76003059e-03 -1.60521243e-04 9.99988658e-01 -7.48460080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.171858064 meters 0.01647887997328748 Centerline is valid? [True, True] Translation: X:65.10, Y:-102.01, Z:0.24 [[-9.99926105e-01 -1.11929937e-02 4.74361514e-03 6.50960089e+01] [-1.11925568e-02 9.99937354e-01 1.18630333e-04 -1.02006246e+02] [-4.74464581e-03 6.55283852e-05 -9.99988742e-01 2.38369168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.201858064 meters 0.016018350205992817 Centerline is valid? [True, True] Translation: X:65.09, Y:-101.98, Z:0.24 [[-9.96396216e-01 -8.47224332e-02 4.08539173e-03 6.50907907e+01] [-8.47215266e-02 9.96404590e-01 3.94761014e-04 -1.01975862e+02] [-4.10414818e-03 4.72177568e-05 -9.99991577e-01 2.38467002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.231858064 meters 0.015735249177366052 Centerline is valid? [True, True] Translation: X:65.07, Y:-101.95, Z:0.24 [[-9.87589002e-01 -1.56993972e-01 4.56691117e-03 6.50740159e+01] [-1.56992076e-01 9.87599560e-01 7.72929514e-04 -1.01948557e+02] [-4.63162474e-03 4.63678197e-05 -9.99989273e-01 2.38418339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.261858064 meters 0.015528133647182649 Centerline is valid? [True, True] Translation: X:65.05, Y:-101.92, Z:0.24 [[-9.73570648e-01 -2.28355036e-01 3.76452045e-03 6.50456338e+01] [-2.28353188e-01 9.73577925e-01 9.19371747e-04 -1.01924342e+02] [-3.87499718e-03 3.54330991e-05 -9.99992492e-01 2.38733533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.291858064 meters 0.015565633809170667 Centerline is valid? [True, True] Translation: X:65.00, Y:-101.91, Z:0.24 [[-9.54305616e-01 -2.98808563e-01 3.77279227e-03 6.50045559e+01] [-2.98806092e-01 9.54313073e-01 1.21547441e-03 -1.01906195e+02] [-3.96361915e-03 3.26007409e-05 -9.99992144e-01 2.39069061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321858064 meters 0.01542208665413673 Centerline is valid? [True, True] Translation: X:64.96, Y:-101.89, Z:0.24 [[-9.29143335e-01 -3.69695777e-01 4.20659099e-03 6.49557661e+01] [-3.69691841e-01 9.29152857e-01 1.70632820e-03 -1.01893095e+02] [-4.53938837e-03 3.02811080e-05 -9.99989696e-01 2.39677123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.351858064 meters 0.015392188900253612 Centerline is valid? [True, True] Translation: X:64.89, Y:-101.89, Z:0.24 [[-8.99147407e-01 -4.37623732e-01 4.40564309e-03 6.48872538e+01] [-4.37618312e-01 8.99158200e-01 2.17822139e-03 -1.01892843e+02] [-4.91461149e-03 3.05520255e-05 -9.99987923e-01 2.39624669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381858064 meters 0.015406272415168095 Centerline is valid? [True, True] Translation: X:64.81, Y:-101.90, Z:0.24 [[-8.63958028e-01 -5.03542869e-01 4.59403767e-03 6.48122849e+01] [-5.03535558e-01 8.63970242e-01 2.71358310e-03 -1.01901267e+02] [-5.33551726e-03 3.11605824e-05 -9.99985766e-01 2.39752035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.411858064 meters 0.015355677988637156 Centerline is valid? [True, True] Translation: X:64.73, Y:-101.92, Z:0.24 [[-8.23798246e-01 -5.66862819e-01 4.79526345e-03 6.47290839e+01] [-5.66852984e-01 8.23812201e-01 3.33936459e-03 -1.01919497e+02] [-5.84335816e-03 3.27532963e-05 -9.99982927e-01 2.40839688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441858064 meters 0.015282780393249531 Centerline is valid? [True, True] Translation: X:64.65, Y:-101.95, Z:0.24 [[-7.79073746e-01 -6.26914616e-01 4.70760498e-03 6.46455448e+01] [-6.26902895e-01 7.79087968e-01 3.83384857e-03 -1.01946548e+02] [-6.07113410e-03 3.56395794e-05 -9.99981570e-01 2.40791015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.471858064 meters 0.0154446177024952 Centerline is valid? [True, True] Translation: X:64.56, Y:-101.98, Z:0.24 [[-7.29554006e-01 -6.83907664e-01 4.61080863e-03 6.45600571e+01] [-6.83893687e-01 7.29568575e-01 4.37252714e-03 -1.01984768e+02] [-6.35430590e-03 3.66917776e-05 -9.99979811e-01 2.41365134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501858064 meters 0.015264060024495513 Centerline is valid? [True, True] Translation: X:64.47, Y:-102.03, Z:0.24 [[-6.76215364e-01 -7.36690686e-01 4.42895998e-03 6.44732811e+01] [-7.36674468e-01 6.76229866e-01 4.88829615e-03 -1.02034065e+02] [-6.59615725e-03 4.28392190e-05 -9.99978244e-01 2.41421533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.531858064 meters 0.015339152979068982 Centerline is valid? [True, True] Translation: X:64.39, Y:-102.09, Z:0.24 [[-6.19624928e-01 -7.84886563e-01 4.24645912e-03 6.43891205e+01] [-7.84867507e-01 6.19639476e-01 5.46962907e-03 -1.02093676e+02] [-6.92431207e-03 5.62107330e-05 -9.99976025e-01 2.41610683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561858064 meters 0.0154630073690607 Centerline is valid? [True, True] Translation: X:64.31, Y:-102.16, Z:0.24 [[-5.59135691e-01 -8.29068372e-01 3.59358024e-03 6.43064221e+01] [-8.29050542e-01 5.59147236e-01 5.43763503e-03 -1.02162440e+02] [-6.51751168e-03 6.11161736e-05 -9.99978759e-01 2.41378231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.591858064 meters 0.01559520400610178 Centerline is valid? [True, True] Translation: X:64.23, Y:-102.24, Z:0.24 [[-4.95408955e-01 -8.68654199e-01 3.13847497e-03 6.42273407e+01] [-8.68635874e-01 4.95418891e-01 5.64278289e-03 -1.02240696e+02] [-6.45648684e-03 6.92932237e-05 -9.99979154e-01 2.41310294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621858064 meters 0.015804543724687023 Centerline is valid? [True, True] Translation: X:64.15, Y:-102.32, Z:0.24 [[-4.28968733e-01 -9.03315362e-01 2.68000466e-03 6.41542976e+01] [-9.03296571e-01 4.28977097e-01 5.82712428e-03 -1.02323952e+02] [-6.41339150e-03 7.88151038e-05 -9.99979431e-01 2.41338483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.651858064 meters 0.01611005053428095 Centerline is valid? [True, True] Translation: X:64.09, Y:-102.42, Z:0.24 [[-3.60429135e-01 -9.32784072e-01 2.17117130e-03 6.40877593e+01] [-9.32765621e-01 3.60435664e-01 5.86758370e-03 -1.02415970e+02] [-6.25575619e-03 8.96541707e-05 -9.99980429e-01 2.40986537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681858064 meters 0.01625069316463104 Centerline is valid? [True, True] Translation: X:64.03, Y:-102.52, Z:0.24 [[-2.88796389e-01 -9.57388871e-01 1.78724508e-03 6.40259981e+01] [-9.57368342e-01 2.88801902e-01 6.27041629e-03 -1.02517577e+02] [-6.51938655e-03 9.98217269e-05 -9.99978744e-01 2.40433550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71185806399998 meters 0.016216847365159624 Centerline is valid? [True, True] Translation: X:63.97, Y:-102.62, Z:0.24 [[-2.15262080e-01 -9.76555348e-01 1.37415729e-03 6.39722622e+01] [-9.76532010e-01 2.15266437e-01 6.75230755e-03 -1.02621460e+02] [-6.88981200e-03 1.11607190e-04 -9.99976259e-01 2.39935575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74185806399998 meters 0.016587812251315354 Centerline is valid? [True, True] Translation: X:63.93, Y:-102.73, Z:0.24 [[-1.40111782e-01 -9.90135328e-01 8.48864556e-04 6.39275717e+01] [-9.90111850e-01 1.40114306e-01 6.81943747e-03 -1.02730898e+02] [-6.87110403e-03 1.15012681e-04 -9.99976387e-01 2.39863257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77185806399999 meters 0.016696455907838508 Centerline is valid? [True, True] Translation: X:63.89, Y:-102.85, Z:0.24 [[-6.37616451e-02 -9.97965109e-01 3.07124241e-04 6.38897045e+01] [-9.97943779e-01 6.37622905e-02 6.52571983e-03 -1.02846794e+02] [-6.53202364e-03 1.09597906e-04 -9.99978660e-01 2.39709297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.801858064 meters 0.016512612266193164 Centerline is valid? [True, True] Translation: X:63.86, Y:-102.96, Z:0.24 [[ 1.35063308e-02 -9.99908770e-01 -1.74188513e-04 6.38600239e+01] [-9.99891942e-01 -1.35071142e-02 5.80199792e-03 -1.02961876e+02] [-5.80382139e-03 9.58059872e-05 -9.99983153e-01 2.39143119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.831858064 meters 0.016676658991368744 Centerline is valid? [True, True] Translation: X:63.84, Y:-103.08, Z:0.24 [[ 9.13700249e-02 -9.95816831e-01 -5.97764844e-04 6.38403535e+01] [-9.95801273e-01 -9.13719392e-02 5.56716255e-03 -1.03082886e+02] [-5.59849310e-03 8.65832114e-05 -9.99984325e-01 2.39158607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.861858064 meters 0.016089760116375695 Centerline is valid? [True, True] Translation: X:63.83, Y:-103.21, Z:0.24 [[ 1.70188335e-01 -9.85410981e-01 -1.06292747e-03 6.38285196e+01] [-9.85394424e-01 -1.70191637e-01 5.71281773e-03 -1.03205709e+02] [-5.81037469e-03 7.51478676e-05 -9.99983117e-01 2.39450143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.891858064 meters 0.016012571515872764 Centerline is valid? [True, True] Translation: X:63.83, Y:-103.33, Z:0.24 [[ 2.47040405e-01 -9.69003886e-01 -1.58358842e-03 6.38273623e+01] [-9.68985736e-01 -2.47045471e-01 5.93114025e-03 -1.03328068e+02] [-6.13851630e-03 6.92432952e-05 -9.99981157e-01 2.39995211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.921858064 meters 0.015776569400203694 Centerline is valid? [True, True] Translation: X:63.83, Y:-103.45, Z:0.24 [[ 3.22227299e-01 -9.46660336e-01 -1.94316415e-03 6.38337126e+01] [-9.46644180e-01 -3.22233153e-01 5.53101032e-03 -1.03446788e+02] [-5.86214000e-03 5.72425158e-05 -9.99982816e-01 2.39951757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.951858064 meters 0.01555016070570721 Centerline is valid? [True, True] Translation: X:63.85, Y:-103.57, Z:0.24 [[ 3.97213583e-01 -9.17722686e-01 -2.53797226e-03 6.38494943e+01] [-9.17704573e-01 -3.97221689e-01 5.76597408e-03 -1.03568625e+02] [-6.29970285e-03 3.87855304e-05 -9.99980156e-01 2.40440184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.981858064 meters 0.015385896586252154 Centerline is valid? [True, True] Translation: X:63.87, Y:-103.68, Z:0.24 [[ 4.68048429e-01 -8.83696808e-01 -3.25870935e-03 6.38731173e+01] [-8.83675832e-01 -4.68059772e-01 6.08887786e-03 -1.03684775e+02] [-6.90599268e-03 2.97529825e-05 -9.99976153e-01 2.41390901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.011858064 meters 0.015325103833558854 Centerline is valid? [True, True] Translation: X:63.90, Y:-103.80, Z:0.24 [[ 5.35861831e-01 -8.44296085e-01 -4.02720508e-03 6.39042204e+01] [-8.44272499e-01 -5.35876964e-01 6.31095538e-03 -1.03796680e+02] [-7.48640136e-03 1.82583895e-05 -9.99971976e-01 2.41935564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.041858064 meters 0.0153647230481778 Centerline is valid? [True, True] Translation: X:63.94, Y:-103.90, Z:0.24 [[ 6.00617799e-01 -7.99523073e-01 -4.59518180e-03 6.39438132e+01] [-7.99499693e-01 -6.00635377e-01 6.11434328e-03 -1.03904868e+02] [-7.64858727e-03 1.46303607e-06 -9.99970749e-01 2.41970513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.071858064 meters 0.015496114157367007 Centerline is valid? [True, True] Translation: X:63.99, Y:-104.01, Z:0.24 [[ 6.62594572e-01 -7.48964321e-01 -4.56931399e-03 6.39893902e+01] [-7.48946266e-01 -6.62610327e-01 5.20057592e-03 -1.04007194e+02] [-6.92272045e-03 -2.37027324e-05 -9.99976037e-01 2.41011924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101858064 meters 0.015614157440597666 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.11, Z:0.24 [[ 7.18789857e-01 -6.95212698e-01 -4.52168070e-03 6.40494589e+01] [-6.95198664e-01 -7.18804078e-01 4.41755646e-03 -1.04111237e+02] [-6.32134387e-03 -3.18283971e-05 -9.99980020e-01 2.40120363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.131858064 meters 0.01586774724644103 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.12, Z:0.24 [[ 7.71859214e-01 -6.35779249e-01 -4.25439933e-03 6.40458591e+01] [-6.35769336e-01 -7.71870938e-01 3.55062302e-03 -1.04120526e+02] [-5.54125964e-03 -3.57644535e-05 -9.99984646e-01 2.40021171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161858064 meters 0.016100449241827384 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.13, Z:0.24 [[ 8.20490469e-01 -5.71642414e-01 -4.51004602e-03 6.40453470e+01] [-5.71633454e-01 -8.20502863e-01 3.20093001e-03 -1.04127904e+02] [-5.53029303e-03 -4.82393805e-05 -9.99984707e-01 2.39923900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.191858064 meters 0.016284204586445236 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.14, Z:0.24 [[ 8.63165360e-01 -5.04897788e-01 -4.87695775e-03 6.40457236e+01] [-5.04889368e-01 -8.63179136e-01 2.91648654e-03 -1.04135398e+02] [-5.68221578e-03 -5.50860395e-05 -9.99983855e-01 2.40267583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221858064 meters 0.016277691610128563 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.14, Z:0.24 [[ 9.00451237e-01 -4.34924911e-01 -5.28119373e-03 6.40460430e+01] [-4.34917016e-01 -9.00466722e-01 2.62127739e-03 -1.04144772e+02] [-5.89559804e-03 -6.34514535e-05 -9.99982619e-01 2.40528144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.251858064 meters 0.016546326475604257 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.15, Z:0.24 [[ 9.31789672e-01 -3.62956168e-01 -5.55226748e-03 6.40455589e+01] [-3.62949300e-01 -9.31806212e-01 2.23370156e-03 -1.04153469e+02] [-5.98437309e-03 -6.61484453e-05 -9.99982091e-01 2.41223674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281858064 meters 0.016452441196666424 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.16, Z:0.24 [[ 9.57396204e-01 -2.88725622e-01 -5.47932575e-03 6.40473960e+01] [-2.88720503e-01 -9.57411881e-01 1.72052428e-03 -1.04161011e+02] [-5.74273102e-03 -6.52297289e-05 -9.99983508e-01 2.40798654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.311858064 meters 0.016452441196666424 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.17, Z:0.24 [[ 9.77043744e-01 -2.12965242e-01 -5.59714874e-03 6.40492141e+01] [-2.12961365e-01 -9.77059774e-01 1.28674870e-03 -1.04169092e+02] [-5.74278163e-03 -6.52333357e-05 -9.99983508e-01 2.40799174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341858064 meters 0.01643888202889873 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.17, Z:0.24 [[ 9.90677399e-01 -1.36094164e-01 -6.05557041e-03 6.40520604e+01] [-1.36091199e-01 -9.90695904e-01 9.01045522e-04 -1.04174739e+02] [-6.12185584e-03 -6.85355978e-05 -9.99981259e-01 2.40660212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.371858064 meters 0.016442713730398354 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.18, Z:0.24 [[ 9.98300465e-01 -5.79248043e-02 -6.39513697e-03 6.40520627e+01] [-5.79231483e-02 -9.98320946e-01 4.44014797e-04 -1.04181512e+02] [-6.41011867e-03 -7.28337111e-05 -9.99979452e-01 2.40791967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401858064 meters 0.016469744652261337 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.19, Z:0.24 [[ 9.99765990e-01 2.04542622e-02 -7.04188552e-03 6.40525289e+01] [ 2.04543213e-02 -9.99790786e-01 -6.36420319e-05 -1.04188296e+02] [-7.04171402e-03 -8.04098499e-05 -9.99975204e-01 2.41251792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.431858064 meters 0.016569144715597832 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.19, Z:0.24 [[ 9.95056498e-01 9.90074395e-02 -7.75198171e-03 6.40516997e+01] [ 9.90051530e-02 -9.95086689e-01 -6.79088622e-04 -1.04193069e+02] [-7.78112864e-03 -9.17545895e-05 -9.99969722e-01 2.41935577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46185806399998 meters 0.016757857908289427 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.20, Z:0.24 [[ 9.84228815e-01 1.76747965e-01 -7.33456626e-03 6.40523523e+01] [ 1.76743730e-01 -9.84256140e-01 -1.22681257e-03 -1.04198794e+02] [-7.43592850e-03 -8.88743212e-05 -9.99972349e-01 2.42399735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49185806399998 meters 0.016665754725225156 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.20, Z:0.24 [[ 9.67299579e-01 2.53529515e-01 -7.36946682e-03 6.40538223e+01] [ 2.53522888e-01 -9.67327647e-01 -1.83545317e-03 -1.04204451e+02] [-7.59403055e-03 -9.28954344e-05 -9.99971161e-01 2.42520255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52185806399999 meters 0.01685554324247801 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.21, Z:0.24 [[ 9.44435929e-01 3.28624592e-01 -6.83033011e-03 6.40539869e+01] [ 3.28616679e-01 -9.44460624e-01 -2.28224680e-03 -1.04209874e+02] [-7.20098026e-03 -8.91245261e-05 -9.99974069e-01 2.43012911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.551858064 meters 0.016713345176576945 Centerline is valid? [True, True] Translation: X:64.05, Y:-104.21, Z:0.24 [[ 9.16194841e-01 4.00672007e-01 -6.99681116e-03 6.40545723e+01] [ 4.00661045e-01 -9.16221553e-01 -2.96506740e-03 -1.04211193e+02] [-7.59864870e-03 -8.67702149e-05 -9.99971126e-01 2.43399151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.581858064 meters 0.01634330291433993 Centerline is valid? [True, True] Translation: X:64.06, Y:-104.22, Z:0.24 [[ 8.82467245e-01 4.70323260e-01 -6.89876102e-03 6.40573670e+01] [ 4.70309608e-01 -8.82494206e-01 -3.58447069e-03 -1.04216544e+02] [-7.77397657e-03 -8.13756155e-05 -9.99969779e-01 2.42976506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.611858064 meters 0.01599027636370293 Centerline is valid? [True, True] Translation: X:64.06, Y:-104.22, Z:0.24 [[ 8.44365946e-01 5.35728049e-01 -6.45023498e-03 6.40575993e+01] [ 5.35712954e-01 -8.44390581e-01 -4.02207369e-03 -1.04220427e+02] [-7.60125536e-03 -5.93723823e-05 -9.99971108e-01 2.42718800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.641858064 meters 0.01597936999320459 Centerline is valid? [True, True] Translation: X:64.06, Y:-104.23, Z:0.24 [[ 8.00731298e-01 5.98994325e-01 -5.93186929e-03 6.40589386e+01] [ 5.98978322e-01 -8.00753268e-01 -4.37877481e-03 -1.04226177e+02] [-7.37282498e-03 -4.68390764e-05 -9.99972819e-01 2.43214415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.671858064 meters 0.015811359663111778 Centerline is valid? [True, True] Translation: X:64.06, Y:-104.23, Z:0.24 [[ 7.52224344e-01 6.58884178e-01 -5.49340730e-03 6.40602057e+01] [ 6.58866965e-01 -7.52244401e-01 -4.76269036e-03 -1.04229664e+02] [-7.27044621e-03 -3.68129640e-05 -9.99973569e-01 2.42605781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.701858064 meters 0.015692282594906924 Centerline is valid? [True, True] Translation: X:64.06, Y:-104.23, Z:0.24 [[ 6.99505899e-01 7.14607895e-01 -5.20124369e-03 6.40617581e+01] [ 7.14588411e-01 -6.99525236e-01 -5.27701520e-03 -1.04233500e+02] [-7.40939794e-03 -2.54452090e-05 -9.99972550e-01 2.42433705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.731858064 meters 0.01567621095904968 Centerline is valid? [True, True] Translation: X:64.06, Y:-104.24, Z:0.24 [[ 6.44018670e-01 7.64993598e-01 -4.97471015e-03 6.40611350e+01] [ 7.64970780e-01 -6.44037883e-01 -5.90851131e-03 -1.04236168e+02] [-7.72387512e-03 -3.16315906e-07 -9.99970170e-01 2.42820541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.761858064 meters 0.015686397624761265 Centerline is valid? [True, True] Translation: X:64.06, Y:-104.24, Z:0.24 [[ 5.83371401e-01 8.12192595e-01 -4.58227441e-03 6.40616715e+01] [ 8.12167381e-01 -5.83389397e-01 -6.39976372e-03 -1.04241243e+02] [-7.87109101e-03 1.18653235e-05 -9.99969022e-01 2.43233926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.791858064 meters 0.015791610172569307 Centerline is valid? [True, True] Translation: X:64.06, Y:-104.25, Z:0.24 [[ 5.19632293e-01 8.54382207e-01 -3.65032459e-03 6.40625667e+01] [ 8.54360797e-01 -5.19645114e-01 -6.04851083e-03 -1.04245201e+02] [-7.06461337e-03 2.43073244e-05 -9.99975045e-01 2.41617875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821858064 meters 0.015855432016854434 Centerline is valid? [True, True] Translation: X:64.07, Y:-104.25, Z:0.24 [[ 4.50778398e-01 8.92631520e-01 -2.79379363e-03 6.40661355e+01] [ 8.92614110e-01 -4.50787055e-01 -5.57513779e-03 -1.04251097e+02] [-6.23594972e-03 1.93720697e-05 -9.99980556e-01 2.40528888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.851858064 meters 0.01590544325736149 Centerline is valid? [True, True] Translation: X:64.07, Y:-104.26, Z:0.24 [[ 3.79877044e-01 9.25034388e-01 -2.19382281e-03 6.40686598e+01] [ 9.25018647e-01 -3.79883379e-01 -5.39635481e-03 -1.04256079e+02] [-5.82521058e-03 2.06243097e-05 -9.99983033e-01 2.39949993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881858064 meters 0.015970003591880305 Centerline is valid? [True, True] Translation: X:64.07, Y:-104.26, Z:0.24 [[ 3.06732548e-01 9.51794282e-01 -1.66962827e-03 6.40703911e+01] [ 9.51779783e-01 -3.06737092e-01 -5.25364430e-03 -1.04260945e+02] [-5.51252553e-03 2.23452664e-05 -9.99984806e-01 2.39437375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.911858064 meters 0.016137433828132007 Centerline is valid? [True, True] Translation: X:64.07, Y:-104.27, Z:0.24 [[ 2.33509425e-01 9.72353960e-01 -1.06067068e-03 6.40724834e+01] [ 9.72343339e-01 -2.33511832e-01 -4.54492148e-03 -1.04265429e+02] [-4.66695156e-03 2.99459280e-05 -9.99989109e-01 2.38717352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941858064 meters 0.016246791540074565 Centerline is valid? [True, True] Translation: X:64.07, Y:-104.27, Z:0.24 [[ 1.58347949e-01 9.87383162e-01 -6.46380956e-04 6.40746003e+01] [ 9.87374004e-01 -1.58349264e-01 -4.25294416e-03 -1.04270219e+02] [-4.30163940e-03 3.52252311e-05 -9.99990747e-01 2.38703172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.971858064 meters 0.016471448055998258 Centerline is valid? [True, True] Translation: X:64.08, Y:-104.28, Z:0.24 [[ 8.19354327e-02 9.96637603e-01 -2.69840077e-04 6.40761959e+01] [ 9.96630657e-01 -8.19358692e-02 -3.72109111e-03 -1.04275376e+02] [-3.73068891e-03 3.59583175e-05 -9.99993040e-01 2.38934023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001858064 meters 0.016763793284916496 Centerline is valid? [True, True] Translation: X:64.08, Y:-104.28, Z:0.24 [[ 5.13055631e-03 9.99986838e-01 2.10907438e-05 6.40769571e+01] [ 9.99980696e-01 -5.13045087e-03 -3.50502675e-03 -1.04281613e+02] [-3.50487241e-03 3.90730738e-05 -9.99993857e-01 2.38978315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.031858064 meters 0.017277746231787287 Centerline is valid? [True, True] Translation: X:64.08, Y:-104.29, Z:0.24 [[-7.04060733e-02 9.97518367e-01 3.04651525e-04 6.40773670e+01] [ 9.97511872e-01 7.04067144e-02 -3.60003622e-03 -1.04286368e+02] [-3.61255176e-03 5.04290989e-05 -9.99993473e-01 2.38459732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061858064 meters 0.01757289024877384 Centerline is valid? [True, True] Translation: X:64.08, Y:-104.29, Z:0.24 [[-1.47015202e-01 9.89134042e-01 6.13897988e-04 6.40787019e+01] [ 9.89126982e-01 1.47016472e-01 -3.73764829e-03 -1.04291744e+02] [-3.78728827e-03 5.77319483e-05 -9.99992827e-01 2.38468702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.091858064 meters 0.018339317966564263 Centerline is valid? [True, True] Translation: X:64.08, Y:-104.30, Z:0.24 [[-2.22225827e-01 9.74994549e-01 1.14497658e-03 6.40796150e+01] [ 9.74983439e-01 2.22228761e-01 -4.65529505e-03 -1.04298693e+02] [-4.79333403e-03 8.18064091e-05 -9.99988509e-01 2.38966016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121858064 meters 0.018563874783333083 Centerline is valid? [True, True] Translation: X:64.08, Y:-104.30, Z:0.24 [[-2.97784149e-01 9.54631908e-01 1.58760308e-03 6.40810017e+01] [ 9.54619857e-01 2.97788368e-01 -4.79746676e-03 -1.04304186e+02] [-5.05258458e-03 8.69478731e-05 -9.99987232e-01 2.39303168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.151858064 meters 0.01790529487769733 Centerline is valid? [True, True] Translation: X:64.09, Y:-104.31, Z:0.24 [[-3.71911504e-01 9.28265674e-01 2.16136187e-03 6.40886742e+01] [ 9.28251445e-01 3.71917772e-01 -5.14065769e-03 -1.04307122e+02] [-5.57574497e-03 9.44175455e-05 -9.99984451e-01 2.38936474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181858064 meters 0.018477117479816688 Centerline is valid? [True, True] Translation: X:64.09, Y:-104.31, Z:0.24 [[-4.44098954e-01 8.95973539e-01 2.74528035e-03 6.40939009e+01] [ 8.95957753e-01 4.44107429e-01 -5.31941578e-03 -1.04312027e+02] [-5.98525518e-03 9.73082287e-05 -9.99982083e-01 2.39357454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21185806399998 meters 0.01829881231286234 Centerline is valid? [True, True] Translation: X:64.10, Y:-104.32, Z:0.24 [[-5.13768631e-01 8.57921848e-01 3.44905823e-03 6.40961908e+01] [ 8.57903804e-01 5.13780199e-01 -5.56506632e-03 -1.04317745e+02] [-6.54644980e-03 9.98036700e-05 -9.99978567e-01 2.39828364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24185806399998 meters 0.018199687891206524 Centerline is valid? [True, True] Translation: X:64.10, Y:-104.32, Z:0.24 [[-5.80760074e-01 8.14063607e-01 4.26382605e-03 6.40998743e+01] [ 8.14042894e-01 5.80775717e-01 -5.80806260e-03 -1.04323601e+02] [-7.20445903e-03 9.78464290e-05 -9.99974043e-01 2.40304095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27185806399999 meters 0.017227550905331453 Centerline is valid? [True, True] Translation: X:64.11, Y:-104.32, Z:0.24 [[-6.43078463e-01 7.65785685e-01 4.73013169e-03 6.41110141e+01] [ 7.65766049e-01 6.43095852e-01 -5.48477382e-03 -1.04320704e+02] [-7.24208935e-03 9.50343363e-05 -9.99973771e-01 2.39163112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.301858064 meters 0.01720282917784104 Centerline is valid? [True, True] Translation: X:64.12, Y:-104.32, Z:0.24 [[-7.01240021e-01 7.12908570e-01 4.87893728e-03 6.41200946e+01] [ 7.12892192e-01 7.01256988e-01 -4.83327041e-03 -1.04317357e+02] [-6.86706876e-03 8.88736515e-05 -9.99976417e-01 2.38900122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.331858064 meters 0.01733866265333792 Centerline is valid? [True, True] Translation: X:64.14, Y:-104.30, Z:0.24 [[-7.49897488e-01 6.61539508e-01 4.38591833e-03 6.41408576e+01] [ 6.61528777e-01 7.49910310e-01 -3.76886040e-03 -1.04296502e+02] [-5.78229543e-03 7.51522367e-05 -9.99983280e-01 2.37900618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.361858064 meters 0.017515957852403993 Centerline is valid? [True, True] Translation: X:64.16, Y:-104.27, Z:0.24 [[-7.94660114e-01 6.07039064e-01 4.34496044e-03 6.41569809e+01] [ 6.07030482e-01 7.94671989e-01 -3.22868580e-03 -1.04272791e+02] [-5.41275676e-03 7.18155987e-05 -9.99985348e-01 2.36878890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.391858064 meters 0.017510256389811067 Centerline is valid? [True, True] Translation: X:64.18, Y:-104.25, Z:0.24 [[-8.35456442e-01 5.49541983e-01 4.01769080e-03 6.41810388e+01] [ 5.49536001e-01 8.35466100e-01 -2.56493369e-03 -1.04253930e+02] [-4.76618321e-03 6.49753653e-05 -9.99988640e-01 2.36021769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.421858064 meters 0.017498774773417165 Centerline is valid? [True, True] Translation: X:64.20, Y:-104.23, Z:0.23 [[-8.72115895e-01 4.89287208e-01 3.44872051e-03 6.42023447e+01] [ 4.89283630e-01 8.72122712e-01 -1.87194456e-03 -1.04230707e+02] [-3.92362601e-03 5.48498826e-05 -9.99992301e-01 2.34760260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.451858064 meters 0.017304080094323167 Centerline is valid? [True, True] Translation: X:64.56, Y:-103.59, Z:-0.74 [[-8.51779022e-01 -5.23890736e-01 3.31568998e-03 6.45573806e+01] [ 5.23886516e-01 -8.51785474e-01 -2.10356092e-03 -1.03589128e+02] [ 3.92629264e-03 -5.47237958e-05 9.99992291e-01 -7.44489393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.481858064 meters 0.017320478927508643 Centerline is valid? [True, True] Translation: X:64.16, Y:-104.20, Z:0.24 [[-8.74092714e-01 4.85743715e-01 3.86922416e-03 6.41581426e+01] [ 4.85739255e-01 8.74101276e-01 -2.08225856e-03 -1.04204184e+02] [-4.39353778e-03 5.93470202e-05 -9.99990347e-01 2.35124173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.511858064 meters 0.017141319362772526 Centerline is valid? [True, True] Translation: X:64.17, Y:-104.18, Z:0.24 [[-9.06399192e-01 4.22393040e-01 4.96228790e-03 6.41748725e+01] [ 4.22387134e-01 9.06412773e-01 -2.23483703e-03 -1.04178795e+02] [-5.44186074e-03 7.03520858e-05 -9.99985191e-01 2.35697253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.541858064 meters 0.017258951348724384 Centerline is valid? [True, True] Translation: X:64.48, Y:-103.52, Z:-0.75 [[-8.87618419e-01 -4.60545083e-01 5.63640989e-03 6.44839680e+01] [ 4.60535621e-01 -8.87636314e-01 -2.95224183e-03 -1.03523995e+02] [ 6.36272256e-03 -2.46966969e-05 9.99979757e-01 -7.46476183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.571858064 meters 0.017090446169730898 Centerline is valid? [True, True] Translation: X:64.14, Y:-104.16, Z:0.24 [[-9.08691205e-01 4.17423164e-01 6.18037430e-03 6.41395630e+01] [ 4.17414067e-01 9.08712219e-01 -2.75669922e-03 -1.04159612e+02] [-6.76689175e-03 7.47868353e-05 -9.99977102e-01 2.37208776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601858064 meters 0.018276969078744324 Centerline is valid? [True, True] Translation: X:64.43, Y:-103.50, Z:-0.75 [[-8.88671409e-01 -4.58502246e-01 6.23028048e-03 6.44274010e+01] [ 4.58490498e-01 -8.88693246e-01 -3.28287845e-03 -1.03503596e+02] [ 7.04201533e-03 -6.08758231e-05 9.99975203e-01 -7.47877148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.631858064 meters 0.01695376675613471 Centerline is valid? [True, True] Translation: X:64.10, Y:-104.14, Z:0.24 [[-9.10488687e-01 4.13491316e-01 5.93985710e-03 6.41019473e+01] [ 4.13483001e-01 9.10508060e-01 -2.62312066e-03 -1.04140167e+02] [-6.49292537e-03 6.77082524e-05 -9.99978918e-01 2.36594364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661858064 meters 0.016922391907290064 Centerline is valid? [True, True] Translation: X:64.10, Y:-104.11, Z:0.24 [[-9.37782287e-01 3.47171077e-01 6.05187695e-03 6.40991553e+01] [ 3.47164274e-01 9.37801813e-01 -2.17422517e-03 -1.04107672e+02] [-6.43028926e-03 6.20456168e-05 -9.99979324e-01 2.36551469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.691858064 meters 0.0169048919773563 Centerline is valid? [True, True] Translation: X:64.12, Y:-104.08, Z:0.24 [[-9.60358783e-01 2.78684233e-01 6.79010404e-03 6.41207410e+01] [ 2.78677706e-01 9.60382786e-01 -1.90830582e-03 -1.04082713e+02] [-7.05291377e-03 5.95923632e-05 -9.99975126e-01 2.36825061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721858064 meters 0.01688185837928344 Centerline is valid? [True, True] Translation: X:64.13, Y:-104.05, Z:0.24 [[-9.77829731e-01 2.09284914e-01 6.98867478e-03 6.41253815e+01] [ 2.09279976e-01 9.77854704e-01 -1.43869042e-03 -1.04054026e+02] [-7.13500471e-03 5.57954205e-05 -9.99974544e-01 2.36874905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.751858064 meters 0.016742120308003337 Centerline is valid? [True, True] Translation: X:64.27, Y:-103.37, Z:-0.75 [[-9.65514428e-01 -2.60256424e-01 6.96298592e-03 6.42706152e+01] [ 2.60249277e-01 -9.65539534e-01 -1.92934770e-03 -1.03369906e+02] [ 7.22516331e-03 -5.07009888e-05 9.99973897e-01 -7.46802104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781858064 meters 0.01661869352618893 Centerline is valid? [True, True] Translation: X:64.08, Y:-104.04, Z:0.24 [[-9.79054399e-01 2.03490070e-01 6.65402289e-03 6.40757799e+01] [ 2.03485646e-01 9.79077009e-01 -1.34238828e-03 -1.04039497e+02] [-6.78796351e-03 3.97270016e-05 -9.99976961e-01 2.36777179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.811858064 meters 0.01652450843628397 Centerline is valid? [True, True] Translation: X:64.07, Y:-104.01, Z:0.24 [[-9.91148542e-01 1.32587649e-01 6.71445749e-03 6.40745562e+01] [ 1.32584837e-01 9.91171284e-01 -8.64253386e-04 -1.04008561e+02] [-6.76976678e-03 3.36317658e-05 -9.99977084e-01 2.36266027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841858064 meters 0.016488187009795173 Centerline is valid? [True, True] Translation: X:64.08, Y:-103.98, Z:0.24 [[-9.98121225e-01 6.09020400e-02 6.70531297e-03 6.40770598e+01] [ 6.09008514e-02 9.98143748e-01 -3.81496545e-04 -1.03978882e+02] [-6.71610014e-03 2.75794699e-05 -9.99977446e-01 2.36379112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.871858064 meters 0.016425040547794565 Centerline is valid? [True, True] Translation: X:64.12, Y:-103.30, Z:-0.75 [[-9.92591315e-01 -1.21301158e-01 6.96488263e-03 6.41171865e+01] [ 1.21298110e-01 -9.92615751e-01 -8.59918933e-04 -1.03301600e+02] [ 7.01776137e-03 -8.72096192e-06 9.99975375e-01 -7.46613163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901858064 meters 0.016417733225421602 Centerline is valid? [True, True] Translation: X:64.01, Y:-103.97, Z:0.24 [[-9.98471986e-01 5.48638222e-02 6.60715038e-03 6.40116962e+01] [ 5.48627357e-02 9.98493846e-01 -3.45707078e-04 -1.03970751e+02] [-6.61616581e-03 1.73075128e-05 -9.99978113e-01 2.35964017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.931858064 meters 0.01640477321980023 Centerline is valid? [True, True] Translation: X:64.05, Y:-103.30, Z:-0.75 [[-9.93113260e-01 -1.16997615e-01 6.13273799e-03 6.40457840e+01] [ 1.16995107e-01 -9.93132195e-01 -7.67420377e-04 -1.03299647e+02] [ 6.18040589e-03 -4.46350179e-05 9.99980900e-01 -7.45000736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96185806399998 meters 0.016450869081241104 Centerline is valid? [True, True] Translation: X:63.94, Y:-103.97, Z:0.23 [[-9.98730198e-01 5.00895812e-02 5.38752025e-03 6.39417374e+01] [ 5.00889241e-02 9.98744729e-01 -2.56909749e-04 -1.03965378e+02] [-5.39362596e-03 1.32715681e-05 -9.99985454e-01 2.34339009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99185806399998 meters 0.016548856019169188 Centerline is valid? [True, True] Translation: X:63.98, Y:-103.30, Z:-0.74 [[-9.93564904e-01 -1.13146788e-01 5.15624259e-03 6.39798895e+01] [ 1.13145128e-01 -9.93578283e-01 -6.13424826e-04 -1.03300535e+02] [ 5.19253771e-03 -2.60736502e-05 9.99986518e-01 -7.43700551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02185806399999 meters 0.016721485717248394 Centerline is valid? [True, True] Translation: X:63.88, Y:-103.96, Z:0.23 [[-9.98982346e-01 4.47182208e-02 5.87826849e-03 6.38807802e+01] [ 4.47175057e-02 9.98999640e-01 -2.53086985e-04 -1.03958173e+02] [-5.88370570e-03 1.00320746e-05 -9.99982691e-01 2.34407650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.051858064 meters 0.01667324271495757 Centerline is valid? [True, True] Translation: X:63.91, Y:-103.30, Z:-0.74 [[-9.94009852e-01 -1.09109245e-01 6.29184139e-03 6.39091474e+01] [ 1.09107176e-01 -9.94029764e-01 -6.72074886e-04 -1.03300799e+02] [ 6.32760720e-03 1.84359903e-05 9.99979980e-01 -7.44715458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.081858064 meters 0.01664132061672832 Centerline is valid? [True, True] Translation: X:63.81, Y:-103.95, Z:0.23 [[-9.99208207e-01 3.92255674e-02 6.65686879e-03 6.38129266e+01] [ 3.92247314e-02 9.99230381e-01 -2.56146599e-04 -1.03951637e+02] [-6.66179303e-03 5.17010614e-06 -9.99977810e-01 2.34835279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.111858064 meters 0.016729973513027855 Centerline is valid? [True, True] Translation: X:63.84, Y:-103.30, Z:-0.74 [[-9.94305780e-01 -1.06341297e-01 6.89518112e-03 6.38387355e+01] [ 1.06338829e-01 -9.94329688e-01 -7.24606042e-04 -1.03303208e+02] [ 6.93313884e-03 1.27455111e-05 9.99975965e-01 -7.44238918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.141858064 meters 0.016858306492731207 Centerline is valid? [True, True] Translation: X:63.74, Y:-103.94, Z:0.23 [[-9.99444070e-01 3.25476100e-02 7.22522361e-03 6.37442089e+01] [ 3.25466884e-02 9.99470186e-01 -2.45119968e-04 -1.03943854e+02] [-7.22937366e-03 -9.82659745e-06 -9.99973868e-01 2.34677146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.171858064 meters 0.016858306492731207 Centerline is valid? [True, True] Translation: X:63.74, Y:-103.92, Z:0.23 [[-9.99227637e-01 -3.86256204e-02 7.22438404e-03 6.37386093e+01] [-3.86246821e-02 9.99253752e-01 2.69411120e-04 -1.03916087e+02] [-7.22939903e-03 -9.83649955e-06 -9.99973868e-01 2.34677455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.201858064 meters 0.016914324364360835 Centerline is valid? [True, True] Translation: X:63.73, Y:-103.89, Z:0.23 [[-9.93850460e-01 -1.10465523e-01 7.65710513e-03 6.37289691e+01] [-1.10462372e-01 9.93879957e-01 8.34553569e-04 -1.03887134e+02] [-7.70243271e-03 -1.64005440e-05 -9.99970336e-01 2.34785420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.231858064 meters 0.016876772555643883 Centerline is valid? [True, True] Translation: X:63.71, Y:-103.86, Z:0.23 [[-9.83356988e-01 -1.81544795e-01 7.10781620e-03 6.37140379e+01] [-1.81540186e-01 9.83382676e-01 1.29365820e-03 -1.03859411e+02] [-7.22456023e-03 -1.82264451e-05 -9.99973902e-01 2.34659711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.261858064 meters 0.016811620421426157 Centerline is valid? [True, True] Translation: X:63.69, Y:-103.83, Z:0.23 [[-9.67787631e-01 -2.51704359e-01 5.65841284e-03 6.36881529e+01] [-2.51700144e-01 9.67804172e-01 1.45682335e-03 -1.03833635e+02] [-5.84292434e-03 -1.43277024e-05 -9.99982930e-01 2.33090041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.291858064 meters 0.016782816304875794 Centerline is valid? [True, True] Translation: X:63.65, Y:-103.81, Z:0.23 [[-9.47147875e-01 -3.20756317e-01 5.12713874e-03 6.36491544e+01] [-3.20751684e-01 9.47161752e-01 1.72391370e-03 -1.03814674e+02] [-5.40918592e-03 -1.17371910e-05 -9.99985370e-01 2.33493969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321858064 meters 0.016685734976325535 Centerline is valid? [True, True] Translation: X:63.59, Y:-103.81, Z:0.23 [[-9.21370698e-01 -3.88655955e-01 4.75250957e-03 6.35887625e+01] [-3.88650826e-01 9.21382955e-01 1.99669042e-03 -1.03807270e+02] [-5.15490693e-03 -7.37471871e-06 -9.99986713e-01 2.32730300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351858064 meters 0.016649827354646644 Centerline is valid? [True, True] Translation: X:63.52, Y:-103.81, Z:0.23 [[-8.91215202e-01 -4.53560082e-01 4.32610420e-03 6.35238236e+01] [-4.53554717e-01 8.91225702e-01 2.20613650e-03 -1.03805924e+02] [-4.85615071e-03 4.01742200e-06 -9.99988209e-01 2.32616337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381858064 meters 0.01668127412712754 Centerline is valid? [True, True] Translation: X:63.45, Y:-103.81, Z:0.23 [[-8.55697693e-01 -5.17462789e-01 3.70406446e-03 6.34499083e+01] [-5.17457900e-01 8.55705710e-01 2.24958945e-03 -1.03814909e+02] [-4.33366794e-03 8.27108922e-06 -9.99990610e-01 2.32282787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.411858064 meters 0.016670538389710082 Centerline is valid? [True, True] Translation: X:63.37, Y:-103.83, Z:0.23 [[-8.15358233e-01 -5.78948354e-01 3.12349239e-03 6.33701789e+01] [-5.78944052e-01 8.15364215e-01 2.23187783e-03 -1.03832966e+02] [-3.83892591e-03 1.14526261e-05 -9.99992631e-01 2.31406079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441858064 meters 0.016637103961910038 Centerline is valid? [True, True] Translation: X:63.29, Y:-103.86, Z:0.23 [[-7.70210554e-01 -6.37784107e-01 2.67102213e-03 6.32872751e+01] [-6.37780212e-01 7.70215186e-01 2.22918834e-03 -1.03860027e+02] [-3.47900270e-03 1.34193237e-05 -9.99993948e-01 2.30877109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.471858064 meters 0.016665328526244437 Centerline is valid? [True, True] Translation: X:63.20, Y:-103.90, Z:0.23 [[-7.20243212e-01 -6.93717787e-01 2.31247524e-03 6.32000091e+01] [-6.93714153e-01 7.20246925e-01 2.24547841e-03 -1.03896770e+02] [-3.22328149e-03 1.30937846e-05 -9.99994805e-01 2.30388728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501858064 meters 0.01667689233848315 Centerline is valid? [True, True] Translation: X:63.11, Y:-103.94, Z:0.23 [[-6.65715638e-01 -7.46201788e-01 2.36229893e-03 6.31141331e+01] [-7.46197017e-01 6.65719829e-01 2.66843582e-03 -1.03943502e+02] [-3.56382082e-03 1.36790368e-05 -9.99993649e-01 2.30571548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.531858064 meters 0.016676910996517677 Centerline is valid? [True, True] Translation: X:63.03, Y:-104.00, Z:0.23 [[-6.07058990e-01 -7.94652904e-01 2.47896580e-03 6.30290898e+01] [-7.94646185e-01 6.07064051e-01 3.26775323e-03 -1.04000532e+02] [-4.10162061e-03 1.38182622e-05 -9.99991588e-01 2.30716750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561858064 meters 0.016663255635678373 Centerline is valid? [True, True] Translation: X:62.95, Y:-104.06, Z:0.23 [[-5.44839185e-01 -8.38537523e-01 2.25489096e-03 6.29477848e+01] [-8.38530247e-01 5.44843851e-01 3.49319063e-03 -1.04064817e+02] [-4.15773489e-03 1.24328560e-05 -9.99991357e-01 2.30723332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.591858064 meters 0.016761554359762856 Centerline is valid? [True, True] Translation: X:62.87, Y:-104.14, Z:0.23 [[-4.79104180e-01 -8.77755695e-01 2.03091449e-03 6.28668651e+01] [-8.77747717e-01 4.79108484e-01 3.74244072e-03 -1.04143727e+02] [-4.25797701e-03 1.03884367e-05 -9.99990935e-01 2.31071309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621858064 meters 0.01679527181000557 Centerline is valid? [True, True] Translation: X:62.79, Y:-104.23, Z:0.23 [[-4.10961079e-01 -9.11651079e-01 1.81700079e-03 6.27890779e+01] [-9.11642053e-01 4.10965096e-01 4.05663572e-03 -1.04231439e+02] [-4.44496023e-03 1.06650626e-05 -9.99990121e-01 2.30858095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.651858064 meters 0.01667943464231178 Centerline is valid? [True, True] Translation: X:62.73, Y:-104.31, Z:0.23 [[-3.40125901e-01 -9.40378527e-01 1.61155310e-03 6.27267472e+01] [-9.40367813e-01 3.40129718e-01 4.48896274e-03 -1.04308859e+02] [-4.76946127e-03 1.13598303e-05 -9.99988626e-01 2.30845760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681858064 meters 0.01664372461586482 Centerline is valid? [True, True] Translation: X:62.67, Y:-104.40, Z:0.23 [[-2.67921573e-01 -9.63440014e-01 1.17028329e-03 6.26654408e+01] [-9.63430609e-01 2.67924128e-01 4.25716614e-03 -1.04403973e+02] [-4.41507133e-03 1.30999021e-05 -9.99990253e-01 2.30185098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71185806399998 meters 0.016753364778824564 Centerline is valid? [True, True] Translation: X:62.61, Y:-104.51, Z:0.23 [[-1.94217151e-01 -9.80958258e-01 7.70844635e-04 6.26124079e+01] [-9.80950229e-01 1.94218680e-01 3.96906608e-03 -1.04505925e+02] [-4.04320058e-03 1.47004842e-05 -9.99991826e-01 2.29891838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74185806399998 meters 0.016707539942313297 Centerline is valid? [True, True] Translation: X:62.57, Y:-104.62, Z:0.23 [[-1.19445823e-01 -9.92840641e-01 3.96740216e-04 6.25668803e+01] [-9.92834727e-01 1.19446481e-01 3.42683377e-03 -1.04615623e+02] [-3.44968906e-03 1.54235150e-05 -9.99994050e-01 2.29684949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77185806399999 meters 0.016794345809144372 Centerline is valid? [True, True] Translation: X:62.53, Y:-104.72, Z:0.23 [[-4.37538149e-02 -9.99042337e-01 1.12767982e-04 6.25304083e+01] [-9.99038079e-01 4.37539576e-02 2.91670467e-03 -1.04723077e+02] [-2.91884550e-03 1.49574483e-05 -9.99995740e-01 2.29324861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.801858064 meters 0.016848253181444704 Centerline is valid? [True, True] Translation: X:62.50, Y:-104.84, Z:0.23 [[ 3.22443505e-02 -9.99480011e-01 -9.23924153e-05 6.25022177e+01] [-9.99477060e-01 -3.22444798e-02 2.42887483e-03 -1.04836220e+02] [-2.43059098e-03 1.40266084e-05 -9.99997046e-01 2.29111480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.831858064 meters 0.016876699730050407 Centerline is valid? [True, True] Translation: X:62.48, Y:-104.96, Z:0.23 [[ 1.08332475e-01 -9.94114703e-01 -1.79615530e-04 6.24815248e+01] [-9.94113481e-01 -1.08332624e-01 1.55886019e-03 -1.04955027e+02] [-1.56914406e-03 9.68303598e-06 -9.99998769e-01 2.28843718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.861858064 meters 0.016924147629786408 Centerline is valid? [True, True] Translation: X:62.47, Y:-105.07, Z:0.23 [[ 1.84059938e-01 -9.82914980e-01 -2.84376356e-04 6.24699383e+01] [-9.82913883e-01 -1.84060158e-01 1.46850277e-03 -1.05068260e+02] [-1.49575572e-03 9.22494024e-06 -9.99998881e-01 2.29146751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.891858064 meters 0.01694170470360299 Centerline is valid? [True, True] Translation: X:62.47, Y:-105.18, Z:0.23 [[ 2.59001043e-01 -9.65876980e-01 -3.45535934e-04 6.24678570e+01] [-9.65876159e-01 -2.59001273e-01 1.25922131e-03 -1.05184771e+02] [-1.30574712e-03 7.60529009e-06 -9.99999147e-01 2.29102503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.921858064 meters 0.01690219131487745 Centerline is valid? [True, True] Translation: X:62.47, Y:-105.30, Z:0.23 [[ 3.32105347e-01 -9.43242212e-01 -4.09159404e-04 6.24746023e+01] [-9.43241522e-01 -3.32105599e-01 1.14113595e-03 -1.05299918e+02] [-1.21225173e-03 6.95878671e-06 -9.99999265e-01 2.29037144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.951858064 meters 0.01682713871941769 Centerline is valid? [True, True] Translation: X:62.49, Y:-105.41, Z:0.23 [[ 4.03619976e-01 -9.14926557e-01 -5.56583532e-04 6.24904927e+01] [-9.14925711e-01 -4.03620360e-01 1.24422584e-03 -1.05414712e+02] [-1.36302371e-03 7.03818153e-06 -9.99999071e-01 2.29210948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.981858064 meters 0.016904461683604054 Centerline is valid? [True, True] Translation: X:62.51, Y:-105.53, Z:0.23 [[ 4.72164964e-01 -8.81509974e-01 -6.42419465e-04 6.25138201e+01] [-8.81509178e-01 -4.72165401e-01 1.18442837e-03 -1.05525991e+02] [-1.34741367e-03 7.05307466e-06 -9.99999092e-01 2.29865941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.011858064 meters 0.016848256633534776 Centerline is valid? [True, True] Translation: X:62.54, Y:-105.63, Z:0.23 [[ 5.38177646e-01 -8.42830805e-01 -1.02737261e-03 6.25444294e+01] [-8.42829301e-01 -5.38178627e-01 1.59214052e-03 -1.05632691e+02] [-1.89481506e-03 9.04529564e-06 -9.99998205e-01 2.30579342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.041858064 meters 0.016831587426398738 Centerline is valid? [True, True] Translation: X:62.58, Y:-105.73, Z:0.23 [[ 6.00846548e-01 -7.99361967e-01 -1.96747851e-03 6.25820217e+01] [-7.99357758e-01 -6.00849769e-01 2.59407324e-03 -1.05734070e+02] [-3.25576250e-03 1.40792571e-05 -9.99994700e-01 2.31201176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.071858064 meters 0.016790256995898336 Centerline is valid? [True, True] Translation: X:62.63, Y:-105.83, Z:0.23 [[ 6.59669362e-01 -7.51552758e-01 -2.18760296e-03 6.26275674e+01] [-7.51548700e-01 -6.59672989e-01 2.46979602e-03 -1.05833038e+02] [-3.29928459e-03 1.48413915e-05 -9.99994557e-01 2.31372755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101858064 meters 0.016797219514125064 Centerline is valid? [True, True] Translation: X:62.68, Y:-105.92, Z:0.23 [[ 7.14776889e-01 -6.99348342e-01 -2.42801779e-03 6.26757975e+01] [-6.99344378e-01 -7.14781013e-01 2.35482213e-03 -1.05922601e+02] [-3.38234197e-03 1.48481599e-05 -9.99994280e-01 2.31475496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.131858064 meters 0.01689268796700567 Centerline is valid? [True, True] Translation: X:62.67, Y:-105.93, Z:0.23 [[ 7.67015885e-01 -6.41622506e-01 -2.68191901e-03 6.26747096e+01] [-6.41618659e-01 -7.67020573e-01 2.22183476e-03 -1.05934906e+02] [-3.48266624e-03 1.65867227e-05 -9.99993935e-01 2.31710649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161858064 meters 0.016954016974978094 Centerline is valid? [True, True] Translation: X:62.67, Y:-105.95, Z:0.23 [[ 8.14490940e-01 -5.80168762e-01 -2.95229728e-03 6.26748511e+01] [-5.80165035e-01 -8.14496291e-01 2.07942271e-03 -1.05945609e+02] [-3.61105128e-03 1.91486934e-05 -9.99993480e-01 2.32132909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.191858064 meters 0.01706348378657123 Centerline is valid? [True, True] Translation: X:62.68, Y:-105.96, Z:0.23 [[ 8.56136139e-01 -5.16731292e-01 -4.43668011e-03 6.26776257e+01] [-5.16724590e-01 -8.56147634e-01 2.63198482e-03 -1.05955443e+02] [-5.15848209e-03 3.92043919e-05 -9.99986694e-01 2.33620124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221858064 meters 0.017115292265676728 Centerline is valid? [True, True] Translation: X:62.68, Y:-105.96, Z:0.23 [[ 8.93354713e-01 -4.49324591e-01 -4.97687532e-03 6.26794642e+01] [-4.49317923e-01 -8.93368574e-01 2.44841325e-03 -1.05964511e+02] [-5.54631629e-03 4.88977645e-05 -9.99984618e-01 2.33685556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.251858064 meters 0.01732060585348264 Centerline is valid? [True, True] Translation: X:62.68, Y:-105.97, Z:0.23 [[ 9.25155752e-01 -3.79553417e-01 -5.10284692e-03 6.26825989e+01] [-3.79547981e-01 -9.25169823e-01 2.03212161e-03 -1.05971943e+02] [-5.49229868e-03 5.67462530e-05 -9.99984916e-01 2.33483976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281858064 meters 0.017453107760593146 Centerline is valid? [True, True] Translation: X:62.69, Y:-105.98, Z:0.23 [[ 9.51553413e-01 -3.07441697e-01 -5.07010144e-03 6.26872711e+01] [-3.07437683e-01 -9.51566918e-01 1.57225631e-03 -1.05978683e+02] [-5.30791795e-03 6.26543812e-05 -9.99985911e-01 2.33383928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.311858064 meters 0.017482704665686636 Centerline is valid? [True, True] Translation: X:62.69, Y:-105.99, Z:0.23 [[ 9.72111934e-01 -2.34463834e-01 -5.00980356e-03 6.26914327e+01] [-2.34461107e-01 -9.72124840e-01 1.13321991e-03 -1.05986630e+02] [-5.13585357e-03 7.29874948e-05 -9.99986809e-01 2.32587319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341858064 meters 0.018072141750059806 Centerline is valid? [True, True] Translation: X:62.69, Y:-105.99, Z:0.23 [[ 9.87360556e-01 -1.58415168e-01 -4.87518043e-03 6.26940282e+01] [-1.58413606e-01 -9.87372589e-01 7.07332123e-04 -1.05994484e+02] [-4.92567166e-03 7.39030744e-05 -9.99987866e-01 2.32577547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.371858064 meters 0.017740165253350877 Centerline is valid? [True, True] Translation: X:62.69, Y:-106.00, Z:0.23 [[ 9.96720544e-01 -8.07998404e-02 -4.42074021e-03 6.26949973e+01] [-8.07993447e-02 -9.96730345e-01 2.90913208e-04 -1.06001716e+02] [-4.42979166e-03 6.72337410e-05 -9.99990186e-01 2.31794658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401858064 meters 0.017709335880789993 Centerline is valid? [True, True] Translation: X:62.70, Y:-106.01, Z:0.23 [[ 9.99990274e-01 -1.90210119e-03 -3.97927129e-03 6.26963059e+01] [-1.90231628e-03 -9.99998189e-01 -5.02685661e-05 -1.06006273e+02] [-3.97916847e-03 5.78379097e-05 -9.99992081e-01 2.30781829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.431858064 meters 0.017566293301318668 Centerline is valid? [True, True] Translation: X:62.70, Y:-106.01, Z:0.23 [[ 9.96996115e-01 7.73628370e-02 -3.70644586e-03 6.26981312e+01] [ 7.73621136e-02 -9.97003003e-01 -3.38348542e-04 -1.06013285e+02] [-3.72151326e-03 5.05936960e-05 -9.99993074e-01 2.30839728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46185806399998 meters 0.0174678100434868 Centerline is valid? [True, True] Translation: X:62.70, Y:-106.02, Z:0.23 [[ 9.87679475e-01 1.56440538e-01 -3.95124872e-03 6.26999808e+01] [ 1.56439085e-01 -9.87687378e-01 -6.75865922e-04 -1.06019645e+02] [-4.00833132e-03 4.94091629e-05 -9.99991965e-01 2.30680978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49185806399998 meters 0.01715007119757407 Centerline is valid? [True, True] Translation: X:62.70, Y:-106.03, Z:0.23 [[ 9.71811252e-01 2.35730751e-01 -3.72863767e-03 6.27024531e+01] [ 2.35728867e-01 -9.71818405e-01 -9.43334978e-04 -1.06025760e+02] [-3.84593177e-03 3.77960147e-05 -9.99992604e-01 2.30296548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52185806399999 meters 0.01708831819277249 Centerline is valid? [True, True] Translation: X:62.71, Y:-106.03, Z:0.23 [[ 9.50024294e-01 3.12153849e-01 -3.71678463e-03 6.27060089e+01] [ 3.12151320e-01 -9.50031564e-01 -1.25700232e-03 -1.06032546e+02] [-3.92344083e-03 3.39835133e-05 -9.99992303e-01 2.30124223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.551858064 meters 0.017092253237349097 Centerline is valid? [True, True] Translation: X:62.71, Y:-106.04, Z:0.23 [[ 9.22211697e-01 3.86665148e-01 -3.95586898e-03 6.27096287e+01] [ 3.86661442e-01 -9.22220181e-01 -1.69331821e-03 -1.06038461e+02] [-4.30292934e-03 3.20158543e-05 -9.99990742e-01 2.30258573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.581858064 meters 0.016975866534344717 Centerline is valid? [True, True] Translation: X:62.71, Y:-106.04, Z:0.23 [[ 8.88465903e-01 4.58920715e-01 -4.48507999e-03 6.27127485e+01] [ 4.58914695e-01 -8.88477223e-01 -2.35076670e-03 -1.06041688e+02] [-5.06370695e-03 3.03069398e-05 -9.99987179e-01 2.30614649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.611858064 meters 0.01696824593648843 Centerline is valid? [True, True] Translation: X:62.72, Y:-106.05, Z:0.23 [[ 8.49837273e-01 5.27023162e-01 -4.81620827e-03 6.27155584e+01] [ 5.27014470e-01 -8.49850920e-01 -3.02699659e-03 -1.06045955e+02] [-5.68835634e-03 3.42430766e-05 -9.99983821e-01 2.30861149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.641858064 meters 0.016938338357597588 Centerline is valid? [True, True] Translation: X:62.72, Y:-106.05, Z:0.23 [[ 8.05915290e-01 5.92011365e-01 -4.80506629e-03 6.27185239e+01] [ 5.92000581e-01 -8.05929614e-01 -3.57350382e-03 -1.06049094e+02] [-5.98810010e-03 3.53393360e-05 -9.99982071e-01 2.30608798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.671858064 meters 0.01682438403951314 Centerline is valid? [True, True] Translation: X:62.72, Y:-106.05, Z:0.23 [[ 7.57358259e-01 6.52982723e-01 -4.69369268e-03 6.27215296e+01] [ 6.52969863e-01 -7.57372802e-01 -4.09827224e-03 -1.06052780e+02] [-6.23097614e-03 3.90204625e-05 -9.99980587e-01 2.29328852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.701858064 meters 0.016886899212528127 Centerline is valid? [True, True] Translation: X:62.73, Y:-106.06, Z:0.23 [[ 7.03903498e-01 7.10280736e-01 -4.59803826e-03 6.27260578e+01] [ 7.10265201e-01 -7.03918514e-01 -4.69782043e-03 -1.06058025e+02] [-6.57341561e-03 4.09856589e-05 -9.99978394e-01 2.29012926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.731858064 meters 0.016930873980814193 Centerline is valid? [True, True] Translation: X:62.73, Y:-106.06, Z:0.23 [[ 6.46136924e-01 7.63209850e-01 -4.21909385e-03 6.27306760e+01] [ 7.63193165e-01 -6.46150697e-01 -5.04677194e-03 -1.06062646e+02] [-6.57791648e-03 4.09221098e-05 -9.99978364e-01 2.28604711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.761858064 meters 0.016773743813596576 Centerline is valid? [True, True] Translation: X:62.73, Y:-106.07, Z:0.23 [[ 5.83864300e-01 8.11842261e-01 -3.82384654e-03 6.27338164e+01] [ 8.11824438e-01 -5.83876821e-01 -5.37964008e-03 -1.06066387e+02] [-6.60007453e-03 3.66877188e-05 -9.99978219e-01 2.29093471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.791858064 meters 0.016694185859936508 Centerline is valid? [True, True] Translation: X:62.74, Y:-106.07, Z:0.23 [[ 5.17803190e-01 8.55492359e-01 -3.56102934e-03 6.27385435e+01] [ 8.55471688e-01 -5.17815434e-01 -5.94704156e-03 -1.06070774e+02] [-6.93160456e-03 3.30373078e-05 -9.99975976e-01 2.29147231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821858064 meters 0.01767990441719717 Centerline is valid? [True, True] Translation: X:62.74, Y:-106.08, Z:0.23 [[ 4.48785997e-01 8.93632806e-01 -3.39665966e-03 6.27439519e+01] [ 8.93606659e-01 -4.48798850e-01 -6.83610163e-03 -1.06075796e+02] [-7.63338163e-03 3.26689973e-05 -9.99970865e-01 2.29785282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.851858064 meters 0.016628176354511526 Centerline is valid? [True, True] Translation: X:62.75, Y:-106.08, Z:0.23 [[ 3.76243685e-01 9.26516061e-01 -2.94583053e-03 6.27490511e+01] [ 9.26487176e-01 -3.76255217e-01 -7.31602119e-03 -1.06081703e+02] [-7.88679524e-03 2.33325613e-05 -9.99968898e-01 2.29679559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881858064 meters 0.01676373328986616 Centerline is valid? [True, True] Translation: X:62.75, Y:-106.08, Z:0.23 [[ 3.01528449e-01 9.53453823e-01 -2.53023387e-03 6.27503661e+01] [ 9.53419803e-01 -3.01539064e-01 -8.05434320e-03 -1.06084650e+02] [-8.44240867e-03 1.62385313e-05 -9.99964362e-01 2.29769061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.911858064 meters 0.016671668322215387 Centerline is valid? [True, True] Translation: X:62.76, Y:-106.09, Z:0.23 [[ 2.25635071e-01 9.74209926e-01 -1.95833239e-03 6.27553601e+01] [ 9.74172695e-01 -2.25643568e-01 -8.51709721e-03 -1.06089205e+02] [-8.73932575e-03 1.40018933e-05 -9.99961811e-01 2.29422767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941858064 meters 0.01664730712917021 Centerline is valid? [True, True] Translation: X:62.76, Y:-106.09, Z:0.23 [[ 1.48648010e-01 9.88889283e-01 -1.32503338e-03 6.27603806e+01] [ 9.88849113e-01 -1.48653915e-01 -8.91317505e-03 -1.06092808e+02] [-9.01111468e-03 1.46676544e-05 -9.99959399e-01 2.29609927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.971858064 meters 0.016601132925766194 Centerline is valid? [True, True] Translation: X:62.76, Y:-106.10, Z:0.23 [[ 7.09873800e-02 9.97477023e-01 -6.16846192e-04 6.27641228e+01] [ 9.97437295e-01 -7.09900580e-02 -8.90252386e-03 -1.06097507e+02] [-8.92385294e-03 1.67014473e-05 -9.99960182e-01 2.29542674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001858064 meters 0.016656852198053265 Centerline is valid? [True, True] Translation: X:62.77, Y:-106.10, Z:0.23 [[-7.55739679e-03 9.99971439e-01 7.93789394e-05 6.27685086e+01] [ 9.99934497e-01 7.55779991e-03 -8.59544873e-03 -1.06100735e+02] [-8.59580317e-03 1.44145232e-05 -9.99963055e-01 2.28016244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.031858064 meters 0.01657568680234438 Centerline is valid? [True, True] Translation: X:62.78, Y:-106.10, Z:0.23 [[-8.59161841e-02 9.96302095e-01 7.38505027e-04 6.27751641e+01] [ 9.96266661e-01 8.59193569e-02 -8.40266803e-03 -1.06104822e+02] [-8.43504764e-03 1.38227637e-05 -9.99964424e-01 2.27248643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061858064 meters 0.016551555913520807 Centerline is valid? [True, True] Translation: X:62.78, Y:-106.11, Z:0.23 [[-1.64164445e-01 9.86432090e-01 1.32935083e-03 6.27822791e+01] [ 9.86400199e-01 1.64169827e-01 -7.93186706e-03 -1.06109070e+02] [-8.04248749e-03 9.14136898e-06 -9.99967659e-01 2.26621830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.091858064 meters 0.016530102905256916 Centerline is valid? [True, True] Translation: X:62.79, Y:-106.11, Z:0.23 [[-2.42641522e-01 9.70114147e-01 1.90631563e-03 6.27880549e+01] [ 9.70084059e-01 2.42649010e-01 -7.64048906e-03 -1.06113297e+02] [-7.87471213e-03 -4.61348690e-06 -9.99968994e-01 2.25619481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121858064 meters 0.016530102905256916 Centerline is valid? [True, True] Translation: X:62.80, Y:-106.12, Z:0.23 [[-3.17894600e-01 9.48122765e-01 2.49903772e-03 6.27967750e+01] [ 9.48093356e-01 3.17904423e-01 -7.46768527e-03 -1.06116195e+02] [-7.87473755e-03 -4.61577104e-06 -9.99968994e-01 2.25619698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.151858064 meters 0.016656160894608113 Centerline is valid? [True, True] Translation: X:62.80, Y:-106.12, Z:0.23 [[-3.92581582e-01 9.19712312e-01 2.99392404e-03 6.28044560e+01] [ 9.19685258e-01 3.92592998e-01 -7.05435759e-03 -1.06119022e+02] [-7.66337315e-03 -1.59430661e-05 -9.99970636e-01 2.25768213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181858064 meters 0.016675690788612658 Centerline is valid? [True, True] Translation: X:62.81, Y:-106.12, Z:0.23 [[-4.64860368e-01 8.85376706e-01 3.59528252e-03 6.28133067e+01] [ 8.85349747e-01 4.64874271e-01 -6.90925175e-03 -1.06120008e+02] [-7.78864490e-03 -2.87548449e-05 -9.99969668e-01 2.25525925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21185806399998 meters 0.016756469990789075 Centerline is valid? [True, True] Translation: X:62.82, Y:-106.12, Z:0.23 [[-5.34230791e-01 8.45328551e-01 4.13559633e-03 6.28228866e+01] [ 8.45302609e-01 5.34246796e-01 -6.62268665e-03 -1.06120399e+02] [-7.80777520e-03 -4.22127578e-05 -9.99969518e-01 2.25616023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24185806399998 meters 0.017172083919007316 Centerline is valid? [True, True] Translation: X:62.83, Y:-106.12, Z:0.23 [[-6.01658139e-01 7.98741255e-01 4.45997835e-03 6.28333757e+01] [ 7.98718480e-01 6.01674666e-01 -6.03207115e-03 -1.06120570e+02] [-7.50152006e-03 -6.69775727e-05 -9.99971861e-01 2.25374724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27185806399999 meters 0.017249022742435182 Centerline is valid? [True, True] Translation: X:62.84, Y:-106.12, Z:0.22 [[-6.63146949e-01 7.48469934e-01 5.37417927e-03 6.28414586e+01] [ 7.48444354e-01 6.63168720e-01 -6.18847337e-03 -1.06119254e+02] [-8.19587384e-03 -8.15931011e-05 -9.99966410e-01 2.24847447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.301858064 meters 0.01741685044597626 Centerline is valid? [True, True] Translation: X:62.85, Y:-106.12, Z:0.22 [[-7.20149803e-01 6.93790434e-01 6.25259231e-03 6.28486604e+01] [ 6.93763158e-01 7.20176940e-01 -6.15266815e-03 -1.06118594e+02] [-8.77163510e-03 -9.30245671e-05 -9.99961524e-01 2.24883865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.331858064 meters 0.017378738067424664 Centerline is valid? [True, True] Translation: X:62.88, Y:-106.11, Z:0.22 [[-7.67395057e-01 6.41138961e-01 6.75716126e-03 6.28758795e+01] [ 6.41113021e-01 7.67424800e-01 -5.76803445e-03 -1.06106455e+02] [-8.88372474e-03 -9.42570503e-05 -9.99960535e-01 2.24952980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.361858064 meters 0.017397424901736572 Centerline is valid? [True, True] Translation: X:62.89, Y:-106.09, Z:0.23 [[-8.10355176e-01 5.85885461e-01 7.91934644e-03 6.28944205e+01] [ 5.85856312e-01 8.10393866e-01 -5.84507403e-03 -1.06086206e+02] [-9.84233367e-03 -9.69868954e-05 -9.99951558e-01 2.26300090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.391858064 meters 0.01718227431419846 Centerline is valid? [True, True] Translation: X:62.91, Y:-106.06, Z:0.23 [[-8.49408456e-01 5.27669033e-01 8.40634922e-03 6.29098807e+01] [ 5.27642127e-01 8.49450048e-01 -5.32943092e-03 -1.06064476e+02] [-9.95294940e-03 -9.13197083e-05 -9.99950464e-01 2.25749433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.421858064 meters 0.017094353798431227 Centerline is valid? [True, True] Translation: X:62.92, Y:-106.04, Z:0.23 [[-8.83665216e-01 4.68048625e-01 8.14066779e-03 6.29231499e+01] [ 4.68028088e-01 8.83702711e-01 -4.38505703e-03 -1.06040800e+02] [-9.24635011e-03 -6.48611946e-05 -9.99957249e-01 2.26083890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.451858064 meters 0.016833024857134067 Centerline is valid? [True, True] Translation: X:62.93, Y:-106.01, Z:0.22 [[-9.13979901e-01 4.05674182e-01 8.31859645e-03 6.29271977e+01] [ 4.05656875e-01 9.14017755e-01 -3.74747765e-03 -1.06013953e+02] [-9.12359978e-03 -5.06234091e-05 -9.99958378e-01 2.24942716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.481858064 meters 0.016655633384854353 Centerline is valid? [True, True] Translation: X:62.96, Y:-106.00, Z:0.22 [[-9.39746956e-01 3.41754981e-01 8.89898039e-03 6.29567596e+01] [ 3.41739314e-01 9.39789089e-01 -3.27251147e-03 -1.05997997e+02] [-9.48156177e-03 -3.42012407e-05 -9.99955048e-01 2.24604191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.511858064 meters 0.01655210062405111 Centerline is valid? [True, True] Translation: X:62.97, Y:-105.98, Z:0.22 [[-9.61153126e-01 2.75850846e-01 9.53825987e-03 6.29737824e+01] [ 2.75837061e-01 9.61200453e-01 -2.75778101e-03 -1.05975547e+02] [-9.92891593e-03 -1.96442733e-05 -9.99950707e-01 2.24029521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.541858064 meters 0.01653851685626374 Centerline is valid? [True, True] Translation: X:63.20, Y:-105.24, Z:-0.73 [[-9.40678552e-01 -3.39167010e-01 9.46576346e-03 6.32027209e+01] [ 3.39150129e-01 -9.40726176e-01 -3.38400209e-03 -1.05235479e+02] [ 1.00524333e-02 2.70567109e-05 9.99949473e-01 -7.33475299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.571858064 meters 0.01663115311882696 Centerline is valid? [True, True] Translation: X:62.93, Y:-105.97, Z:0.22 [[-9.60144185e-01 2.79339461e-01 9.62336425e-03 6.29344454e+01] [ 2.79326006e-01 9.60192409e-01 -2.74226416e-03 -1.05968429e+02] [-1.00063039e-02 5.50869172e-05 -9.99949934e-01 2.23174722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601858064 meters 0.01691649940628851 Centerline is valid? [True, True] Translation: X:63.15, Y:-105.22, Z:-0.73 [[-9.43884218e-01 -3.30147827e-01 9.21929363e-03 6.31536524e+01] [ 3.30131388e-01 -9.43929239e-01 -3.29527081e-03 -1.05219073e+02] [ 9.79028732e-03 -6.67759064e-05 9.99952072e-01 -7.32970526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.631858064 meters 0.017068828566829817 Centerline is valid? [True, True] Translation: X:62.89, Y:-105.96, Z:0.22 [[-9.59705917e-01 2.80851851e-01 9.31617957e-03 6.28877777e+01] [ 2.80839691e-01 9.59751127e-01 -2.61558355e-03 -1.05958098e+02] [-9.67580532e-03 1.06161989e-04 -9.99953183e-01 2.22558781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661858064 meters 0.017898817433682653 Centerline is valid? [True, True] Translation: X:63.11, Y:-105.21, Z:-0.73 [[-9.47572563e-01 -3.19415530e-01 8.94188293e-03 6.31132968e+01] [ 3.19400155e-01 -9.47614746e-01 -3.13605159e-03 -1.05206383e+02] [ 9.47516369e-03 -1.15597646e-04 9.99955103e-01 -7.32087435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.691858064 meters 0.018863262886629525 Centerline is valid? [True, True] Translation: X:62.85, Y:-105.95, Z:0.22 [[-9.58720294e-01 2.84204469e-01 9.12241307e-03 6.28478684e+01] [ 2.84193325e-01 9.58763678e-01 -2.52278965e-03 -1.05951450e+02] [-9.46322640e-03 1.73879269e-04 -9.99955208e-01 2.22742614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721858064 meters 0.01946355257340581 Centerline is valid? [True, True] Translation: X:63.06, Y:-105.19, Z:-0.73 [[-9.50674988e-01 -3.10043353e-01 9.49668949e-03 6.30643991e+01] [ 3.10026301e-01 -9.50722408e-01 -3.25510375e-03 -1.05192075e+02] [ 1.00379388e-02 -1.50322203e-04 9.99949607e-01 -7.32733448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.751858064 meters 0.01919725103590498 Centerline is valid? [True, True] Translation: X:62.80, Y:-105.94, Z:0.22 [[-9.58462356e-01 2.85023357e-01 1.05640397e-02 6.28014298e+01] [ 2.85008953e-01 9.58520538e-01 -2.87669684e-03 -1.05937342e+02] [-1.09457748e-02 2.53640244e-04 -9.99940061e-01 2.22645306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781858064 meters 0.019449685439117726 Centerline is valid? [True, True] Translation: X:63.01, Y:-105.18, Z:-0.73 [[-9.52394802e-01 -3.04670751e-01 1.09487361e-02 6.30147106e+01] [ 3.04647847e-01 -9.52457706e-01 -3.74278858e-03 -1.05180725e+02] [ 1.15685263e-02 -2.29103507e-04 9.99933056e-01 -7.32970610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.811858064 meters 0.019705446704598603 Centerline is valid? [True, True] Translation: X:62.75, Y:-105.92, Z:0.22 [[-9.59258181e-01 2.82280375e-01 1.18967101e-02 6.27537976e+01] [ 2.82262509e-01 9.59331904e-01 -3.18979796e-03 -1.05923474e+02] [-1.23133109e-02 2.98155460e-04 -9.99924144e-01 2.22842558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841858064 meters 0.019136050358256076 Centerline is valid? [True, True] Translation: X:62.76, Y:-105.89, Z:0.22 [[-9.76986204e-01 2.12951159e-01 1.22376742e-02 6.27619120e+01] [ 2.12938221e-01 9.77062801e-01 -2.36579029e-03 -1.05894024e+02] [-1.24607741e-02 2.94524107e-04 -9.99922318e-01 2.22738404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.871858064 meters 0.019116387713053927 Centerline is valid? [True, True] Translation: X:62.77, Y:-105.86, Z:0.22 [[-9.89743594e-01 1.42323115e-01 1.23186253e-02 6.27676782e+01] [ 1.42315661e-01 9.89820211e-01 -1.48404846e-03 -1.05864432e+02] [-1.24044387e-02 2.84305849e-04 -9.99923022e-01 2.23136460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901858064 meters 0.018338939712508013 Centerline is valid? [True, True] Translation: X:62.77, Y:-105.83, Z:0.22 [[-9.97511937e-01 6.93100669e-02 1.28860653e-02 6.27661405e+01] [ 6.93077159e-02 9.97595130e-01 -6.29467884e-04 -1.05830469e+02] [-1.28987045e-02 2.65202026e-04 -9.99916773e-01 2.23627808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.931858064 meters 0.018120120498153817 Centerline is valid? [True, True] Translation: X:62.77, Y:-105.80, Z:0.22 [[-9.99915066e-01 -3.25364477e-03 1.26204381e-02 6.27656505e+01] [-3.25032767e-03 9.99994678e-01 2.83338016e-04 -1.05800128e+02] [-1.26212928e-02 2.42293391e-04 -9.99920319e-01 2.23866329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96185806399998 meters 0.018063219495520626 Centerline is valid? [True, True] Translation: X:62.76, Y:-105.77, Z:0.22 [[-9.97031344e-01 -7.59749272e-02 1.25023845e-02 6.27583610e+01] [-7.59661634e-02 9.97109704e-01 1.17506599e-03 -1.05770704e+02] [-1.25555244e-02 2.21819441e-04 -9.99921152e-01 2.24257969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99185806399998 meters 0.017751420030565287 Centerline is valid? [True, True] Translation: X:62.69, Y:-105.02, Z:-0.73 [[-9.99007687e-01 4.27009140e-02 1.26598714e-02 6.26906709e+01] [-4.27002301e-02 -9.99087877e-01 3.24443339e-04 -1.05021175e+02] [ 1.26621781e-02 -2.16458032e-04 9.99919808e-01 -7.33887732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02185806399999 meters 0.017533462897025762 Centerline is valid? [True, True] Translation: X:62.65, Y:-105.77, Z:0.22 [[-9.96163324e-01 -8.66315473e-02 1.23938148e-02 6.26524530e+01] [-8.66227454e-02 9.96240406e-01 1.24625585e-03 -1.05774287e+02] [-1.24551842e-02 1.67888108e-04 -9.99922417e-01 2.24138616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.051858064 meters 0.017317491227937677 Centerline is valid? [True, True] Translation: X:62.63, Y:-105.75, Z:0.22 [[-9.87157566e-01 -1.59228775e-01 1.28893962e-02 6.26337118e+01] [-1.59213156e-01 9.87241700e-01 2.23550003e-03 -1.05746457e+02] [-1.30809054e-02 1.54629314e-04 -9.99914429e-01 2.24476337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.081858064 meters 0.01710422797553712 Centerline is valid? [True, True] Translation: X:62.61, Y:-105.72, Z:0.23 [[-9.72770134e-01 -2.31405495e-01 1.30293394e-02 6.26081450e+01] [-2.31382832e-01 9.72857378e-01 3.24148208e-03 -1.05720606e+02] [-1.34257857e-02 1.38451504e-04 -9.99909861e-01 2.25118722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.111858064 meters 0.016765570245891055 Centerline is valid? [True, True] Translation: X:62.56, Y:-105.70, Z:0.23 [[-9.52703709e-01 -3.03616618e-01 1.31374340e-02 6.25569041e+01] [-3.03586060e-01 9.52794278e-01 4.30916981e-03 -1.05702987e+02] [-1.38256075e-02 1.17020247e-04 -9.99904415e-01 2.25229495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.141858064 meters 0.0164745486801727 Centerline is valid? [True, True] Translation: X:62.49, Y:-105.69, Z:0.23 [[-9.26639841e-01 -3.75714321e-01 1.33174177e-02 6.24931155e+01] [-3.75674315e-01 9.26735530e-01 5.48323304e-03 -1.05692254e+02] [-1.44018533e-02 7.79704220e-05 -9.99896285e-01 2.26086742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.171858064 meters 0.01638629041450889 Centerline is valid? [True, True] Translation: X:62.42, Y:-105.69, Z:0.23 [[-8.95589034e-01 -4.44681085e-01 1.33796345e-02 6.24208057e+01] [-4.44630480e-01 8.95688969e-01 6.70877863e-03 -1.05692191e+02] [-1.49672580e-02 5.93152563e-05 -9.99887983e-01 2.25762737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.201858064 meters 0.016352268495658743 Centerline is valid? [True, True] Translation: X:62.34, Y:-105.70, Z:0.23 [[-8.59220561e-01 -5.11438940e-01 1.30475167e-02 6.23415771e+01] [-5.11379288e-01 8.59319620e-01 7.81121391e-03 -1.05701278e+02] [-1.52069461e-02 3.93257842e-05 -9.99884367e-01 2.25820813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.231858064 meters 0.01615080168707057 Centerline is valid? [True, True] Translation: X:62.25, Y:-105.72, Z:0.23 [[-8.17357939e-01 -5.75997340e-01 1.23718923e-02 6.22524835e+01] [-5.75931226e-01 8.17451567e-01 8.72688494e-03 -1.05720968e+02] [-1.51400853e-02 7.62957847e-06 -9.99885382e-01 2.26499589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.261858064 meters 0.01607373713536207 Centerline is valid? [True, True] Translation: X:62.17, Y:-105.75, Z:0.23 [[-7.71403628e-01 -6.36240863e-01 1.15761627e-02 6.21669506e+01] [-6.36169230e-01 7.71490482e-01 9.54709410e-03 -1.05749186e+02] [-1.50051507e-02 2.64529294e-07 -9.99887416e-01 2.26453703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.291858064 meters 0.016043275670550097 Centerline is valid? [True, True] Translation: X:62.08, Y:-105.79, Z:0.23 [[-7.20750038e-01 -6.93112625e-01 1.06897817e-02 6.20799390e+01] [-6.93036557e-01 7.20829306e-01 1.02685220e-02 -1.05787441e+02] [-1.48227502e-02 -7.37183932e-06 -9.99890137e-01 2.26831657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321858064 meters 0.016142990945457007 Centerline is valid? [True, True] Translation: X:61.99, Y:-105.84, Z:0.23 [[-6.66253693e-01 -7.45657425e-01 1.00508896e-02 6.19898577e+01] [-7.45572709e-01 6.66329501e-01 1.12397522e-02 -1.05838707e+02] [-1.50782089e-02 -5.14258034e-06 -9.99886317e-01 2.27013396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.351858064 meters 0.016042302560333493 Centerline is valid? [True, True] Translation: X:61.90, Y:-105.90, Z:0.23 [[-6.08312454e-01 -7.93644761e-01 9.16252218e-03 6.19040797e+01] [-7.93554553e-01 6.08381454e-01 1.19657133e-02 -1.05899366e+02] [-1.50708342e-02 7.93123981e-06 -9.99886429e-01 2.27763941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381858064 meters 0.01586716993648838 Centerline is valid? [True, True] Translation: X:61.82, Y:-105.97, Z:0.23 [[-5.47016732e-01 -8.37082008e-01 8.14902881e-03 6.18211132e+01] [-8.36988444e-01 5.47077427e-01 1.25153051e-02 -1.05969039e+02] [-1.49344864e-02 2.54383493e-05 -9.99888474e-01 2.26282559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.411858064 meters 0.015981041263706225 Centerline is valid? [True, True] Translation: X:61.74, Y:-106.04, Z:0.23 [[-4.83160373e-01 -8.75504424e-01 6.93226378e-03 6.17444331e+01] [-8.75412746e-01 4.83210099e-01 1.26697929e-02 -1.06043846e+02] [-1.44421996e-02 5.29498122e-05 -9.99895705e-01 2.26555093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441858064 meters 0.015764757808798296 Centerline is valid? [True, True] Translation: X:61.67, Y:-106.13, Z:0.23 [[-4.15609979e-01 -9.09524072e-01 5.85735752e-03 6.16705661e+01] [-9.09431488e-01 4.15651247e-01 1.29772884e-02 -1.06129348e+02] [-1.42377741e-02 6.66251786e-05 -9.99898636e-01 2.26458714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.471858064 meters 0.015840820506150467 Centerline is valid? [True, True] Translation: X:61.60, Y:-106.22, Z:0.23 [[-3.45410766e-01 -9.38438391e-01 4.97879850e-03 6.16029209e+01] [-9.38337553e-01 3.45446637e-01 1.37571047e-02 -1.06222566e+02] [-1.46301044e-02 8.00584677e-05 -9.99892971e-01 2.26446196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501858064 meters 0.01607821099455882 Centerline is valid? [True, True] Translation: X:61.54, Y:-106.33, Z:0.23 [[-2.73702274e-01 -9.61805866e-01 4.06703557e-03 6.15420400e+01] [-9.61693936e-01 2.73732469e-01 1.46733907e-02 -1.06325644e+02] [-1.52262330e-02 1.04896975e-04 -9.99884069e-01 2.27626219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.531858064 meters 0.016102353879863796 Centerline is valid? [True, True] Translation: X:61.49, Y:-106.43, Z:0.23 [[-2.01024440e-01 -9.79581394e-01 3.07687087e-03 6.14904916e+01] [-9.79455427e-01 2.01047934e-01 1.57096886e-02 -1.06431139e+02] [-1.60075172e-02 1.44373487e-04 -9.99871861e-01 2.26963308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561858064 meters 0.016345314563558165 Centerline is valid? [True, True] Translation: X:61.45, Y:-106.54, Z:0.23 [[-1.26416461e-01 -9.91975483e-01 1.87603782e-03 6.14464909e+01] [-9.91845605e-01 1.26430268e-01 1.60524916e-02 -1.06541819e+02] [-1.61608660e-02 1.68559302e-04 -9.99869390e-01 2.27592959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.591858064 meters 0.016327317542009452 Centerline is valid? [True, True] Translation: X:61.41, Y:-106.66, Z:0.23 [[-5.07040722e-02 -9.98713527e-01 6.22163523e-04 6.14101582e+01] [-9.98587886e-01 5.07075626e-02 1.58422248e-02 -1.06657528e+02] [-1.58533926e-02 1.81980352e-04 -9.99874311e-01 2.26965288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621858064 meters 0.016553922713002597 Centerline is valid? [True, True] Translation: X:61.38, Y:-106.78, Z:0.23 [[ 2.44393842e-02 -9.99701144e-01 -5.82268952e-04 6.13832964e+01] [-9.99582916e-01 -2.44454494e-02 1.53757683e-02 -1.06776796e+02] [-1.53854070e-02 2.06251788e-04 -9.99881616e-01 2.26552126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.651858064 meters 0.016624201381167745 Centerline is valid? [True, True] Translation: X:61.37, Y:-106.89, Z:0.23 [[ 1.00972900e-01 -9.94887632e-01 -1.75293672e-03 6.13655928e+01] [-9.94771966e-01 -1.00987892e-01 1.51717101e-02 -1.06894993e+02] [-1.52711721e-02 2.11840747e-04 -9.99883366e-01 2.27221736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681858064 meters 0.01695719411448961 Centerline is valid? [True, True] Translation: X:61.36, Y:-107.02, Z:0.23 [[ 1.77045515e-01 -9.84198459e-01 -2.87735813e-03 6.13578576e+01] [-9.84087335e-01 -1.77068767e-01 1.47908092e-02 -1.07016673e+02] [-1.50665819e-02 2.12925262e-04 -9.99886470e-01 2.28477646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71185806399998 meters 0.017067460423934984 Centerline is valid? [True, True] Translation: X:61.36, Y:-107.14, Z:0.23 [[ 2.52351962e-01 -9.67626367e-01 -4.20716454e-03 6.13590662e+01] [-9.67506286e-01 -2.52386931e-01 1.52454091e-02 -1.07138759e+02] [-1.58136932e-02 2.23249240e-04 -9.99874931e-01 2.28771312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74185806399998 meters 0.016601266048991443 Centerline is valid? [True, True] Translation: X:61.37, Y:-107.26, Z:0.23 [[ 3.26253075e-01 -9.45267078e-01 -5.39278681e-03 6.13675187e+01] [-9.45148991e-01 -3.26297567e-01 1.49426441e-02 -1.07259192e+02] [-1.58844427e-02 2.21903431e-04 -9.99873810e-01 2.27823246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77185806399999 meters 0.01633122876220369 Centerline is valid? [True, True] Translation: X:61.38, Y:-107.38, Z:0.23 [[ 3.98362477e-01 -9.17204405e-01 -6.58912513e-03 6.13848861e+01] [-9.17087847e-01 -3.98416908e-01 1.46235949e-02 -1.07375544e+02] [-1.60380445e-02 2.17315095e-04 -9.99871359e-01 2.26967758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.801858064 meters 0.01639718057869636 Centerline is valid? [True, True] Translation: X:61.41, Y:-107.49, Z:0.23 [[ 4.67823221e-01 -8.83791378e-01 -7.36437010e-03 6.14118737e+01] [-8.83688686e-01 -4.67881137e-01 1.34739982e-02 -1.07490718e+02] [-1.53538533e-02 2.04361310e-04 -9.99882102e-01 2.26633301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.831858064 meters 0.016517856219543534 Centerline is valid? [True, True] Translation: X:61.45, Y:-107.60, Z:0.23 [[ 5.34458307e-01 -8.45156583e-01 -8.04167324e-03 6.14466040e+01] [-8.45066288e-01 -5.34518768e-01 1.23553819e-02 -1.07601622e+02] [-1.47406576e-02 1.92310482e-04 -9.99891332e-01 2.26626595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.861858064 meters 0.01636001530340304 Centerline is valid? [True, True] Translation: X:61.49, Y:-107.71, Z:0.23 [[ 5.98691417e-01 -8.00932719e-01 -8.68144993e-03 6.14890246e+01] [-8.00852552e-01 -5.98754333e-01 1.13330331e-02 -1.07707632e+02] [-1.42750528e-02 1.67571682e-04 -9.99898092e-01 2.25394993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.891858064 meters 0.016286169709359647 Centerline is valid? [True, True] Translation: X:61.54, Y:-107.81, Z:0.22 [[ 6.58833557e-01 -7.52231187e-01 -9.30512019e-03 6.15394773e+01] [-7.52159404e-01 -6.58899247e-01 1.03929491e-02 -1.07811551e+02] [-1.39490371e-02 1.51710017e-04 -9.99902696e-01 2.24685704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.921858064 meters 0.016090263173421018 Centerline is valid? [True, True] Translation: X:61.59, Y:-107.91, Z:0.22 [[ 7.14954676e-01 -6.99098130e-01 -1.00804619e-02 6.15932765e+01] [-6.99031379e-01 -7.15025723e-01 9.66159505e-03 -1.07906937e+02] [-1.39621926e-02 1.38956635e-04 -9.99902514e-01 2.24608911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.951858064 meters 0.015838598902607373 Centerline is valid? [True, True] Translation: X:61.59, Y:-107.91, Z:0.22 [[ 7.68435218e-01 -6.39836871e-01 -1.07747009e-02 6.15913013e+01] [-6.39776096e-01 -7.68510745e-01 8.81943935e-03 -1.07911691e+02] [-1.39234759e-02 1.16228266e-04 -9.99903057e-01 2.24872955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.981858064 meters 0.015838598902607373 Centerline is valid? [True, True] Translation: X:61.59, Y:-107.92, Z:0.22 [[ 8.16095546e-01 -5.77803936e-01 -1.14311383e-02 6.15896048e+01] [-5.77749251e-01 -8.16175593e-01 7.95017462e-03 -1.07916495e+02] [-1.39234583e-02 1.16229473e-04 -9.99903057e-01 2.24872773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.011858064 meters 0.015552652530248923 Centerline is valid? [True, True] Translation: X:61.59, Y:-107.92, Z:0.22 [[ 8.59068792e-01 -5.11717497e-01 -1.20836625e-02 6.15865586e+01] [-5.11668660e-01 -8.59153765e-01 7.07042443e-03 -1.07923899e+02] [-1.39997840e-02 1.08850419e-04 -9.99901992e-01 2.24385824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.041858064 meters 0.01547606865941151 Centerline is valid? [True, True] Translation: X:61.58, Y:-107.93, Z:0.22 [[ 8.96706036e-01 -4.42453124e-01 -1.23902373e-02 6.15849830e+01] [-4.42412405e-01 -8.96791627e-01 6.00340517e-03 -1.07930118e+02] [-1.37676865e-02 9.83050332e-05 -9.99905216e-01 2.24395684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.071858064 meters 0.015317766524408173 Centerline is valid? [True, True] Translation: X:61.58, Y:-107.94, Z:0.22 [[ 9.28757220e-01 -3.70478834e-01 -1.24683619e-02 6.15831229e+01] [-3.70446724e-01 -9.28840905e-01 4.87836660e-03 -1.07935554e+02] [-1.33884561e-02 8.80456119e-05 -9.99910367e-01 2.24120920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101858064 meters 0.015165485584799753 Centerline is valid? [True, True] Translation: X:61.58, Y:-107.94, Z:0.22 [[ 9.55435471e-01 -2.94947054e-01 -1.22186785e-02 6.15826799e+01] [-2.94923744e-01 -9.55513596e-01 3.70854295e-03 -1.07940862e+02] [-1.27689373e-02 6.03049435e-05 -9.99918472e-01 2.23491399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.131858064 meters 0.015027962244290583 Centerline is valid? [True, True] Translation: X:61.58, Y:-107.95, Z:0.22 [[ 9.75739013e-01 -2.18561341e-01 -1.28186677e-02 6.15833390e+01] [-2.18543176e-01 -9.75823210e-01 2.81828209e-03 -1.07945057e+02] [-1.31247209e-02 5.15245536e-05 -9.99913866e-01 2.23063868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161858064 meters 0.014648623510070383 Centerline is valid? [True, True] Translation: X:61.58, Y:-107.95, Z:0.22 [[ 9.89949086e-01 -1.40873878e-01 -1.24642563e-02 6.15801603e+01] [-1.40863241e-01 -9.90027549e-01 1.73165571e-03 -1.07953714e+02] [-1.25839022e-02 4.15045509e-05 -9.99920819e-01 2.21281258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.191858064 meters 0.014796603345365032 Centerline is valid? [True, True] Translation: X:61.58, Y:-107.96, Z:0.22 [[ 9.98007950e-01 -6.18450422e-02 -1.24628827e-02 6.15767199e+01] [-6.18405683e-02 -9.98085763e-01 7.44394403e-04 -1.07961181e+02] [-1.24850629e-02 2.78002193e-05 -9.99922058e-01 2.22301688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221858064 meters 0.014539085508893232 Centerline is valid? [True, True] Translation: X:61.57, Y:-107.97, Z:0.22 [[ 9.99771147e-01 1.72505118e-02 -1.26520305e-02 6.15747208e+01] [ 1.72488929e-02 -9.99851199e-01 -2.37074310e-04 -1.07968846e+02] [-1.26542376e-02 1.87865353e-05 -9.99919932e-01 2.21208085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.251858064 meters 0.014529515041663962 Centerline is valid? [True, True] Translation: X:61.57, Y:-107.98, Z:0.22 [[ 9.95265985e-01 9.63719605e-02 -1.25723322e-02 6.15729132e+01] [ 9.63641843e-02 -9.95345390e-01 -1.22425497e-03 -1.07975726e+02] [-1.26317968e-02 6.93679289e-06 -9.99920216e-01 2.21872246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281858064 meters 0.014473326863304586 Centerline is valid? [True, True] Translation: X:61.57, Y:-107.98, Z:0.22 [[ 9.84620574e-01 1.74240003e-01 -1.27572107e-02 6.15713842e+01] [ 1.74225330e-01 -9.84703215e-01 -2.26116915e-03 -1.07981938e+02] [-1.29560525e-02 3.76442779e-06 -9.99916067e-01 2.21632547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.311858064 meters 0.014456794772757553 Centerline is valid? [True, True] Translation: X:61.57, Y:-107.99, Z:0.22 [[ 9.67955747e-01 2.50761510e-01 -1.34289352e-02 6.15693534e+01] [ 2.50737319e-01 -9.68048896e-01 -3.48305537e-03 -1.07986802e+02] [-1.38732821e-02 4.30826880e-06 -9.99903761e-01 2.21118344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341858064 meters 0.014433447698535292 Centerline is valid? [True, True] Translation: X:61.57, Y:-107.99, Z:0.22 [[ 9.45406489e-01 3.25625230e-01 -1.32204199e-02 6.15680289e+01] [ 3.25593305e-01 -9.45498921e-01 -4.55956281e-03 -1.07992193e+02] [-1.39846015e-02 6.16003814e-06 -9.99902211e-01 2.21090283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.371858064 meters 0.014359351126680025 Centerline is valid? [True, True] Translation: X:61.57, Y:-108.00, Z:0.22 [[ 9.17155985e-01 3.98315042e-01 -1.30394310e-02 6.15682903e+01] [ 3.98274623e-01 -9.17248672e-01 -5.67427865e-03 -1.07998706e+02] [-1.42205513e-02 1.09241563e-05 -9.99898883e-01 2.20039939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401858064 meters 0.01409313981456737 Centerline is valid? [True, True] Translation: X:61.57, Y:-108.01, Z:0.22 [[ 8.83413382e-01 4.68441096e-01 -1.19889777e-02 6.15705605e+01] [ 4.68397691e-01 -8.83494731e-01 -6.37684475e-03 -1.08007465e+02] [-1.35793747e-02 1.77805368e-05 -9.99907796e-01 2.19110697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.431858064 meters 0.01396579632586851 Centerline is valid? [True, True] Translation: X:61.57, Y:-108.02, Z:0.22 [[ 8.44358570e-01 5.35667443e-01 -1.09085441e-02 6.15721785e+01] [ 5.35622373e-01 -8.44429032e-01 -6.94866438e-03 -1.08015090e+02] [-1.29336646e-02 2.43040346e-05 -9.99916356e-01 2.18156759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46185806399998 meters 0.01399152960385707 Centerline is valid? [True, True] Translation: X:61.57, Y:-108.02, Z:0.22 [[ 8.00036770e-01 5.99858571e-01 -1.05290722e-02 6.15731657e+01] [ 5.99806146e-01 -8.00106052e-01 -7.93053752e-03 -1.08022911e+02] [-1.31815753e-02 2.93194199e-05 -9.99913119e-01 2.18208991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49185806399998 meters 0.013889852054834432 Centerline is valid? [True, True] Translation: X:61.57, Y:-108.03, Z:0.22 [[ 7.50758994e-01 6.60499877e-01 -1.00421378e-02 6.15742934e+01] [ 6.60440209e-01 -7.50826152e-01 -8.87800987e-03 -1.08028903e+02] [-1.34038241e-02 3.30141476e-05 -9.99910164e-01 2.17749948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52185806399999 meters 0.013772822912879219 Centerline is valid? [True, True] Translation: X:61.58, Y:-108.04, Z:0.22 [[ 6.97139169e-01 7.16865795e-01 -1.00205674e-02 6.15782329e+01] [ 7.16790851e-01 -6.97211181e-01 -1.03655640e-02 -1.08036634e+02] [-1.44171699e-02 4.35896011e-05 -9.99896066e-01 2.17013829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.551858064 meters 0.01358032889239281 Centerline is valid? [True, True] Translation: X:61.58, Y:-108.05, Z:0.22 [[ 6.39230398e-01 7.68958862e-01 -9.31489619e-03 6.15831231e+01] [ 7.68876060e-01 -6.39298261e-01 -1.12844516e-02 -1.08045284e+02] [-1.46322760e-02 5.13638105e-05 -9.99892941e-01 2.17307009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.581858064 meters 0.013679311076682622 Centerline is valid? [True, True] Translation: X:61.59, Y:-108.05, Z:0.22 [[ 5.77366371e-01 8.16437604e-01 -8.81550696e-03 6.15887943e+01] [ 8.16340874e-01 -5.77433664e-01 -1.25674498e-02 -1.08052762e+02] [-1.53509091e-02 5.95642150e-05 -9.99882166e-01 2.17784054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.611858064 meters 0.013598133000696866 Centerline is valid? [True, True] Translation: X:61.59, Y:-108.06, Z:0.22 [[ 5.12693980e-01 8.58537189e-01 -7.66671318e-03 6.15935542e+01] [ 8.58438982e-01 -5.12751294e-01 -1.29855803e-02 -1.08059280e+02] [-1.50797207e-02 7.62233807e-05 -9.99886292e-01 2.17768495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.641858064 meters 0.013621449654177864 Centerline is valid? [True, True] Translation: X:61.60, Y:-108.07, Z:0.22 [[ 4.44487536e-01 8.95761296e-01 -6.52159352e-03 6.15973508e+01] [ 8.95662080e-01 -4.44535368e-01 -1.33320834e-02 -1.08065996e+02] [-1.48414433e-02 8.48008857e-05 -9.99889856e-01 2.17439499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.671858064 meters 0.013809881281082455 Centerline is valid? [True, True] Translation: X:61.60, Y:-108.07, Z:0.22 [[ 3.74671070e-01 9.27142697e-01 -5.29225501e-03 6.16001027e+01] [ 9.27046095e-01 -3.74708429e-01 -1.33840021e-02 -1.08071895e+02] [-1.43919324e-02 1.08434069e-04 -9.99896425e-01 2.16904677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.701858064 meters 0.01383155155116269 Centerline is valid? [True, True] Translation: X:61.60, Y:-108.08, Z:0.22 [[ 3.02037284e-01 9.53286632e-01 -4.25168412e-03 6.16045451e+01] [ 9.53186266e-01 -3.02067181e-01 -1.38333109e-02 -1.08077754e+02] [-1.44714046e-02 1.25528728e-04 -9.99895276e-01 2.16811272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.731858064 meters 0.013937269093216008 Centerline is valid? [True, True] Translation: X:61.61, Y:-108.08, Z:0.22 [[ 2.27406411e-01 9.73794789e-01 -3.16762013e-03 6.16099000e+01] [ 9.73691539e-01 -2.27428428e-01 -1.41808463e-02 -1.08083716e+02] [-1.45296411e-02 1.40530427e-04 -9.99894429e-01 2.16695981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.761858064 meters 0.013930743081610152 Centerline is valid? [True, True] Translation: X:61.62, Y:-108.09, Z:0.22 [[ 1.51377307e-01 9.88473918e-01 -2.05531748e-03 6.16174289e+01] [ 9.88368398e-01 -1.51391180e-01 -1.44437181e-02 -1.08089544e+02] [-1.45883956e-02 1.55040304e-04 -9.99893572e-01 2.15893984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.791858064 meters 0.014480993937143024 Centerline is valid? [True, True] Translation: X:61.62, Y:-108.10, Z:0.22 [[ 7.51409408e-02 9.97172482e-01 -9.37822188e-04 6.16237804e+01] [ 9.97061481e-01 -7.51465701e-02 -1.48794035e-02 -1.08095528e+02] [-1.49078059e-02 1.82985999e-04 -9.99888856e-01 2.16855062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821858064 meters 0.01449045569978398 Centerline is valid? [True, True] Translation: X:61.63, Y:-108.10, Z:0.22 [[-2.52901152e-03 9.99996775e-01 2.30572201e-04 6.16303465e+01] [ 9.99885840e-01 2.53216561e-03 -1.48961651e-02 -1.08100075e+02] [-1.48967009e-02 1.92873306e-04 -9.99889019e-01 2.16635867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.851858064 meters 0.014604316165325983 Centerline is valid? [True, True] Translation: X:61.64, Y:-108.10, Z:0.22 [[-8.04420806e-02 9.96758320e-01 1.38649090e-03 6.16369558e+01] [ 9.96649554e-01 8.04537866e-02 -1.47259800e-02 -1.08104464e+02] [-1.47897916e-02 1.97257067e-04 -9.99890606e-01 2.17053684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881858064 meters 0.014581401110752321 Centerline is valid? [True, True] Translation: X:61.65, Y:-108.11, Z:0.22 [[-1.57828888e-01 9.87463299e-01 2.50505164e-03 6.16450463e+01] [ 9.87358405e-01 1.57848639e-01 -1.43940356e-02 -1.08108620e+02] [-1.46090009e-02 2.01589150e-04 -9.99893263e-01 2.17754146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.911858064 meters 0.014748621346521038 Centerline is valid? [True, True] Translation: X:61.65, Y:-108.11, Z:0.22 [[-2.34794856e-01 9.72038331e-01 3.58600644e-03 6.16521900e+01] [ 9.71937517e-01 2.34822155e-01 -1.40006365e-02 -1.08111955e+02] [-1.44512291e-02 1.98096772e-04 -9.99895556e-01 2.18332713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941858064 meters 0.014750198622649013 Centerline is valid? [True, True] Translation: X:61.66, Y:-108.11, Z:0.22 [[-3.10154198e-01 9.50674607e-01 4.70810657e-03 6.16598314e+01] [ 9.50574696e-01 3.10189865e-01 -1.37838840e-02 -1.08114970e+02] [-1.45643955e-02 2.00277480e-04 -9.99893914e-01 2.18816503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.971858064 meters 0.014870582439202466 Centerline is valid? [True, True] Translation: X:61.67, Y:-108.12, Z:0.22 [[-3.83814584e-01 9.23392249e-01 5.75497052e-03 6.16670463e+01] [ 9.23296070e-01 3.83857676e-01 -1.33286190e-02 -1.08118665e+02] [-1.45166331e-02 1.97823300e-04 -9.99894609e-01 2.19723899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001858064 meters 0.015167599945689088 Centerline is valid? [True, True] Translation: X:61.67, Y:-108.12, Z:0.22 [[-4.54788003e-01 8.90574772e-01 6.66690179e-03 6.16737850e+01] [ 8.90485352e-01 4.54836824e-01 -1.26214656e-02 -1.08121536e+02] [-1.42727113e-02 1.96687226e-04 -9.99898120e-01 2.21023838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.031858064 meters 0.015266163853165317 Centerline is valid? [True, True] Translation: X:61.68, Y:-108.13, Z:0.22 [[-5.23299746e-01 8.52117304e-01 7.31274375e-03 6.16791393e+01] [ 8.52039041e-01 5.23350806e-01 -1.15501894e-02 -1.08125058e+02] [-1.36692466e-02 1.86531990e-04 -9.99906554e-01 2.21467201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061858064 meters 0.015413162996637945 Centerline is valid? [True, True] Translation: X:61.68, Y:-108.13, Z:0.22 [[-5.88379200e-01 8.08548966e-01 7.64760607e-03 6.16838986e+01] [ 8.08484507e-01 5.88428873e-01 -1.02109532e-02 -1.08128233e+02] [-1.27561279e-02 1.75058550e-04 -9.99918622e-01 2.21260114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.091858064 meters 0.014589606012390103 Centerline is valid? [True, True] Translation: X:61.69, Y:-108.13, Z:0.22 [[-6.49852107e-01 7.60019366e-01 7.92478537e-03 6.16945333e+01] [ 7.59965948e-01 6.49900405e-01 -9.01234204e-03 -1.08125075e+02] [-1.19998757e-02 1.65877560e-04 -9.99927985e-01 2.19521635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121858064 meters 0.015564831902419014 Centerline is valid? [True, True] Translation: X:61.70, Y:-108.12, Z:0.22 [[-7.07250561e-01 7.06924073e-01 7.41613097e-03 6.17023691e+01] [ 7.06887349e-01 7.07289427e-01 -7.20710566e-03 -1.08124839e+02] [-1.03402275e-02 1.45139646e-04 -9.99946528e-01 2.20610558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.151858064 meters 0.01463725787217426 Centerline is valid? [True, True] Translation: X:61.73, Y:-108.10, Z:0.22 [[-7.55319408e-01 6.55313947e-01 7.49814107e-03 6.17251633e+01] [ 6.55283490e-01 7.55356612e-01 -6.31952917e-03 -1.08104608e+02] [-9.80504604e-03 1.40145016e-04 -9.99951920e-01 2.18933773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181858064 meters 0.014747407046581442 Centerline is valid? [True, True] Translation: X:61.75, Y:-108.09, Z:0.22 [[-7.99570015e-01 6.00531268e-01 7.07017431e-03 6.17461578e+01] [ 6.00509205e-01 7.99601263e-01 -5.14933205e-03 -1.08085461e+02] [-8.74565521e-03 1.28453254e-04 -9.99961748e-01 2.18931505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21185806399998 meters 0.014784679135330287 Centerline is valid? [True, True] Translation: X:61.77, Y:-108.06, Z:0.22 [[-8.39926489e-01 5.42670504e-01 5.67601852e-03 6.17650221e+01] [ 5.42658913e-01 8.39945661e-01 -3.54818504e-03 -1.08064553e+02] [-6.69304250e-03 9.99274380e-05 -9.99977596e-01 2.18618072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24185806399998 meters 0.014886187854835656 Centerline is valid? [True, True] Translation: X:61.78, Y:-108.04, Z:0.22 [[-8.76016834e-01 4.82251491e-01 5.29211077e-03 6.17838409e+01] [ 4.82243315e-01 8.76032814e-01 -2.80971803e-03 -1.08043336e+02] [-5.99105340e-03 9.07247467e-05 -9.99982049e-01 2.18659375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27185806399999 meters 0.015311242884402295 Centerline is valid? [True, True] Translation: X:61.80, Y:-108.02, Z:0.22 [[-9.08056212e-01 4.18819985e-01 4.87192318e-03 6.17976935e+01] [ 4.18814426e-01 9.08069278e-01 -2.15948723e-03 -1.08020377e+02] [-5.32848018e-03 7.94959151e-05 -9.99985800e-01 2.19110586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.301858064 meters 0.01481264557036477 Centerline is valid? [True, True] Translation: X:61.81, Y:-107.99, Z:0.22 [[-9.35439404e-01 3.53466293e-01 3.83420546e-03 6.18059080e+01] [ 3.53463590e-01 9.35447260e-01 -1.38378359e-03 -1.07992389e+02] [-4.07581785e-03 6.08063339e-05 -9.99991692e-01 2.18923130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.331858064 meters 0.014501720012028789 Centerline is valid? [True, True] Translation: X:62.07, Y:-107.29, Z:-0.73 [[-9.21528850e-01 -3.88295084e-01 3.39197993e-03 6.20725757e+01] [ 3.88292141e-01 -9.21535090e-01 -1.51385382e-03 -1.07290525e+02] [ 3.71365052e-03 -7.79808187e-05 9.99993101e-01 -7.28951081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.361858064 meters 0.01444835339949781 Centerline is valid? [True, True] Translation: X:61.77, Y:-107.98, Z:0.22 [[-9.37006538e-01 3.49295955e-01 3.32930789e-03 6.17669109e+01] [ 3.49293940e-01 9.37012451e-01 -1.18735831e-03 -1.07978127e+02] [-3.53434240e-03 5.03445691e-05 -9.99993753e-01 2.19236200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.391858064 meters 0.01451688576781917 Centerline is valid? [True, True] Translation: X:62.03, Y:-107.27, Z:-0.73 [[-9.22536844e-01 -3.85896785e-01 3.07292606e-03 6.20264205e+01] [ 3.85894430e-01 -9.22541960e-01 -1.34935801e-03 -1.07274598e+02] [ 3.35561615e-03 -5.90074261e-05 9.99994368e-01 -7.29780317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.421858064 meters 0.014613959002177867 Centerline is valid? [True, True] Translation: X:61.72, Y:-107.96, Z:0.22 [[-9.38694345e-01 3.44740665e-01 2.60778592e-03 6.17242775e+01] [ 3.44739443e-01 9.38697967e-01 -9.18797879e-04 -1.07964592e+02] [-2.76467033e-03 3.65362909e-05 -9.99996178e-01 2.20158451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.451858064 meters 0.014323307786664737 Centerline is valid? [True, True] Translation: X:61.97, Y:-107.26, Z:-0.73 [[-9.23710903e-01 -3.83084725e-01 2.06424081e-03 6.19727865e+01] [ 3.83083620e-01 -9.23713207e-01 -9.22415640e-04 -1.07256465e+02] [ 2.26012984e-03 -6.12685430e-05 9.99997444e-01 -7.29745214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.481858064 meters 0.014262075650899271 Centerline is valid? [True, True] Translation: X:61.68, Y:-107.95, Z:0.22 [[-9.40235084e-01 3.40521297e-01 1.79840473e-03 6.16796857e+01] [ 3.40520722e-01 9.40236803e-01 -6.25847947e-04 -1.07948467e+02] [-1.90404087e-03 2.39498824e-05 -9.99998187e-01 2.20077119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.511858064 meters 0.014899104239436647 Centerline is valid? [True, True] Translation: X:61.70, Y:-107.93, Z:0.22 [[-9.61912844e-01 2.73355533e-01 6.58277389e-04 6.16952024e+01] [ 2.73355475e-01 9.61913069e-01 -1.78243077e-04 -1.07925679e+02] [-6.81929355e-04 8.48942314e-06 -9.99999767e-01 2.20672847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.541858064 meters 0.01493674488480697 Centerline is valid? [True, True] Translation: X:61.89, Y:-107.20, Z:-0.73 [[-9.49412922e-01 -3.14030358e-01 1.93565488e-04 6.18894779e+01] [ 3.14030344e-01 -9.49412941e-01 -9.77223789e-05 -1.07198588e+02] [ 2.14461373e-04 -3.19934524e-05 9.99999977e-01 -7.30959629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.571858064 meters 0.014344227928432674 Centerline is valid? [True, True] Translation: X:61.65, Y:-107.91, Z:0.22 [[-9.63007078e-01 2.69476099e-01 -2.54090849e-05 6.16481876e+01] [ 2.69476098e-01 9.63007078e-01 6.88583367e-06 -1.07912165e+02] [ 2.63246962e-05 -2.16034516e-07 -1.00000000e+00 2.21061220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601858064 meters 0.014635872847106338 Centerline is valid? [True, True] Translation: X:61.65, Y:-107.89, Z:0.22 [[-9.79672603e-01 2.00600686e-01 -9.77988262e-04 6.16515622e+01] [ 2.00600598e-01 9.79673091e-01 1.87695843e-04 -1.07886027e+02] [ 9.95760698e-04 -1.23045555e-05 -9.99999504e-01 2.20368763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.631858064 meters 0.01469558796887486 Centerline is valid? [True, True] Translation: X:61.80, Y:-107.15, Z:-0.73 [[-9.70278400e-01 -2.41986840e-01 -1.48169920e-03 6.17999091e+01] [ 2.41986581e-01 -9.70279531e-01 3.54366954e-04 -1.07147843e+02] [-1.52341454e-03 -1.47167213e-05 9.99998840e-01 -7.29948890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661858064 meters 0.014441721847259758 Centerline is valid? [True, True] Translation: X:61.60, Y:-107.88, Z:0.22 [[-9.80633163e-01 1.95830850e-01 -2.97961547e-03 6.16033648e+01] [ 1.95830055e-01 9.80637689e-01 5.59187585e-04 -1.07875694e+02] [ 3.03142940e-03 -3.51403688e-05 -9.99995405e-01 2.20366773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.691858064 meters 0.014358303204892444 Centerline is valid? [True, True] Translation: X:61.74, Y:-107.14, Z:-0.73 [[-9.70855142e-01 -2.39646915e-01 -3.10639323e-03 6.17447811e+01] [ 2.39645603e-01 -9.70860111e-01 7.93480545e-04 -1.07140280e+02] [-3.20602844e-03 2.59211883e-05 9.99994860e-01 -7.30476414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721858064 meters 0.014435333081097514 Centerline is valid? [True, True] Translation: X:61.55, Y:-107.86, Z:0.22 [[-9.81677461e-01 1.90520954e-01 -3.33595663e-03 6.15460598e+01] [ 1.90519973e-01 9.81683129e-01 6.12472896e-04 -1.07864564e+02] [ 3.39154127e-03 -3.43155303e-05 -9.99994248e-01 2.20406857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.751858064 meters 0.014295273382698467 Centerline is valid? [True, True] Translation: X:61.56, Y:-107.84, Z:0.22 [[-9.92852860e-01 1.19300813e-01 -3.24272559e-03 6.15565271e+01] [ 1.19300274e-01 9.92858155e-01 3.59832197e-04 -1.07837312e+02] [ 3.26249482e-03 -2.95976259e-05 -9.99994678e-01 2.20758503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781858064 meters 0.014204877432909322 Centerline is valid? [True, True] Translation: X:61.55, Y:-107.81, Z:0.22 [[-9.98848974e-01 4.78354555e-02 -3.53502439e-03 6.15549407e+01] [ 4.78352614e-02 9.98855229e-01 1.39479469e-04 -1.07808890e+02] [ 3.53764966e-03 -2.97798915e-05 -9.99993742e-01 2.21131179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.811858064 meters 0.014313835059284375 Centerline is valid? [True, True] Translation: X:61.56, Y:-107.78, Z:0.22 [[-9.99719080e-01 -2.35195365e-02 -2.93113429e-03 6.15554445e+01] [-2.35193655e-02 9.99723377e-01 -9.28042046e-05 -1.07781296e+02] [ 2.93250619e-03 -2.38397153e-05 -9.99995700e-01 2.21191908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841858064 meters 0.014257361300619194 Centerline is valid? [True, True] Translation: X:61.55, Y:-107.75, Z:0.22 [[-9.95480040e-01 -9.49208604e-02 -3.08540052e-03 6.15467774e+01] [-9.49203287e-02 9.95484821e-01 -3.18623678e-04 -1.07754063e+02] [ 3.10171342e-03 -2.43162796e-05 -9.99995189e-01 2.21199453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.871858064 meters 0.014285061595449696 Centerline is valid? [True, True] Translation: X:61.48, Y:-107.01, Z:-0.73 [[-9.99054523e-01 4.33414996e-02 -3.40202986e-03 6.14791684e+01] [-4.33412702e-02 -9.99060316e-01 -1.41137298e-04 -1.07011590e+02] [-3.40495012e-03 6.44443923e-06 9.99994203e-01 -7.31797382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901858064 meters 0.014212242274756258 Centerline is valid? [True, True] Translation: X:61.45, Y:-107.76, Z:0.22 [[-9.94775992e-01 -1.02036439e-01 -3.04824134e-03 6.14481421e+01] [-1.02035894e-01 9.94780662e-01 -3.34281103e-04 -1.07762113e+02] [ 3.06644039e-03 -2.15047859e-05 -9.99995298e-01 2.21549007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.931858064 meters 0.014212242274756258 Centerline is valid? [True, True] Translation: X:61.37, Y:-107.02, Z:-0.73 [[-9.98790961e-01 4.90642230e-02 -3.05249595e-03 6.13713467e+01] [-4.90640617e-02 -9.98795626e-01 -1.27741241e-04 -1.07021802e+02] [-3.05508712e-03 2.21810529e-05 9.99995333e-01 -7.31519805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96185806399998 meters 0.01432823770147521 Centerline is valid? [True, True] Translation: X:61.34, Y:-107.77, Z:0.22 [[-9.94103940e-01 -1.08374790e-01 -3.50172148e-03 6.13431210e+01] [-1.08374030e-01 9.94110107e-01 -4.06483714e-04 -1.07773146e+02] [ 3.52514930e-03 -2.45913915e-05 -9.99993786e-01 2.21405184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99185806399998 meters 0.014445377049556736 Centerline is valid? [True, True] Translation: X:61.33, Y:-107.75, Z:0.22 [[-9.83807600e-01 -1.79198397e-01 -3.24675914e-03 6.13300269e+01] [-1.79197343e-01 9.83812957e-01 -6.14800813e-04 -1.07748009e+02] [ 3.30437503e-03 -2.30351002e-05 -9.99994540e-01 2.21110866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02185806399999 meters 0.014451055643779775 Centerline is valid? [True, True] Translation: X:61.31, Y:-107.73, Z:0.22 [[-9.68530370e-01 -2.48865565e-01 -3.85407587e-03 6.13061981e+01] [-2.48863468e-01 9.68538037e-01 -1.02203773e-03 -1.07725389e+02] [ 3.98716908e-03 -3.07358978e-05 -9.99992051e-01 2.21263055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.051858064 meters 0.014515918262025536 Centerline is valid? [True, True] Translation: X:61.26, Y:-107.71, Z:0.22 [[-9.47867076e-01 -3.18647587e-01 -3.42369138e-03 6.12560962e+01] [-3.18645398e-01 9.47873259e-01 -1.18128321e-03 -1.07711592e+02] [ 3.62163855e-03 -2.87559610e-05 -9.99993441e-01 2.21752268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.081858064 meters 0.01463806230303241 Centerline is valid? [True, True] Translation: X:61.20, Y:-107.71, Z:0.22 [[-9.21743645e-01 -3.87794787e-01 -1.96384482e-03 6.11963784e+01] [-3.87793868e-01 9.21745737e-01 -8.44284612e-04 -1.07706065e+02] [ 2.13757477e-03 -1.66469948e-05 -9.99997715e-01 2.22780666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.111858064 meters 0.014656800350791685 Centerline is valid? [True, True] Translation: X:61.12, Y:-107.71, Z:0.22 [[-8.90430589e-01 -4.55118000e-01 -9.85867995e-04 6.11240417e+01] [-4.55117710e-01 8.90431135e-01 -5.13534465e-04 -1.07710539e+02] [ 1.11156634e-03 -8.58081271e-06 -9.99999382e-01 2.23553865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.141858064 meters 0.014612211799055436 Centerline is valid? [True, True] Translation: X:61.04, Y:-107.72, Z:0.22 [[-8.53763222e-01 -5.20661066e-01 -6.43927867e-04 6.10441527e+01] [-5.20660913e-01 8.53763465e-01 -3.99075381e-04 -1.07724216e+02] [ 7.57545100e-04 -5.44781156e-06 -9.99999713e-01 2.24332824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.171858064 meters 0.014746044218842904 Centerline is valid? [True, True] Translation: X:60.96, Y:-107.75, Z:0.23 [[-8.11723563e-01 -5.84041771e-01 2.59596272e-04 6.09583223e+01] [-5.84041740e-01 8.11723604e-01 1.90043715e-04 -1.07749487e+02] [-3.21713889e-04 2.64790253e-06 -9.99999948e-01 2.25217138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.201858064 meters 0.01472686708434473 Centerline is valid? [True, True] Translation: X:60.87, Y:-107.78, Z:0.23 [[-7.65112782e-01 -6.43896131e-01 4.50264856e-04 6.08708757e+01] [-6.43896016e-01 7.65112915e-01 3.84659081e-04 -1.07783593e+02] [-5.92183950e-04 4.38383273e-06 -9.99999825e-01 2.25401797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.231858064 meters 0.014746291353219018 Centerline is valid? [True, True] Translation: X:60.78, Y:-107.83, Z:0.23 [[-7.13766263e-01 -7.00383774e-01 5.40242578e-04 6.07823770e+01] [-7.00383567e-01 7.13766467e-01 5.37345224e-04 -1.07828016e+02] [-7.61954912e-04 5.16186864e-06 -9.99999710e-01 2.25493944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.261858064 meters 0.014758985218839563 Centerline is valid? [True, True] Translation: X:60.69, Y:-107.88, Z:0.23 [[-6.58163147e-01 -7.52874893e-01 8.16903582e-04 6.06938079e+01] [-7.52874298e-01 6.58163654e-01 9.46352583e-04 -1.07883447e+02] [-1.25014135e-03 7.82868359e-06 -9.99999219e-01 2.25955811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.291858064 meters 0.014806743805757484 Centerline is valid? [True, True] Translation: X:60.60, Y:-107.96, Z:0.23 [[-5.98397056e-01 -8.01198837e-01 1.17772196e-03 6.06028522e+01] [-8.01197248e-01 5.98398214e-01 1.59561326e-03 -1.07955773e+02] [-1.98315020e-03 1.12226812e-05 -9.99998034e-01 2.26024218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321858064 meters 0.014918420212611208 Centerline is valid? [True, True] Translation: X:60.52, Y:-108.03, Z:0.23 [[-5.35155613e-01 -8.44752921e-01 9.86028405e-04 6.05241939e+01] [-8.44751451e-01 5.35156522e-01 1.57583602e-03 -1.08025050e+02] [-1.85887161e-03 1.03685679e-05 -9.99998272e-01 2.26113179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.351858064 meters 0.014874907443727856 Centerline is valid? [True, True] Translation: X:60.45, Y:-108.10, Z:0.23 [[-4.68730090e-01 -8.83340715e-01 1.13339956e-03 6.04474558e+01] [-8.83338062e-01 4.68731460e-01 2.16487857e-03 -1.08104987e+02] [-2.44358542e-03 1.35687561e-05 -9.99997014e-01 2.25304379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381858064 meters 0.014998029907277275 Centerline is valid? [True, True] Translation: X:60.37, Y:-108.20, Z:0.23 [[-3.99203043e-01 -9.16861689e-01 1.25443557e-03 6.03726562e+01] [-9.16857031e-01 3.99205014e-01 2.92258390e-03 -1.08202069e+02] [-3.18038218e-03 1.65663151e-05 -9.99994942e-01 2.25472555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.411858064 meters 0.015031359490754001 Centerline is valid? [True, True] Translation: X:60.31, Y:-108.29, Z:0.23 [[-3.27308862e-01 -9.44916512e-01 1.30200895e-03 6.03081282e+01] [-9.44908784e-01 3.27311451e-01 3.82147390e-03 -1.08293898e+02] [-4.03713622e-03 2.05225755e-05 -9.99991851e-01 2.26292289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441858064 meters 0.015080426425812803 Centerline is valid? [True, True] Translation: X:60.24, Y:-108.41, Z:0.23 [[-2.53452686e-01 -9.67346990e-01 1.23932519e-03 6.02446912e+01] [-9.67334943e-01 2.53455715e-01 4.82798634e-03 -1.08414241e+02] [-4.98445211e-03 2.48235499e-05 -9.99987577e-01 2.27046231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.471858064 meters 0.015053601134823026 Centerline is valid? [True, True] Translation: X:60.20, Y:-108.51, Z:0.23 [[-1.78089463e-01 -9.84013736e-01 1.05359408e-03 6.01984242e+01] [-9.83995479e-01 1.78092577e-01 5.99428450e-03 -1.08508786e+02] [-6.08609557e-03 3.07870974e-05 -9.99981479e-01 2.27045028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501858064 meters 0.015113819403470247 Centerline is valid? [True, True] Translation: X:60.16, Y:-108.62, Z:0.23 [[-1.01522543e-01 -9.94833076e-01 5.70171672e-04 6.01556985e+01] [-9.94815685e-01 1.01524140e-01 5.88232426e-03 -1.08621080e+02] [-5.90981692e-03 2.99727963e-05 -9.99982536e-01 2.26786135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.531858064 meters 0.01516961821217802 Centerline is valid? [True, True] Translation: X:60.12, Y:-108.74, Z:0.23 [[-2.58240625e-02 -9.99666496e-01 1.23678218e-04 6.01228467e+01] [-9.99645750e-01 2.58243233e-02 6.44040193e-03 -1.08739052e+02] [-6.44144794e-03 4.26829367e-05 -9.99979253e-01 2.26644632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561858064 meters 0.01522388816747931 Centerline is valid? [True, True] Translation: X:60.10, Y:-108.86, Z:0.23 [[ 5.05350156e-02 -9.98722211e-01 -3.95976975e-04 6.00983733e+01] [-9.98698937e-01 -5.05365413e-02 6.81838631e-03 -1.08857786e+02] [-6.82968516e-03 5.08945261e-05 -9.99976676e-01 2.26434688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.591858064 meters 0.015224779441119166 Centerline is valid? [True, True] Translation: X:60.08, Y:-108.97, Z:0.23 [[ 1.27476629e-01 -9.91841141e-01 -9.27269912e-04 6.00816657e+01] [-9.91817689e-01 -1.27479992e-01 6.82078657e-03 -1.08973673e+02] [-6.88334510e-03 5.01918216e-05 -9.99976308e-01 2.25703140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621858064 meters 0.015391788870126613 Centerline is valid? [True, True] Translation: X:60.08, Y:-109.10, Z:0.23 [[ 2.04645777e-01 -9.78834869e-01 -1.55074347e-03 6.00757984e+01] [-9.78808467e-01 -2.04651648e-01 7.18950918e-03 -1.09103751e+02] [-7.35470449e-03 4.65781394e-05 -9.99972953e-01 2.25024759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.651858064 meters 0.015440575229180742 Centerline is valid? [True, True] Translation: X:60.08, Y:-109.22, Z:0.23 [[ 2.79918939e-01 -9.60020670e-01 -2.38772168e-03 6.00771374e+01] [-9.59987277e-01 -2.79929118e-01 8.00727307e-03 -1.09219921e+02] [-8.35554048e-03 5.07950524e-05 -9.99965091e-01 2.25532483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681858064 meters 0.015498159054868132 Centerline is valid? [True, True] Translation: X:60.09, Y:-109.35, Z:0.23 [[ 3.53606721e-01 -9.35387558e-01 -3.52188713e-03 6.00907723e+01] [-9.35342710e-01 -3.53624255e-01 9.15981726e-03 -1.09347613e+02] [-9.81340381e-03 5.51985093e-05 -9.99951846e-01 2.25328439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71185806399998 meters 0.015540588491404893 Centerline is valid? [True, True] Translation: X:60.12, Y:-109.48, Z:0.23 [[ 4.25044639e-01 -9.05160626e-01 -4.61480246e-03 6.01178195e+01] [-9.05108703e-01 -4.25069687e-01 9.69525156e-03 -1.09481527e+02] [-1.07373726e-02 5.59831681e-05 -9.99942351e-01 2.25887097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74185806399998 meters 0.015565865502550744 Centerline is valid? [True, True] Translation: X:60.15, Y:-109.60, Z:0.23 [[ 4.94320108e-01 -8.69260901e-01 -5.75473743e-03 6.01480295e+01] [-8.69203179e-01 -4.94353602e-01 1.00174642e-02 -1.09601883e+02] [-1.15526651e-02 5.02020903e-05 -9.99933264e-01 2.26625594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77185806399999 meters 0.015705594215251594 Centerline is valid? [True, True] Translation: X:60.18, Y:-109.70, Z:0.23 [[ 5.59850572e-01 -8.28566734e-01 -6.67119259e-03 6.01769128e+01] [-8.28508989e-01 -5.59890316e-01 9.78214674e-03 -1.09700376e+02] [-1.18402975e-02 5.06025806e-05 -9.99929900e-01 2.26544991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.801858064 meters 0.015668022304072275 Centerline is valid? [True, True] Translation: X:60.22, Y:-109.80, Z:0.23 [[ 6.21627404e-01 -7.83276532e-01 -7.56595960e-03 6.02155993e+01] [-7.83219614e-01 -6.21673444e-01 9.44272038e-03 -1.09799175e+02] [-1.20998174e-02 5.59541952e-05 -9.99926793e-01 2.26625766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.831858064 meters 0.01564383527020026 Centerline is valid? [True, True] Translation: X:60.26, Y:-109.89, Z:0.23 [[ 6.78506515e-01 -7.34542465e-01 -8.73363312e-03 6.02557397e+01] [-7.34483166e-01 -6.78562717e-01 9.33376165e-03 -1.09888140e+02] [-1.27823621e-02 8.16884117e-05 -9.99918299e-01 2.26398456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.861858064 meters 0.015822213828767164 Centerline is valid? [True, True] Translation: X:60.31, Y:-109.98, Z:0.23 [[ 7.31842301e-01 -6.81411971e-01 -9.19626933e-03 6.03107670e+01] [-6.81359806e-01 -7.31900073e-01 8.43201327e-03 -1.09980829e+02] [-1.24764250e-02 9.50642884e-05 -9.99922162e-01 2.26788016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.891858064 meters 0.015878331296889397 Centerline is valid? [True, True] Translation: X:60.31, Y:-109.98, Z:0.23 [[ 7.81922006e-01 -6.23295880e-01 -1.00111447e-02 6.03071557e+01] [-6.23246691e-01 -7.81986082e-01 7.83130561e-03 -1.09984450e+02] [-1.27097963e-02 1.15942600e-04 -9.99919221e-01 2.26299764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.921858064 meters 0.015945443005712406 Centerline is valid? [True, True] Translation: X:60.30, Y:-109.99, Z:0.23 [[ 8.27512938e-01 -5.61350896e-01 -1.03686151e-02 6.03027836e+01] [-5.61308787e-01 -8.27577884e-01 6.87687976e-03 -1.09989062e+02] [-1.24411791e-02 1.29287777e-04 -9.99922597e-01 2.25349383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.951858064 meters 0.016550572615330415 Centerline is valid? [True, True] Translation: X:60.30, Y:-109.99, Z:0.22 [[ 8.67286911e-01 -4.97718383e-01 -9.47761293e-03 6.02989424e+01] [-4.97690516e-01 -8.67338682e-01 5.26878999e-03 -1.09992718e+02] [-1.08426739e-02 1.47365479e-04 -9.99941206e-01 2.24891661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.981858064 meters 0.016407071527066285 Centerline is valid? [True, True] Translation: X:60.30, Y:-110.00, Z:0.22 [[ 9.02900038e-01 -4.29744692e-01 -9.54050544e-03 6.02950629e+01] [-4.29722546e-01 -9.02950428e-01 4.36555641e-03 -1.10000075e+02] [-1.04906782e-02 1.58109243e-04 -9.99944959e-01 2.23544953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.011858064 meters 0.016690583625653975 Centerline is valid? [True, True] Translation: X:60.29, Y:-110.01, Z:0.22 [[ 9.33067276e-01 -3.59588439e-01 -9.03399635e-03 6.02909376e+01] [-3.59573270e-01 -9.33110994e-01 3.30691336e-03 -1.10008865e+02] [-9.61884913e-03 1.62810971e-04 -9.99953725e-01 2.22897205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.041858064 meters 0.01784335604473854 Centerline is valid? [True, True] Translation: X:60.29, Y:-110.01, Z:0.22 [[ 9.57806383e-01 -2.87283164e-01 -8.67850843e-03 6.02874718e+01] [-2.87272966e-01 -9.57845684e-01 2.42650994e-03 -1.10014714e+02] [-9.00976730e-03 1.68974150e-04 -9.99959397e-01 2.23672879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.071858064 meters 0.018261845493996905 Centerline is valid? [True, True] Translation: X:60.28, Y:-110.02, Z:0.22 [[ 9.76698264e-01 -2.14441558e-01 -8.67870209e-03 6.02834991e+01] [-2.14434846e-01 -9.76736802e-01 1.70758790e-03 -1.10019020e+02] [-8.84298554e-03 1.93218007e-04 -9.99960881e-01 2.22596498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101858064 meters 0.020042377216095544 Centerline is valid? [True, True] Translation: X:60.28, Y:-110.02, Z:0.22 [[ 9.90250477e-01 -1.39013907e-01 -8.89534300e-03 6.02771545e+01] [-1.39010211e-01 -9.90290406e-01 1.03547389e-03 -1.10020127e+02] [-8.95291810e-03 2.11164987e-04 -9.99959900e-01 2.23406717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.131858064 meters 0.018800257232954785 Centerline is valid? [True, True] Translation: X:60.27, Y:-110.03, Z:0.22 [[ 9.97986617e-01 -6.28152483e-02 -8.77246321e-03 6.02722276e+01] [-6.28147790e-02 -9.98025148e-01 3.29283375e-04 -1.10029692e+02] [-8.77582291e-03 2.22419936e-04 -9.99961467e-01 2.22499007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161858064 meters 0.018708777873052158 Centerline is valid? [True, True] Translation: X:60.27, Y:-110.04, Z:0.22 [[ 9.99843782e-01 1.51605146e-02 -9.08686073e-03 6.02676443e+01] [ 1.51577661e-02 -9.99885046e-01 -3.71263404e-04 -1.10039126e+02] [-9.09144469e-03 2.33468896e-04 -9.99958645e-01 2.22206796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.191858064 meters 0.01935387733217894 Centerline is valid? [True, True] Translation: X:60.26, Y:-110.05, Z:0.22 [[ 9.95556505e-01 9.37167064e-02 -9.18826458e-03 6.02627090e+01] [ 9.37105403e-02 -9.95598877e-01 -1.10028197e-03 -1.10046042e+02] [-9.25094070e-03 2.34355635e-04 -9.99957182e-01 2.22608236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221858064 meters 0.018609786031643174 Centerline is valid? [True, True] Translation: X:60.26, Y:-110.06, Z:0.22 [[ 9.84947190e-01 1.72615142e-01 -9.11289337e-03 6.02602176e+01] [ 1.72605649e-01 -9.84989321e-01 -1.82409194e-03 -1.10055135e+02] [-9.29096854e-03 2.23697358e-04 -9.99956813e-01 2.21608770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.251858064 meters 0.017958430562587824 Centerline is valid? [True, True] Translation: X:60.26, Y:-110.07, Z:0.22 [[ 9.68154419e-01 2.50188096e-01 -9.10702449e-03 6.02582456e+01] [ 2.50174905e-01 -9.68197226e-01 -2.57841482e-03 -1.10066214e+02] [-9.46248454e-03 2.17954718e-04 -9.99955206e-01 2.21512097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281858064 meters 0.018053794262919285 Centerline is valid? [True, True] Translation: X:60.26, Y:-110.08, Z:0.22 [[ 9.45198106e-01 3.26367110e-01 -9.22222364e-03 6.02552928e+01] [ 3.26349356e-01 -9.45243071e-01 -3.41090544e-03 -1.10075467e+02] [-9.83045035e-03 2.14314618e-04 -9.99951657e-01 2.21893656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.311858064 meters 0.01759919396181848 Centerline is valid? [True, True] Translation: X:60.25, Y:-110.08, Z:0.22 [[ 9.15656224e-01 4.01862169e-01 -8.97088856e-03 6.02540395e+01] [ 4.01840865e-01 -9.15700148e-01 -4.14221171e-03 -1.10084503e+02] [-9.87924216e-03 1.87972316e-04 -9.99951181e-01 2.22241470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341858064 meters 0.01674554992568299 Centerline is valid? [True, True] Translation: X:60.26, Y:-110.09, Z:0.22 [[ 8.80632098e-01 4.73726994e-01 -8.35721232e-03 6.02554583e+01] [ 4.73703855e-01 -8.80671736e-01 -4.68518529e-03 -1.10094841e+02] [-9.57945943e-03 1.67080860e-04 -9.99954102e-01 2.21389732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.371858064 meters 0.016560670701379877 Centerline is valid? [True, True] Translation: X:60.26, Y:-110.10, Z:0.22 [[ 8.40303456e-01 5.42062068e-01 -7.66917553e-03 6.02563451e+01] [ 5.42037836e-01 -8.40338438e-01 -5.12770385e-03 -1.10103064e+02] [-9.22423674e-03 1.51843956e-04 -9.99957444e-01 2.21341475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401858064 meters 0.015982073792653134 Centerline is valid? [True, True] Translation: X:60.26, Y:-110.11, Z:0.22 [[ 7.94098115e-01 6.07755229e-01 -6.46255458e-03 6.02595136e+01] [ 6.07733874e-01 -7.94124403e-01 -5.09617303e-03 -1.10112941e+02] [-8.22929811e-03 1.19348070e-04 -9.99966132e-01 2.20856613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43185806399998 meters 0.015827877572911406 Centerline is valid? [True, True] Translation: X:60.26, Y:-110.12, Z:0.22 [[ 7.43537747e-01 6.68669709e-01 -5.69550608e-03 6.02621483e+01] [ 6.68648995e-01 -7.43559553e-01 -5.26427142e-03 -1.10121205e+02] [-7.75500680e-03 1.05890095e-04 -9.99969924e-01 2.20647443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46185806399998 meters 0.01576324214838031 Centerline is valid? [True, True] Translation: X:60.26, Y:-110.13, Z:0.22 [[ 6.88277759e-01 7.25431339e-01 -4.80617497e-03 6.02645130e+01] [ 7.25412726e-01 -6.88294533e-01 -5.19741301e-03 -1.10129171e+02] [-7.07843024e-03 9.08032947e-05 -9.99974943e-01 2.20244741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49185806399998 meters 0.016461091422907307 Centerline is valid? [True, True] Translation: X:60.26, Y:-110.14, Z:0.22 [[ 6.28663543e-01 7.77667046e-01 -4.01436962e-03 6.02639854e+01] [ 7.77650402e-01 -6.28676355e-01 -5.08846050e-03 -1.10135864e+02] [-6.48086731e-03 7.71534583e-05 -9.99978996e-01 2.21553014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52185806399999 meters 0.01528081826134811 Centerline is valid? [True, True] Translation: X:60.27, Y:-110.14, Z:0.22 [[ 5.63908379e-01 8.25831032e-01 -3.23217005e-03 6.02691183e+01] [ 8.25816899e-01 -5.63917639e-01 -4.83170470e-03 -1.10144466e+02] [-5.81284938e-03 5.54581206e-05 -9.99983104e-01 2.20341073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.551858064 meters 0.015160879182025709 Centerline is valid? [True, True] Translation: X:60.27, Y:-110.15, Z:0.22 [[ 4.96415891e-01 8.68080933e-01 -2.59946651e-03 6.02714993e+01] [ 8.68068561e-01 -4.96422695e-01 -4.63479746e-03 -1.10150314e+02] [-5.31381347e-03 4.42719590e-05 -9.99985881e-01 2.20430319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.581858064 meters 0.014977743099753677 Centerline is valid? [True, True] Translation: X:60.27, Y:-110.16, Z:0.22 [[ 4.26127785e-01 9.04660821e-01 -1.97733921e-03 6.02736046e+01] [ 9.04650694e-01 -4.26132371e-01 -4.28063516e-03 -1.10155739e+02] [-4.71513116e-03 3.52962859e-05 -9.99988883e-01 2.20230872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.611858064 meters 0.015130626281602848 Centerline is valid? [True, True] Translation: X:60.27, Y:-110.16, Z:0.22 [[ 3.53417342e-01 9.35464456e-01 -1.55995971e-03 6.02740268e+01] [ 9.35454955e-01 -3.53420783e-01 -4.21639837e-03 -1.10162135e+02] [-4.49561299e-03 3.08762640e-05 -9.99989894e-01 2.20776526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.641858064 meters 0.014808744691724334 Centerline is valid? [True, True] Translation: X:60.28, Y:-110.17, Z:0.22 [[ 2.78096483e-01 9.60552391e-01 -1.20401293e-03 6.02766054e+01] [ 9.60542982e-01 -2.78099088e-01 -4.25176283e-03 -1.10167574e+02] [-4.41887585e-03 2.58941121e-05 -9.99990236e-01 2.20551462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.671858064 meters 0.014813392132677915 Centerline is valid? [True, True] Translation: X:60.28, Y:-110.17, Z:0.22 [[ 2.02004873e-01 9.79384121e-01 -8.79964765e-04 6.02772963e+01] [ 9.79374257e-01 -2.02006787e-01 -4.39568041e-03 -1.10171896e+02] [-4.48281845e-03 2.61340223e-05 -9.99989952e-01 2.21194844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.701858064 meters 0.014666656927192911 Centerline is valid? [True, True] Translation: X:60.29, Y:-110.18, Z:0.22 [[ 1.24589018e-01 9.92208281e-01 -5.50809996e-04 6.02866168e+01] [ 9.92197616e-01 -1.24590233e-01 -4.60058418e-03 -1.10177313e+02] [-4.63336327e-03 2.66699006e-05 -9.99989266e-01 2.20923083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.731858064 meters 0.014787654986695858 Centerline is valid? [True, True] Translation: X:60.29, Y:-110.18, Z:0.22 [[ 4.79565634e-02 9.98849404e-01 -1.89526561e-04 6.02936787e+01] [ 9.98838597e-01 -4.79569261e-02 -4.64649672e-03 -1.10182203e+02] [-4.65023959e-03 3.35235696e-05 -9.99989187e-01 2.21561424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.761858064 meters 0.014976172290015433 Centerline is valid? [True, True] Translation: X:60.30, Y:-110.19, Z:0.22 [[-2.91967202e-02 9.99573668e-01 1.83348832e-04 6.03003005e+01] [ 9.99561778e-01 2.91972672e-02 -4.87556280e-03 -1.10187470e+02] [-4.87883748e-03 4.09180414e-05 -9.99988098e-01 2.22077410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.791858064 meters 0.014976172290015433 Centerline is valid? [True, True] Translation: X:60.31, Y:-110.19, Z:0.22 [[-1.07384702e-01 9.94217384e-01 5.64601363e-04 6.03071303e+01] [ 9.94205574e-01 1.07386179e-01 -4.84624559e-03 -1.10191833e+02] [-4.87885200e-03 4.09171822e-05 -9.99988098e-01 2.22077534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821858064 meters 0.015219264845973753 Centerline is valid? [True, True] Translation: X:60.31, Y:-110.20, Z:0.22 [[-1.83504265e-01 9.83018424e-01 9.81726238e-04 6.03121824e+01] [ 9.83005780e-01 1.83506884e-01 -4.98601365e-03 -1.10196694e+02] [-5.08149680e-03 5.00877971e-05 -9.99987088e-01 2.22856757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.851858064 meters 0.015620020421237776 Centerline is valid? [True, True] Translation: X:60.32, Y:-110.20, Z:0.22 [[-2.57149813e-01 9.66370581e-01 1.36925249e-03 6.03171326e+01] [ 9.66358190e-01 2.57153450e-01 -4.89405461e-03 -1.10200150e+02] [-5.08157840e-03 6.46831289e-05 -9.99987087e-01 2.23201858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881858064 meters 0.015806033446330695 Centerline is valid? [True, True] Translation: X:60.32, Y:-110.20, Z:0.22 [[-3.30759371e-01 9.43713817e-01 1.57165333e-03 6.03248544e+01] [ 9.43704073e-01 3.30763099e-01 -4.28902419e-03 -1.10202330e+02] [-4.56745631e-03 6.45407014e-05 -9.99989567e-01 2.23021771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.911858064 meters 0.016450300624664193 Centerline is valid? [True, True] Translation: X:60.33, Y:-110.21, Z:0.22 [[-4.01660103e-01 9.15787430e-01 1.59539322e-03 6.03314663e+01] [ 9.15780814e-01 4.01663267e-01 -3.48140336e-03 -1.10206505e+02] [-3.82903628e-03 6.26896660e-05 -9.99992667e-01 2.22939611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941858064 meters 0.016341876163815425 Centerline is valid? [True, True] Translation: X:60.34, Y:-110.21, Z:0.22 [[-4.71342954e-01 8.81947930e-01 1.91502158e-03 6.03418073e+01] [ 8.81941228e-01 4.71346840e-01 -3.43900775e-03 -1.10206241e+02] [-3.93566513e-03 6.79844100e-05 -9.99992253e-01 2.22754007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.971858064 meters 0.01683688244680544 Centerline is valid? [True, True] Translation: X:60.35, Y:-110.21, Z:0.22 [[-5.38466135e-01 8.42643792e-01 2.37919414e-03 6.03506591e+01] [ 8.42636189e-01 5.38471386e-01 -3.58047029e-03 -1.10208186e+02] [-4.29818903e-03 7.68330885e-05 -9.99990760e-01 2.23425576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001858064 meters 0.01703887796863857 Centerline is valid? [True, True] Translation: X:60.36, Y:-110.21, Z:0.22 [[-6.02580900e-01 7.98052347e-01 2.95124847e-03 6.03578647e+01] [ 7.98043474e-01 6.02588121e-01 -3.76437970e-03 -1.10209588e+02] [-4.78255932e-03 8.68812708e-05 -9.99988560e-01 2.23697307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.031858064 meters 0.01735152173690858 Centerline is valid? [True, True] Translation: X:60.37, Y:-110.21, Z:0.22 [[-6.62962329e-01 7.48647327e-01 2.85130519e-03 6.03654500e+01] [ 7.48640906e-01 6.62968456e-01 -3.10178696e-03 -1.10211363e+02] [-4.21246992e-03 7.82357906e-05 -9.99991124e-01 2.23732340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061858064 meters 0.016851061760583097 Centerline is valid? [True, True] Translation: X:60.38, Y:-110.21, Z:0.22 [[-7.19611362e-01 6.94371711e-01 2.72308042e-03 6.03755088e+01] [ 6.94367098e-01 7.19616511e-01 -2.53187168e-03 -1.10208354e+02] [-3.71763371e-03 6.88538190e-05 -9.99993087e-01 2.23516549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.091858064 meters 0.01691222288687425 Centerline is valid? [True, True] Translation: X:60.40, Y:-110.19, Z:0.22 [[-7.67025141e-01 6.41611563e-01 2.65234168e-03 6.03984401e+01] [ 6.41608006e-01 7.67029724e-01 -2.13730817e-03 -1.10189662e+02] [-3.40574654e-03 6.23945568e-05 -9.99994198e-01 2.23511763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121858064 meters 0.016967775590954436 Centerline is valid? [True, True] Translation: X:60.42, Y:-110.17, Z:0.22 [[-8.10390927e-01 5.85884221e-01 2.49496115e-03 6.04201464e+01] [ 5.85881657e-01 8.10394766e-01 -1.73423563e-03 -1.10169934e+02] [-3.03796475e-03 5.63431548e-05 -9.99995384e-01 2.23540523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.151858064 meters 0.017033195647528504 Centerline is valid? [True, True] Translation: X:60.43, Y:-110.15, Z:0.22 [[-8.49845820e-01 5.27025118e-01 2.57058641e-03 6.04336758e+01] [ 5.27022903e-01 8.49849706e-01 -1.52898716e-03 -1.10145647e+02] [-2.99042674e-03 5.53545643e-05 -9.99995527e-01 2.23509297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18185806399998 meters 0.0174490938871041 Centerline is valid? [True, True] Translation: X:60.83, Y:-109.50, Z:-0.73 [[-8.33307794e-01 -5.52802432e-01 2.75532406e-03 6.08348771e+01] [ 5.52799247e-01 -8.33312348e-01 -1.87694497e-03 -1.09495471e+02] [ 3.33362531e-03 -4.09318051e-05 9.99994443e-01 -7.33537571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21185806399998 meters 0.01708557591066065 Centerline is valid? [True, True] Translation: X:60.40, Y:-110.12, Z:0.22 [[-8.52315900e-01 5.23019621e-01 2.84297678e-03 6.03976664e+01] [ 5.23016934e-01 8.52320640e-01 -1.67727396e-03 -1.10124934e+02] [-3.30037498e-03 5.73577362e-05 -9.99994552e-01 2.23660217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24185806399998 meters 0.017240913304578807 Centerline is valid? [True, True] Translation: X:60.41, Y:-110.10, Z:0.22 [[-8.87488722e-01 4.60819564e-01 3.01627359e-03 6.04139709e+01] [ 4.60817118e-01 8.87493846e-01 -1.50251241e-03 -1.10100991e+02] [-3.36931136e-03 5.64876792e-05 -9.99994322e-01 2.23865991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27185806399999 meters 0.016153605665856774 Centerline is valid? [True, True] Translation: X:60.43, Y:-110.07, Z:0.22 [[-9.18406821e-01 3.95628951e-01 2.57767470e-03 6.04293821e+01] [ 3.95627525e-01 9.18410437e-01 -1.06322071e-03 -1.10073238e+02] [-2.78800424e-03 4.33299099e-05 -9.99996113e-01 2.23803348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.301858064 meters 0.016590767374458918 Centerline is valid? [True, True] Translation: X:60.44, Y:-110.05, Z:0.22 [[-9.44553487e-01 3.28344372e-01 2.94675324e-03 6.04439263e+01] [ 3.28342920e-01 9.44558082e-01 -9.77612517e-04 -1.10048901e+02] [-3.10437316e-03 4.41382524e-05 -9.99995180e-01 2.24620318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.331858064 meters 0.015694705808201877 Centerline is valid? [True, True] Translation: X:60.45, Y:-110.02, Z:0.22 [[-9.66127834e-01 2.58045886e-01 3.05445911e-03 6.04486388e+01] [ 2.58044715e-01 9.66132661e-01 -7.77985622e-04 -1.10016923e+02] [-3.15176870e-03 3.65534687e-05 -9.99995033e-01 2.24617987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.361858064 meters 0.01553983615256696 Centerline is valid? [True, True] Translation: X:60.46, Y:-109.99, Z:0.22 [[-9.82259949e-01 1.87498776e-01 3.09850338e-03 6.04599303e+01] [ 1.87497946e-01 9.82264836e-01 -5.58820290e-04 -1.09989861e+02] [-3.14832903e-03 3.20562300e-05 -9.99995043e-01 2.24337315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.391858064 meters 0.015562911079234475 Centerline is valid? [True, True] Translation: X:60.46, Y:-109.96, Z:0.22 [[-9.93244187e-01 1.16009499e-01 2.78938629e-03 6.04567414e+01] [ 1.16009113e-01 9.93248104e-01 -3.00640286e-04 -1.09960946e+02] [-2.80542977e-03 2.49850120e-05 -9.99996064e-01 2.24327253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.421858064 meters 0.015451808590927261 Centerline is valid? [True, True] Translation: X:60.46, Y:-109.93, Z:0.22 [[-9.99018606e-01 4.42063589e-02 2.76097636e-03 6.04631523e+01] [ 4.42062508e-02 9.99022421e-01 -1.00198853e-04 -1.09932476e+02] [-2.76270671e-03 2.19518942e-05 -9.99996183e-01 2.23943626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.451858064 meters 0.015361034659841748 Centerline is valid? [True, True] Translation: X:60.46, Y:-109.90, Z:0.22 [[-9.99596638e-01 -2.83431281e-02 1.79687108e-03 6.04610042e+01] [-2.83430611e-02 9.99598253e-01 6.27490911e-05 -1.09902533e+02] [-1.79792770e-03 1.17949538e-05 -9.99998384e-01 2.23678298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.481858064 meters 0.01530244063066286 Centerline is valid? [True, True] Translation: X:60.45, Y:-109.87, Z:0.22 [[-9.95040837e-01 -9.94559343e-02 1.50027686e-03 6.04517402e+01] [-9.94558063e-02 9.95041967e-01 1.59873535e-04 -1.09874302e+02] [-1.50873881e-03 9.86945088e-06 -9.99998862e-01 2.23481162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.511858064 meters 0.015306564406599284 Centerline is valid? [True, True] Translation: X:60.44, Y:-109.85, Z:0.22 [[-9.85396146e-01 -1.70272649e-01 1.28892660e-03 6.04384737e+01] [-1.70272492e-01 9.85396988e-01 2.31433753e-04 -1.09847876e+02] [-1.30951123e-03 8.58518373e-06 -9.99999143e-01 2.23230655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.541858064 meters 0.015324384407125864 Centerline is valid? [True, True] Translation: X:60.29, Y:-109.13, Z:-0.73 [[-9.93055164e-01 1.17645511e-01 9.87712511e-04 6.02910618e+01] [-1.17645480e-01 -9.93055655e-01 8.95568039e-05 -1.09127122e+02] [ 9.91389450e-04 -2.72650662e-05 9.99999508e-01 -7.33462997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.571858064 meters 0.015517424543938245 Centerline is valid? [True, True] Translation: X:60.30, Y:-109.87, Z:0.22 [[-9.84705247e-01 -1.74224447e-01 1.19071317e-03 6.03042241e+01] [-1.74224306e-01 9.84705967e-01 2.22397944e-04 -1.09871994e+02] [-1.21124952e-03 1.15452464e-05 -9.99999266e-01 2.23647027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601858064 meters 0.015716497921819877 Centerline is valid? [True, True] Translation: X:60.27, Y:-109.85, Z:0.22 [[-9.69905741e-01 -2.43477117e-01 1.32202199e-03 6.02739688e+01] [-2.43476871e-01 9.69906641e-01 3.46909665e-04 -1.09851440e+02] [-1.36670248e-03 1.45878977e-05 -9.99999066e-01 2.24541225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.631858064 meters 0.015914561949217365 Centerline is valid? [True, True] Translation: X:60.22, Y:-109.84, Z:0.23 [[-9.50319228e-01 -3.11267272e-01 2.45980178e-03 6.02249041e+01] [-3.11266138e-01 9.50322411e-01 8.40886166e-04 -1.09837633e+02] [-2.59934510e-03 3.34572915e-05 -9.99996621e-01 2.25475814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661858064 meters 0.016136043441298237 Centerline is valid? [True, True] Translation: X:60.17, Y:-109.83, Z:0.23 [[-9.25187755e-01 -3.79495723e-01 3.25808480e-03 6.01664739e+01] [-3.79493180e-01 9.25193490e-01 1.39014370e-03 -1.09830497e+02] [-3.54191244e-03 4.97229722e-05 -9.99993726e-01 2.25949743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.691858064 meters 0.016191806226760534 Centerline is valid? [True, True] Translation: X:60.10, Y:-109.83, Z:0.23 [[-8.94848497e-01 -4.46358457e-01 3.20856568e-03 6.00959307e+01] [-4.46355369e-01 8.94854248e-01 1.66120266e-03 -1.09833037e+02] [-3.61269049e-03 5.43641804e-05 -9.99993473e-01 2.26363060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721858064 meters 0.016962723962597934 Centerline is valid? [True, True] Translation: X:60.01, Y:-109.85, Z:0.23 [[-8.60147509e-01 -5.10033040e-01 3.54408359e-03 6.00125023e+01] [-5.10028364e-01 8.60154807e-01 2.18517783e-03 -1.09850270e+02] [-4.16297343e-03 7.19921054e-05 -9.99991332e-01 2.26929550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.751858064 meters 0.01761769776092297 Centerline is valid? [True, True] Translation: X:59.93, Y:-109.87, Z:0.23 [[-8.19976118e-01 -5.72387388e-01 3.44157449e-03 5.99297443e+01] [-5.72381942e-01 8.19983336e-01 2.49811467e-03 -1.09873875e+02] [-4.25192307e-03 7.84992731e-05 -9.99990957e-01 2.27069666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781858064 meters 0.017217568510939408 Centerline is valid? [True, True] Translation: X:59.84, Y:-109.91, Z:0.23 [[-7.75305377e-01 -6.31579356e-01 3.01492547e-03 5.98350811e+01] [-6.31574185e-01 7.75311235e-01 2.55699207e-03 -1.09911752e+02] [-3.95244899e-03 7.83006024e-05 -9.99992186e-01 2.26397594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.811858064 meters 0.017515951125643175 Centerline is valid? [True, True] Translation: X:59.75, Y:-109.95, Z:0.23 [[-7.26651058e-01 -6.87001962e-01 2.55813660e-03 5.97539482e+01] [-6.86997315e-01 7.26655557e-01 2.52799756e-03 -1.09949191e+02] [-3.59562346e-03 7.95391297e-05 -9.99993533e-01 2.26012995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841858064 meters 0.017452452785115185 Centerline is valid? [True, True] Translation: X:59.66, Y:-110.00, Z:0.23 [[-6.73253485e-01 -7.39408799e-01 2.09121038e-03 5.96637482e+01] [-7.39404883e-01 6.73256728e-01 2.40761457e-03 -1.10004081e+02] [-3.18813286e-03 7.46837344e-05 -9.99994915e-01 2.25702957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.871858064 meters 0.017969994929010857 Centerline is valid? [True, True] Translation: X:59.58, Y:-110.07, Z:0.23 [[-6.15464645e-01 -7.88162094e-01 1.94542341e-03 5.95758311e+01] [-7.88157744e-01 6.15467715e-01 2.61954374e-03 -1.10070396e+02] [-3.26197038e-03 7.89360338e-05 -9.99994677e-01 2.26039887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901858064 meters 0.018573551408848497 Centerline is valid? [True, True] Translation: X:59.49, Y:-110.14, Z:0.23 [[-5.53772191e-01 -8.32667075e-01 1.37959982e-03 5.94940909e+01] [-8.32664196e-01 5.53773906e-01 2.19026353e-03 -1.10142563e+02] [-2.58774671e-03 6.41636567e-05 -9.99996650e-01 2.25694443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93185806399998 meters 0.018064283579732738 Centerline is valid? [True, True] Translation: X:59.41, Y:-110.23, Z:0.23 [[-4.87872028e-01 -8.72914631e-01 9.65486725e-04 5.94107675e+01] [-8.72912712e-01 4.87872980e-01 1.83070654e-03 -1.10227248e+02] [-2.06908541e-03 5.03648746e-05 -9.99997858e-01 2.25273437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96185806399998 meters 0.018242790196985714 Centerline is valid? [True, True] Translation: X:59.34, Y:-110.32, Z:0.22 [[-4.18484549e-01 -9.08223398e-01 9.70831994e-04 5.93373621e+01] [-9.08220629e-01 4.18485671e-01 2.24307372e-03 -1.10315244e+02] [-2.44349131e-03 5.69620474e-05 -9.99997013e-01 2.24954086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99185806399998 meters 0.017440940884433896 Centerline is valid? [True, True] Translation: X:59.27, Y:-110.41, Z:0.22 [[-3.46132790e-01 -9.38185100e-01 9.00057440e-04 5.92662729e+01] [-9.38181457e-01 3.46133955e-01 2.61500192e-03 -1.10412954e+02] [-2.76489627e-03 6.07207087e-05 -9.99996176e-01 2.24979854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02185806399999 meters 0.017003190939696405 Centerline is valid? [True, True] Translation: X:59.20, Y:-110.52, Z:0.23 [[-2.68965325e-01 -9.63149532e-01 7.95146615e-04 5.92023721e+01] [-9.63144683e-01 2.68966495e-01 3.05695389e-03 -1.10519772e+02] [-3.15817151e-03 5.63733635e-05 -9.99995011e-01 2.25297616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.051858064 meters 0.01664431042197262 Centerline is valid? [True, True] Translation: X:59.15, Y:-110.63, Z:0.23 [[-1.91719270e-01 -9.81449654e-01 5.46814153e-04 5.91475047e+01] [-9.81444913e-01 1.91720044e-01 3.05092458e-03 -1.10628871e+02] [-3.09916411e-03 4.82530660e-05 -9.99995196e-01 2.25279640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.081858064 meters 0.016309473733030374 Centerline is valid? [True, True] Translation: X:59.10, Y:-110.75, Z:0.23 [[-1.13117574e-01 -9.93581558e-01 3.18323635e-04 5.91009071e+01] [-9.93576519e-01 1.13118014e-01 3.16482919e-03 -1.10747822e+02] [-3.18052406e-03 4.17189094e-05 -9.99994941e-01 2.25332366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.111858064 meters 0.015512063131415097 Centerline is valid? [True, True] Translation: X:59.06, Y:-110.86, Z:0.23 [[-3.18251039e-02 -9.99493449e-01 8.93899157e-05 5.90612304e+01] [-9.99485960e-01 3.18252115e-02 3.86927310e-03 -1.10864756e+02] [-3.87015797e-03 3.37960528e-05 -9.99992510e-01 2.25200291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.141858064 meters 0.015355708656898824 Centerline is valid? [True, True] Translation: X:59.03, Y:-110.98, Z:0.23 [[ 4.71305780e-02 -9.98888712e-01 -2.21496912e-04 5.90337101e+01] [-9.98880327e-01 -4.71310899e-02 4.09289672e-03 -1.10982690e+02] [-4.09878772e-03 2.83483204e-05 -9.99991600e-01 2.25394307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.171858064 meters 0.015242214743592226 Centerline is valid? [True, True] Translation: X:59.02, Y:-111.12, Z:0.23 [[ 1.25364634e-01 -9.92110558e-01 -5.90392433e-04 5.90175391e+01] [-9.92100470e-01 -1.25366022e-01 4.47422307e-03 -1.11115373e+02] [-4.51293910e-03 2.48192703e-05 -9.99989816e-01 2.25731831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.201858064 meters 0.015227370093294152 Centerline is valid? [True, True] Translation: X:59.01, Y:-111.22, Z:0.23 [[ 2.02630598e-01 -9.79254685e-01 -1.04983710e-03 5.90069586e+01] [-9.79242099e-01 -2.02633317e-01 4.96498186e-03 -1.11222284e+02] [-5.07471372e-03 2.19874429e-05 -9.99987123e-01 2.25723221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.231858064 meters 0.015178767845570306 Centerline is valid? [True, True] Translation: X:59.01, Y:-111.35, Z:0.23 [[ 2.78088638e-01 -9.60554253e-01 -1.49546068e-03 5.90108800e+01] [-9.60540739e-01 -2.78092659e-01 5.09522301e-03 -1.11349258e+02] [-5.31011477e-03 1.95272807e-05 -9.99985901e-01 2.26012573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.261858064 meters 0.015155639065956288 Centerline is valid? [True, True] Translation: X:59.02, Y:-111.47, Z:0.23 [[ 3.50837330e-01 -9.36434755e-01 -1.76564262e-03 5.90210880e+01] [-9.36423186e-01 -3.50841773e-01 4.65482568e-03 -1.11465536e+02] [-4.97840173e-03 2.03020743e-05 -9.99987607e-01 2.25227075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.291858064 meters 0.015207457808241719 Centerline is valid? [True, True] Translation: X:59.04, Y:-111.58, Z:0.22 [[ 4.21748584e-01 -9.06710954e-01 -1.83774132e-03 5.90407355e+01] [-9.06702532e-01 -4.21752587e-01 3.90817886e-03 -1.11581230e+02] [-4.31866075e-03 1.80158111e-05 -9.99990674e-01 2.24811864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321858064 meters 0.01531593032943595 Centerline is valid? [True, True] Translation: X:59.08, Y:-111.71, Z:0.22 [[ 4.89901384e-01 -8.71775037e-01 -2.21785939e-03 5.90754972e+01] [-8.71766289e-01 -4.89906404e-01 3.90543200e-03 -1.11707105e+02] [-4.49120164e-03 2.01785060e-05 -9.99989914e-01 2.24773845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.351858064 meters 0.015289874316841486 Centerline is valid? [True, True] Translation: X:59.10, Y:-111.80, Z:0.23 [[ 5.54894917e-01 -8.31916914e-01 -2.42464596e-03 5.91026643e+01] [-8.31909147e-01 -5.54900214e-01 3.59493232e-03 -1.11802974e+02] [-4.33612156e-03 2.22754864e-05 -9.99990599e-01 2.25022895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381858064 meters 0.015319360372146085 Centerline is valid? [True, True] Translation: X:59.15, Y:-111.91, Z:0.23 [[ 6.16730604e-01 -7.87169447e-01 -2.76122197e-03 5.91455862e+01] [-7.87161732e-01 -6.16736784e-01 3.48507710e-03 -1.11907897e+02] [-4.44629337e-03 2.41745644e-05 -9.99990115e-01 2.25038587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.411858064 meters 0.015393446455984042 Centerline is valid? [True, True] Translation: X:59.20, Y:-112.01, Z:0.23 [[ 6.75126908e-01 -7.37693217e-01 -3.51795206e-03 5.91979977e+01] [-7.37683420e-01 -6.75136073e-01 3.80203765e-03 -1.12009355e+02] [-5.17983372e-03 2.82769906e-05 -9.99986584e-01 2.25095858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441858064 meters 0.015383602753552026 Centerline is valid? [True, True] Translation: X:59.25, Y:-112.10, Z:0.23 [[ 7.29282675e-01 -6.84200377e-01 -4.07725997e-03 5.92495031e+01] [-6.84189928e-01 -7.29294072e-01 3.78148982e-03 -1.12099733e+02] [-5.56081829e-03 3.18451969e-05 -9.99984538e-01 2.25103322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.471858064 meters 0.015467476188346905 Centerline is valid? [True, True] Translation: X:59.25, Y:-112.10, Z:0.23 [[ 7.80459908e-01 -6.25185199e-01 -5.07923876e-03 5.92494194e+01] [-6.25172274e-01 -7.80476435e-01 4.02014427e-03 -1.12102513e+02] [-6.47756086e-03 3.78378202e-05 -9.99979020e-01 2.25479446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501858064 meters 0.015545565531668732 Centerline is valid? [True, True] Translation: X:59.25, Y:-112.10, Z:0.23 [[ 8.26773104e-01 -5.62510262e-01 -5.33284759e-03 5.92502312e+01] [-5.62498866e-01 -8.26790302e-01 3.58077409e-03 -1.12104817e+02] [-6.42336884e-03 3.92330116e-05 -9.99979369e-01 2.26106417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.531858064 meters 0.01585268025114394 Centerline is valid? [True, True] Translation: X:59.25, Y:-112.10, Z:0.23 [[ 8.67467824e-01 -4.97448520e-01 -6.67421844e-03 5.92514476e+01] [-4.97434311e-01 -8.67493497e-01 3.76015970e-03 -1.12104686e+02] [-7.66032697e-03 5.81676979e-05 -9.99970658e-01 2.27465683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561858064 meters 0.01605960195403527 Centerline is valid? [True, True] Translation: X:59.25, Y:-112.10, Z:0.23 [[ 9.03220679e-01 -4.29116128e-01 -7.19398971e-03 5.92534001e+01] [-4.29103127e-01 -9.03249325e-01 3.34106985e-03 -1.12103806e+02] [-7.93167331e-03 6.92401045e-05 -9.99968541e-01 2.27746143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.591858064 meters 0.01670406683139852 Centerline is valid? [True, True] Translation: X:59.26, Y:-112.10, Z:0.23 [[ 9.32994873e-01 -3.59797681e-01 -8.13609122e-03 5.92556756e+01] [-3.59784931e-01 -9.33030342e-01 3.03055407e-03 -1.12099172e+02] [-8.68160630e-03 9.97516183e-05 -9.99962309e-01 2.28023889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621858064 meters 0.017100103454426002 Centerline is valid? [True, True] Translation: X:59.26, Y:-112.10, Z:0.23 [[ 9.57834560e-01 -2.87189110e-01 -8.68160624e-03 5.92574860e+01] [-2.87178421e-01 -9.57873896e-01 2.48049777e-03 -1.12095268e+02] [-9.02825594e-03 1.17263489e-04 -9.99959238e-01 2.28179801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.651858064 meters 0.017537882734980692 Centerline is valid? [True, True] Translation: X:59.26, Y:-112.09, Z:0.23 [[ 9.77076240e-01 -2.12707083e-01 -8.81578366e-03 5.92593754e+01] [-2.12699610e-01 -9.77116001e-01 1.78761115e-03 -1.12090521e+02] [-8.99428083e-03 1.28481364e-04 -9.99959542e-01 2.28347538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68185806399998 meters 0.01790997135480216 Centerline is valid? [True, True] Translation: X:59.26, Y:-112.08, Z:0.23 [[ 9.90571770e-01 -1.36709543e-01 -8.83566513e-03 5.92569586e+01] [-1.36705339e-01 -9.90611166e-01 1.08090810e-03 -1.12084889e+02] [-8.90047899e-03 1.37165543e-04 -9.99960381e-01 2.27931646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71185806399998 meters 0.01790997135480216 Centerline is valid? [True, True] Translation: X:59.25, Y:-112.08, Z:0.23 [[ 9.98231703e-01 -5.87739566e-02 -8.89316649e-03 5.92536361e+01] [-5.87728478e-02 -9.98271307e-01 3.86194851e-04 -1.12081478e+02] [-8.90049114e-03 1.37164777e-04 -9.99960380e-01 2.27931755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74185806399998 meters 0.018448290129262645 Centerline is valid? [True, True] Translation: X:59.25, Y:-112.08, Z:0.23 [[ 9.99802848e-01 1.80891652e-02 -8.18820503e-03 5.92490167e+01] [ 1.80874265e-02 -9.99836368e-01 -2.86349804e-04 -1.12075045e+02] [-8.19204501e-03 1.38189793e-04 -9.99966435e-01 2.26856511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77185806399999 meters 0.018633533224468164 Centerline is valid? [True, True] Translation: X:59.24, Y:-112.07, Z:0.23 [[ 9.95369670e-01 9.58333238e-02 -7.42926497e-03 5.92446225e+01] [ 9.58296818e-02 -9.95397387e-01 -8.45480842e-04 -1.12069588e+02] [-7.47609617e-03 1.29621889e-04 -9.99972045e-01 2.26757342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.801858064 meters 0.016461796961257588 Centerline is valid? [True, True] Translation: X:59.24, Y:-112.08, Z:0.22 [[ 9.84788170e-01 1.73592152e-01 -7.61735191e-03 5.92429220e+01] [ 1.73585911e-01 -9.84817621e-01 -1.47805136e-03 -1.12082528e+02] [-7.75828051e-03 1.33302528e-04 -9.99969895e-01 2.24509703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.831858064 meters 0.016552176816101615 Centerline is valid? [True, True] Translation: X:59.24, Y:-112.09, Z:0.22 [[ 9.68207354e-01 2.50043282e-01 -7.27168166e-03 5.92409267e+01] [ 2.50035216e-01 -9.68234651e-01 -2.01253313e-03 -1.12089126e+02] [-7.54391455e-03 1.30372878e-04 -9.99971536e-01 2.23788668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.861858064 meters 0.016134328337405135 Centerline is valid? [True, True] Translation: X:59.24, Y:-112.10, Z:0.22 [[ 9.45621731e-01 3.25199858e-01 -6.67790767e-03 5.92409506e+01] [ 3.25190838e-01 -9.45645302e-01 -2.42522037e-03 -1.12101291e+02] [-7.10361334e-03 1.21746690e-04 -9.99974762e-01 2.23550540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.891858064 meters 0.01700984486312841 Centerline is valid? [True, True] Translation: X:59.24, Y:-112.11, Z:0.22 [[ 9.17189358e-01 3.98411848e-01 -5.62854657e-03 5.92397575e+01] [ 3.98403642e-01 -9.17206622e-01 -2.55934529e-03 -1.12109903e+02] [-6.18221367e-03 1.04970818e-04 -9.99980884e-01 2.24420938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.921858064 meters 0.018365545673281646 Centerline is valid? [True, True] Translation: X:59.23, Y:-112.11, Z:0.22 [[ 8.82630320e-01 4.70042319e-01 -4.89246871e-03 5.92342244e+01] [ 4.70034541e-01 -8.82643875e-01 -2.70558130e-03 -1.12110185e+02] [-5.59004525e-03 8.83988027e-05 -9.99984372e-01 2.24968232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.951858064 meters 0.01575299108132892 Centerline is valid? [True, True] Translation: X:59.24, Y:-112.12, Z:0.22 [[ 8.42741198e-01 5.38298512e-01 -4.68884221e-03 5.92380138e+01] [ 5.38289616e-01 -8.42754237e-01 -3.09587377e-03 -1.12124570e+02] [-5.61804588e-03 8.50653009e-05 -9.99984215e-01 2.23050646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.981858064 meters 0.015583893430069145 Centerline is valid? [True, True] Translation: X:59.24, Y:-112.13, Z:0.22 [[ 7.97328257e-01 6.03529589e-01 -4.43685497e-03 5.92401325e+01] [ 6.03519692e-01 -7.97340598e-01 -3.45726917e-03 -1.12134480e+02] [-5.62424884e-03 7.88490502e-05 -9.99984181e-01 2.23080010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.011858064 meters 0.015462803599170797 Centerline is valid? [True, True] Translation: X:59.24, Y:-112.14, Z:0.22 [[ 7.46912044e-01 6.64909509e-01 -4.21232485e-03 5.92416772e+01] [ 6.64898373e-01 -7.46923918e-01 -3.84895077e-03 -1.12143498e+02] [-5.70549015e-03 7.40597438e-05 -9.99983721e-01 2.23275646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.041858064 meters 0.014872438013974051 Centerline is valid? [True, True] Translation: X:59.25, Y:-112.15, Z:0.22 [[ 6.90743279e-01 7.23092368e-01 -3.33923781e-03 5.92457878e+01] [ 7.23083559e-01 -6.90751348e-01 -3.56957421e-03 -1.12153295e+02] [-4.88771489e-03 5.11114283e-05 -9.99988054e-01 2.22927384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.071858064 meters 0.01472291870892436 Centerline is valid? [True, True] Translation: X:59.25, Y:-112.16, Z:0.22 [[ 6.30812823e-01 7.75929999e-01 -2.79633848e-03 5.92504732e+01] [ 7.75922091e-01 -6.30819020e-01 -3.50319016e-03 -1.12163126e+02] [-4.48221383e-03 4.01164749e-05 -9.99989954e-01 2.22874669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101858064 meters 0.01579570151135896 Centerline is valid? [True, True] Translation: X:59.25, Y:-112.17, Z:0.22 [[ 5.67332207e-01 8.23485046e-01 -2.55846375e-03 5.92543521e+01] [ 8.23476381e-01 -5.67337975e-01 -3.77775409e-03 -1.12173024e+02] [-4.56243764e-03 3.64070977e-05 -9.99989591e-01 2.23525456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.131858064 meters 0.014508280463981121 Centerline is valid? [True, True] Translation: X:59.26, Y:-112.18, Z:0.22 [[ 4.99858052e-01 8.66105263e-01 -1.89790501e-03 5.92596678e+01] [ 8.66098827e-01 -4.99861654e-01 -3.33888875e-03 -1.12181704e+02] [-3.84051905e-03 2.51971273e-05 -9.99992625e-01 2.22895500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161858064 meters 0.014317577897977206 Centerline is valid? [True, True] Translation: X:59.27, Y:-112.19, Z:0.22 [[ 4.28936794e-01 9.03333362e-01 -1.43631225e-03 5.92662930e+01] [ 9.03328170e-01 -4.28939198e-01 -3.06302907e-03 -1.12190082e+02] [-3.38302698e-03 1.63845519e-05 -9.99994277e-01 2.22190600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.191858064 meters 0.014299343523841867 Centerline is valid? [True, True] Translation: X:59.27, Y:-112.20, Z:0.22 [[ 3.56420661e-01 9.34325075e-01 -9.83284604e-04 5.92725505e+01] [ 9.34321424e-01 -3.56422017e-01 -2.61196817e-03 -1.12197541e+02] [-2.79089163e-03 1.22555486e-05 -9.99996105e-01 2.22105837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221858064 meters 0.014331429347323918 Centerline is valid? [True, True] Translation: X:59.28, Y:-112.21, Z:0.22 [[ 2.81563426e-01 9.59542397e-01 -6.52523491e-04 5.92780338e+01] [ 9.59539746e-01 -2.81564182e-01 -2.25528133e-03 -1.12205216e+02] [-2.34776530e-03 8.88251414e-06 -9.99997244e-01 2.22214659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.251858064 meters 0.014399922959712578 Centerline is valid? [True, True] Translation: X:59.28, Y:-112.21, Z:0.22 [[ 2.05725073e-01 9.78609733e-01 -4.29077496e-04 5.92823286e+01] [ 9.78607519e-01 -2.05725520e-01 -2.08182833e-03 -1.12212761e+02] [-2.12556966e-03 8.38582074e-06 -9.99997741e-01 2.22208987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281858064 meters 0.014265192158211799 Centerline is valid? [True, True] Translation: X:59.29, Y:-112.22, Z:0.22 [[ 1.28606100e-01 9.91695730e-01 -2.22293637e-04 5.92872827e+01] [ 9.91694148e-01 -1.28606292e-01 -1.77167819e-03 -1.12218912e+02] [-1.78555406e-03 7.40132376e-06 -9.99998406e-01 2.22046216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.311858064 meters 0.01430404649387076 Centerline is valid? [True, True] Translation: X:59.29, Y:-112.22, Z:0.22 [[ 5.09452328e-02 9.98701446e-01 -6.98496590e-05 5.92923004e+01] [ 9.98700311e-01 -5.09452802e-02 -1.50596011e-03 -1.12224507e+02] [-1.50756305e-03 6.96261205e-06 -9.99998864e-01 2.21846746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341858064 meters 0.014391777764818342 Centerline is valid? [True, True] Translation: X:59.30, Y:-112.23, Z:0.22 [[-2.68344311e-02 9.99639891e-01 4.47788527e-05 5.92973722e+01] [ 9.99638919e-01 2.68344674e-02 -1.39384078e-03 -1.12230535e+02] [-1.39454046e-03 7.35975959e-06 -9.99999028e-01 2.22144438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.371858064 meters 0.014368630908236032 Centerline is valid? [True, True] Translation: X:59.30, Y:-112.24, Z:0.22 [[-1.05018832e-01 9.94470220e-01 1.62617574e-04 5.93045852e+01] [ 9.94469141e-01 1.05018957e-01 -1.46526471e-03 -1.12235864e+02] [-1.47424005e-03 7.83777017e-06 -9.99998913e-01 2.22474252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401858064 meters 0.01449755681158678 Centerline is valid? [True, True] Translation: X:59.31, Y:-112.24, Z:0.22 [[-1.82849261e-01 9.83140907e-01 3.23321411e-04 5.93145256e+01] [ 9.83139453e-01 1.82849546e-01 -1.69088483e-03 -1.12239756e+02] [-1.72149722e-03 8.69299349e-06 -9.99998518e-01 2.23634181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43185806399998 meters 0.01455107468549327 Centerline is valid? [True, True] Translation: X:59.32, Y:-112.24, Z:0.22 [[-2.59076579e-01 9.65856633e-01 5.39010368e-04 5.93228275e+01] [ 9.65854628e-01 2.59077139e-01 -1.96821180e-03 -1.12244681e+02] [-2.04065569e-03 1.06880792e-05 -9.99997918e-01 2.24031881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46185806399998 meters 0.0146045049016598 Centerline is valid? [True, True] Translation: X:59.33, Y:-112.25, Z:0.22 [[-3.33481969e-01 9.42756081e-01 8.65140293e-04 5.93325170e+01] [ 9.42753020e-01 3.33483090e-01 -2.40227212e-03 -1.12247102e+02] [-2.55326631e-03 1.44991880e-05 -9.99996740e-01 2.24345106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49185806399998 meters 0.014982677947118035 Centerline is valid? [True, True] Translation: X:59.34, Y:-112.25, Z:0.22 [[-4.04502655e-01 9.14536290e-01 9.87932383e-04 5.93411531e+01] [ 9.14533673e-01 4.04503861e-01 -2.18790789e-03 -1.12250903e+02] [-2.40054363e-03 1.84828818e-05 -9.99997119e-01 2.24553261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52185806399999 meters 0.014947493874215569 Centerline is valid? [True, True] Translation: X:59.35, Y:-112.25, Z:0.22 [[-4.74040441e-01 8.80502579e-01 9.32272934e-04 5.93506277e+01] [ 8.80500945e-01 4.74041358e-01 -1.69615119e-03 -1.12251989e+02] [-1.93540142e-03 1.68229419e-05 -9.99998127e-01 2.23934691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.551858064 meters 0.015060776721293127 Centerline is valid? [True, True] Translation: X:59.36, Y:-112.25, Z:0.22 [[-5.40531872e-01 8.41323026e-01 9.27969653e-04 5.93599298e+01] [ 8.41321839e-01 5.40532668e-01 -1.41323206e-03 -1.12253169e+02] [-1.69058258e-03 1.68241662e-05 -9.99998571e-01 2.23373026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.581858064 meters 0.01518207195526404 Centerline is valid? [True, True] Translation: X:59.37, Y:-112.25, Z:0.22 [[-6.03916543e-01 7.97047323e-01 6.12062582e-04 5.93709757e+01] [ 7.97046932e-01 6.03916853e-01 -7.89372529e-04 -1.12251746e+02] [-9.98802169e-04 1.11274736e-05 -9.99999501e-01 2.23193191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.611858064 meters 0.015616518422264159 Centerline is valid? [True, True] Translation: X:59.38, Y:-112.25, Z:0.22 [[-6.62405884e-01 7.49145117e-01 1.96153921e-04 5.93810122e+01] [ 7.49145086e-01 6.62405913e-01 -2.15410426e-04 -1.12251405e+02] [-2.91307186e-04 4.25861253e-06 -9.99999958e-01 2.23587693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.641858064 meters 0.01593536544964096 Centerline is valid? [True, True] Translation: X:59.39, Y:-112.25, Z:0.22 [[-7.17934329e-01 6.96110817e-01 1.70763530e-04 5.93888231e+01] [ 6.96110799e-01 7.17934349e-01 -1.60207008e-04 -1.12250764e+02] [-2.34118835e-04 3.85222696e-06 -9.99999973e-01 2.23578116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.671858064 meters 0.016231089726909505 Centerline is valid? [True, True] Translation: X:59.41, Y:-112.23, Z:0.22 [[-7.64257313e-01 6.44911435e-01 -3.39114299e-05 5.94115994e+01] [ 6.44911434e-01 7.64257313e-01 2.79712703e-05 -1.12234160e+02] [ 4.39560503e-05 -4.92621000e-07 -9.99999999e-01 2.23751182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.701858064 meters 0.016915932916532855 Centerline is valid? [True, True] Translation: X:59.42, Y:-112.21, Z:0.22 [[-8.06570757e-01 5.91137527e-01 -1.92428177e-04 5.94225010e+01] [ 5.91137512e-01 8.06570780e-01 1.35693678e-04 -1.12208486e+02] [ 2.35420570e-04 -4.30496145e-06 -9.99999972e-01 2.24120365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.731858064 meters 0.017311051101199775 Centerline is valid? [True, True] Translation: X:59.44, Y:-112.19, Z:0.22 [[-8.45942527e-01 5.33274073e-01 -5.97705593e-05 5.94388928e+01] [ 5.33274071e-01 8.45942530e-01 3.63070811e-05 -1.12186288e+02] [ 6.99240830e-05 -1.16038558e-06 -9.99999998e-01 2.24226768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.761858064 meters 0.016749441819935925 Centerline is valid? [True, True] Translation: X:59.47, Y:-112.17, Z:0.22 [[-8.81417867e-01 4.72337314e-01 7.81619907e-05 5.94730068e+01] [ 4.72337312e-01 8.81417870e-01 -3.95551749e-05 -1.12171385e+02] [-8.75767605e-05 2.05418673e-06 -9.99999996e-01 2.24557137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.791858064 meters 0.017905307916485067 Centerline is valid? [True, True] Translation: X:59.49, Y:-112.15, Z:0.22 [[-9.12435442e-01 4.09220643e-01 1.72983078e-04 5.94878559e+01] [ 4.09220636e-01 9.12435458e-01 -7.29687302e-05 -1.12149430e+02] [-1.87696204e-04 4.20898942e-06 -9.99999982e-01 2.24959073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821858064 meters 0.01689116819157168 Centerline is valid? [True, True] Translation: X:59.50, Y:-112.12, Z:0.23 [[-9.38902771e-01 3.44179705e-01 1.38502176e-03 5.95035948e+01] [ 3.44179381e-01 9.38903792e-01 -4.73461100e-04 -1.12120551e+02] [-1.46335788e-03 3.21619924e-05 -9.99998929e-01 2.25752948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.851858064 meters 0.0170254916205912 Centerline is valid? [True, True] Translation: X:59.51, Y:-112.09, Z:0.23 [[-9.60966176e-01 2.76662725e-01 1.32116995e-03 5.95132169e+01] [ 2.76662506e-01 9.60967084e-01 -3.49212373e-04 -1.12093126e+02] [-1.36621488e-03 2.99369097e-05 -9.99999066e-01 2.26169995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881858064 meters 0.01703243495982878 Centerline is valid? [True, True] Translation: X:59.52, Y:-112.06, Z:0.23 [[-9.78222770e-01 2.07552678e-01 1.44817437e-03 5.95202516e+01] [ 2.07552499e-01 9.78223842e-01 -2.74653932e-04 -1.12064893e+02] [-1.47364386e-03 3.18994796e-05 -9.99998914e-01 2.26165307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.911858064 meters 0.017449017202485085 Centerline is valid? [True, True] Translation: X:59.53, Y:-112.04, Z:0.23 [[-9.90578187e-01 1.36935886e-01 1.84912493e-03 5.95270559e+01] [ 1.36935721e-01 9.90579912e-01 -2.16211040e-04 -1.12037253e+02] [-1.86131306e-03 3.90373153e-05 -9.99998267e-01 2.26441898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941858064 meters 0.01692702617986625 Centerline is valid? [True, True] Translation: X:59.52, Y:-112.01, Z:0.23 [[-9.97924493e-01 6.43286571e-02 2.92053493e-03 5.95249714e+01] [ 6.43285445e-02 9.97928765e-01 -1.32569662e-04 -1.12005174e+02] [-2.92301385e-03 5.55792482e-05 -9.99995726e-01 2.26752795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.971858064 meters 0.01646492805670107 Centerline is valid? [True, True] Translation: X:59.52, Y:-111.97, Z:0.23 [[-9.99966846e-01 -7.55682517e-03 3.03337147e-03 5.95238699e+01] [-7.55662254e-03 9.99971445e-01 7.82565053e-05 -1.11974863e+02] [-3.03387623e-03 5.53318676e-05 -9.99995396e-01 2.26648798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001858064 meters 0.01656458633810801 Centerline is valid? [True, True] Translation: X:59.52, Y:-111.95, Z:0.23 [[-9.96802744e-01 -7.98436970e-02 3.04511552e-03 5.95210760e+01] [-7.98431633e-02 9.96807394e-01 2.96622543e-04 -1.11946048e+02] [-3.05907711e-03 5.25425096e-05 -9.99995320e-01 2.26678196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.031858064 meters 0.01606312621893786 Centerline is valid? [True, True] Translation: X:59.51, Y:-111.92, Z:0.23 [[-9.88303103e-01 -1.52478235e-01 2.71371131e-03 5.95061396e+01] [-1.52477541e-01 9.88306828e-01 4.61970610e-04 -1.11915742e+02] [-2.75241988e-03 4.27869590e-05 -9.99996211e-01 2.25813747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061858064 meters 0.01582179741108198 Centerline is valid? [True, True] Translation: X:59.36, Y:-111.17, Z:-0.74 [[-9.93295645e-01 1.15569627e-01 2.72448285e-03 5.93610829e+01] [-1.15569312e-01 -9.93299381e-01 2.73153550e-04 -1.11174102e+02] [ 2.73779538e-03 -4.35443776e-05 9.99996251e-01 -7.35349138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.091858064 meters 0.015578672700992313 Centerline is valid? [True, True] Translation: X:59.37, Y:-111.93, Z:0.23 [[-9.86971028e-01 -1.60868781e-01 3.07009578e-03 5.93679108e+01] [-1.60867866e-01 9.86975802e-01 5.44228259e-04 -1.11933998e+02] [-3.11765958e-03 4.32577671e-05 -9.99995139e-01 2.25507260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121858064 meters 0.015586490476910096 Centerline is valid? [True, True] Translation: X:59.34, Y:-111.91, Z:0.23 [[-9.72696385e-01 -2.32059368e-01 3.19253662e-03 5.93424864e+01] [-2.32057970e-01 9.72701623e-01 8.06529876e-04 -1.11909918e+02] [-3.29254837e-03 4.36551268e-05 -9.99994579e-01 2.25992882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.151858064 meters 0.01536023834550994 Centerline is valid? [True, True] Translation: X:59.29, Y:-111.89, Z:0.23 [[-9.53023756e-01 -3.02867217e-01 4.14359379e-03 5.92917032e+01] [-3.02864102e-01 9.53032762e-01 1.37468525e-03 -1.11894233e+02] [-4.36532773e-03 5.51618900e-05 -9.99990470e-01 2.26396621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18185806399998 meters 0.015009245958769516 Centerline is valid? [True, True] Translation: X:59.22, Y:-111.89, Z:0.23 [[-9.27558626e-01 -3.73635716e-01 5.59887938e-03 5.92236318e+01] [-3.73628473e-01 9.27575521e-01 2.32743578e-03 -1.11886766e+02] [-6.06299659e-03 6.69323804e-05 -9.99981618e-01 2.27454989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21185806399998 meters 0.014814835568764994 Centerline is valid? [True, True] Translation: X:59.16, Y:-111.88, Z:0.23 [[-8.96786369e-01 -4.42424998e-01 5.85918160e-03 5.91578692e+01] [-4.42415071e-01 8.96805506e-01 2.96454666e-03 -1.11884178e+02] [-6.56613587e-03 6.63747899e-05 -9.99978441e-01 2.27360529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24185806399998 meters 0.014673332262797857 Centerline is valid? [True, True] Translation: X:59.08, Y:-111.90, Z:0.23 [[-8.60787529e-01 -5.08932904e-01 5.66828550e-03 5.90765084e+01] [-5.08921406e-01 8.60806190e-01 3.42142374e-03 -1.11895312e+02] [-6.62057036e-03 6.04070589e-05 -9.99978082e-01 2.27566888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27185806399999 meters 0.014647132037691591 Centerline is valid? [True, True] Translation: X:58.99, Y:-111.92, Z:0.23 [[-8.19237151e-01 -5.73429759e-01 5.36668973e-03 5.89888105e+01] [-5.73417066e-01 8.19254728e-01 3.81568661e-03 -1.11916894e+02] [-6.58471419e-03 4.86007507e-05 -9.99978319e-01 2.27643028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.301858064 meters 0.014584672294767403 Centerline is valid? [True, True] Translation: X:58.90, Y:-111.95, Z:0.23 [[-7.73412829e-01 -6.33884366e-01 4.81737235e-03 5.89040403e+01] [-6.33871716e-01 7.73427831e-01 4.00489069e-03 -1.11946590e+02] [-6.26452745e-03 4.38377619e-05 -9.99980377e-01 2.26892826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.331858064 meters 0.014501612379845829 Centerline is valid? [True, True] Translation: X:58.82, Y:-111.99, Z:0.23 [[-7.22828261e-01 -6.91014227e-01 4.31785401e-03 5.88159657e+01] [-6.91001575e-01 7.22841156e-01 4.18156959e-03 -1.11987425e+02] [-6.01064666e-03 3.89127474e-05 -9.99981935e-01 2.26449528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.361858064 meters 0.014572619238070392 Centerline is valid? [True, True] Translation: X:58.73, Y:-112.04, Z:0.23 [[-6.68162802e-01 -7.44003481e-01 4.15813303e-03 5.87265696e+01] [-7.43988702e-01 6.68175739e-01 4.68962272e-03 -1.12039413e+02] [-6.26745924e-03 3.98274550e-05 -9.99980359e-01 2.26454312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.391858064 meters 0.014682514731900884 Centerline is valid? [True, True] Translation: X:58.64, Y:-112.11, Z:0.23 [[-6.10258269e-01 -7.92192973e-01 3.89075614e-03 5.86355293e+01] [-7.92176393e-01 6.10270671e-01 5.12551615e-03 -1.12105103e+02] [-6.43481224e-03 4.57234505e-05 -9.99979295e-01 2.27874936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.421858064 meters 0.014853884599921957 Centerline is valid? [True, True] Translation: X:58.56, Y:-112.17, Z:0.23 [[-5.48587834e-01 -8.36084089e-01 3.84518429e-03 5.85566101e+01] [-8.36062831e-01 5.48601307e-01 5.96235290e-03 -1.12169810e+02] [-7.09450152e-03 5.60585977e-05 -9.99974832e-01 2.28162991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.451858064 meters 0.015018385237153185 Centerline is valid? [True, True] Translation: X:58.48, Y:-112.25, Z:0.23 [[-4.83970910e-01 -8.75077010e-01 3.51923606e-03 5.84773869e+01] [-8.75052865e-01 4.83983700e-01 6.50090935e-03 -1.12249584e+02] [-7.39204921e-03 6.67334133e-05 -9.99972676e-01 2.28699740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.481858064 meters 0.015346515988462782 Centerline is valid? [True, True] Translation: X:58.40, Y:-112.34, Z:0.23 [[-4.16584480e-01 -9.09091432e-01 3.18422771e-03 5.84020069e+01] [-9.09063396e-01 4.16596642e-01 7.14005656e-03 -1.12340697e+02] [-7.81750282e-03 7.97718939e-05 -9.99969440e-01 2.29198382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.511858064 meters 0.016101078469022968 Centerline is valid? [True, True] Translation: X:58.34, Y:-112.43, Z:0.23 [[-3.48168723e-01 -9.37427766e-01 2.77928530e-03 5.83364411e+01] [-9.37395367e-01 3.48179799e-01 7.79444793e-03 -1.12431681e+02] [-8.27442290e-03 1.08493817e-04 -9.99965761e-01 2.30220580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.541858064 meters 0.01653711919308505 Centerline is valid? [True, True] Translation: X:58.28, Y:-112.53, Z:0.23 [[-2.76241238e-01 -9.61085725e-01 2.23776556e-03 5.82756055e+01] [-9.61050504e-01 2.76250274e-01 8.22889999e-03 -1.12533604e+02] [-8.52686166e-03 1.22555802e-04 -9.99963638e-01 2.31109791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.571858064 meters 0.015806652822867216 Centerline is valid? [True, True] Translation: X:58.22, Y:-112.64, Z:0.23 [[-2.02591216e-01 -9.79262015e-01 1.64493223e-03 5.82195423e+01] [-9.79224055e-01 2.02597848e-01 8.62334686e-03 -1.12642501e+02] [-8.77777575e-03 1.36257118e-04 -9.99961465e-01 2.29915519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601858064 meters 0.015806652822867216 Centerline is valid? [True, True] Translation: X:58.17, Y:-112.76, Z:0.23 [[-1.26541535e-01 -9.91960830e-01 9.75630714e-04 5.81740710e+01] [-9.91922472e-01 1.26545223e-01 8.72446216e-03 -1.12755187e+02] [-8.77778613e-03 1.36256805e-04 -9.99961465e-01 2.29916037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.631858064 meters 0.016512941402701018 Centerline is valid? [True, True] Translation: X:58.14, Y:-112.87, Z:0.23 [[-5.18000083e-02 -9.98657439e-01 2.80809829e-04 5.81381657e+01] [-9.98623699e-01 5.18005669e-02 8.21024832e-03 -1.12867560e+02] [-8.21377167e-03 1.44867581e-04 -9.99966256e-01 2.30433097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661858064 meters 0.01686520195976011 Centerline is valid? [True, True] Translation: X:58.11, Y:-112.99, Z:0.23 [[ 2.45684384e-02 -9.99698083e-01 -3.67119911e-04 5.81102983e+01] [-9.99661567e-01 -2.45706794e-02 8.54595151e-03 -1.12991533e+02] [-8.55239173e-03 1.57034981e-04 -9.99963415e-01 2.30788134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.691858064 meters 0.016854686217418053 Centerline is valid? [True, True] Translation: X:58.09, Y:-113.11, Z:0.23 [[ 1.00717573e-01 -9.94914513e-01 -1.04066409e-03 5.80902021e+01] [-9.94877180e-01 -1.00722811e-01 8.62040557e-03 -1.13106670e+02] [-8.68138522e-03 1.67106625e-04 -9.99962302e-01 2.31018872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721858064 meters 0.01675103204892729 Centerline is valid? [True, True] Translation: X:58.08, Y:-113.24, Z:0.23 [[ 1.76737643e-01 -9.84256691e-01 -1.60358175e-03 5.80814493e+01] [-9.84224002e-01 -1.76744845e-01 8.02338287e-03 -1.13239074e+02] [-8.18049308e-03 1.60249874e-04 -9.99966526e-01 2.31670331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.751858064 meters 0.017028478078496924 Centerline is valid? [True, True] Translation: X:58.08, Y:-113.35, Z:0.23 [[ 2.52020048e-01 -9.67719720e-01 -2.10684307e-03 5.80793467e+01] [-9.67690800e-01 -2.52028807e-01 7.48305003e-03 -1.13351213e+02] [-7.77248023e-03 1.52894030e-04 -9.99969782e-01 2.31973149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781858064 meters 0.01710823654995886 Centerline is valid? [True, True] Translation: X:58.09, Y:-113.47, Z:0.23 [[ 3.25905058e-01 -9.45398998e-01 -2.57444726e-03 5.80887010e+01] [-9.45372939e-01 -3.25915194e-01 7.02086215e-03 -1.13473845e+02] [-7.47656752e-03 1.45678279e-04 -9.99972039e-01 2.32089421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.811858064 meters 0.0168449228993659 Centerline is valid? [True, True] Translation: X:58.10, Y:-113.59, Z:0.23 [[ 3.98000209e-01 -9.17380719e-01 -2.90676747e-03 5.81032823e+01] [-9.17358642e-01 -3.98010801e-01 6.36582983e-03 -1.13589170e+02] [-6.99681440e-03 1.32946657e-04 -9.99975513e-01 2.31837943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841858064 meters 0.016991743285920426 Centerline is valid? [True, True] Translation: X:58.13, Y:-113.70, Z:0.23 [[ 4.67132486e-01 -8.84182106e-01 -3.04033254e-03 5.81296124e+01] [-8.84165026e-01 -4.67142364e-01 5.49709928e-03 -1.13704530e+02] [-6.28070495e-03 1.20282053e-04 -9.99980269e-01 2.31821089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.871858064 meters 0.017018525978852877 Centerline is valid? [True, True] Translation: X:58.16, Y:-113.82, Z:0.23 [[ 5.33720396e-01 -8.45654389e-01 -3.34552795e-03 5.81645996e+01] [-8.45639113e-01 -5.33730869e-01 5.08433813e-03 -1.13817393e+02] [-6.08520440e-03 1.15494329e-04 -9.99981478e-01 2.31521372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901858064 meters 0.017099876263454925 Centerline is valid? [True, True] Translation: X:58.21, Y:-113.93, Z:0.23 [[ 5.97103883e-01 -8.02155879e-01 -3.59154589e-03 5.82069046e+01] [-8.02142462e-01 -5.97114674e-01 4.64074726e-03 -1.13926144e+02] [-5.86716745e-03 1.09923258e-04 -9.99982782e-01 2.32017740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93185806399998 meters 0.01705057261611147 Centerline is valid? [True, True] Translation: X:58.25, Y:-114.02, Z:0.23 [[ 6.56933724e-01 -7.53938654e-01 -3.81957667e-03 5.82511453e+01] [-7.53926824e-01 -6.56944820e-01 4.22463659e-03 -1.14023588e+02] [-5.69436792e-03 1.04375060e-04 -9.99983782e-01 2.32381614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96185806399998 meters 0.016862615970435636 Centerline is valid? [True, True] Translation: X:58.30, Y:-114.12, Z:0.23 [[ 7.12871703e-01 -7.01283685e-01 -3.88949775e-03 5.83049751e+01] [-7.01273971e-01 -7.12882307e-01 3.69237712e-03 -1.14119699e+02] [-5.36215796e-03 9.54123710e-05 -9.99985619e-01 2.32661273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99185806399998 meters 0.016752566928529642 Centerline is valid? [True, True] Translation: X:58.30, Y:-114.12, Z:0.23 [[ 7.65829907e-01 -6.43031757e-01 -3.83575091e-03 5.83045210e+01] [-6.43024247e-01 -7.65839508e-01 3.10912788e-03 -1.14124098e+02] [-4.93683755e-03 8.54177274e-05 -9.99987810e-01 2.32740586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02185806399999 meters 0.015773454137350477 Centerline is valid? [True, True] Translation: X:58.30, Y:-114.13, Z:0.23 [[ 8.14529277e-01 -5.80109963e-01 -3.80624059e-03 5.82997752e+01] [-5.80104051e-01 -8.14538167e-01 2.62000076e-03 -1.14134298e+02] [-4.62021678e-03 7.39482668e-05 -9.99989324e-01 2.32418455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.051858064 meters 0.01579224181104144 Centerline is valid? [True, True] Translation: X:58.30, Y:-114.14, Z:0.23 [[ 8.57549376e-01 -5.14386121e-01 -3.99819048e-03 5.82972094e+01] [-5.14380923e-01 -8.57558694e-01 2.31365884e-03 -1.14141753e+02] [-4.61879700e-03 7.25162137e-05 -9.99989331e-01 2.32788455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.081858064 meters 0.015736636102825302 Centerline is valid? [True, True] Translation: X:58.30, Y:-114.15, Z:0.23 [[ 8.95371111e-01 -4.45302013e-01 -4.08539347e-03 5.82966282e+01] [-4.45297726e-01 -8.95380429e-01 1.95519298e-03 -1.14148916e+02] [-4.52863273e-03 6.85931100e-05 -9.99989743e-01 2.33268781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.111858064 meters 0.015789883381740904 Centerline is valid? [True, True] Translation: X:58.30, Y:-114.15, Z:0.23 [[ 9.27476253e-01 -3.73856348e-01 -4.38526687e-03 5.82971262e+01] [-3.73852528e-01 -9.27486618e-01 1.69151662e-03 -1.14154751e+02] [-4.69966057e-03 7.06016128e-05 -9.99988954e-01 2.33651379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.141858064 meters 0.015773098665785325 Centerline is valid? [True, True] Translation: X:58.30, Y:-114.16, Z:0.23 [[ 9.53803257e-01 -3.00395566e-01 -4.67452157e-03 5.82976503e+01] [-3.00392340e-01 -9.53814709e-01 1.39422245e-03 -1.14161442e+02] [-4.87744567e-03 7.43765622e-05 -9.99988102e-01 2.34035246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.171858064 meters 0.015333606911435557 Centerline is valid? [True, True] Translation: X:58.30, Y:-114.17, Z:0.23 [[ 9.74313635e-01 -2.25139334e-01 -5.02213420e-03 5.82975397e+01] [-2.25136762e-01 -9.74326575e-01 1.07892695e-03 -1.14173586e+02] [-5.13610771e-03 7.94537991e-05 -9.99986807e-01 2.34009975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.201858064 meters 0.01546814768860474 Centerline is valid? [True, True] Translation: X:58.29, Y:-114.18, Z:0.23 [[ 9.88728512e-01 -1.49642948e-01 -4.78723006e-03 5.82949912e+01] [-1.49641594e-01 -9.88740098e-01 6.41790513e-04 -1.14182802e+02] [-4.82936574e-03 8.18121584e-05 -9.99988335e-01 2.34434870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.231858064 meters 0.0168154874370629 Centerline is valid? [True, True] Translation: X:58.29, Y:-114.19, Z:0.24 [[ 9.97329190e-01 -7.29042020e-02 -4.41186112e-03 5.82926715e+01] [-7.29038433e-02 -9.97338945e-01 2.42302460e-04 -1.14189199e+02] [-4.41778579e-03 7.99863158e-05 -9.99990238e-01 2.35137988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.261858064 meters 0.017203737799130592 Centerline is valid? [True, True] Translation: X:58.29, Y:-114.19, Z:0.24 [[ 9.99980534e-01 4.51060298e-03 -4.31115436e-03 5.82902695e+01] [ 4.51020780e-03 -9.99989824e-01 -1.01384314e-04 -1.14189721e+02] [-4.31156780e-03 8.19381385e-05 -9.99990702e-01 2.35310983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.291858064 meters 0.01626739077144818 Centerline is valid? [True, True] Translation: X:58.29, Y:-114.20, Z:0.23 [[ 9.96725435e-01 8.07812849e-02 -3.57646021e-03 5.82891175e+01] [ 8.07804925e-02 -9.96731849e-01 -3.65700710e-04 -1.14199519e+02] [-3.59431357e-03 7.55949825e-05 -9.99993538e-01 2.34330024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321858064 meters 0.016529013256960122 Centerline is valid? [True, True] Translation: X:58.29, Y:-114.21, Z:0.23 [[ 9.87456720e-01 1.57864672e-01 -2.82341343e-03 5.82883041e+01] [ 1.57863845e-01 -9.87460754e-01 -5.14575414e-04 -1.14207089e+02] [-2.86924323e-03 6.24060499e-05 -9.99995882e-01 2.34411733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.351858064 meters 0.016505630631797195 Centerline is valid? [True, True] Translation: X:58.29, Y:-114.21, Z:0.23 [[ 9.72119744e-01 2.34477178e-01 -1.91194999e-03 5.82889433e+01] [ 2.34476637e-01 -9.72121624e-01 -5.05892263e-04 -1.14214594e+02] [-1.97726812e-03 4.34802548e-05 -9.99998044e-01 2.34332621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381858064 meters 0.016694290857795214 Centerline is valid? [True, True] Translation: X:58.29, Y:-114.22, Z:0.23 [[ 9.50725306e-01 3.10029274e-01 -1.80054199e-03 5.82882249e+01] [ 3.10028635e-01 -9.50727010e-01 -6.30864932e-04 -1.14222659e+02] [-1.90741050e-03 4.15596795e-05 -9.99998180e-01 2.34370348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.411858064 meters 0.01627710016707561 Centerline is valid? [True, True] Translation: X:58.29, Y:-114.23, Z:0.23 [[ 9.23355594e-01 3.83941896e-01 -1.75135808e-03 5.82907417e+01] [ 3.83941121e-01 -9.23357254e-01 -7.72405181e-04 -1.14232443e+02] [-1.91368790e-03 4.07862598e-05 -9.99998168e-01 2.34319878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441858064 meters 0.016206958232691773 Centerline is valid? [True, True] Translation: X:58.29, Y:-114.24, Z:0.23 [[ 8.89741741e-01 4.56460702e-01 -1.80587130e-03 5.82920394e+01] [ 4.56459669e-01 -8.89743573e-01 -9.71876806e-04 -1.14240810e+02] [-2.05038595e-03 4.04119467e-05 -9.99997897e-01 2.34387443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.471858064 meters 0.01526664068803648 Centerline is valid? [True, True] Translation: X:58.30, Y:-114.25, Z:0.23 [[ 8.50589624e-01 5.25827603e-01 -1.61961889e-03 5.82978489e+01] [ 5.25826570e-01 -8.50591165e-01 -1.04293049e-03 -1.14253930e+02] [-1.92603516e-03 3.54672055e-05 -9.99998145e-01 2.34495562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501858064 meters 0.015636527773699723 Centerline is valid? [True, True] Translation: X:58.30, Y:-114.26, Z:0.23 [[ 8.05979257e-01 5.91940890e-01 -1.84920384e-03 5.83009494e+01] [ 5.91939219e-01 -8.05981378e-01 -1.40703198e-03 -1.14263423e+02] [-2.32330362e-03 3.94223094e-05 -9.99997300e-01 2.34593496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.531858064 meters 0.015081332547299918 Centerline is valid? [True, True] Translation: X:58.31, Y:-114.27, Z:0.23 [[ 7.56081691e-01 6.54474841e-01 -1.77708920e-03 5.83061629e+01] [ 6.54472919e-01 -7.56083779e-01 -1.58646670e-03 -1.14271965e+02] [-2.38193086e-03 3.64416737e-05 -9.99997163e-01 2.34642441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561858064 meters 0.014548230291350836 Centerline is valid? [True, True] Translation: X:58.31, Y:-114.28, Z:0.23 [[ 7.00303614e-01 7.13843006e-01 -1.73507108e-03 5.83117101e+01] [ 7.13840707e-01 -7.00305763e-01 -1.81210823e-03 -1.14280184e+02] [-2.50864106e-03 3.04615733e-05 -9.99996853e-01 2.34488899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.591858064 meters 0.014435601053954169 Centerline is valid? [True, True] Translation: X:58.32, Y:-114.29, Z:0.23 [[ 6.41205486e-01 7.67367780e-01 -1.48843223e-03 5.83173650e+01] [ 7.67365620e-01 -6.41207213e-01 -1.82078100e-03 -1.14287904e+02] [-2.35160216e-03 2.53230388e-05 -9.99997235e-01 2.34551881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621858064 meters 0.01431715970596231 Centerline is valid? [True, True] Translation: X:58.32, Y:-114.30, Z:0.23 [[ 5.78351011e-01 8.15787039e-01 -1.27066312e-03 5.83219588e+01] [ 8.15784987e-01 -5.78352406e-01 -1.83000192e-03 -1.14295576e+02] [-2.22778292e-03 2.17955665e-05 -9.99997518e-01 2.34490218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.651858064 meters 0.014129608146473602 Centerline is valid? [True, True] Translation: X:58.33, Y:-114.30, Z:0.23 [[ 5.11443619e-01 8.59316345e-01 -9.18920906e-04 5.83262975e+01] [ 8.59314904e-01 -5.11444444e-01 -1.57373885e-03 -1.14300975e+02] [-1.82231651e-03 1.52362635e-05 -9.99998339e-01 2.34505876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68185806399998 meters 0.014003111417090732 Centerline is valid? [True, True] Translation: X:58.33, Y:-114.31, Z:0.23 [[ 4.42310276e-01 8.96861884e-01 -6.17293884e-04 5.83339172e+01] [ 8.96860974e-01 -4.42310707e-01 -1.27758826e-03 -1.14307914e+02] [-1.41885591e-03 1.14636222e-05 -9.99998993e-01 2.34318188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71185806399998 meters 0.014075976199336952 Centerline is valid? [True, True] Translation: X:58.34, Y:-114.31, Z:0.23 [[ 3.70928358e-01 9.28661371e-01 -4.59284055e-04 5.83400101e+01] [ 9.28660624e-01 -3.70928642e-01 -1.17822102e-03 -1.14314729e+02] [-1.26452996e-03 1.05165708e-05 -9.99999200e-01 2.33878326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74185806399998 meters 0.014270116626567537 Centerline is valid? [True, True] Translation: X:58.35, Y:-114.32, Z:0.23 [[ 2.98630882e-01 9.54368667e-01 -2.10823605e-04 5.83457382e+01] [ 9.54368411e-01 -2.98630956e-01 -6.98471802e-04 -1.14319919e+02] [-7.29558058e-04 7.38186092e-06 -9.99999734e-01 2.33734303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77185806399999 meters 0.014488972808214595 Centerline is valid? [True, True] Translation: X:58.35, Y:-114.33, Z:0.23 [[ 2.23981966e-01 9.74593274e-01 -1.70728948e-04 5.83512201e+01] [ 9.74592960e-01 -2.23982031e-01 -7.82691886e-04 -1.14325301e+02] [-8.01046465e-04 8.91763700e-06 -9.99999679e-01 2.33723055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.801858064 meters 0.01473349863122146 Centerline is valid? [True, True] Translation: X:58.36, Y:-114.33, Z:0.23 [[ 1.47984417e-01 9.88989679e-01 -1.65942668e-04 5.83567206e+01] [ 9.88988940e-01 -1.47984510e-01 -1.20854534e-03 -1.14329653e+02] [-1.21979581e-03 1.47304142e-05 -9.99999256e-01 2.33982389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.831858064 meters 0.014988231952979318 Centerline is valid? [True, True] Translation: X:58.36, Y:-114.34, Z:0.23 [[ 7.17151215e-02 9.97425147e-01 -1.32220069e-04 5.83592703e+01] [ 9.97422559e-01 -7.17152367e-02 -2.27223757e-03 -1.14335067e+02] [-2.27586908e-03 3.10745135e-05 -9.99997410e-01 2.34636373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.861858064 meters 0.015066092277123792 Centerline is valid? [True, True] Translation: X:58.37, Y:-114.34, Z:0.23 [[-6.10860421e-03 9.99981341e-01 5.39604652e-05 5.83653527e+01] [ 9.99977799e-01 6.10872621e-03 -2.66173242e-03 -1.14338902e+02] [-2.66201239e-03 3.76997973e-05 -9.99996456e-01 2.34723218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.891858064 meters 0.015275427129284324 Centerline is valid? [True, True] Translation: X:58.37, Y:-114.34, Z:0.23 [[-8.38215881e-02 9.96480744e-01 2.61698916e-04 5.83714866e+01] [ 9.96477237e-01 8.38219875e-02 -2.64414502e-03 -1.14343175e+02] [-2.65677572e-03 3.91405779e-05 -9.99996470e-01 2.34809544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.921858064 meters 0.015143326008988817 Centerline is valid? [True, True] Translation: X:58.38, Y:-114.35, Z:0.24 [[-1.61575233e-01 9.86860270e-01 5.02013909e-04 5.83782268e+01] [ 9.86856281e-01 1.61576007e-01 -2.80611198e-03 -1.14346274e+02] [-2.85035382e-03 4.20173831e-05 -9.99995937e-01 2.35285236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.951858064 meters 0.015148490505377326 Centerline is valid? [True, True] Translation: X:58.39, Y:-114.35, Z:0.24 [[-2.38603053e-01 9.71116801e-01 8.61024149e-04 5.83862724e+01] [ 9.71111205e-01 2.38604601e-01 -3.29710596e-03 -1.14349437e+02] [-3.40731932e-03 4.94506509e-05 -9.99994194e-01 2.35740905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.981858064 meters 0.01529334335267452 Centerline is valid? [True, True] Translation: X:58.39, Y:-114.35, Z:0.24 [[-3.14255163e-01 9.49337795e-01 1.20174519e-03 5.83934903e+01] [ 9.49331474e-01 3.14257456e-01 -3.46453306e-03 -1.14352707e+02] [-3.66666956e-03 5.21071322e-05 -9.99993276e-01 2.36330157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.011858064 meters 0.014953387570947958 Centerline is valid? [True, True] Translation: X:58.40, Y:-114.35, Z:0.24 [[-3.87833990e-01 9.21727522e-01 1.78101015e-03 5.84041783e+01] [ 9.21718528e-01 3.87838074e-01 -4.07229642e-03 -1.14353207e+02] [-4.44429123e-03 6.22150914e-05 -9.99990122e-01 2.36420557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.041858064 meters 0.015291562809518863 Centerline is valid? [True, True] Translation: X:58.41, Y:-114.36, Z:0.24 [[-4.59474808e-01 8.88187435e-01 2.44551319e-03 5.84120545e+01] [ 8.88175643e-01 4.59481311e-01 -4.57740734e-03 -1.14355733e+02] [-5.18926330e-03 6.88418899e-05 -9.99986533e-01 2.37353409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.071858064 meters 0.015156613105266057 Centerline is valid? [True, True] Translation: X:58.42, Y:-114.36, Z:0.24 [[-5.27974997e-01 8.49255150e-01 2.84478420e-03 5.84187536e+01] [ 8.49243510e-01 5.27982656e-01 -4.44689331e-03 -1.14358249e+02] [-5.27854376e-03 6.80660422e-05 -9.99986066e-01 2.37294110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101858064 meters 0.014886312122916533 Centerline is valid? [True, True] Translation: X:58.43, Y:-114.36, Z:0.24 [[-5.93459577e-01 8.04858658e-01 2.87597845e-03 5.84269405e+01] [ 8.04849677e-01 5.93466543e-01 -3.80249106e-03 -1.14358665e+02] [-4.76726484e-03 5.81055929e-05 -9.99988635e-01 2.36748858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.131858064 meters 0.014681235761005346 Centerline is valid? [True, True] Translation: X:58.44, Y:-114.36, Z:0.24 [[-6.55525083e-01 7.55167393e-01 3.01223841e-03 5.84354823e+01] [ 7.55159770e-01 6.55532002e-01 -3.39366196e-03 -1.14357086e+02] [-4.53740153e-03 5.00907247e-05 -9.99989705e-01 2.36016309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161858064 meters 0.014706886661355187 Centerline is valid? [True, True] Translation: X:58.44, Y:-114.36, Z:0.24 [[-7.13185025e-01 7.00967214e-01 3.47641354e-03 5.84440787e+01] [ 7.00959225e-01 7.13193496e-01 -3.34710316e-03 -1.14356355e+02] [-4.82556510e-03 4.97202890e-05 -9.99988356e-01 2.36295976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.191858064 meters 0.014589179603939288 Centerline is valid? [True, True] Translation: X:58.46, Y:-114.33, Z:0.24 [[-7.61583296e-01 6.48056196e-01 3.74835870e-03 5.84629044e+01] [ 6.48048640e-01 7.61592519e-01 -3.12979578e-03 -1.14334130e+02] [-4.88300549e-03 4.55185695e-05 -9.99988077e-01 2.36554319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221858064 meters 0.014472729938647679 Centerline is valid? [True, True] Translation: X:58.49, Y:-114.32, Z:0.24 [[-8.05954915e-01 5.91963153e-01 4.03744051e-03 5.84912551e+01] [ 5.91955991e-01 8.05965027e-01 -2.91226067e-03 -1.14319029e+02] [-4.97798685e-03 4.28363003e-05 -9.99987609e-01 2.36570407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.251858064 meters 0.014574369316770834 Centerline is valid? [True, True] Translation: X:58.51, Y:-114.30, Z:0.24 [[-8.46185483e-01 5.32870302e-01 4.40101165e-03 5.85079363e+01] [ 5.32863346e-01 8.46196927e-01 -2.72317519e-03 -1.14295887e+02] [-5.17522173e-03 4.08264779e-05 -9.99986608e-01 2.36318309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281858064 meters 0.01470857640936199 Centerline is valid? [True, True] Translation: X:58.53, Y:-114.28, Z:0.24 [[-8.81801928e-01 4.71597826e-01 4.56615422e-03 5.85320212e+01] [ 4.71591740e-01 8.81813749e-01 -2.39618834e-03 -1.14277100e+02] [-5.15653479e-03 4.03971172e-05 -9.99986704e-01 2.36150347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.311858064 meters 0.014922369239917799 Centerline is valid? [True, True] Translation: X:58.55, Y:-114.25, Z:0.24 [[-9.12569293e-01 4.08891463e-01 5.00570764e-03 5.85472973e+01] [ 4.08885602e-01 9.12583021e-01 -2.18984695e-03 -1.14253110e+02] [-5.46353352e-03 4.83746993e-05 -9.99985074e-01 2.36580501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341858064 meters 0.015078913443593595 Centerline is valid? [True, True] Translation: X:58.86, Y:-113.56, Z:-0.75 [[-8.91614929e-01 -4.52767514e-01 4.93934207e-03 5.88568981e+01] [ 4.52760297e-01 -8.91628609e-01 -2.55677638e-03 -1.13562627e+02] [ 5.56168398e-03 -4.33220122e-05 9.99984533e-01 -7.46420486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.371858064 meters 0.015356349489756671 Centerline is valid? [True, True] Translation: X:58.51, Y:-114.24, Z:0.24 [[-9.13225669e-01 4.07424131e-01 4.94521346e-03 5.85054182e+01] [ 4.07418506e-01 9.13239056e-01 -2.14175583e-03 -1.14236754e+02] [-5.38876508e-03 5.88650829e-05 -9.99985479e-01 2.36773614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401858064 meters 0.015937952605350622 Centerline is valid? [True, True] Translation: X:58.52, Y:-114.21, Z:0.24 [[-9.38925538e-01 3.44075793e-01 5.53916144e-03 5.85178882e+01] [ 3.44070300e-01 9.38941874e-01 -1.94581150e-03 -1.14212672e+02] [-5.87045726e-03 7.88888260e-05 -9.99982766e-01 2.36739368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43185806399998 meters 0.016172483848185648 Centerline is valid? [True, True] Translation: X:58.78, Y:-113.50, Z:-0.75 [[-9.24658030e-01 -3.80759073e-01 5.48233324e-03 5.87802678e+01] [ 3.80751901e-01 -9.24674279e-01 -2.33820977e-03 -1.13498320e+02] [ 5.95966712e-03 -7.46356402e-05 9.99982238e-01 -7.46625316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46185806399998 meters 0.01655583726804845 Centerline is valid? [True, True] Translation: X:58.47, Y:-114.20, Z:0.24 [[-9.39519281e-01 3.42450411e-01 5.58894905e-03 5.84744505e+01] [ 3.42444930e-01 9.39535900e-01 -1.93980387e-03 -1.14200150e+02] [-5.91530491e-03 9.14241272e-05 -9.99982500e-01 2.36978676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49185806399998 meters 0.017372073268809504 Centerline is valid? [True, True] Translation: X:58.49, Y:-114.18, Z:0.24 [[-9.60793946e-01 2.77208025e-01 5.54124193e-03 5.84880874e+01] [ 2.77204023e-01 9.60809919e-01 -1.49299580e-03 -1.14177239e+02] [-5.73795063e-03 1.01593231e-04 -9.99983533e-01 2.36922759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52185806399999 meters 0.017372073268809504 Centerline is valid? [True, True] Translation: X:58.50, Y:-114.15, Z:0.24 [[-9.78035271e-01 2.08363325e-01 5.63318239e-03 5.84959983e+01] [ 2.08360466e-01 9.78051489e-01 -1.09621744e-03 -1.14150293e+02] [-5.73795394e-03 1.01593186e-04 -9.99983533e-01 2.36922796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.551858064 meters 0.017511005725128898 Centerline is valid? [True, True] Translation: X:58.65, Y:-113.40, Z:-0.75 [[-9.71096370e-01 -2.38617093e-01 5.80714588e-03 5.86505437e+01] [ 2.38612273e-01 -9.71113729e-01 -1.51923698e-03 -1.13397618e+02] [ 6.00191501e-03 -8.96692333e-05 9.99981984e-01 -7.46914926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.581858064 meters 0.017843973150223215 Centerline is valid? [True, True] Translation: X:58.44, Y:-114.14, Z:0.24 [[-9.78655292e-01 2.05400337e-01 6.67239427e-03 5.84442457e+01] [ 2.05396451e-01 9.78678029e-01 -1.26989750e-03 -1.14141856e+02] [-6.79096305e-03 1.27694202e-04 -9.99976933e-01 2.37691475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.611858064 meters 0.018007980903722826 Centerline is valid? [True, True] Translation: X:58.45, Y:-114.11, Z:0.24 [[-9.90763751e-01 1.35424427e-01 6.88586170e-03 5.84470017e+01] [ 1.35422069e-01 9.90787670e-01 -8.09679954e-04 -1.14113451e+02] [-6.93207731e-03 1.30296091e-04 -9.99975964e-01 2.38662619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.641858064 meters 0.01652011226936082 Centerline is valid? [True, True] Translation: X:58.54, Y:-113.35, Z:-0.75 [[-9.86220699e-01 -1.65319474e-01 6.18103850e-03 5.85438970e+01] [ 1.65315209e-01 -9.86240055e-01 -1.19817831e-03 -1.13353880e+02] [ 6.29406995e-03 -1.59848584e-04 9.99980179e-01 -7.47113605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.671858064 meters 0.015986580929616218 Centerline is valid? [True, True] Translation: X:58.38, Y:-114.10, Z:0.24 [[-9.91493836e-01 1.30023518e-01 5.81878423e-03 5.83843527e+01] [ 1.30021900e-01 9.91510904e-01 -6.57070851e-04 -1.14101720e+02] [-5.85482268e-03 1.05087685e-04 -9.99982855e-01 2.36490839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.701858064 meters 0.015877051545355236 Centerline is valid? [True, True] Translation: X:58.47, Y:-113.35, Z:-0.75 [[-9.86819133e-01 -1.61730479e-01 5.59019636e-03 5.84719668e+01] [ 1.61727233e-01 -9.86834961e-01 -1.03085042e-03 -1.13347201e+02] [ 5.68332114e-03 -1.13175928e-04 9.99983843e-01 -7.45852185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.731858064 meters 0.016499297634019607 Centerline is valid? [True, True] Translation: X:58.31, Y:-114.09, Z:0.24 [[-9.92232405e-01 1.24286051e-01 5.27556492e-03 5.83108458e+01] [ 1.24284769e-01 9.92246426e-01 -5.71439237e-04 -1.14094926e+02] [-5.30568237e-03 8.86718383e-05 -9.99985921e-01 2.36490551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.761858064 meters 0.01589255073494071 Centerline is valid? [True, True] Translation: X:58.32, Y:-114.07, Z:0.24 [[-9.98582886e-01 5.29404508e-02 5.43397358e-03 5.83186671e+01] [ 5.29401473e-02 9.98597667e-01 -1.99773567e-04 -1.14066370e+02] [-5.43692944e-03 8.81848966e-05 -9.99985216e-01 2.35856298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.791858064 meters 0.015853469317531208 Centerline is valid? [True, True] Translation: X:58.35, Y:-113.31, Z:-0.75 [[-9.96055057e-01 -8.85952639e-02 5.02030020e-03 5.83538758e+01] [ 8.85935936e-02 -9.96067702e-01 -5.54554442e-04 -1.13306848e+02] [ 5.04968978e-03 -1.07600321e-04 9.99987244e-01 -7.45554579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821858064 meters 0.015795561414408688 Centerline is valid? [True, True] Translation: X:58.24, Y:-114.06, Z:0.24 [[-9.98940132e-01 4.58579045e-02 3.95802691e-03 5.82408962e+01] [ 4.58577719e-02 9.98947971e-01 -1.24300174e-04 -1.14062572e+02] [-3.95956310e-03 5.73378627e-05 -9.99992159e-01 2.35803790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.851858064 meters 0.015834706794967294 Centerline is valid? [True, True] Translation: X:58.23, Y:-114.03, Z:0.24 [[-9.99653061e-01 -2.60667523e-02 3.77904540e-03 5.82302628e+01] [-2.60663697e-02 9.99660203e-01 1.50458919e-04 -1.14034618e+02] [-3.78168327e-03 5.19007247e-05 -9.99992848e-01 2.35749222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881858064 meters 0.01585279300711022 Centerline is valid? [True, True] Translation: X:58.23, Y:-114.01, Z:0.24 [[-9.95209573e-01 -9.77012889e-02 3.51629785e-03 5.82263260e+01] [-9.77005125e-02 9.95215784e-01 3.92306448e-04 -1.14006648e+02] [-3.53780396e-03 4.68830304e-05 -9.99993741e-01 2.35787757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.911858064 meters 0.015752995590293067 Centerline is valid? [True, True] Translation: X:58.14, Y:-113.25, Z:-0.74 [[-9.98442654e-01 5.57158902e-02 2.82942104e-03 5.81440217e+01] [-5.57159090e-02 -9.98446660e-01 7.22303498e-05 -1.13253746e+02] [ 2.82905036e-03 -8.55259029e-05 9.99995995e-01 -7.44530853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941858064 meters 0.01575696809821539 Centerline is valid? [True, True] Translation: X:58.11, Y:-114.02, Z:0.23 [[-9.94407884e-01 -1.05575911e-01 2.58586626e-03 5.81118322e+01] [-1.05575473e-01 9.94411246e-01 3.05840994e-04 -1.14016565e+02] [-2.60370393e-03 3.11266420e-05 -9.99996610e-01 2.34487472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.971858064 meters 0.015630636570189694 Centerline is valid? [True, True] Translation: X:58.03, Y:-113.27, Z:-0.74 [[-9.98153234e-01 6.07128929e-02 2.01637484e-03 5.80268868e+01] [-6.07128983e-02 -9.98155269e-01 5.86076078e-05 -1.13268283e+02] [ 2.01621341e-03 -6.39205872e-05 9.99997965e-01 -7.44630879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001858064 meters 0.015512769489734238 Centerline is valid? [True, True] Translation: X:58.01, Y:-114.03, Z:0.23 [[-9.93597015e-01 -1.12971780e-01 1.53284293e-03 5.80052516e+01] [-1.12971619e-01 9.93598197e-01 1.91711857e-04 -1.14025263e+02] [-1.54468800e-03 1.73165822e-05 -9.99998807e-01 2.34895258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.031858064 meters 0.01549102680542511 Centerline is valid? [True, True] Translation: X:57.99, Y:-114.00, Z:0.24 [[-9.82953789e-01 -1.83843955e-01 1.80250243e-03 5.79878857e+01] [-1.83843608e-01 9.82955441e-01 3.57841791e-04 -1.13999594e+02] [-1.83756662e-03 2.03633946e-05 -9.99998311e-01 2.35025353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061858064 meters 0.015296064719697178 Centerline is valid? [True, True] Translation: X:57.96, Y:-113.98, Z:0.24 [[-9.67097896e-01 -2.54393610e-01 2.35610357e-03 5.79567710e+01] [-2.54392788e-01 9.67100765e-01 6.47489082e-04 -1.13977178e+02] [-2.44330666e-03 2.68095716e-05 -9.99997015e-01 2.35123212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.091858064 meters 0.015664802548107593 Centerline is valid? [True, True] Translation: X:57.90, Y:-113.96, Z:0.24 [[-9.46135175e-01 -3.23760028e-01 2.77034932e-03 5.79035786e+01] [-3.23758532e-01 9.46139230e-01 9.84634320e-04 -1.13964834e+02] [-2.93992141e-03 3.46729333e-05 -9.99995678e-01 2.35722842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121858064 meters 0.015840884743181138 Centerline is valid? [True, True] Translation: X:57.84, Y:-113.96, Z:0.24 [[-9.19856756e-01 -3.92244476e-01 2.79637905e-03 5.78383640e+01] [-3.92242538e-01 9.19861006e-01 1.23351982e-03 -1.13961331e+02] [-3.05612138e-03 3.78027234e-05 -9.99995329e-01 2.35920990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.151858064 meters 0.015740078593971054 Centerline is valid? [True, True] Translation: X:57.77, Y:-113.97, Z:0.24 [[-8.88532288e-01 -4.58806098e-01 2.70902674e-03 5.77653552e+01] [-4.58803825e-01 8.88536416e-01 1.44469586e-03 -1.13965181e+02] [-3.06990418e-03 4.07470871e-05 -9.99995287e-01 2.35719083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18185806399998 meters 0.015780694980319934 Centerline is valid? [True, True] Translation: X:57.68, Y:-113.98, Z:0.24 [[-8.52555731e-01 -5.22631404e-01 2.26716429e-03 5.76840073e+01] [-5.22629431e-01 8.52558745e-01 1.43679134e-03 -1.13979377e+02] [-2.68380302e-03 4.00579142e-05 -9.99996398e-01 2.35116797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21185806399998 meters 0.016655425034377086 Centerline is valid? [True, True] Translation: X:57.60, Y:-114.01, Z:0.24 [[-8.11210139e-01 -5.84751612e-01 1.91375548e-03 5.75985660e+01] [-5.84749875e-01 8.11212396e-01 1.42555337e-03 -1.14005579e+02] [-2.38605680e-03 3.73550641e-05 -9.99997153e-01 2.35237869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24185806399998 meters 0.015961014620801833 Centerline is valid? [True, True] Translation: X:57.51, Y:-114.04, Z:0.23 [[-7.65081546e-01 -6.43931423e-01 1.59692656e-03 5.75079948e+01] [-6.43929926e-01 7.65083212e-01 1.38903321e-03 -1.14039179e+02] [-2.11622383e-03 3.44148804e-05 -9.99997760e-01 2.34764463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27185806399999 meters 0.016523598082709326 Centerline is valid? [True, True] Translation: X:57.42, Y:-114.09, Z:0.23 [[-7.15301575e-01 -6.98814847e-01 1.21086321e-03 5.74183984e+01] [-6.98813771e-01 7.15302599e-01 1.22669766e-03 -1.14086230e+02] [-1.72336814e-03 3.12908795e-05 -9.99998515e-01 2.34651721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.301858064 meters 0.01655709995949931 Centerline is valid? [True, True] Translation: X:57.33, Y:-114.14, Z:0.23 [[-6.60947854e-01 -7.50431043e-01 1.08825842e-03 5.73299615e+01] [-7.50429943e-01 6.60948749e-01 1.28513509e-03 -1.14140787e+02] [-1.68368831e-03 3.27455744e-05 -9.99998582e-01 2.34271664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.331858064 meters 0.017269243284917628 Centerline is valid? [True, True] Translation: X:57.24, Y:-114.21, Z:0.23 [[-6.02832682e-01 -7.97866963e-01 1.03267518e-03 5.72437838e+01] [-7.97865687e-01 6.02833566e-01 1.42754465e-03 -1.14207564e+02] [-1.76152198e-03 3.66344777e-05 -9.99998448e-01 2.34412263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.361858064 meters 0.017747740825920393 Centerline is valid? [True, True] Translation: X:57.16, Y:-114.28, Z:0.23 [[-5.40810963e-01 -8.41143580e-01 9.90285363e-04 5.71598076e+01] [-8.41142028e-01 5.40811868e-01 1.61631635e-03 -1.14284771e+02] [-1.89511219e-03 4.11509615e-05 -9.99998203e-01 2.34438569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.391858064 meters 0.01759494014696258 Centerline is valid? [True, True] Translation: X:57.08, Y:-114.37, Z:0.23 [[-4.76044131e-01 -8.79421298e-01 4.07409038e-04 5.70815147e+01] [-8.79420937e-01 4.76044305e-01 7.97325181e-04 -1.14365230e+02] [-8.95129498e-04 2.12779352e-05 -9.99999599e-01 2.34161246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.421858064 meters 0.017677484410008576 Centerline is valid? [True, True] Translation: X:57.01, Y:-114.46, Z:0.23 [[-4.07073245e-01 -9.13395490e-01 2.29612661e-04 5.70079757e+01] [-9.13395324e-01 4.07073309e-01 5.50742041e-04 -1.14455999e+02] [-5.96514482e-04 1.44652184e-05 -9.99999822e-01 2.34034881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.451858064 meters 0.01788589619389237 Centerline is valid? [True, True] Translation: X:56.94, Y:-114.56, Z:0.23 [[-3.35295278e-01 -9.42113078e-01 1.58651330e-04 5.69394046e+01] [-9.42112955e-01 3.35295315e-01 4.82294008e-04 -1.14558675e+02] [-5.07570541e-04 1.22434298e-05 -9.99999871e-01 2.34352065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.481858064 meters 0.01742169162333997 Centerline is valid? [True, True] Translation: X:56.88, Y:-114.66, Z:0.24 [[-2.59661166e-01 -9.65699720e-01 3.58738681e-04 5.68786341e+01] [-9.65698626e-01 2.59661412e-01 1.45426386e-03 -1.14660357e+02] [-1.49753279e-03 3.11823981e-05 -9.99998878e-01 2.35997877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.511858064 meters 0.01705192664212342 Centerline is valid? [True, True] Translation: X:56.83, Y:-114.77, Z:0.24 [[-1.82951590e-01 -9.83121881e-01 2.89697539e-04 5.68253053e+01] [-9.83120338e-01 1.82951816e-01 1.74163555e-03 -1.14772699e+02] [-1.76524071e-03 3.38274497e-05 -9.99998441e-01 2.36479072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.541858064 meters 0.016806922805390083 Centerline is valid? [True, True] Translation: X:56.78, Y:-114.89, Z:0.24 [[-1.05003289e-01 -9.94471863e-01 1.52812849e-04 5.67809192e+01] [-9.94470342e-01 1.05003396e-01 1.73923972e-03 -1.14888627e+02] [-1.74567083e-03 3.06580443e-05 -9.99998476e-01 2.36563123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.571858064 meters 0.015315720238841675 Centerline is valid? [True, True] Translation: X:56.74, Y:-115.01, Z:0.24 [[-2.45976301e-02 -9.99697433e-01 5.49663164e-06 5.67418192e+01] [-9.99697265e-01 2.45976292e-02 5.78254911e-04 -1.15006412e+02] [-5.78215154e-04 8.72873279e-06 -9.99999833e-01 2.36168119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601858064 meters 0.015234434273165204 Centerline is valid? [True, True] Translation: X:56.72, Y:-115.13, Z:0.24 [[ 5.39602180e-02 -9.98543086e-01 -7.29278256e-06 5.67160506e+01] [-9.98543081e-01 -5.39602185e-02 9.69369395e-05 -1.15126817e+02] [-9.71892309e-05 2.05141918e-06 -9.99999995e-01 2.36269151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.631858064 meters 0.014949554915863143 Centerline is valid? [True, True] Translation: X:56.70, Y:-115.25, Z:0.24 [[ 1.32134339e-01 -9.91231817e-01 -2.67250758e-05 5.66999691e+01] [-9.91231801e-01 -1.32134342e-01 1.79130033e-04 -1.15252878e+02] [-1.81090689e-04 2.82151645e-06 -9.99999984e-01 2.36424636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661858064 meters 0.014754144772218055 Centerline is valid? [True, True] Translation: X:56.69, Y:-115.37, Z:0.24 [[ 2.10303981e-01 -9.77636045e-01 1.09578621e-05 5.66921806e+01] [-9.77636043e-01 -2.10303981e-01 -5.28632803e-05 -1.15374320e+02] [ 5.39855302e-05 4.04557289e-07 -9.99999999e-01 2.36553673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.691858064 meters 0.014693975096509618 Centerline is valid? [True, True] Translation: X:56.70, Y:-115.50, Z:0.24 [[ 2.85507001e-01 -9.58376622e-01 4.74913918e-05 5.66950468e+01] [-9.58376609e-01 -2.85507005e-01 -1.57820750e-04 -1.15495680e+02] [ 1.64810842e-04 -4.55710086e-07 -9.99999986e-01 2.36624972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721858064 meters 0.014767089687357278 Centerline is valid? [True, True] Translation: X:56.71, Y:-115.62, Z:0.24 [[ 3.58503710e-01 -9.33528272e-01 2.34010317e-04 5.67102678e+01] [-9.33528081e-01 -3.58503786e-01 -5.97605826e-04 -1.15623394e+02] [ 6.41775519e-04 -4.21129703e-06 -9.99999794e-01 2.36469302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.751858064 meters 0.014750420535524238 Centerline is valid? [True, True] Translation: X:56.73, Y:-115.74, Z:0.24 [[ 4.29221303e-01 -9.03199152e-01 6.03769373e-04 5.67299533e+01] [-9.03198292e-01 -4.29221727e-01 -1.24664571e-03 -1.15737166e+02] [ 1.38512028e-03 -1.02365722e-05 -9.99999041e-01 2.35821395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781858064 meters 0.014777886185321477 Centerline is valid? [True, True] Translation: X:56.75, Y:-115.84, Z:0.24 [[ 4.97484061e-01 -8.67472889e-01 6.29560914e-04 5.67542305e+01] [-8.67472217e-01 -4.97484460e-01 -1.07975701e-03 -1.15842581e+02] [ 1.24985670e-03 -8.96469840e-06 -9.99999219e-01 2.36048104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.811858064 meters 0.014790762244786352 Centerline is valid? [True, True] Translation: X:56.79, Y:-115.95, Z:0.24 [[ 5.62840004e-01 -8.26565470e-01 8.08327233e-04 5.67917321e+01] [-8.26564643e-01 -5.62840585e-01 -1.16961543e-03 -1.15953966e+02] [ 1.42172310e-03 -9.82835462e-06 -9.99998989e-01 2.36452461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841858064 meters 0.014776285982947186 Centerline is valid? [True, True] Translation: X:56.83, Y:-116.06, Z:0.24 [[ 6.24571157e-01 -7.80967442e-01 8.50473668e-04 5.68342422e+01] [-7.80966738e-01 -6.24571736e-01 -1.04884974e-03 -1.16058204e+02] [ 1.35029931e-03 -9.11035275e-06 -9.99999088e-01 2.36843312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.871858064 meters 0.014836970354168281 Centerline is valid? [True, True] Translation: X:56.88, Y:-116.16, Z:0.24 [[ 6.83123737e-01 -7.30301853e-01 1.07903048e-03 5.68843226e+01] [-7.30300963e-01 -6.83124589e-01 -1.14007598e-03 -1.16159080e+02] [ 1.56971186e-03 -9.20403610e-06 -9.99998768e-01 2.37483739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901858064 meters 0.014869139982732912 Centerline is valid? [True, True] Translation: X:56.94, Y:-116.25, Z:0.24 [[ 7.36961322e-01 -6.75933980e-01 1.12454062e-03 5.69377736e+01] [-6.75933210e-01 -7.36962180e-01 -1.01987096e-03 -1.16250224e+02] [ 1.51810934e-03 -8.50889977e-06 -9.99998848e-01 2.38100451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93185806399998 meters 0.01481331623188975 Centerline is valid? [True, True] Translation: X:56.93, Y:-116.26, Z:0.24 [[ 7.86702035e-01 -6.17332774e-01 3.92341377e-04 5.69343149e+01] [-6.17332700e-01 -7.86702133e-01 -3.04217800e-04 -1.16257476e+02] [ 4.96459416e-04 -2.87639881e-06 -9.99999877e-01 2.39435363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96185806399998 meters 0.014876499659102895 Centerline is valid? [True, True] Translation: X:56.93, Y:-116.26, Z:0.24 [[ 8.32151510e-01 -5.54548326e-01 1.38777567e-04 5.69317043e+01] [-5.54548318e-01 -8.32151521e-01 -9.18539587e-05 -1.16264247e+02] [ 1.66421422e-04 -5.22455925e-07 -9.99999986e-01 2.39959491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99185806399998 meters 0.014923638075587518 Centerline is valid? [True, True] Translation: X:56.93, Y:-116.27, Z:0.24 [[ 8.72449510e-01 -4.88704222e-01 -1.90112668e-04 5.69299313e+01] [-4.88704211e-01 -8.72449531e-01 1.03204553e-04 -1.16271381e+02] [-2.16300209e-04 2.86809936e-06 -9.99999977e-01 2.40283885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02185806399999 meters 0.015162760724311207 Centerline is valid? [True, True] Translation: X:56.93, Y:-116.28, Z:0.24 [[ 9.06978079e-01 -4.21177821e-01 8.77935157e-05 5.69295752e+01] [-4.21177819e-01 -9.06978083e-01 -4.04537745e-05 -1.16276593e+02] [ 9.66650271e-05 -2.85994799e-07 -9.99999995e-01 2.40137509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.051858064 meters 0.0151162695435156 Centerline is valid? [True, True] Translation: X:56.93, Y:-116.29, Z:0.24 [[ 9.36669964e-01 -3.50213332e-01 3.28254517e-05 5.69279852e+01] [-3.50213332e-01 -9.36669964e-01 -1.26860221e-05 -1.16285662e+02] [ 3.51894287e-05 3.86705064e-07 -9.99999999e-01 2.39596111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.081858064 meters 0.015325848413390679 Centerline is valid? [True, True] Translation: X:56.93, Y:-116.29, Z:0.24 [[ 9.60847879e-01 -2.77076287e-01 2.92414952e-04 5.69275949e+01] [-2.77076275e-01 -9.60847923e-01 -8.07054904e-05 -1.16293958e+02] [ 3.03327877e-04 -3.47554643e-06 -9.99999954e-01 2.39449513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.111858064 meters 0.015656349922656874 Centerline is valid? [True, True] Translation: X:56.93, Y:-116.30, Z:0.24 [[ 9.79090108e-01 -2.03421781e-01 1.46258808e-03 5.69268256e+01] [-2.03421591e-01 -9.79091200e-01 -2.79498490e-04 -1.16301901e+02] [ 1.48886320e-03 -2.38677872e-05 -9.99998891e-01 2.38537927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.141858064 meters 0.015917968661604096 Centerline is valid? [True, True] Translation: X:56.92, Y:-116.31, Z:0.24 [[ 9.91887396e-01 -1.27100335e-01 2.21339131e-03 5.69225885e+01] [-1.27100104e-01 -9.91889865e-01 -2.45093792e-04 -1.16309399e+02] [ 2.22659190e-03 -3.82168236e-05 -9.99997520e-01 2.37773134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.171858064 meters 0.016079337142139886 Centerline is valid? [True, True] Translation: X:56.92, Y:-116.32, Z:0.24 [[ 9.98761111e-01 -4.96758783e-02 2.92393749e-03 5.69198871e+01] [-4.96758185e-02 -9.98765390e-01 -9.31244641e-05 -1.16317401e+02] [ 2.92495361e-03 -5.22398949e-05 -9.99995721e-01 2.37147046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.201858064 meters 0.015861158487189525 Centerline is valid? [True, True] Translation: X:56.92, Y:-116.33, Z:0.24 [[ 9.99583941e-01 2.86238101e-02 3.55293677e-03 5.69173588e+01] [ 2.86234022e-02 -9.99590253e-01 1.65623233e-04 -1.16328112e+02] [ 3.55622173e-03 -6.38571860e-05 -9.99993675e-01 2.37265887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.231858064 meters 0.015964169147052707 Centerline is valid? [True, True] Translation: X:56.92, Y:-116.34, Z:0.24 [[ 9.94316813e-01 1.06365158e-01 4.53090447e-03 5.69158842e+01] [ 1.06363668e-01 -9.94327132e-01 5.69259572e-04 -1.16339278e+02] [ 4.56575063e-03 -8.41007456e-05 -9.99989573e-01 2.37756984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.261858064 meters 0.01694233421524659 Centerline is valid? [True, True] Translation: X:56.91, Y:-116.35, Z:0.24 [[ 9.82953277e-01 1.83791175e-01 4.86409570e-03 5.69142384e+01] [ 1.83788460e-01 -9.82965307e-01 1.00326202e-03 -1.16347344e+02] [ 4.96562803e-03 -9.21950334e-05 -9.99987667e-01 2.37368472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.291858064 meters 0.016394528869770098 Centerline is valid? [True, True] Translation: X:56.91, Y:-116.36, Z:0.24 [[ 9.65466268e-01 2.60482429e-01 4.87757531e-03 5.69142316e+01] [ 2.60478617e-01 -9.65478584e-01 1.41212812e-03 -1.16356864e+02] [ 5.07702906e-03 -9.28579887e-05 -9.99987108e-01 2.38031849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321858064 meters 0.016042556214246894 Centerline is valid? [True, True] Translation: X:56.92, Y:-116.37, Z:0.24 [[ 9.41895283e-01 3.35867158e-01 5.15048918e-03 5.69160411e+01] [ 3.35861571e-01 -9.41909360e-01 1.93979269e-03 -1.16368862e+02] [ 5.50280662e-03 -9.72302046e-05 -9.99984855e-01 2.38932685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.351858064 meters 0.015823745858886514 Centerline is valid? [True, True] Translation: X:56.92, Y:-116.38, Z:0.24 [[ 9.12545981e-01 4.08943675e-01 4.99034820e-03 5.69192384e+01] [ 4.08936989e-01 -9.12559621e-01 2.34049048e-03 -1.16379714e+02] [ 5.51111903e-03 -9.50672126e-05 -9.99984809e-01 2.39170302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381858064 meters 0.015808019917682346 Centerline is valid? [True, True] Translation: X:56.92, Y:-116.39, Z:0.24 [[ 8.77359768e-01 4.79805816e-01 5.12011961e-03 5.69214457e+01] [ 4.79796997e-01 -8.77374703e-01 2.91077544e-03 -1.16391309e+02] [ 5.88887041e-03 -9.71792550e-05 -9.99982656e-01 2.39677826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.411858064 meters 0.015808019917682346 Centerline is valid? [True, True] Translation: X:56.92, Y:-116.40, Z:0.24 [[ 8.37121874e-01 5.46994686e-01 4.87660215e-03 5.69247976e+01] [ 5.46984725e-01 -8.37136072e-01 3.30251622e-03 -1.16400881e+02] [ 5.88883840e-03 -9.71816821e-05 -9.99982656e-01 2.39678119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441858064 meters 0.015770174185565908 Centerline is valid? [True, True] Translation: X:56.93, Y:-116.41, Z:0.24 [[ 7.91376187e-01 6.11310603e-01 4.80398441e-03 5.69295792e+01] [ 6.11298583e-01 -7.91390761e-01 3.83471632e-03 -1.16410440e+02] [ 6.14603162e-03 -9.80343168e-05 -9.99981108e-01 2.39998071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.471858064 meters 0.015776262428808807 Centerline is valid? [True, True] Translation: X:56.93, Y:-116.42, Z:0.24 [[ 7.39913071e-01 6.72684509e-01 4.91929617e-03 5.69342221e+01] [ 6.72668777e-01 -7.39929418e-01 4.60143132e-03 -1.16420721e+02] [ 6.73524351e-03 -9.56022392e-05 -9.99977313e-01 2.40246480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501858064 meters 0.015463757418526035 Centerline is valid? [True, True] Translation: X:56.94, Y:-116.43, Z:0.24 [[ 6.84267247e-01 7.29213886e-01 5.04409579e-03 5.69409870e+01] [ 7.29193002e-01 -6.84285831e-01 5.51974051e-03 -1.16430116e+02] [ 7.47667470e-03 -9.88582973e-05 -9.99972044e-01 2.40515311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.531858064 meters 0.015583421052784322 Centerline is valid? [True, True] Translation: X:56.95, Y:-116.44, Z:0.24 [[ 6.24154749e-01 7.81287459e-01 4.55596473e-03 5.69461681e+01] [ 7.81265591e-01 -6.24171370e-01 5.84612225e-03 -1.16438945e+02] [ 7.41120474e-03 -8.94664828e-05 -9.99972533e-01 2.40624414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561858064 meters 0.015296470418462372 Centerline is valid? [True, True] Translation: X:56.95, Y:-116.45, Z:0.24 [[ 5.60079478e-01 8.28428512e-01 4.14477765e-03 5.69516564e+01] [ 8.28404738e-01 -5.60094808e-01 6.27663661e-03 -1.16446106e+02] [ 7.52121317e-03 -8.18619132e-05 -9.99971712e-01 2.40496108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.591858064 meters 0.015269019683697267 Centerline is valid? [True, True] Translation: X:56.96, Y:-116.45, Z:0.24 [[ 4.92676337e-01 8.70204577e-01 3.74444333e-03 5.69568870e+01] [ 8.70178244e-01 -4.92690561e-01 6.77022205e-03 -1.16452567e+02] [ 7.73633010e-03 -7.71950866e-05 -9.99970071e-01 2.40322586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621858064 meters 0.015169185937243944 Centerline is valid? [True, True] Translation: X:56.97, Y:-116.46, Z:0.24 [[ 4.21691844e-01 9.06733385e-01 3.24903955e-03 5.69650994e+01] [ 9.06705243e-01 -4.21704355e-01 7.14414257e-03 -1.16459540e+02] [ 7.84796671e-03 -6.67054640e-05 -9.99969202e-01 2.42024913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.651858064 meters 0.015139866014930527 Centerline is valid? [True, True] Translation: X:56.97, Y:-116.46, Z:0.24 [[ 3.49378323e-01 9.36977878e-01 2.69157878e-03 5.69715366e+01] [ 9.36948579e-01 -3.49388684e-01 7.40993098e-03 -1.16464892e+02] [ 7.88334857e-03 -6.69983430e-05 -9.99968924e-01 2.42603658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68185806399998 meters 0.015013945422520065 Centerline is valid? [True, True] Translation: X:56.98, Y:-116.47, Z:0.24 [[ 2.75060098e-01 9.61424819e-01 2.06417453e-03 5.69794977e+01] [ 9.61395906e-01 -2.75067835e-01 7.45642552e-03 -1.16469726e+02] [ 7.73658057e-03 -6.64761900e-05 -9.99970070e-01 2.43084942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71185806399998 meters 0.015212520122054264 Centerline is valid? [True, True] Translation: X:56.99, Y:-116.48, Z:0.24 [[ 1.99290707e-01 9.79939260e-01 1.50360138e-03 5.69860158e+01] [ 9.79908628e-01 -1.99296367e-01 7.74845702e-03 -1.16475014e+02] [ 7.89267953e-03 -7.08035127e-05 -9.99968850e-01 2.43038889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74185806399998 meters 0.015192798997128377 Centerline is valid? [True, True] Translation: X:56.99, Y:-116.48, Z:0.24 [[ 1.22973708e-01 9.92409521e-01 8.99696667e-04 5.69918001e+01] [ 9.92378012e-01 -1.22976973e-01 7.90854624e-03 -1.16478751e+02] [ 7.95915856e-03 -7.97040627e-05 -9.99968322e-01 2.42863868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77185806399999 meters 0.015407506043447452 Centerline is valid? [True, True] Translation: X:57.00, Y:-116.48, Z:0.24 [[ 4.53145557e-02 9.98972733e-01 2.63065768e-04 5.69990498e+01] [ 9.98944284e-01 -4.53152507e-02 7.53960496e-03 -1.16481805e+02] [ 7.54378067e-03 -7.88658038e-05 -9.99971542e-01 2.43359084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.801858064 meters 0.015516573111931855 Centerline is valid? [True, True] Translation: X:57.01, Y:-116.49, Z:0.24 [[-3.19380913e-02 9.99489805e-01 -2.97088139e-04 5.70051470e+01] [ 9.99466550e-01 3.19393750e-02 6.81844016e-03 -1.16485391e+02] [ 6.82445023e-03 -7.91616925e-05 -9.99976710e-01 2.44554699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.831858064 meters 0.015497464709719872 Centerline is valid? [True, True] Translation: X:57.01, Y:-116.49, Z:0.25 [[-1.09315696e-01 9.94006788e-01 -7.64739095e-04 5.70120840e+01] [ 9.93987206e-01 1.09318343e-01 6.23969673e-03 -1.16487893e+02] [ 6.28590092e-03 -7.80440868e-05 -9.99980240e-01 2.45284585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.861858064 meters 0.015791804783452556 Centerline is valid? [True, True] Translation: X:57.02, Y:-116.49, Z:0.25 [[-1.85942942e-01 9.82559732e-01 -1.26305489e-03 5.70179943e+01] [ 9.82540061e-01 1.85947212e-01 6.21799911e-03 -1.16491350e+02] [ 6.34441707e-03 -8.48089853e-05 -9.99979870e-01 2.45384847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.891858064 meters 0.01626830475658215 Centerline is valid? [True, True] Translation: X:57.02, Y:-116.50, Z:0.24 [[-2.60212132e-01 9.65549745e-01 -1.82655306e-03 5.70211209e+01] [ 9.65528674e-01 2.60218523e-01 6.37964908e-03 -1.16495199e+02] [ 6.63517148e-03 -1.03527267e-04 -9.99977982e-01 2.44950526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.921858064 meters 0.016605864355516305 Centerline is valid? [True, True] Translation: X:57.03, Y:-116.50, Z:0.24 [[-3.33993116e-01 9.42572704e-01 -2.30133887e-03 5.70250395e+01] [ 9.42552549e-01 3.34001026e-01 6.16499184e-03 -1.16497749e+02] [ 6.57960257e-03 -1.10067988e-04 -9.99978348e-01 2.44977992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.951858064 meters 0.016809058856549347 Centerline is valid? [True, True] Translation: X:57.03, Y:-116.50, Z:0.25 [[-4.05952948e-01 9.13889920e-01 -2.72379809e-03 5.70299408e+01] [ 9.13871198e-01 4.05962069e-01 5.85072393e-03 -1.16500172e+02] [ 6.45267633e-03 -1.14082001e-04 -9.99979175e-01 2.45419384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.981858064 meters 0.017098983673544364 Centerline is valid? [True, True] Translation: X:57.03, Y:-116.50, Z:0.25 [[-4.75665516e-01 8.79621937e-01 -2.75041905e-03 5.70345565e+01] [ 8.79608462e-01 4.75673457e-01 4.86996073e-03 -1.16501617e+02] [ 5.59202563e-03 -1.02819482e-04 -9.99984359e-01 2.46289250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.011858064 meters 0.016787101002549494 Centerline is valid? [True, True] Translation: X:57.04, Y:-116.50, Z:0.25 [[-5.43417679e-01 8.39457855e-01 -2.78145140e-03 5.70408833e+01] [ 8.39447690e-01 5.43424790e-01 4.13204516e-03 -1.16501255e+02] [ 4.98018741e-03 -8.94565633e-05 -9.99987595e-01 2.46785485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.041858064 meters 0.017248955152471507 Centerline is valid? [True, True] Translation: X:57.05, Y:-116.50, Z:0.25 [[-6.07685458e-01 7.94173704e-01 -2.55200116e-03 5.70461854e+01] [ 7.94167197e-01 6.07690812e-01 3.21551546e-03 -1.16503501e+02] [ 4.10450548e-03 -7.26936245e-05 -9.99991574e-01 2.47023122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.071858064 meters 0.01589558157136571 Centerline is valid? [True, True] Translation: X:57.06, Y:-116.50, Z:0.25 [[-6.68166564e-01 7.44008048e-01 -2.33831749e-03 5.70564915e+01] [ 7.44003803e-01 6.68170653e-01 2.51398818e-03 -1.16497725e+02] [ 3.43282256e-03 -5.99542638e-05 -9.99994106e-01 2.47943736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101858064 meters 0.016674083713095672 Centerline is valid? [True, True] Translation: X:57.06, Y:-116.49, Z:0.25 [[-7.24491194e-01 6.89281362e-01 -1.92741427e-03 5.70644265e+01] [ 6.89279087e-01 7.24493756e-01 1.77148048e-03 -1.16494772e+02] [ 2.61744808e-03 -4.51043364e-05 -9.99996573e-01 2.48098225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.131858064 meters 0.016606745272363135 Centerline is valid? [True, True] Translation: X:57.08, Y:-116.47, Z:0.25 [[-7.71587172e-01 6.36121011e-01 -1.81524996e-03 5.70825981e+01] [ 6.36119370e-01 7.71589307e-01 1.44544349e-03 -1.16473243e+02] [ 2.32010443e-03 -3.94299992e-05 -9.99997308e-01 2.48025600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161858064 meters 0.01580904089718156 Centerline is valid? [True, True] Translation: X:57.10, Y:-116.45, Z:0.25 [[-8.14524934e-01 5.80125725e-01 -1.80967340e-03 5.71034819e+01] [ 5.80124395e-01 8.14526944e-01 1.24246292e-03 -1.16451599e+02] [ 2.19481245e-03 -3.78186626e-05 -9.99997591e-01 2.48039594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.191858064 meters 0.015835290345735515 Centerline is valid? [True, True] Translation: X:57.12, Y:-116.43, Z:0.25 [[-8.53288567e-01 5.21435301e-01 -1.96188300e-03 5.71213150e+01] [ 5.21434031e-01 8.53290821e-01 1.15155686e-03 -1.16430100e+02] [ 2.27451916e-03 -4.03822599e-05 -9.99997412e-01 2.48004495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221858064 meters 0.015869991565489988 Centerline is valid? [True, True] Translation: X:57.14, Y:-116.41, Z:0.25 [[-8.87856590e-01 4.60116381e-01 -1.89532485e-03 5.71354987e+01] [ 4.60115424e-01 8.87858612e-01 9.38819370e-04 -1.16406333e+02] [ 2.11474666e-03 -3.85312318e-05 -9.99997763e-01 2.47754063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.251858064 meters 0.01678872168663869 Centerline is valid? [True, True] Translation: X:57.15, Y:-116.38, Z:0.25 [[-9.18029662e-01 3.96506408e-01 -2.05124411e-03 5.71484021e+01] [ 3.96505519e-01 9.18031953e-01 8.40794524e-04 -1.16383752e+02] [ 2.21648805e-03 -4.14552976e-05 -9.99997543e-01 2.47274784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281858064 meters 0.01695963682832373 Centerline is valid? [True, True] Translation: X:57.16, Y:-116.36, Z:0.25 [[-9.43843422e-01 3.30382383e-01 -2.66000612e-03 5.71573766e+01] [ 3.30381227e-01 9.43847169e-01 8.75574703e-04 -1.16358432e+02] [ 2.79991370e-03 -5.24106604e-05 -9.99996079e-01 2.46387362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.311858064 meters 0.01654571308677417 Centerline is valid? [True, True] Translation: X:57.39, Y:-115.67, Z:-0.76 [[-9.33495083e-01 -3.58580228e-01 -2.67386458e-03 5.73929946e+01] [ 3.58578607e-01 -9.33498911e-01 1.07930935e-03 -1.15668361e+02] [-2.88306867e-03 4.87393388e-05 9.99995843e-01 -7.56284282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341858064 meters 0.016119529486496427 Centerline is valid? [True, True] Translation: X:57.09, Y:-116.33, Z:0.25 [[-9.45577285e-01 3.25382230e-01 -3.16254512e-03 5.70874405e+01] [ 3.25380611e-01 9.45582572e-01 1.02801170e-03 -1.16332526e+02] [ 3.32494429e-03 -5.69663540e-05 -9.99994471e-01 2.45935045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.371858064 meters 0.015958164649561773 Centerline is valid? [True, True] Translation: X:57.34, Y:-115.65, Z:-0.76 [[-9.34099000e-01 -3.56999993e-01 -3.17237699e-03 5.73389132e+01] [ 3.56997742e-01 -9.34104385e-01 1.26885176e-03 -1.15653289e+02] [-3.41631132e-03 5.27017410e-05 9.99994163e-01 -7.55520156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401858064 meters 0.015243169352736249 Centerline is valid? [True, True] Translation: X:57.07, Y:-116.32, Z:0.25 [[-9.47960660e-01 3.18370143e-01 -3.32259674e-03 5.70651975e+01] [ 3.18368361e-01 9.47966481e-01 1.06634702e-03 -1.16323250e+02] [ 3.48920339e-03 -4.69546476e-05 -9.99993912e-01 2.45675252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43185806399998 meters 0.015002742649428514 Centerline is valid? [True, True] Translation: X:57.08, Y:-116.30, Z:0.25 [[-9.68520178e-01 2.48916894e-01 -3.00754646e-03 5.70810225e+01] [ 2.48915810e-01 9.68524847e-01 7.35524069e-04 -1.16297913e+02] [ 3.09596784e-03 -3.62559627e-05 -9.99995207e-01 2.45874711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46185806399998 meters 0.014630376581829658 Centerline is valid? [True, True] Translation: X:57.25, Y:-115.60, Z:-0.76 [[-9.55960734e-01 -2.93491572e-01 -1.33118852e-03 5.72521965e+01] [ 2.93491101e-01 -9.55961653e-01 5.40657323e-04 -1.15604142e+02] [-1.43124355e-03 1.26155186e-04 9.99998968e-01 -7.57154424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49185806399998 meters 0.014573297284736931 Centerline is valid? [True, True] Translation: X:57.03, Y:-116.28, Z:0.25 [[-9.70485781e-01 2.41158139e-01 -3.17262313e-04 5.70298742e+01] [ 2.41158127e-01 9.70485833e-01 7.63920393e-05 -1.16281833e+02] [ 3.26321142e-04 -2.37299722e-06 -9.99999947e-01 2.48599868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52185806399999 meters 0.01444907276853051 Centerline is valid? [True, True] Translation: X:57.03, Y:-116.25, Z:0.25 [[-9.85422761e-01 1.70120530e-01 9.93977148e-04 5.70268350e+01] [ 1.70120450e-01 9.85423262e-01 -1.65103563e-04 -1.16251935e+02] [-1.00757571e-03 6.39903069e-06 -9.99999492e-01 2.49343824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.551858064 meters 0.014409087888419289 Centerline is valid? [True, True] Translation: X:57.03, Y:-116.22, Z:0.25 [[-9.95151649e-01 9.83186129e-02 2.57793065e-03 5.70305315e+01] [ 9.83183158e-02 9.95154988e-01 -2.42042975e-04 -1.16223809e+02] [-2.58923787e-03 1.25883337e-05 -9.99996648e-01 2.50300952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.581858064 meters 0.014388236127081839 Centerline is valid? [True, True] Translation: X:57.11, Y:-115.52, Z:-0.76 [[-9.87842466e-01 -1.55436451e-01 2.60214189e-03 5.71072790e+01] [ 1.55435885e-01 -9.87845894e-01 -4.19365523e-04 -1.15521468e+02] [ 2.63569987e-03 -9.80084362e-06 9.99996527e-01 -7.59818707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.611858064 meters 0.014531738925142599 Centerline is valid? [True, True] Translation: X:56.97, Y:-116.22, Z:0.25 [[-9.95502582e-01 9.46921752e-02 2.82852958e-03 5.69730727e+01] [ 9.46918398e-02 9.95506601e-01 -2.52557701e-04 -1.16219734e+02] [-2.83973511e-03 1.64168269e-05 -9.99995968e-01 2.49751408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.641858064 meters 0.014815899243241318 Centerline is valid? [True, True] Translation: X:57.04, Y:-115.51, Z:-0.76 [[-9.89118586e-01 -1.47104990e-01 2.13163400e-03 5.70435853e+01] [ 1.47104530e-01 -9.89120882e-01 -3.72014929e-04 -1.15512323e+02] [ 2.16316896e-03 -5.43938640e-05 9.99997659e-01 -7.58368264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.671858064 meters 0.015011088543665615 Centerline is valid? [True, True] Translation: X:56.91, Y:-116.22, Z:0.25 [[-9.95462874e-01 9.51244404e-02 2.23752791e-03 5.69090824e+01] [ 9.51242556e-02 9.95465389e-01 -1.89105727e-04 -1.16218253e+02] [-2.24537017e-03 2.45954463e-05 -9.99997479e-01 2.47969393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.701858064 meters 0.015442484305765686 Centerline is valid? [True, True] Translation: X:56.91, Y:-116.19, Z:0.25 [[-9.99661913e-01 2.59059128e-02 2.22317848e-03 5.69100824e+01] [ 2.59059118e-02 9.99664385e-01 -2.92655713e-05 -1.16192342e+02] [-2.22319050e-03 2.83377885e-05 -9.99997528e-01 2.47542651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.731858064 meters 0.015445941136725759 Centerline is valid? [True, True] Translation: X:56.91, Y:-116.16, Z:0.25 [[-9.99049732e-01 -4.35061821e-02 2.61633951e-03 5.69077497e+01] [-4.35059329e-02 9.99053157e-01 1.52125172e-04 -1.16164711e+02] [-2.62048063e-03 3.81543219e-05 -9.99996566e-01 2.46808469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.761858064 meters 0.016910528745773375 Centerline is valid? [True, True] Translation: X:56.90, Y:-116.14, Z:0.25 [[-9.93777144e-01 -1.11347358e-01 2.95862056e-03 5.69000821e+01] [-1.11346705e-01 9.93781547e-01 3.85017465e-04 -1.16141057e+02] [-2.98309319e-03 5.31889059e-05 -9.99995549e-01 2.47025575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.791858064 meters 0.017471632775293865 Centerline is valid? [True, True] Translation: X:56.88, Y:-116.12, Z:0.25 [[-9.83436907e-01 -1.81226590e-01 2.96186181e-03 5.68806165e+01] [-1.81225591e-01 9.83441366e-01 6.04527375e-04 -1.16116641e+02] [-3.02237386e-03 5.77493730e-05 -9.99995431e-01 2.47101076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821858064 meters 0.017410440460651523 Centerline is valid? [True, True] Translation: X:56.71, Y:-115.41, Z:-0.76 [[-9.88219672e-01 1.53004751e-01 3.38031220e-03 5.67124299e+01] [-1.53003992e-01 -9.88225452e-01 4.83477728e-04 -1.15406305e+02] [ 3.41448494e-03 -3.94190595e-05 9.99994170e-01 -7.56752652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.851858064 meters 0.016729663380755756 Centerline is valid? [True, True] Translation: X:56.73, Y:-116.14, Z:0.25 [[-9.82593635e-01 -1.85695172e-01 5.20114477e-03 5.67343354e+01] [-1.85691953e-01 9.82607394e-01 1.09942387e-03 -1.16142352e+02] [-5.31484101e-03 1.14476169e-04 -9.99985870e-01 2.47292709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881858064 meters 0.01803590862788512 Centerline is valid? [True, True] Translation: X:56.69, Y:-116.13, Z:0.25 [[-9.66666974e-01 -2.55973281e-01 5.71331448e-03 5.66944258e+01] [-2.55968003e-01 9.66683848e-01 1.64896825e-03 -1.16125668e+02] [-5.94506064e-03 1.31577451e-04 -9.99982319e-01 2.48378610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.911858064 meters 0.017726850861386704 Centerline is valid? [True, True] Translation: X:56.63, Y:-116.12, Z:0.25 [[-9.45375930e-01 -3.25918178e-01 6.45689473e-03 5.66314332e+01] [-3.25909447e-01 9.45397968e-01 2.39070356e-03 -1.16115439e+02] [-6.88350891e-03 1.55750614e-04 -9.99976296e-01 2.48467553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941858064 meters 0.016791764891407004 Centerline is valid? [True, True] Translation: X:56.56, Y:-116.11, Z:0.25 [[-9.18858076e-01 -3.94528816e-01 6.84466638e-03 5.65628820e+01] [-3.94516456e-01 9.18883553e-01 3.12774537e-03 -1.16110589e+02] [-7.52343703e-03 1.73620576e-04 -9.99971683e-01 2.47992110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.971858064 meters 0.01748064532932528 Centerline is valid? [True, True] Translation: X:56.49, Y:-116.12, Z:0.25 [[-8.87068925e-01 -4.61578416e-01 7.35445050e-03 5.64852013e+01] [-4.61560708e-01 8.87099390e-01 4.04792268e-03 -1.16117875e+02] [-8.39256229e-03 1.96261048e-04 -9.99964763e-01 2.48323927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001858064 meters 0.017076377263523384 Centerline is valid? [True, True] Translation: X:56.40, Y:-116.13, Z:0.25 [[-8.50049473e-01 -5.26651108e-01 7.38263764e-03 5.64020039e+01] [-5.26629115e-01 8.50081507e-01 4.81743808e-03 -1.16133048e+02] [-8.81295283e-03 2.07148778e-04 -9.99961144e-01 2.47634672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.031858064 meters 0.017172448333723136 Centerline is valid? [True, True] Translation: X:56.31, Y:-116.16, Z:0.25 [[-8.07824826e-01 -5.89380477e-01 7.05016166e-03 5.63128276e+01] [-5.89355790e-01 8.07855563e-01 5.39833464e-03 -1.16161157e+02] [-8.87718536e-03 2.05855144e-04 -9.99960576e-01 2.47437617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061858064 meters 0.016725121652725362 Centerline is valid? [True, True] Translation: X:56.22, Y:-116.20, Z:0.25 [[-7.60582461e-01 -6.49207848e-01 6.59475958e-03 5.62222571e+01] [-6.49181151e-01 7.60611024e-01 5.89092948e-03 -1.16197161e+02] [-8.84048449e-03 1.99344022e-04 -9.99960902e-01 2.46264025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.091858064 meters 0.016965095551296043 Centerline is valid? [True, True] Translation: X:56.13, Y:-116.24, Z:0.25 [[-7.08847342e-01 -7.05336101e-01 6.03569286e-03 5.61326315e+01] [-7.05308206e-01 7.08873012e-01 6.27596448e-03 -1.16244998e+02] [-8.70520409e-03 1.91677041e-04 -9.99962091e-01 2.46170559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121858064 meters 0.016799939289024183 Centerline is valid? [True, True] Translation: X:56.04, Y:-116.31, Z:0.25 [[-6.52844505e-01 -7.57471592e-01 5.55331637e-03 5.60405001e+01] [-7.57441709e-01 6.52868097e-01 6.73098871e-03 -1.16305204e+02] [-8.72411582e-03 1.87975554e-04 -9.99961927e-01 2.45482884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.151858064 meters 0.016978114251792437 Centerline is valid? [True, True] Translation: X:55.96, Y:-116.37, Z:0.24 [[-5.92475002e-01 -8.05574442e-01 4.81570516e-03 5.59558040e+01] [-8.05545424e-01 5.92494548e-01 6.83964622e-03 -1.16369037e+02] [-8.36312323e-03 1.73050152e-04 -9.99965014e-01 2.44803814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18185806399998 meters 0.01634438579723942 Centerline is valid? [True, True] Translation: X:55.87, Y:-116.45, Z:0.24 [[-5.28947678e-01 -8.48642644e-01 4.47398655e-03 5.58669026e+01] [-8.48609401e-01 5.28966569e-01 7.51347447e-03 -1.16451371e+02] [-8.74284415e-03 1.77567831e-04 -9.99961765e-01 2.44278155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21185806399998 meters 0.0163664419385431 Centerline is valid? [True, True] Translation: X:55.79, Y:-116.53, Z:0.24 [[-4.61927553e-01 -8.86908064e-01 4.12575565e-03 5.57925298e+01] [-8.86869059e-01 4.61945941e-01 8.31985058e-03 -1.16527658e+02] [-9.28481865e-03 1.84163193e-04 -9.99956878e-01 2.44368761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24185806399998 meters 0.01622795768935866 Centerline is valid? [True, True] Translation: X:55.72, Y:-116.62, Z:0.24 [[-3.91065947e-01 -9.20354683e-01 3.83180097e-03 5.57188483e+01] [-9.20305731e-01 3.91084674e-01 9.49420251e-03 -1.16618459e+02] [-1.02365924e-02 1.86430899e-04 -9.99947587e-01 2.44632829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27185806399999 meters 0.015961420168369267 Centerline is valid? [True, True] Translation: X:55.65, Y:-116.72, Z:0.24 [[-3.18713760e-01 -9.47846042e-01 3.06924879e-03 5.56526892e+01] [-9.47796538e-01 3.18728488e-01 9.68886130e-03 -1.16715089e+02] [-1.01618059e-02 1.78950040e-04 -9.99948352e-01 2.44337030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.301858064 meters 0.016003499341583637 Centerline is valid? [True, True] Translation: X:55.59, Y:-116.82, Z:0.24 [[-2.44616016e-01 -9.69616667e-01 2.55429565e-03 5.55940721e+01] [-9.69555259e-01 2.44629275e-01 1.09140982e-02 -1.16820765e+02] [-1.12073470e-02 1.93232438e-04 -9.99937177e-01 2.44792513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.331858064 meters 0.016003499341583637 Centerline is valid? [True, True] Translation: X:55.54, Y:-116.93, Z:0.24 [[-1.69349528e-01 -9.85554576e-01 1.70762656e-03 5.55440944e+01] [-9.85492330e-01 1.69358027e-01 1.10781830e-02 -1.16930552e+02] [-1.12073542e-02 1.93232191e-04 -9.99937177e-01 2.44792870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.361858064 meters 0.01618114209672388 Centerline is valid? [True, True] Translation: X:55.50, Y:-117.05, Z:0.25 [[-9.26634148e-02 -9.95697095e-01 8.86848105e-04 5.55010953e+01] [-9.95628775e-01 9.26674470e-02 1.16656201e-02 -1.17046643e+02] [-1.16976060e-02 1.98004700e-04 -9.99931561e-01 2.45854663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.391858064 meters 0.016084612380316915 Centerline is valid? [True, True] Translation: X:55.47, Y:-117.16, Z:0.25 [[-1.59959957e-02 -9.99872056e-01 -1.36852437e-05 5.54674432e+01] [-9.99804174e-01 1.59947502e-02 1.16525646e-02 -1.17164119e+02] [-1.16508548e-02 2.00076936e-04 -9.99932106e-01 2.45628517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.421858064 meters 0.016463835558874557 Centerline is valid? [True, True] Translation: X:55.44, Y:-117.28, Z:0.25 [[ 6.02956798e-02 -9.98180148e-01 -9.07407025e-04 5.54442871e+01] [-9.98112767e-01 -6.03021545e-02 1.15997435e-02 -1.17279252e+02] [-1.16333523e-02 2.06280115e-04 -9.99932309e-01 2.45809934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.451858064 meters 0.016840929927352036 Centerline is valid? [True, True] Translation: X:55.43, Y:-117.41, Z:0.25 [[ 1.35086815e-01 -9.90832082e-01 -1.82718751e-03 5.54315911e+01] [-9.90763183e-01 -1.35098973e-01 1.16868462e-02 -1.17407641e+02] [-1.18265533e-02 2.31571276e-04 -9.99930037e-01 2.45407496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.481858064 meters 0.016900670066933843 Centerline is valid? [True, True] Translation: X:55.42, Y:-117.52, Z:0.24 [[ 2.09892114e-01 -9.77720534e-01 -2.80317466e-03 5.54249102e+01] [-9.77648649e-01 -2.09910681e-01 1.18585048e-02 -1.17518617e+02] [-1.21827199e-02 2.51513280e-04 -9.99925756e-01 2.44884234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.511858064 meters 0.01749854349668089 Centerline is valid? [True, True] Translation: X:55.43, Y:-117.64, Z:0.25 [[ 2.83299086e-01 -9.59024253e-01 -3.75637136e-03 5.54299252e+01] [-9.58952176e-01 -2.83323859e-01 1.17607610e-02 -1.17639490e+02] [-1.23431246e-02 2.70367661e-04 -9.99923784e-01 2.45072813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.541858064 meters 0.01771505050988677 Centerline is valid? [True, True] Translation: X:55.44, Y:-117.76, Z:0.24 [[ 3.54934261e-01 -9.34880573e-01 -4.47032969e-03 5.54419687e+01] [-9.34815924e-01 -3.54962305e-01 1.09977137e-02 -1.17755278e+02] [-1.18683474e-02 2.75469978e-04 -9.99929531e-01 2.44641471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.571858064 meters 0.018929086309402203 Centerline is valid? [True, True] Translation: X:55.46, Y:-117.87, Z:0.24 [[ 4.23413575e-01 -9.05921289e-01 -5.24996933e-03 5.54648026e+01] [-9.05860271e-01 -4.23446014e-01 1.05186791e-02 -1.17872507e+02] [-1.17521739e-02 3.01987119e-04 -9.99930895e-01 2.44943878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601858064 meters 0.01911396461154048 Centerline is valid? [True, True] Translation: X:55.49, Y:-117.99, Z:0.24 [[ 4.91024200e-01 -8.71126031e-01 -5.88834550e-03 5.54937981e+01] [-8.71070621e-01 -4.91059412e-01 9.82993119e-03 -1.17985352e+02] [-1.14546364e-02 3.02430674e-04 -9.99934348e-01 2.44990247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.631858064 meters 0.01952214194641557 Centerline is valid? [True, True] Translation: X:55.53, Y:-118.09, Z:0.25 [[ 5.55820883e-01 -8.31277849e-01 -6.34699306e-03 5.55313687e+01] [-8.31229617e-01 -5.55857041e-01 8.95949962e-03 -1.18094826e+02] [-1.09758544e-02 2.95931623e-04 -9.99939720e-01 2.45073588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661858064 meters 0.01804873984922761 Centerline is valid? [True, True] Translation: X:55.57, Y:-118.20, Z:0.24 [[ 6.17556624e-01 -7.86498058e-01 -6.67998514e-03 5.55695794e+01] [-7.86456929e-01 -6.17592686e-01 8.04823930e-03 -1.18196292e+02] [-1.04554345e-02 2.83277106e-04 -9.99945300e-01 2.44258940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.691858064 meters 0.019915030836103177 Centerline is valid? [True, True] Translation: X:55.62, Y:-118.29, Z:0.25 [[ 6.75942676e-01 -7.36919497e-01 -7.15220310e-03 5.56215924e+01] [-7.36882489e-01 -6.75980458e-01 7.39034445e-03 -1.18292948e+02] [-1.02808384e-02 2.74884023e-04 -9.99947113e-01 2.45247292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721858064 meters 0.019758018036376772 Centerline is valid? [True, True] Translation: X:55.67, Y:-118.39, Z:0.25 [[ 7.30562766e-01 -6.82803719e-01 -7.55816707e-03 5.56748628e+01] [-6.82770844e-01 -7.30601815e-01 6.70535717e-03 -1.18385009e+02] [-1.01004534e-02 2.61811829e-04 -9.99948955e-01 2.45574782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.751858064 meters 0.017819683972841466 Centerline is valid? [True, True] Translation: X:55.67, Y:-118.40, Z:0.25 [[ 7.82327009e-01 -6.22814168e-01 -8.18309653e-03 5.56688370e+01] [-6.22783485e-01 -7.82369763e-01 6.18738845e-03 -1.18397212e+02] [-1.02558005e-02 2.55736280e-04 -9.99947375e-01 2.45004014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781858064 meters 0.016770755663752083 Centerline is valid? [True, True] Translation: X:55.66, Y:-118.41, Z:0.25 [[ 8.29851899e-01 -5.57917423e-01 -8.60088450e-03 5.56635447e+01] [-5.57890336e-01 -8.29896437e-01 5.50245586e-03 -1.18410671e+02] [-1.02077594e-02 2.32126896e-04 -9.99947873e-01 2.46007959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.811858064 meters 0.016568479609055643 Centerline is valid? [True, True] Translation: X:55.66, Y:-118.42, Z:0.25 [[ 8.71540264e-01 -4.90244807e-01 -8.80896360e-03 5.56613837e+01] [-4.90222243e-01 -8.71584754e-01 4.70844154e-03 -1.18421975e+02] [-9.98604739e-03 2.14753509e-04 -9.99950115e-01 2.46113716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841858064 meters 0.016195610819087873 Centerline is valid? [True, True] Translation: X:55.66, Y:-118.43, Z:0.25 [[ 9.07669364e-01 -4.19593567e-01 -8.80704249e-03 5.56607724e+01] [-4.19575903e-01 -9.07712069e-01 3.85509271e-03 -1.18433518e+02] [-9.61183087e-03 1.96073259e-04 -9.99953786e-01 2.45980944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.871858064 meters 0.016053702478411848 Centerline is valid? [True, True] Translation: X:55.66, Y:-118.44, Z:0.25 [[ 9.38402553e-01 -3.45449374e-01 -8.08572540e-03 5.56602562e+01] [-3.45437988e-01 -9.38437374e-01 2.80909778e-03 -1.18444616e+02] [-8.55834798e-03 1.57052184e-04 -9.99963364e-01 2.46264589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901858064 meters 0.015882522609159875 Centerline is valid? [True, True] Translation: X:55.66, Y:-118.45, Z:0.25 [[ 9.62796042e-01 -2.70101055e-01 -8.31871137e-03 5.56621861e+01] [-2.70092313e-01 -9.62831968e-01 2.17825842e-03 -1.18453878e+02] [-8.59787113e-03 1.49601403e-04 -9.99963026e-01 2.46515617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93185806399998 meters 0.015824452180374954 Centerline is valid? [True, True] Translation: X:55.66, Y:-118.46, Z:0.25 [[ 9.81122869e-01 -1.93218079e-01 -8.04304115e-03 5.56642032e+01] [-1.93212721e-01 -9.81155826e-01 1.44542478e-03 -1.18462460e+02] [-8.17075889e-03 1.35878562e-04 -9.99966610e-01 2.46861343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96185806399998 meters 0.0156330569930411 Centerline is valid? [True, True] Translation: X:55.66, Y:-118.47, Z:0.25 [[ 9.93442519e-01 -1.14067178e-01 -7.78719807e-03 5.56635265e+01] [-1.14064589e-01 -9.93473032e-01 7.77258578e-04 -1.18472853e+02] [-7.82503097e-03 1.16081826e-04 -9.99969377e-01 2.47312554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99185806399998 meters 0.015203190011579677 Centerline is valid? [True, True] Translation: X:55.66, Y:-118.49, Z:0.25 [[ 9.99364081e-01 -3.49757720e-02 -6.93748051e-03 5.56632303e+01] [-3.49755981e-02 -9.99388156e-01 1.46427297e-04 -1.18486106e+02] [-6.93835727e-03 9.63083493e-05 -9.99975925e-01 2.46914109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02185806399999 meters 0.01519977495930835 Centerline is valid? [True, True] Translation: X:55.66, Y:-118.50, Z:0.25 [[ 9.98990190e-01 4.45499109e-02 -5.82279843e-03 5.56638751e+01] [ 4.45487209e-02 -9.99007157e-01 -3.33975601e-04 -1.18497453e+02] [-5.83189589e-03 7.42401273e-05 -9.99982992e-01 2.47198360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.051858064 meters 0.014996570540153194 Centerline is valid? [True, True] Translation: X:55.67, Y:-118.51, Z:0.25 [[ 9.92129159e-01 1.25119977e-01 -4.97229291e-03 5.56664797e+01] [ 1.25118147e-01 -9.92141617e-01 -6.78673581e-04 -1.18510540e+02] [-5.01813435e-03 5.12077744e-05 -9.99987408e-01 2.47409253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.081858064 meters 0.014888422870587345 Centerline is valid? [True, True] Translation: X:55.67, Y:-118.52, Z:0.25 [[ 9.78977476e-01 2.03914042e-01 -4.70790728e-03 5.56687128e+01] [ 2.03911478e-01 -9.78988796e-01 -1.02341879e-03 -1.18521466e+02] [-4.81767794e-03 4.19076143e-05 -9.99988394e-01 2.48087783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.111858064 meters 0.014751956254694313 Centerline is valid? [True, True] Translation: X:55.67, Y:-118.53, Z:0.25 [[ 9.59566664e-01 2.81450063e-01 -4.20463146e-03 5.56729752e+01] [ 2.81447219e-01 -9.59575875e-01 -1.26581824e-03 -1.18532323e+02] [-4.39092754e-03 3.12551593e-05 -9.99990359e-01 2.48379258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.141858064 meters 0.01449905277003931 Centerline is valid? [True, True] Translation: X:55.68, Y:-118.54, Z:0.25 [[ 9.33577748e-01 3.58353661e-01 -3.90420929e-03 5.56770271e+01] [ 3.58350447e-01 -9.33585911e-01 -1.51784452e-03 -1.18541942e+02] [-4.18883993e-03 1.79507224e-05 -9.99991227e-01 2.48966340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.171858064 meters 0.014369782791533312 Centerline is valid? [True, True] Translation: X:55.68, Y:-118.55, Z:0.25 [[ 9.02110234e-01 4.31491077e-01 -3.54617926e-03 5.56826150e+01] [ 4.31487692e-01 -9.02117204e-01 -1.70929418e-03 -1.18550237e+02] [-3.93661451e-03 1.18390668e-05 -9.99992251e-01 2.48883040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.201858064 meters 0.014367648442034251 Centerline is valid? [True, True] Translation: X:55.69, Y:-118.56, Z:0.25 [[ 8.65126572e-01 5.01542436e-01 -3.34643154e-03 5.56881644e+01] [ 5.01538646e-01 -8.65133045e-01 -1.94978476e-03 -1.18558043e+02] [-3.87300830e-03 8.44586635e-06 -9.99992500e-01 2.48835200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.231858064 meters 0.014424066988932362 Centerline is valid? [True, True] Translation: X:55.69, Y:-118.57, Z:0.25 [[ 8.22607036e-01 5.68604722e-01 -2.51686825e-03 5.56949170e+01] [ 5.68602047e-01 -8.22610887e-01 -1.74389553e-03 -1.18565487e+02] [-3.06199046e-03 3.44429537e-06 -9.99995312e-01 2.49106800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.261858064 meters 0.014422207278096996 Centerline is valid? [True, True] Translation: X:55.70, Y:-118.57, Z:0.25 [[ 7.75257132e-01 6.31641592e-01 -2.29751786e-03 5.57012749e+01] [ 6.31638811e-01 -7.75260536e-01 -1.87437835e-03 -1.18571448e+02] [-2.96511025e-03 1.92373141e-06 -9.99995604e-01 2.49211538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.291858064 meters 0.014245269768985056 Centerline is valid? [True, True] Translation: X:55.71, Y:-118.58, Z:0.25 [[ 7.23555354e-01 6.90264011e-01 -1.80148987e-03 5.57071871e+01] [ 6.90261864e-01 -7.23557596e-01 -1.72162460e-03 -1.18576708e+02] [-2.49185718e-03 2.19094032e-06 -9.99996895e-01 2.49254452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321858064 meters 0.014287818371064126 Centerline is valid? [True, True] Translation: X:55.71, Y:-118.58, Z:0.25 [[ 6.67452177e-01 7.44651058e-01 -1.54696360e-03 5.57130946e+01] [ 7.44649049e-01 -6.67453970e-01 -1.72971297e-03 -1.18579917e+02] [-2.32055959e-03 2.55570869e-06 -9.99997308e-01 2.49175830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.351858064 meters 0.014452392384312928 Centerline is valid? [True, True] Translation: X:55.72, Y:-118.58, Z:0.25 [[ 6.08211290e-01 7.93774032e-01 -1.34651668e-03 5.57184535e+01] [ 7.93772066e-01 -6.08212780e-01 -1.76651325e-03 -1.18582810e+02] [-2.22118100e-03 5.58597897e-06 -9.99997533e-01 2.49453972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381858064 meters 0.014466135473458501 Centerline is valid? [True, True] Translation: X:55.73, Y:-118.59, Z:0.25 [[ 5.45192018e-01 8.38310245e-01 -1.26350308e-03 5.57264444e+01] [ 8.38307957e-01 -5.45193482e-01 -1.95877590e-03 -1.18587364e+02] [-2.33091555e-03 8.70430091e-06 -9.99997283e-01 2.49873782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.411858064 meters 0.014604810750396779 Centerline is valid? [True, True] Translation: X:55.73, Y:-118.59, Z:0.25 [[ 4.79273592e-01 8.77664794e-01 -1.15495819e-03 5.57329035e+01] [ 8.77662180e-01 -4.79274983e-01 -2.14193481e-03 -1.18591606e+02] [-2.43344334e-03 1.29096667e-05 -9.99997039e-01 2.50751799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441858064 meters 0.014582993848929611 Centerline is valid? [True, True] Translation: X:55.74, Y:-118.59, Z:0.25 [[ 4.10911396e-01 9.11674823e-01 -9.17813215e-04 5.57396038e+01] [ 9.11672458e-01 -4.10912420e-01 -2.07676071e-03 -1.18594799e+02] [-2.27047130e-03 1.66196137e-05 -9.99997422e-01 2.51307471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.471858064 meters 0.01541003933061365 Centerline is valid? [True, True] Translation: X:55.74, Y:-118.60, Z:0.25 [[ 3.41705189e-01 9.39806715e-01 -9.49748216e-04 5.57418929e+01] [ 9.39802825e-01 -3.41706508e-01 -2.70417294e-03 -1.18596738e+02] [-2.86593503e-03 3.14538687e-05 -9.99995893e-01 2.52491247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501858064 meters 0.015383394906861822 Centerline is valid? [True, True] Translation: X:55.75, Y:-118.60, Z:0.25 [[ 2.68920369e-01 9.63162130e-01 -7.38740504e-04 5.57470875e+01] [ 9.63158108e-01 -2.68921381e-01 -2.78381682e-03 -1.18598615e+02] [-2.87993006e-03 3.71011420e-05 -9.99995852e-01 2.52120161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.531858064 meters 0.015745223785405806 Centerline is valid? [True, True] Translation: X:55.75, Y:-118.60, Z:0.25 [[ 1.96379819e-01 9.80527830e-01 -3.74763969e-04 5.57518690e+01] [ 9.80525693e-01 -1.96380174e-01 -2.04785705e-03 -1.18600565e+02] [-2.08157704e-03 3.46920961e-05 -9.99997833e-01 2.50838833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561858064 meters 0.01602924033773649 Centerline is valid? [True, True] Translation: X:55.76, Y:-118.60, Z:0.25 [[ 1.20407059e-01 9.92724594e-01 -1.45900474e-04 5.57583059e+01] [ 9.92723582e-01 -1.20407144e-01 -1.41756485e-03 -1.18602028e+02] [-1.42481894e-03 2.58459722e-05 -9.99998985e-01 2.50149013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.591858064 meters 0.016517608215019054 Centerline is valid? [True, True] Translation: X:55.76, Y:-118.61, Z:0.25 [[ 4.31905832e-02 9.99066851e-01 -2.64865146e-05 5.57642844e+01] [ 9.99066250e-01 -4.31905863e-02 -1.09645893e-03 -1.18605005e+02] [-1.09657973e-03 2.08949177e-05 -9.99999399e-01 2.50021966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621858064 meters 0.01623188073582432 Centerline is valid? [True, True] Translation: X:55.77, Y:-118.61, Z:0.25 [[-3.47959713e-02 9.99394436e-01 4.32061849e-05 5.57738516e+01] [ 9.99394120e-01 3.47959946e-02 -7.94499072e-04 -1.18606213e+02] [-7.95521354e-04 1.55346403e-05 -9.99999683e-01 2.49711535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.651858064 meters 0.016357963396739002 Centerline is valid? [True, True] Translation: X:55.78, Y:-118.61, Z:0.25 [[-1.13077529e-01 9.93586164e-01 8.62432347e-05 5.57822846e+01] [ 9.93585954e-01 1.13077562e-01 -6.45703653e-04 -1.18607669e+02] [-6.51314390e-04 1.26754928e-05 -9.99999788e-01 2.49961449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68185806399998 meters 0.016251385120190875 Centerline is valid? [True, True] Translation: X:55.79, Y:-118.61, Z:0.25 [[-1.91104496e-01 9.81569694e-01 -9.13823897e-05 5.57890587e+01] [ 9.81569601e-01 1.91104517e-01 4.27556738e-04 -1.18608107e+02] [ 4.37140324e-04 -7.99016107e-06 -9.99999904e-01 2.49885638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71185806399998 meters 0.016420493087119983 Centerline is valid? [True, True] Translation: X:55.80, Y:-118.61, Z:0.25 [[-2.67475893e-01 9.63564531e-01 -2.04859597e-04 5.57956635e+01] [ 9.63564285e-01 2.67475971e-01 6.88563367e-04 -1.18608265e+02] [ 7.18270257e-04 -1.32212897e-05 -9.99999742e-01 2.49009645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74185806399998 meters 0.016216016830629752 Centerline is valid? [True, True] Translation: X:55.80, Y:-118.61, Z:0.25 [[-3.41928453e-01 9.39725908e-01 -3.89741211e-04 5.58046203e+01] [ 9.39725363e-01 3.41928674e-01 1.01187104e-03 -1.18606677e+02] [ 1.08414513e-03 -2.02622027e-05 -9.99999412e-01 2.48668526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77185806399999 meters 0.016079487344760942 Centerline is valid? [True, True] Translation: X:55.81, Y:-118.60, Z:0.25 [[-4.14023569e-01 9.10265923e-01 -6.58713531e-04 5.58147645e+01] [ 9.10264881e-01 4.14024092e-01 1.37733743e-03 -1.18603569e+02] [ 1.52646660e-03 -2.93536352e-05 -9.99998835e-01 2.48386424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.801858064 meters 0.016823599013959405 Centerline is valid? [True, True] Translation: X:55.82, Y:-118.60, Z:0.25 [[-4.83550708e-01 8.75315777e-01 -1.00117064e-03 5.58232925e+01] [ 8.75314068e-01 4.83551743e-01 1.73034522e-03 -1.18601579e+02] [ 1.99871628e-03 -3.96290885e-05 -9.99998002e-01 2.47971577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.831858064 meters 0.016335041967956786 Centerline is valid? [True, True] Translation: X:55.83, Y:-118.60, Z:0.25 [[-5.50604882e-01 8.34764916e-01 -1.34103326e-03 5.58332916e+01] [ 8.34762646e-01 5.50606513e-01 1.94766514e-03 -1.18596387e+02] [ 2.36422417e-03 -4.70505321e-05 -9.99997204e-01 2.47895602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.861858064 meters 0.016663325464645114 Centerline is valid? [True, True] Translation: X:55.84, Y:-118.59, Z:0.25 [[-6.14425431e-01 7.88973114e-01 -1.67800123e-03 5.58413552e+01] [ 7.88970402e-01 6.14427720e-01 2.06907860e-03 -1.18592821e+02] [ 2.66345786e-03 -5.25987955e-05 -9.99996452e-01 2.47673684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.891858064 meters 0.016528801006169366 Centerline is valid? [True, True] Translation: X:55.85, Y:-118.59, Z:0.25 [[-6.74591206e-01 7.38189180e-01 -1.85448169e-03 5.58483158e+01] [ 7.38186601e-01 6.74593753e-01 1.95194064e-03 -1.18587725e+02] [ 2.69192322e-03 -5.21915469e-05 -9.99996375e-01 2.47779882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.921858064 meters 0.01629909720630976 Centerline is valid? [True, True] Translation: X:55.86, Y:-118.58, Z:0.25 [[-7.30437920e-01 6.82975902e-01 -2.08884012e-03 5.58558862e+01] [ 6.82973319e-01 7.30440904e-01 1.87916314e-03 -1.18581918e+02] [ 2.80919741e-03 -5.40100574e-05 -9.99996053e-01 2.47775762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.951858064 meters 0.016111164058755907 Centerline is valid? [True, True] Translation: X:55.87, Y:-118.56, Z:0.25 [[-7.77543550e-01 6.28825915e-01 -1.99918082e-03 5.58714593e+01] [ 6.28823988e-01 7.77546119e-01 1.55732623e-03 -1.18556420e+02] [ 2.53374238e-03 -4.62438944e-05 -9.99996789e-01 2.47878914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.981858064 meters 0.01631465691140809 Centerline is valid? [True, True] Translation: X:55.89, Y:-118.54, Z:0.25 [[-8.20251581e-01 5.71999684e-01 -1.92485486e-03 5.58916771e+01] [ 5.71998228e-01 8.20253839e-01 1.29149211e-03 -1.18535704e+02] [ 2.31760267e-03 -4.16651287e-05 -9.99997314e-01 2.48212226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.011858064 meters 0.016067115695421772 Centerline is valid? [True, True] Translation: X:55.91, Y:-118.51, Z:0.25 [[-8.58867681e-01 5.12191574e-01 -2.46930882e-03 5.59071887e+01] [ 5.12189625e-01 8.58871230e-01 1.41399113e-03 -1.18509693e+02] [ 2.84505264e-03 -5.03230765e-05 -9.99995952e-01 2.48111018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.041858064 meters 0.01622446061058157 Centerline is valid? [True, True] Translation: X:55.92, Y:-118.49, Z:0.25 [[-8.93057576e-01 4.49932669e-01 -2.95967953e-03 5.59225003e+01] [ 4.49930410e-01 8.93062478e-01 1.42679244e-03 -1.18486138e+02] [ 3.28513926e-03 -5.74420271e-05 -9.99994602e-01 2.48025116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.071858064 meters 0.01616012906359654 Centerline is valid? [True, True] Translation: X:56.22, Y:-117.88, Z:-0.76 [[-8.77957386e-01 -4.78729862e-01 -2.92367971e-03 5.62172819e+01] [ 4.78727002e-01 -8.77962252e-01 1.65589217e-03 -1.17881572e+02] [-3.35960545e-03 5.41583422e-05 9.99994355e-01 -7.57649778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101858064 meters 0.016186673181107204 Centerline is valid? [True, True] Translation: X:55.88, Y:-118.47, Z:0.25 [[-8.94891453e-01 4.46274890e-01 -2.83018221e-03 5.58818382e+01] [ 4.46272846e-01 8.94895927e-01 1.35159228e-03 -1.18466075e+02] [ 3.13590023e-03 -5.35050865e-05 -9.99995082e-01 2.48466237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.131858064 meters 0.016135835488973727 Centerline is valid? [True, True] Translation: X:55.89, Y:-118.44, Z:0.25 [[-9.24356029e-01 3.81522993e-01 -2.47745149e-03 5.58890055e+01] [ 3.81521752e-01 9.24359348e-01 9.74242440e-04 -1.18438077e+02] [ 2.66175134e-03 -4.46547597e-05 -9.99996457e-01 2.48537381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161858064 meters 0.016076868718956645 Centerline is valid? [True, True] Translation: X:55.90, Y:-118.41, Z:0.25 [[-9.49069974e-01 3.15056746e-01 -2.33031389e-03 5.59014893e+01] [ 3.15055902e-01 9.49072834e-01 7.30420929e-04 -1.18412315e+02] [ 2.44176165e-03 -4.09585734e-05 -9.99997018e-01 2.48587346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.191858064 meters 0.01623240797687441 Centerline is valid? [True, True] Translation: X:56.10, Y:-117.78, Z:-0.76 [[-9.37638712e-01 -3.47604262e-01 -2.21889763e-03 5.61033428e+01] [ 3.47603178e-01 -9.37641336e-01 8.69222125e-04 -1.17775417e+02] [-2.38267545e-03 4.37204453e-05 9.99997160e-01 -7.58473301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221858064 meters 0.01623240797687441 Centerline is valid? [True, True] Translation: X:55.86, Y:-118.40, Z:0.25 [[-9.50512200e-01 3.10678867e-01 -2.28039525e-03 5.58551936e+01] [ 3.10678069e-01 9.50514934e-01 7.05206693e-04 -1.18397707e+02] [ 2.38664256e-03 -3.81612275e-05 -9.99997151e-01 2.48787687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.251858064 meters 0.016115975431439965 Centerline is valid? [True, True] Translation: X:55.86, Y:-118.37, Z:0.25 [[-9.70301818e-01 2.41887251e-01 -2.22235817e-03 5.58602292e+01] [ 2.41886699e-01 9.70304363e-01 5.17896476e-04 -1.18369267e+02] [ 2.28163638e-03 -3.50429898e-05 -9.99997396e-01 2.48486574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281858064 meters 0.015780108586275987 Centerline is valid? [True, True] Translation: X:55.86, Y:-118.34, Z:0.25 [[-9.85124653e-01 1.71828945e-01 -2.05728894e-03 5.58609239e+01] [ 1.71828636e-01 9.85126800e-01 3.27632688e-04 -1.18339297e+02] [ 2.08298725e-03 -3.07421147e-05 -9.99997830e-01 2.48720534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.311858064 meters 0.01615094512533601 Centerline is valid? [True, True] Translation: X:55.96, Y:-117.68, Z:-0.76 [[-9.77881291e-01 -2.09157821e-01 -1.08931076e-03 5.59649759e+01] [ 2.09157602e-01 -9.77881895e-01 3.12747775e-04 -1.17684325e+02] [-1.13063092e-03 7.79925706e-05 9.99999358e-01 -7.58882675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341858064 meters 0.01616210279093345 Centerline is valid? [True, True] Translation: X:55.81, Y:-118.33, Z:0.25 [[-9.85789630e-01 1.67983425e-01 -6.12394187e-04 5.58085722e+01] [ 1.67983398e-01 9.85789820e-01 9.47604032e-05 -1.18331597e+02] [ 6.19610133e-04 -9.45823378e-06 -9.99999808e-01 2.49590214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.371858064 meters 0.015825295984216906 Centerline is valid? [True, True] Translation: X:55.81, Y:-118.30, Z:0.25 [[-9.95229547e-01 9.75607436e-02 -2.22038517e-04 5.58082659e+01] [ 9.75607420e-02 9.95229572e-01 1.82438445e-05 -1.18302494e+02] [ 2.22759181e-04 -3.50542937e-06 -9.99999975e-01 2.49941365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401858064 meters 0.015861172956383347 Centerline is valid? [True, True] Translation: X:55.86, Y:-117.64, Z:-0.76 [[-9.90957620e-01 -1.34175234e-01 -5.42718363e-05 5.58584497e+01] [ 1.34175233e-01 -9.90957621e-01 1.91688707e-05 -1.17642659e+02] [-5.63530774e-05 1.17136022e-05 9.99999998e-01 -7.59546086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43185806399998 meters 0.016256382044965947 Centerline is valid? [True, True] Translation: X:55.74, Y:-118.30, Z:0.25 [[-9.95576052e-01 9.39584505e-02 3.66221197e-04 5.57428000e+01] [ 9.39584462e-02 9.95576119e-01 -2.88459575e-05 -1.18298032e+02] [-3.67311400e-04 5.69123015e-06 -9.99999933e-01 2.49800380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46185806399998 meters 0.016440545622338792 Centerline is valid? [True, True] Translation: X:55.74, Y:-118.27, Z:0.25 [[-9.99719477e-01 2.36715434e-02 7.90643646e-04 5.57407827e+01] [ 2.36715464e-02 9.99719790e-01 -5.66709761e-06 -1.18270212e+02] [-7.90556249e-04 1.30502499e-05 -9.99999687e-01 2.49931725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49185806399998 meters 0.01632421585964621 Centerline is valid? [True, True] Translation: X:55.73, Y:-118.24, Z:0.25 [[-9.98905529e-01 -4.67256944e-02 2.11031687e-03 5.57338261e+01] [-4.67255121e-02 9.98907758e-01 1.35676601e-04 -1.18241990e+02] [-2.11435148e-03 3.69224704e-05 -9.99997764e-01 2.50325044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52185806399999 meters 0.016955371723736182 Centerline is valid? [True, True] Translation: X:55.73, Y:-118.22, Z:0.25 [[-9.93319375e-01 -1.15353018e-01 3.20951068e-03 5.57253079e+01] [-1.15352205e-01 9.93324558e-01 4.38051781e-04 -1.18215540e+02] [-3.23861637e-03 6.49011886e-05 -9.99994754e-01 2.51191394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.551858064 meters 0.017270238446035497 Centerline is valid? [True, True] Translation: X:55.70, Y:-118.19, Z:0.25 [[-9.82759373e-01 -1.84847127e-01 3.94383449e-03 5.57035834e+01] [-1.84845284e-01 9.82767283e-01 8.29999307e-04 -1.18191493e+02] [-4.02929449e-03 8.66903929e-05 -9.99991879e-01 2.51424780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.581858064 meters 0.01732168708413743 Centerline is valid? [True, True] Translation: X:55.67, Y:-118.17, Z:0.25 [[-9.67352979e-01 -2.53400493e-01 4.05026142e-03 5.56674014e+01] [-2.53397842e-01 9.67361453e-01 1.16340607e-03 -1.18171472e+02] [-4.21287444e-03 9.90968270e-05 -9.99991121e-01 2.51215969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.611858064 meters 0.018468769465029188 Centerline is valid? [True, True] Translation: X:55.61, Y:-118.16, Z:0.25 [[-9.47355316e-01 -3.20159107e-01 4.00640269e-03 5.56098644e+01] [-3.20155717e-01 9.47363781e-01 1.47779979e-03 -1.18162915e+02] [-4.26865186e-03 1.17328758e-04 -9.99990882e-01 2.50518313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.641858064 meters 0.018344297420197653 Centerline is valid? [True, True] Translation: X:55.54, Y:-118.16, Z:0.25 [[-9.21724606e-01 -3.87826184e-01 3.82124374e-03 5.55430820e+01] [-3.87822300e-01 9.21732519e-01 1.73986494e-03 -1.18159436e+02] [-4.19692980e-03 1.21712789e-04 -9.99991185e-01 2.50295696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.671858064 meters 0.019920809437004288 Centerline is valid? [True, True] Translation: X:55.47, Y:-118.17, Z:0.25 [[-8.91113013e-01 -4.53763442e-01 4.04179324e-03 5.54691194e+01] [-4.53758051e-01 8.91122168e-01 2.21645130e-03 -1.18167140e+02] [-4.60747612e-03 1.41112372e-04 -9.99989376e-01 2.50218587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.701858064 meters 0.0205441642853641 Centerline is valid? [True, True] Translation: X:55.39, Y:-118.18, Z:0.25 [[-8.55464898e-01 -5.17847702e-01 3.68313372e-03 5.53878292e+01] [-5.17842186e-01 8.55472815e-01 2.39432658e-03 -1.18182186e+02] [-4.39071729e-03 1.40980332e-04 -9.99990351e-01 2.50245747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.731858064 meters 0.020381729280689754 Centerline is valid? [True, True] Translation: X:55.30, Y:-118.21, Z:0.25 [[-8.14808087e-01 -5.79719103e-01 3.68018148e-03 5.53003452e+01] [-5.79712331e-01 8.14816383e-01 2.80625065e-03 -1.18205966e+02] [-4.62550927e-03 1.53109139e-04 -9.99989291e-01 2.49850063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.761858064 meters 0.020785110320100983 Centerline is valid? [True, True] Translation: X:55.21, Y:-118.24, Z:0.25 [[-7.69123103e-01 -6.39093735e-01 2.97502115e-03 5.52109869e+01] [-6.39088273e-01 7.69128845e-01 2.64553834e-03 -1.18242448e+02] [-3.97892156e-03 1.33443527e-04 -9.99992075e-01 2.49182593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.791858064 meters 0.01955643501202198 Centerline is valid? [True, True] Translation: X:55.12, Y:-118.29, Z:0.25 [[-7.18128599e-01 -6.95904626e-01 2.84028728e-03 5.51182593e+01] [-6.95898432e-01 7.18134203e-01 2.93895777e-03 -1.18286583e+02] [-4.08494175e-03 1.33998162e-04 -9.99991648e-01 2.47892064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821858064 meters 0.020937335493750955 Centerline is valid? [True, True] Translation: X:55.03, Y:-118.34, Z:0.25 [[-6.62534068e-01 -7.49025394e-01 3.09323313e-03 5.50325720e+01] [-7.49016125e-01 6.62541271e-01 3.72940550e-03 -1.18340999e+02] [-4.84281403e-03 1.53976706e-04 -9.99988262e-01 2.48729574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.851858064 meters 0.021784723356683935 Centerline is valid? [True, True] Translation: X:54.94, Y:-118.41, Z:0.25 [[-6.02608820e-01 -7.98028069e-01 3.71634077e-03 5.49432577e+01] [-7.98010855e-01 6.02620247e-01 5.24522584e-03 -1.18409693e+02] [-6.42537965e-03 1.95139074e-04 -9.99979338e-01 2.49997117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881858064 meters 0.01769607568840752 Centerline is valid? [True, True] Translation: X:54.85, Y:-118.48, Z:0.25 [[-5.35397635e-01 -8.44585928e-01 4.89726046e-03 5.48534194e+01] [-8.44546480e-01 5.35419980e-01 8.16627073e-03 -1.18475364e+02] [-9.51920844e-03 2.36237946e-04 -9.99954663e-01 2.49944966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.911858064 meters 0.01839525036282337 Centerline is valid? [True, True] Translation: X:54.77, Y:-118.56, Z:0.25 [[-4.66552696e-01 -8.84481206e-01 4.64527923e-03 5.47744858e+01] [-8.84432519e-01 4.66575768e-01 9.28291433e-03 -1.18558304e+02] [-1.03779380e-02 2.22532692e-04 -9.99946123e-01 2.51111127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941858064 meters 0.017836304264895467 Centerline is valid? [True, True] Translation: X:54.69, Y:-118.66, Z:0.25 [[-3.95170999e-01 -9.18597531e-01 4.29628425e-03 5.46946679e+01] [-9.18537303e-01 3.95194297e-01 1.05210070e-02 -1.18657088e+02] [-1.13624381e-02 2.11299526e-04 -9.99935423e-01 2.51086125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.971858064 meters 0.016995278985558318 Centerline is valid? [True, True] Translation: X:54.63, Y:-118.75, Z:0.25 [[-3.20862254e-01 -9.47118715e-01 3.68148380e-03 5.46284977e+01] [-9.47049552e-01 3.20883320e-01 1.14472986e-02 -1.18746436e+02] [-1.20232774e-02 1.86458436e-04 -9.99927700e-01 2.50375783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001858064 meters 0.015368637945855508 Centerline is valid? [True, True] Translation: X:54.57, Y:-118.84, Z:0.25 [[-2.42943243e-01 -9.70036074e-01 2.93198963e-03 5.45660754e+01] [-9.69958511e-01 2.42960897e-01 1.22674543e-02 -1.18843299e+02] [-1.26122320e-02 1.36386834e-04 -9.99920453e-01 2.47091210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.031858064 meters 0.015110484180298507 Centerline is valid? [True, True] Translation: X:54.51, Y:-118.95, Z:0.25 [[-1.65953619e-01 -9.86131633e-01 1.94887846e-03 5.45139545e+01] [-9.86055816e-01 1.65965027e-01 1.22285317e-02 -1.18947979e+02] [-1.23823876e-02 1.07666150e-04 -9.99923330e-01 2.45937973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061858064 meters 0.014718756157338695 Centerline is valid? [True, True] Translation: X:54.47, Y:-119.06, Z:0.25 [[-8.82288450e-02 -9.96099747e-01 9.82694281e-04 5.44689732e+01] [-9.96027173e-01 8.82342793e-02 1.20242884e-02 -1.19058325e+02] [-1.20640979e-02 8.20988686e-05 -9.99927223e-01 2.45025242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.091858064 meters 0.014120601770999233 Centerline is valid? [True, True] Translation: X:54.43, Y:-119.17, Z:0.24 [[-8.34308935e-03 -9.99965194e-01 5.89422865e-05 5.44297484e+01] [-9.99895547e-01 8.34320392e-03 1.18019322e-02 -1.19171064e+02] [-1.18020132e-02 3.95284454e-05 -9.99930353e-01 2.43851133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121858064 meters 0.014253619589388833 Centerline is valid? [True, True] Translation: X:54.40, Y:-119.29, Z:0.24 [[ 6.91909672e-02 -9.97603050e-01 -8.74426265e-04 5.44037575e+01] [-9.97528393e-01 -6.91964868e-02 1.22045903e-02 -1.19288504e+02] [-1.22358437e-02 2.78176213e-05 -9.99925139e-01 2.44541897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.151858064 meters 0.014189516278150746 Centerline is valid? [True, True] Translation: X:54.39, Y:-119.40, Z:0.24 [[ 1.45955818e-01 -9.89289033e-01 -2.02683589e-03 5.43850585e+01] [-9.89195742e-01 -1.45969889e-01 1.35858262e-02 -1.19402263e+02] [-1.37361659e-02 2.20070521e-05 -9.99905654e-01 2.44824515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18185806399998 meters 0.014038193281354 Centerline is valid? [True, True] Translation: X:54.38, Y:-119.52, Z:0.24 [[ 2.21125156e-01 -9.75240638e-01 -3.06006546e-03 5.43769660e+01] [-9.75148626e-01 -2.21146327e-01 1.33962418e-02 -1.19517415e+02] [-1.37412816e-02 2.17725791e-05 -9.99905584e-01 2.43933685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21185806399998 meters 0.014199228802857957 Centerline is valid? [True, True] Translation: X:54.38, Y:-119.64, Z:0.24 [[ 2.95094825e-01 -9.55457897e-01 -4.38757233e-03 5.43785834e+01] [-9.55353361e-01 -2.95127441e-01 1.41332725e-02 -1.19636090e+02] [-1.47986398e-02 2.10263887e-05 -9.99890494e-01 2.44175094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24185806399998 meters 0.014425144618383283 Centerline is valid? [True, True] Translation: X:54.39, Y:-119.75, Z:0.25 [[ 3.67723528e-01 -9.29917540e-01 -5.72502895e-03 5.43861955e+01] [-9.29805385e-01 -3.67768091e-01 1.44422400e-02 -1.19751729e+02] [-1.55355752e-02 1.24113224e-05 -9.99879316e-01 2.46562737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27185806399999 meters 0.014231752160620446 Centerline is valid? [True, True] Translation: X:54.40, Y:-119.86, Z:0.25 [[ 4.38141841e-01 -8.98877568e-01 -7.13059793e-03 5.44013376e+01] [-8.98758573e-01 -4.38199861e-01 1.46256524e-02 -1.19861181e+02] [-1.62712979e-02 5.75758277e-07 -9.99867614e-01 2.45357667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.301858064 meters 0.014125113986933903 Centerline is valid? [True, True] Translation: X:54.43, Y:-119.98, Z:0.25 [[ 5.05807218e-01 -8.62605329e-01 -8.43234111e-03 5.44283407e+01] [-8.62485120e-01 -5.05877501e-01 1.44004149e-02 -1.19975754e+02] [-1.66876063e-02 -1.10650551e-05 -9.99860752e-01 2.45379156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.331858064 meters 0.014141775246370907 Centerline is valid? [True, True] Translation: X:54.45, Y:-120.08, Z:0.25 [[ 5.70415212e-01 -8.21298454e-01 -9.76391578e-03 5.44545653e+01] [-8.21177392e-01 -5.70498771e-01 1.41011601e-02 -1.20075117e+02] [-1.71515630e-02 -2.56093540e-05 -9.99852901e-01 2.46210135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.361858064 meters 0.014090375284386546 Centerline is valid? [True, True] Translation: X:54.49, Y:-120.17, Z:0.25 [[ 6.30782372e-01 -7.75882489e-01 -1.09527334e-02 5.44931482e+01] [-7.75764978e-01 -6.30877455e-01 1.35031527e-02 -1.20173668e+02] [-1.73866923e-02 -2.08036724e-05 -9.99848840e-01 2.46373064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.391858064 meters 0.014870659332698351 Centerline is valid? [True, True] Translation: X:54.54, Y:-120.27, Z:0.25 [[ 6.87182986e-01 -7.26379309e-01 -1.23548870e-02 5.45378525e+01] [-7.26261651e-01 -6.87294042e-01 1.30733934e-02 -1.20265941e+02] [-1.79876827e-02 -1.09329030e-05 -9.99838209e-01 2.49631301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.421858064 meters 0.014138709248731991 Centerline is valid? [True, True] Translation: X:54.59, Y:-120.35, Z:0.25 [[ 7.39039143e-01 -6.73525608e-01 -1.35794048e-02 5.45853065e+01] [-6.73412326e-01 -7.39163889e-01 1.23524771e-02 -1.20349918e+02] [-1.83571153e-02 1.55744755e-05 -9.99831494e-01 2.45224627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.451858064 meters 0.014475554849350952 Centerline is valid? [True, True] Translation: X:54.59, Y:-120.36, Z:0.25 [[ 7.86797499e-01 -6.17050517e-01 -1.40838775e-02 5.45881390e+01] [-6.16953743e-01 -7.86923536e-01 1.09282970e-02 -1.20358210e+02] [-1.78262460e-02 9.07441506e-05 -9.99841096e-01 2.45577877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.481858064 meters 0.01458578827034893 Centerline is valid? [True, True] Translation: X:54.59, Y:-120.37, Z:0.24 [[ 8.31379855e-01 -5.55509639e-01 -1.47165870e-02 5.45915684e+01] [-5.55425366e-01 -8.31510087e-01 9.67672472e-03 -1.20369218e+02] [-1.76125044e-02 1.28931742e-04 -9.99844880e-01 2.44950515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.511858064 meters 0.014636494099162605 Centerline is valid? [True, True] Translation: X:54.59, Y:-120.38, Z:0.24 [[ 8.71107582e-01 -4.90873315e-01 -1.46618383e-02 5.45938927e+01] [-4.90806931e-01 -8.71230946e-01 8.07431881e-03 -1.20382754e+02] [-1.67373149e-02 1.62531515e-04 -9.99859908e-01 2.44190420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.541858064 meters 0.01570516044213781 Centerline is valid? [True, True] Translation: X:54.60, Y:-120.39, Z:0.25 [[ 9.05057225e-01 -4.25059233e-01 -1.40024014e-02 5.45973667e+01] [-4.25012010e-01 -9.05165511e-01 6.33942314e-03 -1.20392563e+02] [-1.53691212e-02 2.13648053e-04 -9.99881865e-01 2.45197864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.571858064 meters 0.015713453299383066 Centerline is valid? [True, True] Translation: X:54.60, Y:-120.41, Z:0.24 [[ 9.34780858e-01 -3.54958722e-01 -1.37496473e-02 5.46012355e+01] [-3.54923999e-01 -9.34881945e-01 4.97030738e-03 -1.20405063e+02] [-1.46185510e-02 2.33931616e-04 -9.99893116e-01 2.44416654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601858064 meters 0.015839938195178906 Centerline is valid? [True, True] Translation: X:54.61, Y:-120.42, Z:0.24 [[ 9.59080286e-01 -2.82829185e-01 -1.31399223e-02 5.46054168e+01] [-2.82806160e-01 -9.59170262e-01 3.61725264e-03 -1.20418266e+02] [-1.36264873e-02 2.46815274e-04 -9.99907125e-01 2.43989652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.631858064 meters 0.016558571740316316 Centerline is valid? [True, True] Translation: X:54.61, Y:-120.43, Z:0.24 [[ 9.77440076e-01 -2.10843753e-01 -1.24823982e-02 5.46106945e+01] [-2.10830218e-01 -9.77519736e-01 2.40535335e-03 -1.20429713e+02] [-1.27089443e-02 2.80577978e-04 -9.99919199e-01 2.44697457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661858064 meters 0.01785955175120103 Centerline is valid? [True, True] Translation: X:54.61, Y:-120.44, Z:0.25 [[ 9.90739944e-01 -1.35213484e-01 -1.23157564e-02 5.46129704e+01] [-1.35206706e-01 -9.90816445e-01 1.38509740e-03 -1.20439022e+02] [-1.23899379e-02 2.92901545e-04 -9.99923199e-01 2.45975616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.691858064 meters 0.017343621453239418 Centerline is valid? [True, True] Translation: X:54.62, Y:-120.45, Z:0.25 [[ 9.98198820e-01 -5.87759640e-02 -1.20208621e-02 5.46161534e+01] [-5.87753522e-02 -9.98271153e-01 4.04472360e-04 -1.20452272e+02] [-1.20238531e-02 3.02786570e-04 -9.99927665e-01 2.45592875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721858064 meters 0.017852699575951 Centerline is valid? [True, True] Translation: X:54.62, Y:-120.46, Z:0.25 [[ 9.99793162e-01 1.75825121e-02 -1.02219264e-02 5.46206381e+01] [ 1.75787480e-02 -9.99845377e-01 -4.57974303e-04 -1.20462876e+02] [-1.02283982e-02 2.78190908e-04 -9.99947650e-01 2.46242917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.751858064 meters 0.01892052812845736 Centerline is valid? [True, True] Translation: X:54.62, Y:-120.47, Z:0.25 [[ 9.95407498e-01 9.52124539e-02 -9.92478819e-03 5.46247950e+01] [ 9.52049342e-02 -9.95456936e-01 -1.22846594e-03 -1.20471115e+02] [-9.99666450e-03 2.77935399e-04 -9.99949993e-01 2.46727470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781858064 meters 0.018837212463032802 Centerline is valid? [True, True] Translation: X:54.63, Y:-120.48, Z:0.25 [[ 9.84997527e-01 1.72344528e-01 -8.78839679e-03 5.46304114e+01] [ 1.72335362e-01 -9.85036699e-01 -1.79548810e-03 -1.20479294e+02] [-8.96633591e-03 2.53999791e-04 -9.99959769e-01 2.46531463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.811858064 meters 0.019238377178959702 Centerline is valid? [True, True] Translation: X:54.64, Y:-120.49, Z:0.25 [[ 9.68543133e-01 2.48768094e-01 -6.21569341e-03 5.46354655e+01] [ 2.48761746e-01 -9.68563060e-01 -1.78673947e-03 -1.20487290e+02] [-6.46477480e-03 1.84307503e-04 -9.99979086e-01 2.46310042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841858064 meters 0.01857819654096276 Centerline is valid? [True, True] Translation: X:54.64, Y:-120.50, Z:0.25 [[ 9.45980906e-01 3.24185773e-01 -4.86933780e-03 5.46430946e+01] [ 3.24180678e-01 -9.45993427e-01 -1.82334290e-03 -1.20497469e+02] [-5.19746337e-03 1.46302338e-04 -9.99986482e-01 2.45947793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.871858064 meters 0.01834648868167289 Centerline is valid? [True, True] Translation: X:54.65, Y:-120.51, Z:0.25 [[ 9.17403670e-01 3.97937475e-01 -4.03384671e-03 5.46525073e+01] [ 3.97933041e-01 -9.17412530e-01 -1.88256234e-03 -1.20506433e+02] [-4.44984362e-03 1.21868708e-04 -9.99990092e-01 2.46279468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901858064 meters 0.018057285947916252 Centerline is valid? [True, True] Translation: X:54.66, Y:-120.52, Z:0.25 [[ 8.82927476e-01 4.69495853e-01 -3.56584162e-03 5.46619282e+01] [ 4.69491528e-01 -8.82934670e-01 -2.01823765e-03 -1.20515472e+02] [-4.09595941e-03 1.07825043e-04 -9.99991606e-01 2.46522362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93185806399998 meters 0.017684749799692173 Centerline is valid? [True, True] Translation: X:54.67, Y:-120.52, Z:0.25 [[ 8.42146236e-01 5.39244243e-01 -2.31584328e-03 5.46737421e+01] [ 5.39241985e-01 -8.42149418e-01 -1.56201835e-03 -1.20524288e+02] [-2.79259547e-03 6.66479471e-05 -9.99996098e-01 2.47531366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96185806399998 meters 0.017204138260936926 Centerline is valid? [True, True] Translation: X:54.69, Y:-120.53, Z:0.25 [[ 7.96739528e-01 6.04321630e-01 -1.22139164e-03 5.46858929e+01] [ 6.04320851e-01 -7.96740464e-01 -9.71053677e-04 -1.20532400e+02] [-1.55996088e-03 3.55644147e-05 -9.99998783e-01 2.47470212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99185806399998 meters 0.017062090263236823 Centerline is valid? [True, True] Translation: X:54.70, Y:-120.54, Z:0.25 [[ 7.45958715e-01 6.65992137e-01 2.62887872e-04 5.46992683e+01] [ 6.65992092e-01 -7.45958761e-01 2.45270798e-04 -1.20538970e+02] [ 3.59451934e-04 -7.88064526e-06 -9.99999935e-01 2.47503256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02185806399999 meters 0.01754675382074514 Centerline is valid? [True, True] Translation: X:54.71, Y:-120.54, Z:0.25 [[ 6.91441518e-01 7.22431255e-01 1.30715521e-03 5.47098282e+01] [ 7.22429850e-01 -6.91442752e-01 1.42549177e-03 -1.20542920e+02] [ 1.93364281e-03 -4.13162488e-05 -9.99998130e-01 2.47743231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.051858064 meters 0.016983246096094407 Centerline is valid? [True, True] Translation: X:54.72, Y:-120.55, Z:0.25 [[ 6.32875898e-01 7.74250952e-01 1.88725361e-03 5.47242937e+01] [ 7.74247195e-01 -6.32878708e-01 2.41291651e-03 -1.20547960e+02] [ 3.06260553e-03 -6.58758895e-05 -9.99995308e-01 2.48345176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.081858064 meters 0.017185108843895652 Centerline is valid? [True, True] Translation: X:54.74, Y:-120.55, Z:0.25 [[ 5.70501211e-01 8.21292353e-01 2.69067967e-03 5.47400090e+01] [ 8.21282331e-01 -5.70507546e-01 4.05861220e-03 -1.20551842e+02] [ 4.86836022e-03 -1.05635503e-04 -9.99988144e-01 2.49242729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.111858064 meters 0.017057201904947666 Centerline is valid? [True, True] Translation: X:54.75, Y:-120.55, Z:0.25 [[ 5.03943504e-01 8.63732876e-01 2.54242139e-03 5.47538482e+01] [ 8.63720757e-01 -5.03949905e-01 4.57671927e-03 -1.20553620e+02] [ 5.23431592e-03 -1.10465813e-04 -9.99986295e-01 2.49371500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.141858064 meters 0.017057201904947666 Centerline is valid? [True, True] Translation: X:54.77, Y:-120.55, Z:0.25 [[ 4.34781676e-01 9.00533263e-01 2.17634007e-03 5.47660462e+01] [ 9.00520681e-01 -4.34787109e-01 4.76171082e-03 -1.20553584e+02] [ 5.23432359e-03 -1.10465366e-04 -9.99986295e-01 2.49371432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.171858064 meters 0.016976186120346168 Centerline is valid? [True, True] Translation: X:54.78, Y:-120.55, Z:0.25 [[ 3.61775652e-01 9.32262212e-01 2.35477509e-03 5.47811656e+01] [ 9.32239943e-01 -3.61783290e-01 6.44508571e-03 -1.20553055e+02] [ 6.86042815e-03 -1.36459690e-04 -9.99976458e-01 2.49497288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.201858064 meters 0.01677532145935877 Centerline is valid? [True, True] Translation: X:54.80, Y:-120.55, Z:0.25 [[ 2.87243733e-01 9.57855481e-01 1.97878393e-03 5.47970840e+01] [ 9.57829203e-01 -2.87250513e-01 7.09646783e-03 -1.20551275e+02] [ 7.36579730e-03 -1.43078875e-04 -9.99972862e-01 2.49941564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.231858064 meters 0.01694230527766656 Centerline is valid? [True, True] Translation: X:54.81, Y:-120.55, Z:0.25 [[ 2.10282762e-01 9.77639399e-01 1.53815418e-03 5.48106537e+01] [ 9.77607906e-01 -2.10288337e-01 7.84836490e-03 -1.20548919e+02] [ 7.99632662e-03 -1.46664165e-04 -9.99968018e-01 2.50245573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.261858064 meters 0.016566595030146063 Centerline is valid? [True, True] Translation: X:54.83, Y:-120.54, Z:0.25 [[ 1.31929672e-01 9.91258607e-01 9.66879101e-04 5.48263706e+01] [ 9.91223382e-01 -1.31933137e-01 8.35790882e-03 -1.20544729e+02] [ 8.41241245e-03 -1.44263001e-04 -9.99964605e-01 2.51136564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.291858064 meters 0.016275300396003573 Centerline is valid? [True, True] Translation: X:54.84, Y:-120.54, Z:0.25 [[ 5.01383145e-02 9.98742217e-01 3.64156515e-04 5.48435615e+01] [ 9.98693200e-01 -5.01394619e-02 9.89575888e-03 -1.20540625e+02] [ 9.90157078e-03 -1.32476036e-04 -9.99950969e-01 2.52039709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321858064 meters 0.016123576994210263 Centerline is valid? [True, True] Translation: X:54.86, Y:-120.53, Z:0.25 [[-3.05058303e-02 9.99534498e-01 -4.26626594e-04 5.48561374e+01] [ 9.99481966e-01 3.05086012e-02 1.02482103e-02 -1.20533417e+02] [ 1.02564556e-02 -1.13775421e-04 -9.99947395e-01 2.52034713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.351858064 meters 0.015890396617324793 Centerline is valid? [True, True] Translation: X:54.87, Y:-120.53, Z:0.25 [[-1.10943652e-01 9.93825691e-01 -1.41481902e-03 5.48700171e+01] [ 9.93756428e-01 1.10952624e-01 1.17335972e-02 -1.20525069e+02] [ 1.18181283e-02 -1.04217370e-04 -9.99930158e-01 2.52672834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381858064 meters 0.015922241190118813 Centerline is valid? [True, True] Translation: X:54.89, Y:-120.52, Z:0.25 [[-1.92640175e-01 9.81265954e-01 -2.62512386e-03 5.48850441e+01] [ 9.81179108e-01 1.92658051e-01 1.30550116e-02 -1.20515835e+02] [ 1.33161897e-02 -6.07969541e-05 -9.99911334e-01 2.52014763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.411858064 meters 0.016008394038907397 Centerline is valid? [True, True] Translation: X:54.89, Y:-120.51, Z:0.25 [[-2.70974260e-01 9.62578994e-01 -3.82490251e-03 5.48948795e+01] [ 9.62484846e-01 2.71001252e-01 1.34626185e-02 -1.20506000e+02] [ 1.39953871e-02 -3.33876195e-05 -9.99902059e-01 2.51737051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441858064 meters 0.016097143835754724 Centerline is valid? [True, True] Translation: X:54.90, Y:-120.49, Z:0.25 [[-3.47495799e-01 9.37667701e-01 -5.09435289e-03 5.49040258e+01] [ 9.37567136e-01 3.47533139e-01 1.37325630e-02 -1.20494671e+02] [ 1.46470372e-02 -4.28988918e-06 -9.99892726e-01 2.52180126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.471858064 meters 0.01610919959575135 Centerline is valid? [True, True] Translation: X:54.92, Y:-120.48, Z:0.25 [[-4.22564988e-01 9.06308949e-01 -6.55131572e-03 5.49160127e+01] [ 9.06198517e-01 4.22615768e-01 1.41478418e-02 -1.20480330e+02] [ 1.55910050e-02 4.15900131e-05 -9.99878452e-01 2.54325934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501858064 meters 0.01627412494384246 Centerline is valid? [True, True] Translation: X:54.92, Y:-120.47, Z:0.25 [[-4.93299656e-01 8.69828896e-01 -7.28971414e-03 5.49235707e+01] [ 8.69732210e-01 4.93353512e-01 1.29690399e-02 -1.20467036e+02] [ 1.48772518e-02 5.75237576e-05 -9.99889326e-01 2.54563016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.531858064 meters 0.01626139339445729 Centerline is valid? [True, True] Translation: X:54.93, Y:-120.45, Z:0.25 [[-5.61508082e-01 8.27434293e-01 -7.82081829e-03 5.49290734e+01] [ 8.27352013e-01 5.61562539e-01 1.16688338e-02 -1.20453457e+02] [ 1.40470718e-02 8.15747045e-05 -9.99901332e-01 2.54886341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561858064 meters 0.016223834693257923 Centerline is valid? [True, True] Translation: X:54.93, Y:-120.44, Z:0.26 [[-6.25005626e-01 7.80574383e-01 -8.46166945e-03 5.49317199e+01] [ 7.80500976e-01 6.25062896e-01 1.07052214e-02 -1.20439310e+02] [ 1.36452972e-02 8.64823446e-05 -9.99906895e-01 2.55504527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.591858064 meters 0.01636268695805994 Centerline is valid? [True, True] Translation: X:54.93, Y:-120.43, Z:0.26 [[-6.84450508e-01 7.29002309e-01 -9.11787733e-03 5.49337724e+01] [ 7.28935888e-01 6.84511231e-01 9.84102291e-03 -1.20426700e+02] [ 1.34154179e-02 8.93451239e-05 -9.99910005e-01 2.55671850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621858064 meters 0.016352972475677227 Centerline is valid? [True, True] Translation: X:54.93, Y:-120.41, Z:0.26 [[-7.39370439e-01 6.73229556e-01 -9.66012838e-03 5.49336335e+01] [ 6.73170573e-01 7.39433538e-01 8.91194577e-03 -1.20414769e+02] [ 1.31428082e-02 8.63151037e-05 -9.99913626e-01 2.55702120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.651858064 meters 0.016111930456605396 Centerline is valid? [True, True] Translation: X:54.94, Y:-120.39, Z:0.26 [[-7.84410985e-01 6.20174866e-01 -9.08527621e-03 5.49440632e+01] [ 6.20132362e-01 7.84463595e-01 7.26099850e-03 -1.20388370e+02] [ 1.16301572e-02 6.15331921e-05 -9.99932366e-01 2.57590502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68185806399998 meters 0.016031880900011383 Centerline is valid? [True, True] Translation: X:54.95, Y:-120.36, Z:0.26 [[-8.25609597e-01 5.64159015e-01 -9.66432927e-03 5.49514421e+01] [ 5.64119716e-01 8.25666157e-01 6.65900385e-03 -1.20360705e+02] [ 1.17362467e-02 4.58987926e-05 -9.99931127e-01 2.58052822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71185806399998 meters 0.015988626813724257 Centerline is valid? [True, True] Translation: X:54.96, Y:-120.34, Z:0.26 [[-8.62529503e-01 5.05927964e-01 -8.93038931e-03 5.49625925e+01] [ 5.05900603e-01 8.62575733e-01 5.26168788e-03 -1.20336987e+02] [ 1.03651721e-02 2.04716973e-05 -9.99946280e-01 2.57926394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74185806399998 meters 0.015852441669178742 Centerline is valid? [True, True] Translation: X:54.96, Y:-120.31, Z:0.26 [[-8.94040042e-01 4.47911577e-01 -8.22325015e-03 5.49645225e+01] [ 4.47892912e-01 8.94077859e-01 4.08919762e-03 -1.20312752e+02] [ 9.18382485e-03 -2.72290377e-05 -9.99957827e-01 2.59324249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77185806399999 meters 0.016001649984339276 Centerline is valid? [True, True] Translation: X:54.97, Y:-120.29, Z:0.26 [[-9.22516777e-01 3.85875034e-01 -7.95325017e-03 5.49696677e+01] [ 3.85861144e-01 9.22551059e-01 3.27440477e-03 -1.20288342e+02] [ 8.60079041e-03 -4.81568659e-05 -9.99963011e-01 2.59477392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.801858064 meters 0.01613703327123871 Centerline is valid? [True, True] Translation: X:54.97, Y:-120.26, Z:0.26 [[-9.46792638e-01 3.21759859e-01 -7.36844396e-03 5.49677286e+01] [ 3.21750628e-01 9.46821308e-01 2.43809649e-03 -1.20261247e+02] [ 7.76108133e-03 -6.24296632e-05 -9.99969880e-01 2.59957841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.831858064 meters 0.016625756186328933 Centerline is valid? [True, True] Translation: X:54.97, Y:-120.24, Z:0.26 [[-9.66237341e-01 2.57596642e-01 -5.41951739e-03 5.49679741e+01] [ 2.57592980e-01 9.66252537e-01 1.37529469e-03 -1.20238805e+02] [ 5.59089372e-03 -6.71685501e-05 -9.99984369e-01 2.60680355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.861858064 meters 0.016937269851594695 Centerline is valid? [True, True] Translation: X:55.08, Y:-119.79, Z:-0.77 [[-9.54521474e-01 -2.98112847e-01 -4.18172769e-03 5.50808083e+01] [ 2.98109402e-01 -9.54530625e-01 1.43865501e-03 -1.19785482e+02] [-4.42046869e-03 1.26614764e-04 9.99990222e-01 -7.70834857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.891858064 meters 0.017157825529586328 Centerline is valid? [True, True] Translation: X:54.92, Y:-120.23, Z:0.26 [[-9.66727019e-01 2.55790041e-01 -3.21332267e-03 5.49233134e+01] [ 2.55788788e-01 9.66732358e-01 8.02038649e-04 -1.20234443e+02] [ 3.31157651e-03 -4.65794802e-05 -9.99994516e-01 2.61449949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.921858064 meters 0.017100572030518887 Centerline is valid? [True, True] Translation: X:54.92, Y:-120.21, Z:0.26 [[-9.82426066e-01 1.86642329e-01 -1.91453479e-03 5.49202278e+01] [ 1.86642030e-01 9.82427931e-01 3.35390985e-04 -1.20208696e+02] [ 1.94349061e-03 -2.78358127e-05 -9.99998111e-01 2.61687460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.951858064 meters 0.017330822086966784 Centerline is valid? [True, True] Translation: X:55.00, Y:-119.73, Z:-0.77 [[-9.74263460e-01 -2.25404787e-01 -1.84209671e-03 5.49974099e+01] [ 2.25404325e-01 -9.74265201e-01 4.57135657e-04 -1.19728839e+02] [-1.89773129e-03 3.01540008e-05 9.99998199e-01 -7.70696057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.981858064 meters 0.01731771446521753 Centerline is valid? [True, True] Translation: X:54.87, Y:-120.21, Z:0.26 [[-9.83309456e-01 1.81931745e-01 -1.83114913e-03 5.48678956e+01] [ 1.81931477e-01 9.83311161e-01 3.13427579e-04 -1.20205376e+02] [ 1.85761181e-03 -2.49473637e-05 -9.99998274e-01 2.60328727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.011858064 meters 0.016898911095251275 Centerline is valid? [True, True] Translation: X:54.95, Y:-119.72, Z:-0.77 [[-9.74613115e-01 -2.23887815e-01 -1.87673209e-03 5.49477458e+01] [ 2.23887358e-01 -9.74614922e-01 4.52751873e-04 -1.19717852e+02] [-1.93045673e-03 2.10813233e-05 9.99998136e-01 -7.68484309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.041858064 meters 0.016951871844495172 Centerline is valid? [True, True] Translation: X:54.82, Y:-120.20, Z:0.26 [[-9.84502157e-01 1.75358893e-01 -2.18224726e-03 5.48168374e+01] [ 1.75358515e-01 9.84504575e-01 3.64969509e-04 -1.20199868e+02] [ 2.21243306e-03 -2.33623701e-05 -9.99997552e-01 2.58173643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.071858064 meters 0.016701117668584613 Centerline is valid? [True, True] Translation: X:54.81, Y:-120.17, Z:0.26 [[-9.94598669e-01 1.03777841e-01 -1.90960006e-03 5.48088242e+01] [ 1.03777684e-01 9.94600502e-01 1.81213178e-04 -1.20170542e+02] [ 1.91809509e-03 -1.79394854e-05 -9.99998160e-01 2.57842389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101858064 meters 0.01668250707428579 Centerline is valid? [True, True] Translation: X:54.85, Y:-119.67, Z:-0.77 [[-9.88105470e-01 -1.53770591e-01 -1.47816151e-03 5.48525767e+01] [ 1.53770355e-01 -9.88106575e-01 2.72225061e-04 -1.19673692e+02] [-1.50244131e-03 4.16896508e-05 9.99998870e-01 -7.67199986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.131858064 meters 0.016484958748444738 Centerline is valid? [True, True] Translation: X:54.75, Y:-120.17, Z:0.26 [[-9.95356016e-01 9.62537387e-02 -1.27218930e-03 5.47538471e+01] [ 9.62536698e-02 9.95356829e-01 1.15383502e-04 -1.20167521e+02] [ 1.27738840e-03 -7.60522580e-06 -9.99999184e-01 2.56650053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161858064 meters 0.016259960359485078 Centerline is valid? [True, True] Translation: X:54.80, Y:-119.67, Z:-0.77 [[-9.88130475e-01 -1.53608596e-01 -1.60128321e-03 5.47964655e+01] [ 1.53608416e-01 -9.88131772e-01 2.35599511e-04 -1.19668752e+02] [-1.61846893e-03 -1.31675210e-05 9.99998690e-01 -7.65907161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.191858064 meters 0.016256917787715378 Centerline is valid? [True, True] Translation: X:54.70, Y:-120.16, Z:0.26 [[-9.95935525e-01 9.00420779e-02 -2.20331990e-03 5.46964715e+01] [ 9.00418738e-02 9.95937962e-01 1.91854385e-04 -1.20163248e+02] [ 2.21164490e-03 -7.31645465e-06 -9.99997554e-01 2.55812097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221858064 meters 0.01628277236523833 Centerline is valid? [True, True] Translation: X:54.74, Y:-119.66, Z:-0.76 [[-9.88203028e-01 -1.53142226e-01 -1.49485349e-03 5.47412003e+01] [ 1.53141971e-01 -9.88204157e-01 2.84096337e-04 -1.19662735e+02] [-1.52072757e-03 5.18200515e-05 9.99998842e-01 -7.64446652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.251858064 meters 0.01634144467994031 Centerline is valid? [True, True] Translation: X:54.65, Y:-120.16, Z:0.25 [[-9.96565592e-01 8.27886921e-02 -1.74740732e-03 5.46479777e+01] [ 8.27885655e-02 9.96567124e-01 1.44803714e-04 -1.20160465e+02] [ 1.75339680e-03 -3.58946298e-07 -9.99998463e-01 2.54760317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281858064 meters 0.01636799827761768 Centerline is valid? [True, True] Translation: X:54.68, Y:-119.66, Z:-0.76 [[-9.88474366e-01 -1.51379309e-01 -1.65289215e-03 5.46840827e+01] [ 1.51379088e-01 -9.88475748e-01 2.58894712e-04 -1.19659130e+02] [-1.67303511e-03 5.69747905e-06 9.99998600e-01 -7.64210178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.311858064 meters 0.01633794990361985 Centerline is valid? [True, True] Translation: X:54.59, Y:-120.16, Z:0.25 [[-9.97047845e-01 7.67680799e-02 -1.50207050e-03 5.45936216e+01] [ 7.67679889e-02 9.97048977e-01 1.18275681e-04 -1.20156287e+02] [ 1.50671765e-03 2.61558111e-06 -9.99998865e-01 2.54652565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341858064 meters 0.016501981714605703 Centerline is valid? [True, True] Translation: X:54.58, Y:-120.13, Z:0.25 [[-9.99988074e-01 4.86254940e-03 -4.55143664e-04 5.45801571e+01] [ 4.86254863e-03 9.99988178e-01 2.80966558e-06 -1.20129241e+02] [ 4.55151945e-04 5.96473865e-07 -9.99999896e-01 2.54171897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.371858064 meters 0.016512645369892966 Centerline is valid? [True, True] Translation: X:54.58, Y:-119.62, Z:-0.76 [[-9.96953251e-01 -7.79986257e-02 -6.56069991e-04 5.45832508e+01] [ 7.79986184e-02 -9.96953466e-01 3.68754222e-05 -1.19623149e+02] [-6.56947484e-04 -1.44094808e-05 9.99999784e-01 -7.63915252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401858064 meters 0.016559385222625404 Centerline is valid? [True, True] Translation: X:54.52, Y:-120.13, Z:0.25 [[-9.99998249e-01 1.76501122e-03 -6.22427408e-04 5.45235115e+01] [ 1.76501061e-03 9.99998442e-01 1.53719559e-06 -1.20130823e+02] [ 6.22429151e-04 4.38601914e-07 -9.99999806e-01 2.53565949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43185806399998 meters 0.01659375237626017 Centerline is valid? [True, True] Translation: X:54.52, Y:-120.10, Z:0.25 [[-9.97773944e-01 -6.66855887e-02 -4.35424231e-04 5.45156407e+01] [-6.66855819e-02 9.97774039e-01 -3.01974083e-05 -1.20104584e+02] [ 4.36468725e-04 -1.09366903e-06 -9.99999905e-01 2.53126081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46185806399998 meters 0.016718706176159167 Centerline is valid? [True, True] Translation: X:54.48, Y:-119.59, Z:-0.76 [[-9.99996978e-01 2.43265037e-03 -3.54409214e-04 5.44803825e+01] [-2.43265246e-03 -9.99997041e-01 5.49164213e-06 -1.19594109e+02] [-3.54394806e-04 6.35377999e-06 9.99999937e-01 -7.62939017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49185806399998 meters 0.016859702526375957 Centerline is valid? [True, True] Translation: X:54.45, Y:-120.11, Z:0.25 [[-9.97685099e-01 -6.80030689e-02 1.59331784e-04 5.44526190e+01] [-6.80030681e-02 9.97685112e-01 1.06907548e-05 -1.20111264e+02] [-1.59689953e-04 -1.69043399e-07 -9.99999987e-01 2.53389521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52185806399999 meters 0.017253448903865706 Centerline is valid? [True, True] Translation: X:54.44, Y:-120.09, Z:0.25 [[-9.90728938e-01 -1.35845435e-01 1.47959841e-03 5.44384605e+01] [-1.35845269e-01 9.90730043e-01 2.12841213e-04 -1.20086199e+02] [-1.49479611e-03 9.87150460e-06 -9.99998883e-01 2.53828695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.551858064 meters 0.017452075345745017 Centerline is valid? [True, True] Translation: X:54.42, Y:-120.06, Z:0.25 [[-9.78746032e-01 -2.05066672e-01 1.96578851e-03 5.44160042e+01] [-2.05066225e-01 9.78748006e-01 4.28206801e-04 -1.20061611e+02] [-2.01182253e-03 1.59888784e-05 -9.99997976e-01 2.53971573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.581858064 meters 0.017860694341849306 Centerline is valid? [True, True] Translation: X:54.38, Y:-120.04, Z:0.25 [[-9.61923444e-01 -2.73302842e-01 2.97405054e-03 5.43839919e+01] [-2.73301438e-01 9.61928041e-01 8.76577432e-04 -1.20040395e+02] [-3.10039372e-03 3.03880930e-05 -9.99995193e-01 2.54785328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.611858064 meters 0.0181102328391009 Centerline is valid? [True, True] Translation: X:54.34, Y:-120.02, Z:0.26 [[-9.39865426e-01 -3.41525542e-01 3.64496600e-03 5.43409120e+01] [-3.41522803e-01 9.39872493e-01 1.36847904e-03 -1.20024598e+02] [-3.89317383e-03 4.13471343e-05 -9.99992421e-01 2.55218448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.641858064 meters 0.018493414847974537 Centerline is valid? [True, True] Translation: X:54.28, Y:-120.02, Z:0.26 [[-9.13014516e-01 -4.07905048e-01 4.23850394e-03 5.42825177e+01] [-4.07900365e-01 9.13024353e-01 1.95539174e-03 -1.20017553e+02] [-4.66747148e-03 5.64137358e-05 -9.99989106e-01 2.55464894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.671858064 meters 0.018394753309132483 Centerline is valid? [True, True] Translation: X:54.21, Y:-120.02, Z:0.26 [[-8.80917169e-01 -4.73252434e-01 4.13229227e-03 5.42139715e+01] [-4.73246900e-01 8.80926859e-01 2.28941682e-03 -1.20018804e+02] [-4.72371933e-03 6.11920728e-05 -9.99988841e-01 2.55446509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.701858064 meters 0.01879433307116898 Centerline is valid? [True, True] Translation: X:54.14, Y:-120.03, Z:0.26 [[-8.44339879e-01 -5.35796870e-01 3.44720667e-03 5.41425150e+01] [-5.35792117e-01 8.44346914e-01 2.25764096e-03 -1.20027919e+02] [-4.12027527e-03 5.92301369e-05 -9.99991510e-01 2.55167684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.731858064 meters 0.018824950037963483 Centerline is valid? [True, True] Translation: X:54.06, Y:-120.05, Z:0.25 [[-8.02440838e-01 -5.96723346e-01 3.15413923e-03 5.40648474e+01] [-5.96718449e-01 8.02447035e-01 2.41828401e-03 -1.20047760e+02] [-3.97407620e-03 5.83967808e-05 -9.99992102e-01 2.54891366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.761858064 meters 0.019129518869074706 Centerline is valid? [True, True] Translation: X:53.98, Y:-120.08, Z:0.25 [[-7.56008058e-01 -6.54557026e-01 2.62967661e-03 5.39841288e+01] [-6.54552821e-01 7.56012630e-01 2.34686972e-03 -1.20077718e+02] [-3.52422880e-03 5.29901755e-05 -9.99993788e-01 2.54625820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.791858064 meters 0.01933419020189489 Centerline is valid? [True, True] Translation: X:53.90, Y:-120.12, Z:0.25 [[-7.05232347e-01 -7.08972878e-01 2.18967250e-03 5.39015889e+01] [-7.08969246e-01 7.05235745e-01 2.27000009e-03 -1.20116954e+02] [-3.15360381e-03 4.84670296e-05 -9.99995026e-01 2.54882475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821858064 meters 0.019291990628698377 Centerline is valid? [True, True] Translation: X:53.82, Y:-120.16, Z:0.26 [[-6.50557610e-01 -7.59452663e-01 2.53962181e-03 5.38189723e+01] [-7.59446490e-01 6.50562563e-01 3.06276158e-03 -1.20161308e+02] [-3.97820531e-03 6.37959832e-05 -9.99992085e-01 2.55201992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.851858064 meters 0.01920963126308085 Centerline is valid? [True, True] Translation: X:53.74, Y:-120.22, Z:0.26 [[-5.92053947e-01 -8.05894985e-01 2.32320457e-03 5.37384516e+01] [-8.05888336e-01 5.92058501e-01 3.27433869e-03 -1.20217357e+02] [-4.01424615e-03 6.63416760e-05 -9.99991941e-01 2.55301234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881858064 meters 0.02155617853303941 Centerline is valid? [True, True] Translation: X:53.66, Y:-120.28, Z:0.26 [[-5.29934845e-01 -8.48035004e-01 2.38555812e-03 5.36621798e+01] [-8.48025740e-01 5.29940209e-01 3.96471700e-03 -1.20282908e+02] [-4.62642196e-03 7.80269964e-05 -9.99989295e-01 2.56768988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.911858064 meters 0.019469444418302995 Centerline is valid? [True, True] Translation: X:53.59, Y:-120.36, Z:0.26 [[-4.65099049e-01 -8.85256470e-01 1.96395484e-03 5.35863580e+01] [-8.85247868e-01 4.65103189e-01 3.90328261e-03 -1.20357504e+02] [-4.36884784e-03 7.68261975e-05 -9.99990454e-01 2.55819886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941858064 meters 0.019884596191631992 Centerline is valid? [True, True] Translation: X:53.52, Y:-120.44, Z:0.26 [[-3.97222176e-01 -9.17720578e-01 1.86622470e-03 5.35179297e+01] [-9.17709381e-01 3.97226551e-01 4.53425902e-03 -1.20436562e+02] [-4.90249681e-03 8.84563210e-05 -9.99987979e-01 2.56383435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.971858064 meters 0.019898670576819592 Centerline is valid? [True, True] Translation: X:53.45, Y:-120.53, Z:0.26 [[-3.26550905e-01 -9.45178266e-01 1.59731991e-03 5.34537875e+01] [-9.45165531e-01 3.26554799e-01 4.90738277e-03 -1.20525939e+02] [-5.15996402e-03 9.27785653e-05 -9.99986683e-01 2.56659669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001858064 meters 0.01999304304750119 Centerline is valid? [True, True] Translation: X:53.40, Y:-120.62, Z:0.26 [[-2.53471091e-01 -9.67342149e-01 1.25415301e-03 5.33969487e+01] [-9.67328441e-01 2.53474176e-01 5.15067391e-03 -1.20619096e+02] [-5.30035937e-03 9.23690560e-05 -9.99985949e-01 2.57027838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.031858064 meters 0.019695640667945942 Centerline is valid? [True, True] Translation: X:53.34, Y:-120.72, Z:0.26 [[-1.77774796e-01 -9.84070858e-01 8.17480205e-04 5.33431944e+01] [-9.84058302e-01 1.77776658e-01 4.97167325e-03 -1.20716198e+02] [-5.03780766e-03 7.93900149e-05 -9.99987307e-01 2.57547726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061858064 meters 0.019695640667945942 Centerline is valid? [True, True] Translation: X:53.30, Y:-120.82, Z:0.26 [[-1.02599002e-01 -9.94722702e-01 4.37904237e-04 5.33018408e+01] [-9.94710041e-01 1.02599906e-01 5.01933662e-03 -1.20819070e+02] [-5.03777702e-03 7.93911896e-05 -9.99987307e-01 2.57546373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.091858064 meters 0.019089549395125697 Centerline is valid? [True, True] Translation: X:53.26, Y:-120.93, Z:0.26 [[-2.56063195e-02 -9.99672103e-01 6.19573385e-05 5.32646661e+01] [-9.99656556e-01 2.56062668e-02 5.57577851e-03 -1.20927820e+02] [-5.57553672e-03 8.08391062e-05 -9.99984453e-01 2.57499163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121858064 meters 0.018777347319576088 Centerline is valid? [True, True] Translation: X:53.24, Y:-121.03, Z:0.26 [[ 5.22087312e-02 -9.98636126e-01 -3.70291502e-04 5.32356687e+01] [-9.98619640e-01 -5.22099971e-02 5.73853909e-03 -1.21027991e+02] [-5.75004536e-03 7.01785212e-05 -9.99983466e-01 2.57677692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.151858064 meters 0.018884043735417327 Centerline is valid? [True, True] Translation: X:53.22, Y:-121.14, Z:0.26 [[ 1.28770834e-01 -9.91674084e-01 -7.63375220e-04 5.32171099e+01] [-9.91659354e-01 -1.28773082e-01 5.40540818e-03 -1.21137543e+02] [-5.45870539e-03 6.09492577e-05 -9.99985099e-01 2.57279034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18185806399998 meters 0.018697965332155442 Centerline is valid? [True, True] Translation: X:53.21, Y:-121.25, Z:0.26 [[ 2.04646665e-01 -9.78835175e-01 -1.20078761e-03 5.32070123e+01] [-9.78819893e-01 -2.04650180e-01 5.47001295e-03 -1.21249301e+02] [-5.59998249e-03 5.59348890e-05 -9.99984318e-01 2.57232524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21185806399998 meters 0.018645484764898426 Centerline is valid? [True, True] Translation: X:53.20, Y:-121.36, Z:0.26 [[ 2.79926270e-01 -9.60020269e-01 -1.53849336e-03 5.32026230e+01] [-9.60006613e-01 -2.79930495e-01 5.12061838e-03 -1.21357781e+02] [-5.34656864e-03 4.35681951e-05 -9.99985706e-01 2.56915663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24185806399998 meters 0.01849828078392873 Centerline is valid? [True, True] Translation: X:53.21, Y:-121.47, Z:0.26 [[ 3.52796165e-01 -9.35698244e-01 -1.91342663e-03 5.32087143e+01] [-9.35685050e-01 -3.52801352e-01 4.96931526e-03 -1.21466322e+02] [-5.32483906e-03 3.72093221e-05 -9.99985822e-01 2.56645837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27185806399999 meters 0.01845975987194167 Centerline is valid? [True, True] Translation: X:53.22, Y:-121.57, Z:0.26 [[ 4.23497309e-01 -9.05894773e-01 -2.16551678e-03 5.32229823e+01] [-9.05883283e-01 -4.23502845e-01 4.56260267e-03 -1.21573193e+02] [-5.05034043e-03 2.94554920e-05 -9.99987247e-01 2.56137393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.301858064 meters 0.018417124406442376 Centerline is valid? [True, True] Translation: X:53.24, Y:-121.68, Z:0.26 [[ 4.91329318e-01 -8.70970857e-01 -2.29488917e-03 5.32439979e+01] [-8.70961578e-01 -4.91334677e-01 4.02057736e-03 -1.21675645e+02] [-4.62936434e-03 2.33327604e-05 -9.99989284e-01 2.55608864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.331858064 meters 0.018351033578192063 Centerline is valid? [True, True] Translation: X:53.27, Y:-121.78, Z:0.25 [[ 5.56619818e-01 -8.30764308e-01 -2.24560632e-03 5.32723538e+01] [-8.30757655e-01 -5.56624348e-01 3.32480289e-03 -1.21775783e+02] [-4.01208672e-03 1.49034649e-05 -9.99991951e-01 2.54675156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.361858064 meters 0.018360622920544054 Centerline is valid? [True, True] Translation: X:53.31, Y:-121.87, Z:0.25 [[ 6.18010047e-01 -7.86167389e-01 -2.10183875e-03 5.33068814e+01] [-7.86162899e-01 -6.18013621e-01 2.65692090e-03 -1.21870411e+02] [-3.38774954e-03 1.03838299e-05 -9.99994262e-01 2.54259444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.391858064 meters 0.018370491749739586 Centerline is valid? [True, True] Translation: X:53.35, Y:-121.96, Z:0.25 [[ 6.75420657e-01 -7.37429793e-01 -2.05819209e-03 5.33466690e+01] [-7.37426408e-01 -6.75423793e-01 2.23420413e-03 -1.21959742e+02] [-3.03772060e-03 8.73757588e-06 -9.99995386e-01 2.53700565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.421858064 meters 0.01840567856197557 Centerline is valid? [True, True] Translation: X:53.39, Y:-122.04, Z:0.25 [[ 7.29088556e-01 -6.84416583e-01 -1.95399489e-03 5.33915312e+01] [-6.84414148e-01 -7.29091175e-01 1.82565247e-03 -1.22044422e+02] [-2.67414726e-03 6.27942394e-06 -9.99996424e-01 2.53865267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.451858064 meters 0.018463776309263966 Centerline is valid? [True, True] Translation: X:53.40, Y:-122.05, Z:0.25 [[ 7.81442280e-01 -6.23974299e-01 -2.00918597e-03 5.33979367e+01] [-6.23972242e-01 -7.81444863e-01 1.60204860e-03 -1.22049510e+02] [-2.56970521e-03 1.76776071e-06 -9.99996698e-01 2.54411620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.481858064 meters 0.018403039788748316 Centerline is valid? [True, True] Translation: X:53.13, Y:-122.44, Z:-0.76 [[ 7.82064229e-01 6.23194793e-01 -1.94718685e-03 5.31274109e+01] [-6.23192862e-01 7.82066653e-01 1.55151839e-03 -1.22436407e+02] [ 2.48972808e-03 8.59130813e-08 9.99996901e-01 -7.64776667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.511858064 meters 0.018625682438553778 Centerline is valid? [True, True] Translation: X:53.15, Y:-122.45, Z:-0.77 [[ 7.80183404e-01 6.25546882e-01 -2.22562352e-03 5.31491862e+01] [-6.25544370e-01 7.80186579e-01 1.77304787e-03 -1.22454332e+02] [ 2.84552617e-03 8.92373902e-06 9.99995951e-01 -7.65245297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.541858064 meters 0.018786406178450628 Centerline is valid? [True, True] Translation: X:53.17, Y:-122.47, Z:-0.77 [[ 7.79478687e-01 6.26424339e-01 -2.35038340e-03 5.31717833e+01] [-6.26421541e-01 7.79482231e-01 1.87219709e-03 -1.22472896e+02] [ 3.00487191e-03 1.29930610e-05 9.99995485e-01 -7.65235085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.571858064 meters 0.018828042551911756 Centerline is valid? [True, True] Translation: X:53.19, Y:-122.49, Z:-0.77 [[ 7.78801428e-01 6.27265732e-01 -2.45723923e-03 5.31932183e+01] [-6.27262679e-01 7.78805304e-01 1.95699964e-03 -1.22490735e+02] [ 3.14126976e-03 1.72203542e-05 9.99995066e-01 -7.65068044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601858064 meters 0.018884427182545606 Centerline is valid? [True, True] Translation: X:53.21, Y:-122.51, Z:-0.76 [[ 7.78234821e-01 6.27968921e-01 -2.36599212e-03 5.32146519e+01] [-6.27966094e-01 7.78238417e-01 1.88432940e-03 -1.22512344e+02] [ 3.02460627e-03 1.93120774e-05 9.99995426e-01 -7.64768308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.631858064 meters 0.019027960490352325 Centerline is valid? [True, True] Translation: X:53.24, Y:-122.53, Z:-0.77 [[ 7.78137145e-01 6.28088064e-01 -2.82248119e-03 5.32370867e+01] [-6.28084042e-01 7.78142264e-01 2.24781374e-03 -1.22531867e+02] [ 3.60811688e-03 2.36480251e-05 9.99993490e-01 -7.65133040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661858064 meters 0.018807580097734946 Centerline is valid? [True, True] Translation: X:53.26, Y:-122.55, Z:-0.76 [[ 7.77803752e-01 6.28501085e-01 -2.77650045e-03 5.32608307e+01] [-6.28497192e-01 7.77808707e-01 2.21243548e-03 -1.22554885e+02] [ 3.55010433e-03 2.41821210e-05 9.99993698e-01 -7.64560435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.691858064 meters 0.018841300756741956 Centerline is valid? [True, True] Translation: X:53.28, Y:-122.58, Z:-0.76 [[ 7.77130665e-01 6.29330655e-01 -3.29489648e-03 5.32843849e+01] [-6.29325173e-01 7.77137649e-01 2.62700461e-03 -1.22578280e+02] [ 4.21384264e-03 3.20354526e-05 9.99991121e-01 -7.64764435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721858064 meters 0.018815870853600657 Centerline is valid? [True, True] Translation: X:53.31, Y:-122.60, Z:-0.76 [[ 7.76702734e-01 6.29860513e-01 -2.93227323e-03 5.33092936e+01] [-6.29856169e-01 7.76708268e-01 2.33921162e-03 -1.22600689e+02] [ 3.75089789e-03 3.00383289e-05 9.99992965e-01 -7.64672436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.751858064 meters 0.01882370530219389 Centerline is valid? [True, True] Translation: X:53.33, Y:-122.62, Z:-0.76 [[ 7.76576191e-01 6.30015300e-01 -3.18458761e-03 5.33328672e+01] [-6.30010175e-01 7.76582719e-01 2.54138621e-03 -1.22622771e+02] [ 4.07420790e-03 3.27425796e-05 9.99991700e-01 -7.64899058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781858064 meters 0.018852714438104688 Centerline is valid? [True, True] Translation: X:53.35, Y:-122.65, Z:-0.77 [[ 7.77030313e-01 6.29456105e-01 -2.98407470e-03 5.33545263e+01] [-6.29451599e-01 7.77036042e-01 2.38202405e-03 -1.22646289e+02] [ 3.81811317e-03 2.74256973e-05 9.99992711e-01 -7.65100479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.811858064 meters 0.018835868187133013 Centerline is valid? [True, True] Translation: X:53.38, Y:-122.67, Z:-0.77 [[ 7.77241194e-01 6.29195030e-01 -3.12093115e-03 5.33790166e+01] [-6.29190093e-01 7.77247459e-01 2.49264151e-03 -1.22668928e+02] [ 3.99409346e-03 2.62752951e-05 9.99992023e-01 -7.65058032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841858064 meters 0.018718837028986357 Centerline is valid? [True, True] Translation: X:53.40, Y:-122.69, Z:-0.77 [[ 7.77597521e-01 6.28755829e-01 -2.86407933e-03 5.34028494e+01] [-6.28751664e-01 7.77602795e-01 2.28875039e-03 -1.22691609e+02] [ 3.66618124e-03 2.10680169e-05 9.99993279e-01 -7.65047107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.871858064 meters 0.01865867519746887 Centerline is valid? [True, True] Translation: X:53.43, Y:-122.71, Z:-0.76 [[ 7.78285601e-01 6.27904610e-01 -2.70647696e-03 5.34254751e+01] [-6.27900883e-01 7.78290306e-01 2.16338444e-03 -1.22713692e+02] [ 3.46482385e-03 1.56683109e-05 9.99993997e-01 -7.64733720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901858064 meters 0.018437074195792737 Centerline is valid? [True, True] Translation: X:53.45, Y:-122.74, Z:-0.76 [[ 7.79999987e-01 6.25776672e-01 -1.89136300e-03 5.34456749e+01] [-6.25774844e-01 7.80002280e-01 1.51259904e-03 -1.22739265e+02] [ 2.42181664e-03 3.74015201e-06 9.99997067e-01 -7.63530432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93185806399998 meters 0.018346455802668322 Centerline is valid? [True, True] Translation: X:53.47, Y:-122.76, Z:-0.76 [[ 7.80838533e-01 6.24729659e-01 -2.00962434e-03 5.34688372e+01] [-6.24727590e-01 7.80841119e-01 1.60812677e-03 -1.22762623e+02] [ 2.57384181e-03 -2.19582036e-07 9.99996688e-01 -7.63181401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96185806399998 meters 0.018396777623321314 Centerline is valid? [True, True] Translation: X:53.49, Y:-122.79, Z:-0.76 [[ 7.81640762e-01 6.23726005e-01 -1.89474552e-03 5.34915856e+01] [-6.23724161e-01 7.81643058e-01 1.51703194e-03 -1.22785168e+02] [ 2.42722695e-03 -3.97544103e-06 9.99997054e-01 -7.63056637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99185806399998 meters 0.018328974135954693 Centerline is valid? [True, True] Translation: X:53.51, Y:-122.81, Z:-0.76 [[ 7.83028298e-01 6.21982768e-01 -2.02988671e-03 5.35127172e+01] [-6.21980643e-01 7.83030929e-01 1.62611535e-03 -1.22810079e+02] [ 2.60087980e-03 -1.07440913e-05 9.99996618e-01 -7.63336384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02185806399999 meters 0.0182859742764147 Centerline is valid? [True, True] Translation: X:53.54, Y:-122.83, Z:-0.76 [[ 7.83162886e-01 6.21812391e-01 -2.29011983e-03 5.35365291e+01] [-6.21809682e-01 7.83166234e-01 1.83563666e-03 -1.22832539e+02] [ 2.93496614e-03 -1.35838256e-05 9.99995693e-01 -7.63361428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.051858064 meters 0.018245285322170762 Centerline is valid? [True, True] Translation: X:53.56, Y:-122.86, Z:-0.76 [[ 7.83308205e-01 6.21629095e-01 -2.35045205e-03 5.35610856e+01] [-6.21626237e-01 7.83311731e-01 1.88507927e-03 -1.22855009e+02] [ 3.01295678e-03 -1.54953950e-05 9.99995461e-01 -7.63646800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.081858064 meters 0.018109051974246785 Centerline is valid? [True, True] Translation: X:53.58, Y:-122.88, Z:-0.76 [[ 7.83186715e-01 6.21779551e-01 -2.95979256e-03 5.35832551e+01] [-6.21775017e-01 7.83192307e-01 2.37462047e-03 -1.22877900e+02] [ 3.79457721e-03 -1.94461376e-05 9.99992800e-01 -7.63843021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.111858064 meters 0.018103467747596736 Centerline is valid? [True, True] Translation: X:53.61, Y:-122.90, Z:-0.76 [[ 7.82618214e-01 6.22494167e-01 -3.12139188e-03 5.36081767e+01] [-6.22489124e-01 7.82624438e-01 2.50568761e-03 -1.22899898e+02] [ 4.00265349e-03 -1.79642593e-05 9.99991989e-01 -7.63899440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.141858064 meters 0.01799254945295195 Centerline is valid? [True, True] Translation: X:53.63, Y:-122.92, Z:-0.76 [[ 7.81913927e-01 6.23377050e-01 -3.41529357e-03 5.36335848e+01] [-6.23371014e-01 7.81921386e-01 2.74318778e-03 -1.22921508e+02] [ 4.38053139e-03 -1.59417183e-05 9.99990405e-01 -7.64237803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.171858064 meters 0.01789386430296567 Centerline is valid? [True, True] Translation: X:53.66, Y:-122.94, Z:-0.76 [[ 7.80713973e-01 6.24878782e-01 -3.49296170e-03 5.36573327e+01] [-6.24872477e-01 7.80721786e-01 2.80706866e-03 -1.22942776e+02] [ 4.48110894e-03 -8.86209474e-06 9.99989960e-01 -7.64497977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.201858064 meters 0.017970891743546352 Centerline is valid? [True, True] Translation: X:53.68, Y:-122.96, Z:-0.76 [[ 7.79954450e-01 6.25825814e-01 -3.62029624e-03 5.36819495e+01] [-6.25819043e-01 7.79962852e-01 2.91104929e-03 -1.22964498e+02] [ 4.64550637e-03 -4.83551969e-06 9.99989210e-01 -7.64195840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.231858064 meters 0.018054592189578365 Centerline is valid? [True, True] Translation: X:53.70, Y:-122.99, Z:-0.76 [[ 7.79246764e-01 6.26706841e-01 -3.60774963e-03 5.37046323e+01] [-6.26700120e-01 7.79255116e-01 2.90249234e-03 -1.22986778e+02] [ 4.63036916e-03 -7.80635765e-07 9.99989280e-01 -7.64226258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.261858064 meters 0.01795072181462901 Centerline is valid? [True, True] Translation: X:53.73, Y:-123.01, Z:-0.76 [[ 7.78832859e-01 6.27221006e-01 -3.63137481e-03 5.37290110e+01] [-6.27214194e-01 7.78841325e-01 2.92320557e-03 -1.23008262e+02] [ 4.66176070e-03 9.61274698e-07 9.99989134e-01 -7.63390210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.291858064 meters 0.017942396158599515 Centerline is valid? [True, True] Translation: X:53.75, Y:-123.03, Z:-0.76 [[ 7.78354714e-01 6.27815411e-01 -3.42768128e-03 5.37538896e+01] [-6.27809341e-01 7.78362261e-01 2.76085047e-03 -1.23030275e+02] [ 4.40128223e-03 3.00935063e-06 9.99990314e-01 -7.63282969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321858064 meters 0.01790082167765997 Centerline is valid? [True, True] Translation: X:53.78, Y:-123.05, Z:-0.76 [[ 7.77716022e-01 6.28606262e-01 -3.45786727e-03 5.37789045e+01] [-6.28600084e-01 7.77723709e-01 2.78679221e-03 -1.23052161e+02] [ 4.44106040e-03 6.28270543e-06 9.99990138e-01 -7.62896213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.351858064 meters 0.01786262597893668 Centerline is valid? [True, True] Translation: X:53.80, Y:-123.07, Z:-0.76 [[ 7.76743311e-01 6.29808037e-01 -3.41550524e-03 5.38019361e+01] [-6.29802015e-01 7.76750820e-01 2.75414736e-03 -1.23074330e+02] [ 4.38758064e-03 1.18265477e-05 9.99990374e-01 -7.62773780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381858064 meters 0.017886881690687525 Centerline is valid? [True, True] Translation: X:53.83, Y:-123.10, Z:-0.76 [[ 7.76145076e-01 6.30546380e-01 -3.17558966e-03 5.38262910e+01] [-6.30541174e-01 7.76151572e-01 2.56215754e-03 -1.23096291e+02] [ 4.08029807e-03 1.37340762e-05 9.99991675e-01 -7.62682901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.411858064 meters 0.017933627717059593 Centerline is valid? [True, True] Translation: X:53.85, Y:-123.12, Z:-0.76 [[ 7.75496757e-01 6.31341657e-01 -3.53449278e-03 5.38506459e+01] [-6.31335209e-01 7.75504811e-01 2.85338587e-03 -1.23117920e+02] [ 4.54247752e-03 1.86582522e-05 9.99989683e-01 -7.62982294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441858064 meters 0.0179256328472686 Centerline is valid? [True, True] Translation: X:53.87, Y:-123.14, Z:-0.76 [[ 7.74156640e-01 6.32978813e-01 -4.39536822e-03 5.38730101e+01] [-6.32968859e-01 7.74169117e-01 3.55002564e-03 -1.23140034e+02] [ 5.64984934e-03 3.38552859e-05 9.99984039e-01 -7.63587685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.471858064 meters 0.018105485658017687 Centerline is valid? [True, True] Translation: X:53.90, Y:-123.16, Z:-0.76 [[ 7.73407754e-01 6.33889891e-01 -4.90423179e-03 5.38968653e+01] [-6.33877504e-01 7.73423302e-01 3.96313081e-03 -1.23161041e+02] [ 6.30523570e-03 4.35661066e-05 9.99980121e-01 -7.64006000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501858064 meters 0.018121698934266215 Centerline is valid? [True, True] Translation: X:53.92, Y:-123.18, Z:-0.76 [[ 7.73011364e-01 6.34373517e-01 -4.86528706e-03 5.39211484e+01] [-6.34361322e-01 7.73026674e-01 3.93372619e-03 -1.23181759e+02] [ 6.25644839e-03 4.55348841e-05 9.99980427e-01 -7.64349252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.531858064 meters 0.01833209566258257 Centerline is valid? [True, True] Translation: X:53.94, Y:-123.20, Z:-0.77 [[ 7.72315843e-01 6.35219889e-01 -4.89198918e-03 5.39444217e+01] [-6.35207564e-01 7.72331334e-01 3.95736414e-03 -1.23203036e+02] [ 6.29203294e-03 5.10935115e-05 9.99980204e-01 -7.65600119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561858064 meters 0.018121420632325795 Centerline is valid? [True, True] Translation: X:53.97, Y:-123.23, Z:-0.77 [[ 7.72235901e-01 6.35312453e-01 -5.45894867e-03 5.39680181e+01] [-6.35297091e-01 7.72255193e-01 4.41843679e-03 -1.23225672e+02] [ 7.02278938e-03 5.59786891e-05 9.99975338e-01 -7.65628851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.591858064 meters 0.018135420633176823 Centerline is valid? [True, True] Translation: X:53.99, Y:-123.25, Z:-0.77 [[ 7.72383207e-01 6.35135855e-01 -5.16008070e-03 5.39911349e+01] [-6.35122111e-01 7.72400442e-01 4.17867831e-03 -1.23248368e+02] [ 6.63967704e-03 4.97403862e-05 9.99977956e-01 -7.65763125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621858064 meters 0.018052477699484357 Centerline is valid? [True, True] Translation: X:54.01, Y:-123.27, Z:-0.77 [[ 7.73168808e-01 6.34173570e-01 -5.82035223e-03 5.40127592e+01] [-6.34156037e-01 7.73190714e-01 4.71593149e-03 -1.23274495e+02] [ 7.49096141e-03 4.48003680e-05 9.99971941e-01 -7.65522548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.651858064 meters 0.017846389814844297 Centerline is valid? [True, True] Translation: X:54.04, Y:-123.30, Z:-0.77 [[ 7.73787379e-01 6.33414889e-01 -6.21855759e-03 5.40366408e+01] [-6.33394828e-01 7.73812366e-01 5.04129661e-03 -1.23298041e+02] [ 8.00522910e-03 3.79105206e-05 9.99967957e-01 -7.66107638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68185806399998 meters 0.01779847425917264 Centerline is valid? [True, True] Translation: X:54.06, Y:-123.32, Z:-0.77 [[ 7.75827644e-01 6.30907547e-01 -6.86540030e-03 5.40576182e+01] [-6.30882973e-01 7.75858020e-01 5.56848028e-03 -1.23323021e+02] [ 8.83977211e-03 1.10832158e-05 9.99960928e-01 -7.67866992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71185806399998 meters 0.017704271051237085 Centerline is valid? [True, True] Translation: X:54.08, Y:-123.35, Z:-0.77 [[ 7.76662376e-01 6.29874793e-01 -7.30054379e-03 5.40809379e+01] [-6.29846927e-01 7.76696688e-01 5.92484865e-03 -1.23346081e+02] [ 9.40222100e-03 -3.38196517e-06 9.99955798e-01 -7.66978212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74185806399998 meters 0.017722393010208524 Centerline is valid? [True, True] Translation: X:54.10, Y:-123.37, Z:-0.77 [[ 7.77608943e-01 6.28704807e-01 -7.38896271e-03 5.41042688e+01] [-6.28676176e-01 7.77644048e-01 6.00007406e-03 -1.23369220e+02] [ 9.51825828e-03 -2.04464250e-05 9.99954700e-01 -7.67412375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77185806399999 meters 0.017574482644373453 Centerline is valid? [True, True] Translation: X:54.13, Y:-123.39, Z:-0.77 [[ 7.78948786e-01 6.27045586e-01 -7.25402271e-03 5.41270997e+01] [-6.27017887e-01 7.78982561e-01 5.89390219e-03 -1.23392787e+02] [ 9.34650255e-03 -4.26459612e-05 9.99956320e-01 -7.66850436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.801858064 meters 0.0177083602293595 Centerline is valid? [True, True] Translation: X:54.15, Y:-123.42, Z:-0.77 [[ 7.80304393e-01 6.25361374e-01 -6.94304888e-03 5.41485952e+01] [-6.25335919e-01 7.80335279e-01 5.64279775e-03 -1.23415661e+02] [ 8.94669374e-03 -6.13620245e-05 9.99959976e-01 -7.66333054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.831858064 meters 0.018136255137833516 Centerline is valid? [True, True] Translation: X:54.17, Y:-123.44, Z:-0.76 [[ 7.82625437e-01 6.22463118e-01 -6.09027020e-03 5.41684477e+01] [-6.22443433e-01 7.82649129e-01 4.95106302e-03 -1.23441386e+02] [ 7.84839880e-03 -8.39791676e-05 9.99969197e-01 -7.64902000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.861858064 meters 0.018133623057335135 Centerline is valid? [True, True] Translation: X:54.19, Y:-123.46, Z:-0.76 [[ 7.83166844e-01 6.21781483e-01 -6.12218911e-03 5.41915194e+01] [-6.21761551e-01 7.83190767e-01 4.97947492e-03 -1.23463890e+02] [ 7.89098729e-03 -9.32178559e-05 9.99968861e-01 -7.64513584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.891858064 meters 0.018269655601982567 Centerline is valid? [True, True] Translation: X:54.21, Y:-123.49, Z:-0.76 [[ 7.83826987e-01 6.20954400e-01 -5.55758747e-03 5.42145196e+01] [-6.20937936e-01 7.83846684e-01 4.52284837e-03 -1.23487897e+02] [ 7.16477911e-03 -9.42137171e-05 9.99974328e-01 -7.63290640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.921858064 meters 0.018195082028247003 Centerline is valid? [True, True] Translation: X:54.24, Y:-123.51, Z:-0.76 [[ 7.83716576e-01 6.21098265e-01 -5.02723866e-03 5.42392702e+01] [-6.21084781e-01 7.83732695e-01 4.09360266e-03 -1.23509951e+02] [ 6.48254081e-03 -8.58828379e-05 9.99978984e-01 -7.62780444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.951858064 meters 0.018195082028247003 Centerline is valid? [True, True] Translation: X:54.26, Y:-123.53, Z:-0.76 [[ 7.83541247e-01 6.21319444e-01 -5.02608307e-03 5.42643665e+01] [-6.21305955e-01 7.83557363e-01 4.09502140e-03 -1.23530470e+02] [ 6.48254081e-03 -8.58828372e-05 9.99978984e-01 -7.62780776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.981858064 meters 0.01831415935135143 Centerline is valid? [True, True] Translation: X:54.29, Y:-123.55, Z:-0.76 [[ 7.83105403e-01 6.21872360e-01 -4.54931850e-03 5.42875921e+01] [-6.21861314e-01 7.83118613e-01 3.70723923e-03 -1.23552019e+02] [ 5.86808560e-03 -7.41138915e-05 9.99982780e-01 -7.62308074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.011858064 meters 0.017901348518508994 Centerline is valid? [True, True] Translation: X:54.31, Y:-123.57, Z:-0.76 [[ 7.81101443e-01 6.24393703e-01 -3.61101079e-03 5.43124754e+01] [-6.24386764e-01 7.81109789e-01 2.94407187e-03 -1.23571593e+02] [ 4.65885582e-03 -4.49514438e-05 9.99989146e-01 -7.60372356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.041858064 meters 0.017688677117544845 Centerline is valid? [True, True] Translation: X:54.34, Y:-123.59, Z:-0.76 [[ 7.79830854e-01 6.25979269e-01 -3.71394158e-03 5.43373747e+01] [-6.25971940e-01 7.79839697e-01 3.02946690e-03 -1.23591219e+02] [ 4.79266256e-03 -3.76485481e-05 9.99988514e-01 -7.59880528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.071858064 meters 0.01771382082000531 Centerline is valid? [True, True] Translation: X:54.36, Y:-123.61, Z:-0.76 [[ 7.78461693e-01 6.27679978e-01 -3.90363808e-03 5.43628166e+01] [-6.27671894e-01 7.78471480e-01 3.18575670e-03 -1.23610919e+02] [ 5.03850660e-03 -2.97856459e-05 9.99987306e-01 -7.60154023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101858064 meters 0.01752798244246255 Centerline is valid? [True, True] Translation: X:54.39, Y:-123.63, Z:-0.76 [[ 7.76243828e-01 6.30414929e-01 -4.74727503e-03 5.43896043e+01] [-6.30403011e-01 7.76258344e-01 3.87645232e-03 -1.23630131e+02] [ 6.12888527e-03 -1.63757188e-05 9.99981218e-01 -7.60916557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.131858064 meters 0.01753337840941235 Centerline is valid? [True, True] Translation: X:54.42, Y:-123.65, Z:-0.76 [[ 7.75317248e-01 6.31554720e-01 -4.66910408e-03 5.44154100e+01] [-6.31543198e-01 7.75331307e-01 3.81484108e-03 -1.23650652e+02] [ 6.02938346e-03 -8.97116304e-06 9.99981823e-01 -7.60727234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161858064 meters 0.017565785712834195 Centerline is valid? [True, True] Translation: X:54.44, Y:-123.67, Z:-0.76 [[ 7.74728088e-01 6.32275648e-01 -4.88818182e-03 5.44402851e+01] [-6.32263020e-01 7.74743509e-01 3.99600035e-03 -1.23671073e+02] [ 6.31366085e-03 -5.19711639e-06 9.99980069e-01 -7.61139866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.191858064 meters 0.017445036425811185 Centerline is valid? [True, True] Translation: X:54.47, Y:-123.69, Z:-0.76 [[ 7.74182705e-01 6.32947935e-01 -4.24866997e-03 5.44650825e+01] [-6.32938398e-01 7.74194363e-01 3.47445790e-03 -1.23691186e+02] [ 5.48844730e-03 -7.18847720e-07 9.99984938e-01 -7.60854226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221858064 meters 0.017475360889884776 Centerline is valid? [True, True] Translation: X:54.49, Y:-123.71, Z:-0.76 [[ 7.74009459e-01 6.33162078e-01 -3.89111178e-03 5.44901494e+01] [-6.33154073e-01 7.74019239e-01 3.18388046e-03 -1.23712035e+02] [ 5.02770775e-03 -6.80321672e-07 9.99987361e-01 -7.60264980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.251858064 meters 0.01743316412413959 Centerline is valid? [True, True] Translation: X:54.51, Y:-123.73, Z:-0.76 [[ 7.73993895e-01 6.33183890e-01 -3.40764230e-03 5.45147193e+01] [-6.33177744e-01 7.74001397e-01 2.78977146e-03 -1.23732726e+02] [ 4.40395825e-03 -1.62281514e-06 9.99990303e-01 -7.59647605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281858064 meters 0.017436322290085713 Centerline is valid? [True, True] Translation: X:54.54, Y:-123.75, Z:-0.76 [[ 7.74077704e-01 6.33083593e-01 -2.97867043e-03 5.45398870e+01] [-6.33078891e-01 7.74083435e-01 2.43996825e-03 -1.23753625e+02] [ 3.85044330e-03 -2.99165313e-06 9.99992587e-01 -7.59052653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.311858064 meters 0.01736885466906854 Centerline is valid? [True, True] Translation: X:54.56, Y:-123.77, Z:-0.76 [[ 7.74201870e-01 6.32934166e-01 -2.40982294e-03 5.45643063e+01] [-6.32931084e-01 7.74205620e-01 1.97504516e-03 -1.23773629e+02] [ 3.11577202e-03 -3.83180375e-06 9.99995146e-01 -7.58713332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341858064 meters 0.019320824268980928 Centerline is valid? [True, True] Translation: X:54.59, Y:-123.80, Z:-0.76 [[ 7.74641437e-01 6.32394221e-01 -2.86224794e-03 5.45895530e+01] [-6.32389865e-01 7.74646725e-01 2.34720511e-03 -1.23795042e+02] [ 3.70158994e-03 -8.18574876e-06 9.99993149e-01 -7.59759839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.371858064 meters 0.01738108135935325 Centerline is valid? [True, True] Translation: X:54.61, Y:-123.82, Z:-0.76 [[ 7.74199011e-01 6.32938304e-01 -2.23477572e-03 5.46145759e+01] [-6.32935648e-01 7.74202236e-01 1.83363285e-03 -1.23815116e+02] [ 2.89074483e-03 -5.12752060e-06 9.99995822e-01 -7.58326183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401858064 meters 0.017320875867010144 Centerline is valid? [True, True] Translation: X:54.64, Y:-123.84, Z:-0.76 [[ 7.74668487e-01 6.32364227e-01 -2.05405265e-03 5.46385035e+01] [-6.32361979e-01 7.74671210e-01 1.68619197e-03 -1.23835499e+02] [ 2.65750294e-03 -7.33497868e-06 9.99996469e-01 -7.58407077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43185806399998 meters 0.017277355377641294 Centerline is valid? [True, True] Translation: X:54.66, Y:-123.86, Z:-0.76 [[ 7.74965236e-01 6.31999506e-01 -2.34680241e-03 5.46640540e+01] [-6.31996566e-01 7.74968789e-01 1.92761053e-03 -1.23856569e+02] [ 3.03694752e-03 -1.06600879e-05 9.99995388e-01 -7.58784848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46185806399998 meters 0.01736706540754556 Centerline is valid? [True, True] Translation: X:54.69, Y:-123.88, Z:-0.76 [[ 7.75772183e-01 6.31007746e-01 -2.59688425e-03 5.46892011e+01] [-6.31004137e-01 7.75776530e-01 2.13422829e-03 -1.23878182e+02] [ 3.36131644e-03 -1.70302308e-05 9.99994351e-01 -7.59333166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49185806399998 meters 0.0173612842532241 Centerline is valid? [True, True] Translation: X:54.71, Y:-123.90, Z:-0.76 [[ 7.76144076e-01 6.30549588e-01 -2.75504817e-03 5.47143088e+01] [-6.30545518e-01 7.76148966e-01 2.26548663e-03 -1.23899644e+02] [ 3.56682945e-03 -2.11607466e-05 9.99993639e-01 -7.59198665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52185806399999 meters 0.01743554986539869 Centerline is valid? [True, True] Translation: X:54.74, Y:-123.92, Z:-0.76 [[ 7.76608255e-01 6.29977172e-01 -2.89515121e-03 5.47392284e+01] [-6.29972671e-01 7.76613651e-01 2.38152745e-03 -1.23920450e+02] [ 3.74872188e-03 -2.56477374e-05 9.99992973e-01 -7.58833006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.551858064 meters 0.017443488543118443 Centerline is valid? [True, True] Translation: X:54.76, Y:-123.94, Z:-0.76 [[ 7.76700108e-01 6.29863670e-01 -2.94960016e-03 5.47644813e+01] [-6.29858992e-01 7.76705708e-01 2.42766896e-03 -1.23941045e+02] [ 3.82007176e-03 -2.77385577e-05 9.99992703e-01 -7.58657165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.581858064 meters 0.017614851632461362 Centerline is valid? [True, True] Translation: X:54.79, Y:-123.96, Z:-0.76 [[ 7.77576673e-01 6.28781141e-01 -2.96549495e-03 5.47893925e+01] [-6.28776401e-01 7.77582327e-01 2.44185922e-03 -1.23960476e+02] [ 3.84131149e-03 -3.40995311e-05 9.99992622e-01 -7.58277088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.611858064 meters 0.0176397876146094 Centerline is valid? [True, True] Translation: X:54.81, Y:-123.98, Z:-0.76 [[ 7.78080721e-01 6.28156446e-01 -3.14193531e-03 5.48147001e+01] [-6.28151113e-01 7.78087063e-01 2.58861824e-03 -1.23980961e+02] [ 4.07075645e-03 -4.05437828e-05 9.99991714e-01 -7.57844199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.641858064 meters 0.017941363740014506 Centerline is valid? [True, True] Translation: X:54.84, Y:-124.00, Z:-0.76 [[ 7.78974047e-01 6.27046772e-01 -3.43224219e-03 5.48381574e+01] [-6.27040394e-01 7.78981607e-01 2.82856267e-03 -1.24001927e+02] [ 4.44729463e-03 -5.12224112e-05 9.99990109e-01 -7.58227507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.671858064 meters 0.018119103482355167 Centerline is valid? [True, True] Translation: X:54.86, Y:-124.02, Z:-0.76 [[ 7.81174509e-01 6.24298158e-01 -4.26561054e-03 5.48626204e+01] [-6.24288257e-01 7.81186151e-01 3.51712941e-03 -1.24022739e+02] [ 5.52797329e-03 -8.45212767e-05 9.99984717e-01 -7.57806675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.701858064 meters 0.018548625483108053 Centerline is valid? [True, True] Translation: X:54.89, Y:-124.04, Z:-0.76 [[ 7.82382986e-01 6.22781875e-01 -4.42726427e-03 5.48858727e+01] [-6.22771174e-01 7.82395505e-01 3.65211302e-03 -1.24043939e+02] [ 5.73834146e-03 -1.00178522e-04 9.99983531e-01 -7.58555779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.731858064 meters 0.01884456316362392 Centerline is valid? [True, True] Translation: X:54.91, Y:-124.07, Z:-0.76 [[ 7.83482982e-01 6.21394688e-01 -4.80190744e-03 5.49099802e+01] [-6.21382062e-01 7.83497688e-01 3.96314465e-03 -1.24065351e+02] [ 6.22496041e-03 -1.21237244e-04 9.99980617e-01 -7.58620731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.761858064 meters 0.019599500911464837 Centerline is valid? [True, True] Translation: X:54.93, Y:-124.09, Z:-0.76 [[ 7.85294408e-01 6.19101864e-01 -5.05715462e-03 5.49325541e+01] [-6.19087800e-01 7.85310677e-01 4.17572760e-03 -1.24086773e+02] [ 6.55663826e-03 -1.48352803e-04 9.99978494e-01 -7.58524863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.791858064 meters 0.019310069980341852 Centerline is valid? [True, True] Translation: X:54.96, Y:-124.11, Z:-0.76 [[ 7.85547172e-01 6.18780238e-01 -5.16301012e-03 5.49580659e+01] [-6.18765557e-01 7.85564124e-01 4.26527845e-03 -1.24106457e+02] [ 6.69514554e-03 -1.55884593e-04 9.99977575e-01 -7.58182323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821858064 meters 0.019497031976296472 Centerline is valid? [True, True] Translation: X:54.98, Y:-124.13, Z:-0.76 [[ 7.85465751e-01 6.18881903e-01 -5.36134937e-03 5.49831018e+01] [-6.18866059e-01 7.85484031e-01 4.43150509e-03 -1.24126426e+02] [ 6.95383262e-03 -1.62838314e-04 9.99975809e-01 -7.58185246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.851858064 meters 0.01910352281682135 Centerline is valid? [True, True] Translation: X:55.01, Y:-124.15, Z:-0.76 [[ 7.84685128e-01 6.19870322e-01 -5.48026678e-03 5.50089328e+01] [-6.19853775e-01 7.84704249e-01 4.53205169e-03 -1.24145231e+02] [ 7.10967297e-03 -1.59269512e-04 9.99974713e-01 -7.58592333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881858064 meters 0.01954912829103333 Centerline is valid? [True, True] Translation: X:55.03, Y:-124.17, Z:-0.76 [[ 7.83743739e-01 6.21057959e-01 -5.72398461e-03 5.50326385e+01] [-6.21039928e-01 7.83764625e-01 4.73493987e-03 -1.24165454e+02] [ 7.42692874e-03 -1.56156489e-04 9.99972408e-01 -7.59167422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.911858064 meters 0.018502617438491804 Centerline is valid? [True, True] Translation: X:55.06, Y:-124.18, Z:-0.76 [[ 7.81721541e-01 6.23599457e-01 -5.92866957e-03 5.50604525e+01] [-6.23580169e-01 7.81744011e-01 4.90665910e-03 -1.24182063e+02] [ 7.69449188e-03 -1.38640346e-04 9.99970387e-01 -7.59121273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941858064 meters 0.018386832595043735 Centerline is valid? [True, True] Translation: X:55.09, Y:-124.20, Z:-0.76 [[ 7.80652070e-01 6.24938343e-01 -5.86625909e-03 5.50852149e+01] [-6.24919480e-01 7.80674101e-01 4.85719955e-03 -1.24200432e+02] [ 7.61508678e-03 -1.25843302e-04 9.99970997e-01 -7.59827091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.971858064 meters 0.018043750307531733 Centerline is valid? [True, True] Translation: X:55.11, Y:-124.22, Z:-0.76 [[ 7.79644706e-01 6.26191008e-01 -6.24132532e-03 5.51108360e+01] [-6.26169675e-01 7.79669678e-01 5.17025849e-03 -1.24219281e+02] [ 8.10374147e-03 -1.22836012e-04 9.99967157e-01 -7.59826196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001858064 meters 0.017905921258681432 Centerline is valid? [True, True] Translation: X:55.14, Y:-124.24, Z:-0.76 [[ 7.79159921e-01 6.26794940e-01 -6.15792648e-03 5.51366677e+01] [-6.26774173e-01 7.79184246e-01 5.10364940e-03 -1.24238441e+02] [ 7.99710092e-03 -1.16929788e-04 9.99968016e-01 -7.59783162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.031858064 meters 0.019015963486536638 Centerline is valid? [True, True] Translation: X:55.16, Y:-124.26, Z:-0.76 [[ 7.79637440e-01 6.26198541e-01 -6.39136788e-03 5.51632225e+01] [-6.26176127e-01 7.79663626e-01 5.29980927e-03 -1.24256890e+02] [ 8.30184989e-03 -1.29807744e-04 9.99965531e-01 -7.60541415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061858064 meters 0.018094591655281374 Centerline is valid? [True, True] Translation: X:55.19, Y:-124.28, Z:-0.76 [[ 7.79709234e-01 6.26118653e-01 -5.37974324e-03 5.51867656e+01] [-6.26102762e-01 7.79727786e-01 4.46222180e-03 -1.24277919e+02] [ 6.98861559e-03 -1.10963439e-04 9.99975573e-01 -7.60069449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.091858064 meters 0.017906988858253325 Centerline is valid? [True, True] Translation: X:55.21, Y:-124.30, Z:-0.76 [[ 7.80408582e-01 6.25248290e-01 -5.19820722e-03 5.52120671e+01] [-6.25233419e-01 7.80425885e-01 4.31382240e-03 -1.24298239e+02] [ 6.75402555e-03 -1.16451144e-04 9.99977185e-01 -7.59045096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121858064 meters 0.017985911454880026 Centerline is valid? [True, True] Translation: X:55.24, Y:-124.32, Z:-0.76 [[ 7.81144180e-01 6.24330804e-01 -4.98163701e-03 5.52363694e+01] [-6.24317115e-01 7.81160056e-01 4.13617940e-03 -1.24319103e+02] [ 6.47380006e-03 -1.20831223e-04 9.99979037e-01 -7.58538046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.151858064 meters 0.018727627016837382 Centerline is valid? [True, True] Translation: X:55.26, Y:-124.34, Z:-0.76 [[ 7.82496578e-01 6.22638563e-01 -4.50826429e-03 5.52588823e+01] [-6.22627318e-01 7.82509555e-01 3.74413931e-03 -1.24340305e+02] [ 5.85900540e-03 -1.22807692e-04 9.99982828e-01 -7.58133981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18185806399998 meters 0.018341662980319178 Centerline is valid? [True, True] Translation: X:55.28, Y:-124.36, Z:-0.76 [[ 7.82922577e-01 6.22100511e-01 -4.81586076e-03 5.52844254e+01] [-6.22087656e-01 7.82937377e-01 4.00163217e-03 -1.24360085e+02] [ 6.25993480e-03 -1.37080642e-04 9.99980397e-01 -7.57800550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21185806399998 meters 0.018629730881572857 Centerline is valid? [True, True] Translation: X:55.31, Y:-124.38, Z:-0.76 [[ 7.83024509e-01 6.21965133e-01 -5.65609524e-03 5.53084848e+01] [-6.21947381e-01 7.83044920e-01 4.70200279e-03 -1.24379384e+02] [ 7.35345844e-03 -1.63989795e-04 9.99972950e-01 -7.59274010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24185806399998 meters 0.018656147652819248 Centerline is valid? [True, True] Translation: X:55.33, Y:-124.40, Z:-0.76 [[ 7.82679847e-01 6.22394937e-01 -6.06628535e-03 5.53341697e+01] [-6.22374507e-01 7.82703336e-01 5.04587829e-03 -1.24399704e+02] [ 7.88863088e-03 -1.73805887e-04 9.99968869e-01 -7.59907118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27185806399999 meters 0.018678670039102684 Centerline is valid? [True, True] Translation: X:55.36, Y:-124.42, Z:-0.76 [[ 7.82254679e-01 6.22926643e-01 -6.32574239e-03 5.53598379e+01] [-6.22904421e-01 7.82280235e-01 5.26467140e-03 -1.24420388e+02] [ 8.22800733e-03 -1.77980937e-04 9.99966134e-01 -7.60605677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.301858064 meters 0.018661716945656156 Centerline is valid? [True, True] Translation: X:55.38, Y:-124.44, Z:-0.76 [[ 7.81266696e-01 6.24166018e-01 -6.25554927e-03 5.53843419e+01] [-6.24144307e-01 7.81291722e-01 5.20862519e-03 -1.24439999e+02] [ 8.13845570e-03 -1.64959928e-04 9.99966869e-01 -7.60590074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.331858064 meters 0.018224964238853097 Centerline is valid? [True, True] Translation: X:55.41, Y:-124.46, Z:-0.76 [[ 7.80684651e-01 6.24894819e-01 -6.15961763e-03 5.54093757e+01] [-6.24873771e-01 7.80708935e-01 5.13126164e-03 -1.24459877e+02] [ 8.01536733e-03 -1.56913703e-04 9.99967864e-01 -7.60160851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.361858064 meters 0.017995052590907144 Centerline is valid? [True, True] Translation: X:55.44, Y:-124.48, Z:-0.76 [[ 7.80058235e-01 6.25669270e-01 -6.86395767e-03 5.54351299e+01] [-6.25643135e-01 7.80088415e-01 5.72121261e-03 -1.24480476e+02] [ 8.93408078e-03 -1.68491021e-04 9.99960076e-01 -7.60390396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.391858064 meters 0.017842111738727014 Centerline is valid? [True, True] Translation: X:55.46, Y:-124.50, Z:-0.76 [[ 7.79562215e-01 6.26285622e-01 -7.00521016e-03 5.54604944e+01] [-6.26258395e-01 7.79593671e-01 5.84223187e-03 -1.24501081e+02] [ 9.12012333e-03 -1.67311542e-04 9.99958397e-01 -7.60513455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.421858064 meters 0.017849281869312637 Centerline is valid? [True, True] Translation: X:55.49, Y:-124.52, Z:-0.76 [[ 7.79357407e-01 6.26539195e-01 -7.11829125e-03 5.54856437e+01] [-6.26511061e-01 7.79389895e-01 5.93986695e-03 -1.24521970e+02] [ 9.26948373e-03 -1.69591105e-04 9.99957023e-01 -7.61164579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.451858064 meters 0.01783926288766706 Centerline is valid? [True, True] Translation: X:55.51, Y:-124.54, Z:-0.76 [[ 7.79051494e-01 6.26916808e-01 -7.35432810e-03 5.55104887e+01] [-6.26886761e-01 7.79086187e-01 6.14025914e-03 -1.24543017e+02] [ 9.57908709e-03 -1.73247136e-04 9.99954105e-01 -7.61641016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.481858064 meters 0.017880055385114682 Centerline is valid? [True, True] Translation: X:55.53, Y:-124.56, Z:-0.76 [[ 7.79246146e-01 6.26672666e-01 -7.53743677e-03 5.55341729e+01] [-6.26641065e-01 7.79282578e-01 6.29599021e-03 -1.24563998e+02] [ 9.81931813e-03 -1.82858695e-04 9.99951773e-01 -7.61919579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.511858064 meters 0.017953433584718653 Centerline is valid? [True, True] Translation: X:55.56, Y:-124.59, Z:-0.76 [[ 7.79103212e-01 6.26851111e-01 -7.47457690e-03 5.55589999e+01] [-6.26820009e-01 7.79139045e-01 6.24694543e-03 -1.24585735e+02] [ 9.73963939e-03 -1.81800892e-04 9.99952552e-01 -7.62143517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.541858064 meters 0.01799054822871657 Centerline is valid? [True, True] Translation: X:55.58, Y:-124.61, Z:-0.76 [[ 7.78667396e-01 6.27389267e-01 -7.73262328e-03 5.55837469e+01] [-6.27355972e-01 7.78705768e-01 6.46617066e-03 -1.24606827e+02] [ 1.00782444e-02 -1.83888879e-04 9.99949196e-01 -7.62152752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.571858064 meters 0.01740965225836359 Centerline is valid? [True, True] Translation: X:55.61, Y:-124.63, Z:-0.76 [[ 7.77367137e-01 6.28999101e-01 -7.77593914e-03 5.56091518e+01] [-6.28965479e-01 7.77406009e-01 6.50557026e-03 -1.24626212e+02] [ 1.01370597e-02 -1.66419238e-04 9.99948605e-01 -7.62485819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601858064 meters 0.017292200718056608 Centerline is valid? [True, True] Translation: X:55.63, Y:-124.65, Z:-0.76 [[ 7.76543678e-01 6.30013197e-01 -7.95543375e-03 5.56338994e+01] [-6.29978025e-01 7.76584411e-01 6.65897444e-03 -1.24646533e+02] [ 1.03733076e-02 -1.59236064e-04 9.99946183e-01 -7.62730252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.631858064 meters 0.017254618558590673 Centerline is valid? [True, True] Translation: X:55.66, Y:-124.67, Z:-0.76 [[ 7.75675920e-01 6.31082394e-01 -7.86629045e-03 5.56578585e+01] [-6.31048030e-01 7.75715792e-01 6.58731287e-03 -1.24666575e+02] [ 1.02591429e-02 -1.45612880e-04 9.99947363e-01 -7.63165273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661858064 meters 0.016806322055436286 Centerline is valid? [True, True] Translation: X:55.68, Y:-124.69, Z:-0.76 [[ 7.74482628e-01 6.32550149e-01 -7.54765371e-03 5.56823066e+01] [-6.32518552e-01 7.74519395e-01 6.32354882e-03 -1.24686742e+02] [ 9.84576594e-03 -1.23447712e-04 9.99951522e-01 -7.62674570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.691858064 meters 0.01674226075247586 Centerline is valid? [True, True] Translation: X:55.71, Y:-124.71, Z:-0.76 [[ 7.73957631e-01 6.33190897e-01 -7.67287650e-03 5.57071255e+01] [-6.33158239e-01 7.73995655e-01 6.43201546e-03 -1.24708670e+02] [ 1.00114667e-02 -1.19962483e-04 9.99949877e-01 -7.62988027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721858064 meters 0.016664610777633055 Centerline is valid? [True, True] Translation: X:55.73, Y:-124.73, Z:-0.76 [[ 7.73486866e-01 6.33762451e-01 -7.95132352e-03 5.57319280e+01] [-6.33727371e-01 7.73527725e-01 6.66909758e-03 -1.24730677e+02] [ 1.03771928e-02 -1.19488041e-04 9.99946148e-01 -7.62925812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.751858064 meters 0.016689447016311976 Centerline is valid? [True, True] Translation: X:55.75, Y:-124.75, Z:-0.76 [[ 7.72991473e-01 6.34373559e-01 -7.37355436e-03 5.57546520e+01] [-6.34343395e-01 7.73026633e-01 6.18723742e-03 -1.24751690e+02] [ 9.62497373e-03 -1.05316267e-04 9.99953673e-01 -7.62844423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781858064 meters 0.01657717113552779 Centerline is valid? [True, True] Translation: X:55.78, Y:-124.77, Z:-0.76 [[ 7.72299324e-01 6.35218882e-01 -7.12224652e-03 5.57782137e+01] [-6.35190750e-01 7.72332158e-01 5.97897875e-03 -1.24772064e+02] [ 9.29870023e-03 -9.35761402e-05 9.99956762e-01 -7.62313016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.811858064 meters 0.01636458281048035 Centerline is valid? [True, True] Translation: X:55.80, Y:-124.79, Z:-0.76 [[ 7.71824042e-01 6.35800718e-01 -6.71536372e-03 5.58030378e+01] [-6.35775706e-01 7.71853250e-01 5.64014118e-03 -1.24792624e+02] [ 8.76928112e-03 -8.37314506e-05 9.99961546e-01 -7.61439705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841858064 meters 0.016286817273668937 Centerline is valid? [True, True] Translation: X:55.83, Y:-124.81, Z:-0.76 [[ 7.70659554e-01 6.37208972e-01 -6.96982007e-03 5.58272390e+01] [-6.37182061e-01 7.70691067e-01 5.85666972e-03 -1.24813756e+02] [ 9.10350055e-03 -7.24541544e-05 9.99958560e-01 -7.61407308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.871858064 meters 0.016286817273668937 Centerline is valid? [True, True] Translation: X:55.85, Y:-124.83, Z:-0.76 [[ 7.70487120e-01 6.37417479e-01 -6.96823492e-03 5.58520096e+01] [-6.37390559e-01 7.70518626e-01 5.85855563e-03 -1.24834677e+02] [ 9.10350055e-03 -7.24544998e-05 9.99958560e-01 -7.61407640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901858064 meters 0.016127833360997268 Centerline is valid? [True, True] Translation: X:55.88, Y:-124.86, Z:-0.76 [[ 7.69845242e-01 6.38188731e-01 -7.31077637e-03 5.58769602e+01] [-6.38159102e-01 7.69879951e-01 6.14990557e-03 -1.24856359e+02] [ 9.55322059e-03 -6.90370546e-05 9.99954365e-01 -7.61696563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93185806399998 meters 0.016138947505117896 Centerline is valid? [True, True] Translation: X:55.90, Y:-124.88, Z:-0.76 [[ 7.69259993e-01 6.38890137e-01 -7.64564913e-03 5.59011653e+01] [-6.38857734e-01 7.69297984e-01 6.43487344e-03 -1.24877565e+02] [ 9.99295964e-03 -6.56086247e-05 9.99950067e-01 -7.62172655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96185806399998 meters 0.016050557594177402 Centerline is valid? [True, True] Translation: X:55.93, Y:-124.90, Z:-0.76 [[ 7.68677270e-01 6.39593998e-01 -7.40076402e-03 5.59261802e+01] [-6.39563636e-01 7.68712894e-01 6.23226561e-03 -1.24898811e+02] [ 9.67518241e-03 -5.73413692e-05 9.99953193e-01 -7.61376129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99185806399998 meters 0.015873542409823214 Centerline is valid? [True, True] Translation: X:55.95, Y:-124.92, Z:-0.76 [[ 7.68093637e-01 6.40296399e-01 -7.25855424e-03 5.59502534e+01] [-6.40267192e-01 7.68127931e-01 6.11592861e-03 -1.24920721e+02] [ 9.49150532e-03 -5.01917046e-05 9.99954953e-01 -7.61116597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02185806399999 meters 0.01582843994945374 Centerline is valid? [True, True] Translation: X:55.97, Y:-124.94, Z:-0.76 [[ 7.67782605e-01 6.40671284e-01 -7.08366629e-03 5.59747798e+01] [-6.40643451e-01 7.67815280e-01 5.97194779e-03 -1.24941955e+02] [ 9.26500267e-03 -4.70532082e-05 9.99957078e-01 -7.60857470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.051858064 meters 0.015831922531202365 Centerline is valid? [True, True] Translation: X:56.00, Y:-124.96, Z:-0.76 [[ 7.67941039e-01 6.40484774e-01 -6.76871699e-03 5.59981020e+01] [-6.40459336e-01 7.67970867e-01 5.70843166e-03 -1.24964072e+02] [ 8.85434102e-03 -4.86509461e-05 9.99960798e-01 -7.60839512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.081858064 meters 0.015774596932643374 Centerline is valid? [True, True] Translation: X:56.02, Y:-124.99, Z:-0.76 [[ 7.68204000e-01 6.40170484e-01 -6.66085718e-03 5.60227443e+01] [-6.40145811e-01 7.68232874e-01 5.62062802e-03 -1.24986173e+02] [ 8.71524961e-03 -5.38691004e-05 9.99962020e-01 -7.60629808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.111858064 meters 0.015756305773963895 Centerline is valid? [True, True] Translation: X:56.05, Y:-125.01, Z:-0.76 [[ 7.68273085e-01 6.40087558e-01 -6.66225635e-03 5.60473066e+01] [-6.40062844e-01 7.68301969e-01 5.62495736e-03 -1.25008313e+02] [ 8.71908989e-03 -5.72405859e-05 9.99961986e-01 -7.60949935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.141858064 meters 0.015811651609340092 Centerline is valid? [True, True] Translation: X:56.07, Y:-125.03, Z:-0.76 [[ 7.68548380e-01 6.39755100e-01 -6.84103450e-03 5.60715651e+01] [-6.39729000e-01 7.68578823e-01 5.77917717e-03 -1.25030652e+02] [ 8.95513232e-03 -6.51690946e-05 9.99959900e-01 -7.60871424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.171858064 meters 0.015976341558619232 Centerline is valid? [True, True] Translation: X:56.10, Y:-125.05, Z:-0.76 [[ 7.68496203e-01 6.39819549e-01 -6.67312066e-03 5.60951631e+01] [-6.39794700e-01 7.68525172e-01 5.63931690e-03 -1.25051985e+02] [ 8.73660640e-03 -6.43663944e-05 9.99961833e-01 -7.61545119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.201858064 meters 0.016041063678342047 Centerline is valid? [True, True] Translation: X:56.12, Y:-125.07, Z:-0.76 [[ 7.68471374e-01 6.39849002e-01 -6.70839002e-03 5.61188589e+01] [-6.39823864e-01 7.68500651e-01 5.67203592e-03 -1.25073031e+02] [ 8.78464862e-03 -6.66092104e-05 9.99961412e-01 -7.61803601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.231858064 meters 0.015765894484708134 Centerline is valid? [True, True] Translation: X:56.14, Y:-125.09, Z:-0.76 [[ 7.68210471e-01 6.40158487e-01 -7.05575794e-03 5.61445801e+01] [-6.40130661e-01 7.68242869e-01 5.96915058e-03 -1.25093984e+02] [ 9.24173813e-03 -6.89569831e-05 9.99957292e-01 -7.61430420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.261858064 meters 0.015901030722907043 Centerline is valid? [True, True] Translation: X:56.17, Y:-125.11, Z:-0.76 [[ 7.67748491e-01 6.40710794e-01 -7.20653797e-03 5.61686115e+01] [-6.40681759e-01 7.67782309e-01 6.09995364e-03 -1.25114882e+02] [ 9.44135850e-03 -6.61327773e-05 9.99955427e-01 -7.62619981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.291858064 meters 0.0158735448731094 Centerline is valid? [True, True] Translation: X:56.19, Y:-125.14, Z:-0.76 [[ 7.67528818e-01 6.40976810e-01 -6.94569826e-03 5.61942001e+01] [-6.40949821e-01 7.67560242e-01 5.88241596e-03 -1.25136050e+02] [ 9.10173405e-03 -6.30797122e-05 9.99958576e-01 -7.62924518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321858064 meters 0.015957639498940343 Centerline is valid? [True, True] Translation: X:56.22, Y:-125.16, Z:-0.76 [[ 7.67519307e-01 6.40990935e-01 -6.68836100e-03 5.62190961e+01] [-6.40965882e-01 7.67548446e-01 5.66759940e-03 -1.25156997e+02] [ 8.76652093e-03 -6.29807582e-05 9.99961571e-01 -7.63160649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.351858064 meters 0.016069892546096528 Centerline is valid? [True, True] Translation: X:56.24, Y:-125.18, Z:-0.76 [[ 7.68379851e-01 6.39959288e-01 -6.67190587e-03 5.62430611e+01] [-6.39934295e-01 7.68408813e-01 5.65638148e-03 -1.25178356e+02] [ 8.74660514e-03 -7.66681840e-05 9.99961745e-01 -7.63435168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381858064 meters 0.016082094253793762 Centerline is valid? [True, True] Translation: X:56.27, Y:-125.20, Z:-0.76 [[ 7.68751554e-01 6.39514785e-01 -6.47216662e-03 5.62674432e+01] [-6.39491224e-01 7.68778794e-01 5.49010294e-03 -1.25200137e+02] [ 8.48666644e-03 -8.16314111e-05 9.99963984e-01 -7.62914319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.411858064 meters 0.016252141725138707 Centerline is valid? [True, True] Translation: X:56.29, Y:-125.22, Z:-0.76 [[ 7.69288617e-01 6.38870488e-01 -6.28680425e-03 5.62919879e+01] [-6.38848211e-01 7.69314300e-01 5.33583552e-03 -1.25222401e+02] [ 8.24543625e-03 -8.84838743e-05 9.99966002e-01 -7.62634403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441858064 meters 0.01667558788649421 Centerline is valid? [True, True] Translation: X:56.31, Y:-125.24, Z:-0.76 [[ 7.70308804e-01 6.37644671e-01 -5.79828803e-03 5.63140794e+01] [-6.37625670e-01 7.70330620e-01 4.92341663e-03 -1.25244333e+02] [ 7.60598919e-03 -9.54138915e-05 9.99971070e-01 -7.62316271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.471858064 meters 0.017033591880006752 Centerline is valid? [True, True] Translation: X:56.34, Y:-125.27, Z:-0.76 [[ 7.70362872e-01 6.37581680e-01 -5.53592797e-03 5.63373168e+01] [-6.37564341e-01 7.70382757e-01 4.70303269e-03 -1.25266070e+02] [ 7.26335094e-03 -9.35314992e-05 9.99973617e-01 -7.62494089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501858064 meters 0.017647171283502322 Centerline is valid? [True, True] Translation: X:56.36, Y:-125.29, Z:-0.76 [[ 7.70297981e-01 6.37662488e-01 -5.25088315e-03 5.63610813e+01] [-6.37646875e-01 7.70315873e-01 4.46306143e-03 -1.25288146e+02] [ 6.89076549e-03 -8.96779754e-05 9.99976254e-01 -7.63215229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.531858064 meters 0.01641573515933022 Centerline is valid? [True, True] Translation: X:56.39, Y:-125.31, Z:-0.76 [[ 7.69919159e-01 6.38124527e-01 -4.64519596e-03 5.63883006e+01] [-6.38112305e-01 7.69933168e-01 3.95017120e-03 -1.25305632e+02] [ 6.09719156e-03 -7.71557896e-05 9.99981409e-01 -7.61798714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561858064 meters 0.01663000939947307 Centerline is valid? [True, True] Translation: X:56.41, Y:-125.33, Z:-0.76 [[ 7.69502993e-01 6.38625199e-01 -4.79578207e-03 5.64117917e+01] [-6.38612168e-01 7.69517933e-01 4.08034130e-03 -1.25326626e+02] [ 6.29624909e-03 -7.71900578e-05 9.99980175e-01 -7.62266551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.591858064 meters 0.016171262557278028 Centerline is valid? [True, True] Translation: X:56.44, Y:-125.35, Z:-0.76 [[ 7.68742784e-01 6.39540233e-01 -4.77729365e-03 5.64371215e+01] [-6.39527308e-01 7.68757624e-01 4.06659534e-03 -1.25346548e+02] [ 6.27333225e-03 -7.09560761e-05 9.99980320e-01 -7.62022585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621858064 meters 0.016151974122072803 Centerline is valid? [True, True] Translation: X:56.46, Y:-125.37, Z:-0.76 [[ 7.68476495e-01 6.39859782e-01 -4.83084921e-03 5.64612176e+01] [-6.39846562e-01 7.68491675e-01 4.11361080e-03 -1.25367402e+02] [ 6.34460151e-03 -7.02109449e-05 9.99979870e-01 -7.62098774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.651858064 meters 0.01601188450422009 Centerline is valid? [True, True] Translation: X:56.49, Y:-125.39, Z:-0.76 [[ 7.67773672e-01 6.40702957e-01 -4.82808629e-03 5.64862239e+01] [-6.40689756e-01 7.67788849e-01 4.11326605e-03 -1.25387716e+02] [ 6.34233254e-03 -6.47519524e-05 9.99979885e-01 -7.61804868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68185806399998 meters 0.016036920822175674 Centerline is valid? [True, True] Translation: X:56.51, Y:-125.41, Z:-0.76 [[ 7.67166451e-01 6.41427565e-01 -5.12983502e-03 5.65109918e+01] [-6.41412664e-01 7.67183599e-01 4.37261169e-03 -1.25408441e+02] [ 6.74023896e-03 -6.41798462e-05 9.99977282e-01 -7.62533111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71185806399998 meters 0.0156986964704564 Centerline is valid? [True, True] Translation: X:56.54, Y:-125.43, Z:-0.76 [[ 7.65921073e-01 6.42914925e-01 -5.03095057e-03 5.65372434e+01] [-6.42900611e-01 7.65937594e-01 4.29036738e-03 -1.25427535e+02] [ 6.61173540e-03 -5.16815902e-05 9.99978141e-01 -7.62641636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74185806399998 meters 0.015456367504354963 Centerline is valid? [True, True] Translation: X:56.56, Y:-125.45, Z:-0.76 [[ 7.64955625e-01 6.44067483e-01 -4.46867341e-03 5.65630529e+01] [-6.44056198e-01 7.64968677e-01 3.81274315e-03 -1.25447229e+02] [ 5.87405907e-03 -3.85025167e-05 9.99982747e-01 -7.62143582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77185806399999 meters 0.015456704690731604 Centerline is valid? [True, True] Translation: X:56.59, Y:-125.47, Z:-0.76 [[ 7.64145524e-01 6.45027713e-01 -4.56813092e-03 5.65880301e+01] [-6.45015926e-01 7.64159177e-01 3.89965430e-03 -1.25467695e+02] [ 6.00616426e-03 -3.33861862e-05 9.99981962e-01 -7.62483068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.801858064 meters 0.015288177277997354 Centerline is valid? [True, True] Translation: X:56.61, Y:-125.49, Z:-0.76 [[ 7.63137779e-01 6.46220924e-01 -4.38717740e-03 5.66144752e+01] [-6.46210059e-01 7.63150389e-01 3.74733965e-03 -1.25487903e+02] [ 5.76968543e-03 -2.46982926e-05 9.99983355e-01 -7.61745142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.831858064 meters 0.015216888276704057 Centerline is valid? [True, True] Translation: X:56.64, Y:-125.51, Z:-0.76 [[ 7.61548667e-01 6.48093388e-01 -4.31144551e-03 5.66399325e+01] [-6.48082914e-01 7.61560871e-01 3.68462788e-03 -1.25507456e+02] [ 5.67141116e-03 -1.18492869e-05 9.99983917e-01 -7.61644877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.861858064 meters 0.015141763320319137 Centerline is valid? [True, True] Translation: X:56.67, Y:-125.53, Z:-0.76 [[ 7.61050255e-01 6.48679975e-01 -4.09872831e-03 5.66653464e+01] [-6.48670507e-01 7.61061292e-01 3.50482837e-03 -1.25528252e+02] [ 5.39289544e-03 -8.62635833e-06 9.99985458e-01 -7.61146819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.891858064 meters 0.015137375997395529 Centerline is valid? [True, True] Translation: X:56.69, Y:-125.55, Z:-0.76 [[ 7.60388980e-01 6.49457715e-01 -3.64368625e-03 5.66905340e+01] [-6.49450232e-01 7.60397710e-01 3.11749382e-03 -1.25548978e+02] [ 4.79533109e-03 -4.11505990e-06 9.99988502e-01 -7.61075737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.921858064 meters 0.015122339647749242 Centerline is valid? [True, True] Translation: X:56.72, Y:-125.57, Z:-0.76 [[ 7.59776519e-01 6.50175680e-01 -3.35057141e-03 5.67159463e+01] [-6.50169356e-01 7.59783907e-01 2.86772053e-03 -1.25569149e+02] [ 4.41023238e-03 -3.87868497e-07 9.99990275e-01 -7.61964866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.951858064 meters 0.015176675014002416 Centerline is valid? [True, True] Translation: X:56.74, Y:-125.59, Z:-0.76 [[ 7.59318245e-01 6.50710411e-01 -3.42995599e-03 5.67412119e+01] [-6.50703782e-01 7.59325991e-01 2.93718779e-03 -1.25590100e+02] [ 4.51571340e-03 1.62505575e-06 9.99989804e-01 -7.61857268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.981858064 meters 0.015193009207008957 Centerline is valid? [True, True] Translation: X:56.77, Y:-125.61, Z:-0.76 [[ 7.58998957e-01 6.51083446e-01 -3.30597679e-03 5.67665916e+01] [-6.51077284e-01 7.59006157e-01 2.83257134e-03 -1.25611076e+02] [ 4.35349705e-03 2.52769554e-06 9.99990524e-01 -7.61142192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.011858064 meters 0.015136653977463409 Centerline is valid? [True, True] Translation: X:56.79, Y:-125.63, Z:-0.76 [[ 7.58714135e-01 6.51415836e-01 -3.20468423e-03 5.67914444e+01] [-6.51410042e-01 7.58720903e-01 2.74733593e-03 -1.25632042e+02] [ 4.22111904e-03 3.12088562e-06 9.99991091e-01 -7.60908563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.041858064 meters 0.01520346282384988 Centerline is valid? [True, True] Translation: X:56.82, Y:-125.65, Z:-0.76 [[ 7.58468612e-01 6.51703916e-01 -2.71490045e-03 5.68168203e+01] [-6.51699755e-01 7.58473471e-01 2.32876828e-03 -1.25653136e+02] [ 3.57684738e-03 3.00231166e-06 9.99993603e-01 -7.60631629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.071858064 meters 0.015234343745311884 Centerline is valid? [True, True] Translation: X:56.84, Y:-125.67, Z:-0.76 [[ 7.58357938e-01 6.51833301e-01 -2.56626387e-03 5.68410899e+01] [-6.51829581e-01 7.58362280e-01 2.20204534e-03 -1.25674352e+02] [ 3.38152420e-03 2.82813835e-06 9.99994283e-01 -7.60760407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101858064 meters 0.015197975830970854 Centerline is valid? [True, True] Translation: X:56.87, Y:-125.70, Z:-0.76 [[ 7.58586763e-01 6.51567625e-01 -2.39852606e-03 5.68659738e+01] [-6.51564371e-01 7.58590555e-01 2.05927138e-03 -1.25696336e+02] [ 3.16125378e-03 6.58115692e-07 9.99995003e-01 -7.60653539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.131858064 meters 0.015236940725502277 Centerline is valid? [True, True] Translation: X:56.89, Y:-125.72, Z:-0.76 [[ 7.58698118e-01 6.51438495e-01 -2.24774455e-03 5.68901132e+01] [-6.51435634e-01 7.58701448e-01 1.93089716e-03 -1.25718120e+02] [ 2.96322778e-03 -7.07150022e-07 9.99995610e-01 -7.60352197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161858064 meters 0.01534380729375751 Centerline is valid? [True, True] Translation: X:56.91, Y:-125.74, Z:-0.76 [[ 7.59900825e-01 6.50035992e-01 -1.98622923e-03 5.69141133e+01] [-6.50033750e-01 7.59903421e-01 1.70719821e-03 -1.25740632e+02] [ 2.61908267e-03 -6.18529835e-06 9.99996570e-01 -7.60228058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.191858064 meters 0.015431237756933277 Centerline is valid? [True, True] Translation: X:56.94, Y:-125.76, Z:-0.76 [[ 7.60381260e-01 6.49474136e-01 -1.92016352e-03 5.69383188e+01] [-6.49472037e-01 7.60383684e-01 1.65133241e-03 -1.25762935e+02] [ 2.53255870e-03 -8.54971069e-06 9.99996793e-01 -7.60520993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221858064 meters 0.015422213491057109 Centerline is valid? [True, True] Translation: X:56.96, Y:-125.78, Z:-0.76 [[ 7.61272374e-01 6.48428871e-01 -2.09082142e-03 5.69614724e+01] [-6.48426376e-01 7.61275245e-01 1.79902774e-03 -1.25784464e+02] [ 2.75823212e-03 -1.38063618e-05 9.99996196e-01 -7.60695426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.251858064 meters 0.015724037632061538 Centerline is valid? [True, True] Translation: X:56.98, Y:-125.81, Z:-0.76 [[ 7.62474529e-01 6.47014867e-01 -2.08655355e-03 5.69847742e+01] [-6.47012374e-01 7.62477384e-01 1.79622328e-03 -1.25807169e+02] [ 2.75313306e-03 -1.95485347e-05 9.99996210e-01 -7.60349528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281858064 meters 0.01582032488706504 Centerline is valid? [True, True] Translation: X:57.01, Y:-125.83, Z:-0.76 [[ 7.62991647e-01 6.46403803e-01 -2.42258449e-03 5.70090865e+01] [-6.46400436e-01 7.62995493e-01 2.08664619e-03 -1.25828741e+02] [ 3.19723708e-03 -2.61339456e-05 9.99994888e-01 -7.60382501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.311858064 meters 0.01590458350458682 Centerline is valid? [True, True] Translation: X:57.03, Y:-125.85, Z:-0.76 [[ 7.63376928e-01 6.45948909e-01 -2.38172672e-03 5.70338472e+01] [-6.45945649e-01 7.63380643e-01 2.05259924e-03 -1.25850188e+02] [ 3.14403831e-03 -2.84408964e-05 9.99995057e-01 -7.60353068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341858064 meters 0.016154941295341584 Centerline is valid? [True, True] Translation: X:57.06, Y:-125.87, Z:-0.76 [[ 7.64104947e-01 6.45087013e-01 -2.52505988e-03 5.70573169e+01] [-6.45083340e-01 7.64109118e-01 2.17718486e-03 -1.25871542e+02] [ 3.33389496e-03 -3.47236594e-05 9.99994442e-01 -7.60250559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.371858064 meters 0.016261220680171506 Centerline is valid? [True, True] Translation: X:57.08, Y:-125.89, Z:-0.76 [[ 7.64311866e-01 6.44841141e-01 -2.69706412e-03 5.70822445e+01] [-6.44836944e-01 7.64316624e-01 2.32681245e-03 -1.25893600e+02] [ 3.56183534e-03 -3.92437790e-05 9.99993656e-01 -7.59598869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401858064 meters 0.016471546328267587 Centerline is valid? [True, True] Translation: X:57.11, Y:-125.92, Z:-0.76 [[ 7.64453512e-01 6.44673389e-01 -2.65514188e-03 5.71059263e+01] [-6.44669316e-01 7.64458122e-01 2.29185749e-03 -1.25915327e+02] [ 3.50724431e-03 -4.03300102e-05 9.99993849e-01 -7.59595986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43185806399998 meters 0.016844062499408285 Centerline is valid? [True, True] Translation: X:57.13, Y:-125.94, Z:-0.76 [[ 7.65066126e-01 6.43945645e-01 -2.79798753e-03 5.71291082e+01] [-6.43941115e-01 7.65071241e-01 2.41580323e-03 -1.25936490e+02] [ 3.69630576e-03 -4.65100157e-05 9.99993168e-01 -7.59572347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46185806399998 meters 0.01708868525057622 Centerline is valid? [True, True] Translation: X:57.15, Y:-125.96, Z:-0.76 [[ 7.65682966e-01 6.43209898e-01 -3.25930767e-03 5.71532492e+01] [-6.43203738e-01 7.65689901e-01 2.81546265e-03 -1.25958214e+02] [ 4.30655241e-03 -5.93529180e-05 9.99990725e-01 -7.59425288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49185806399998 meters 0.01684326940635748 Centerline is valid? [True, True] Translation: X:57.18, Y:-125.98, Z:-0.76 [[ 7.65749182e-01 6.43130259e-01 -3.41473954e-03 5.71789847e+01] [-6.43123490e-01 7.65756793e-01 2.95141282e-03 -1.25978892e+02] [ 4.51300289e-03 -6.39427436e-05 9.99989814e-01 -7.59277783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52185806399999 meters 0.016954255281182294 Centerline is valid? [True, True] Translation: X:57.20, Y:-126.00, Z:-0.76 [[ 7.65507072e-01 6.43416868e-01 -3.69546958e-03 5.72041426e+01] [-6.43408935e-01 7.65515989e-01 3.19586274e-03 -1.26000806e+02] [ 4.88521305e-03 -6.87573825e-05 9.99988065e-01 -7.59465353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.551858064 meters 0.017560505807466202 Centerline is valid? [True, True] Translation: X:57.23, Y:-126.02, Z:-0.76 [[ 7.65257813e-01 6.43712243e-01 -3.87644943e-03 5.72270862e+01] [-6.43703512e-01 7.65267628e-01 3.35355506e-03 -1.26022491e+02] [ 5.12524571e-03 -7.10501060e-05 9.99986863e-01 -7.59700243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.581858064 meters 0.017605560691657675 Centerline is valid? [True, True] Translation: X:57.25, Y:-126.04, Z:-0.76 [[ 7.65196583e-01 6.43783460e-01 -4.12866082e-03 5.72519265e+01] [-6.43773546e-01 7.65207717e-01 3.57371154e-03 -1.26044719e+02] [ 5.45997950e-03 -7.66692436e-05 9.99985091e-01 -7.59527239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.611858064 meters 0.01773598196021428 Centerline is valid? [True, True] Translation: X:57.28, Y:-126.07, Z:-0.76 [[ 7.65185781e-01 6.43796030e-01 -4.17047272e-03 5.72763323e+01] [-6.43785902e-01 7.65197142e-01 3.61188627e-03 -1.26066483e+02] [ 5.51655185e-03 -7.88724751e-05 9.99984781e-01 -7.59315090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.641858064 meters 0.01783884208232014 Centerline is valid? [True, True] Translation: X:57.30, Y:-126.09, Z:-0.76 [[ 7.65007673e-01 6.44005816e-01 -4.44623141e-03 5.73013642e+01] [-6.43994297e-01 7.65020589e-01 3.85282288e-03 -1.26088329e+02] [ 5.88269892e-03 -8.40913996e-05 9.99982693e-01 -7.59288522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.671858064 meters 0.017736003859033816 Centerline is valid? [True, True] Translation: X:57.33, Y:-126.11, Z:-0.76 [[ 7.64596499e-01 6.44493284e-01 -4.53875562e-03 5.73264121e+01] [-6.44481276e-01 7.64609966e-01 3.93514184e-03 -1.26110213e+02] [ 6.00655027e-03 -8.36526595e-05 9.99981957e-01 -7.58667815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.701858064 meters 0.017244925646776835 Centerline is valid? [True, True] Translation: X:57.35, Y:-126.13, Z:-0.76 [[ 7.64019106e-01 6.45178118e-01 -4.47232128e-03 5.73526913e+01] [-6.45166457e-01 7.64032192e-01 3.87979102e-03 -1.26130632e+02] [ 5.92015370e-03 -7.88427860e-05 9.99982473e-01 -7.57332290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.731858064 meters 0.01720611038822294 Centerline is valid? [True, True] Translation: X:57.38, Y:-126.15, Z:-0.76 [[ 7.63268085e-01 6.46065963e-01 -4.53906853e-03 5.73765350e+01] [-6.46053956e-01 7.63281577e-01 3.93953064e-03 -1.26151021e+02] [ 6.00978405e-03 -7.44348257e-05 9.99981938e-01 -7.56804329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.761858064 meters 0.01720611038822294 Centerline is valid? [True, True] Translation: X:57.40, Y:-126.17, Z:-0.76 [[ 7.63085463e-01 6.46281659e-01 -4.53795460e-03 5.74009748e+01] [-6.46269648e-01 7.63098953e-01 3.94081374e-03 -1.26172319e+02] [ 6.00978404e-03 -7.44353543e-05 9.99981938e-01 -7.56804661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.791858064 meters 0.01711014804651671 Centerline is valid? [True, True] Translation: X:57.43, Y:-126.19, Z:-0.76 [[ 7.61247246e-01 6.48445967e-01 -4.52298651e-03 5.74270073e+01] [-6.48434062e-01 7.61260681e-01 3.92977170e-03 -1.26191888e+02] [ 5.99141640e-03 -5.86693667e-05 9.99982050e-01 -7.55949287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821858064 meters 0.016845246447597585 Centerline is valid? [True, True] Translation: X:57.45, Y:-126.21, Z:-0.76 [[ 7.60256863e-01 6.49604486e-01 -4.84913109e-03 5.74527953e+01] [-6.49590809e-01 7.60272326e-01 4.21556858e-03 -1.26212360e+02] [ 6.42511243e-03 -5.49639605e-05 9.99979357e-01 -7.55667582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.851858064 meters 0.016946400924160717 Centerline is valid? [True, True] Translation: X:57.48, Y:-126.23, Z:-0.76 [[ 7.59394448e-01 6.50610108e-01 -5.15364395e-03 5.74771358e+01] [-6.50594675e-01 7.59411934e-01 4.48155364e-03 -1.26232421e+02] [ 6.82948281e-03 -5.03336406e-05 9.99976678e-01 -7.55846761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881858064 meters 0.01668835678445746 Centerline is valid? [True, True] Translation: X:57.50, Y:-126.25, Z:-0.76 [[ 7.58571826e-01 6.51566869e-01 -5.42227898e-03 5.75028182e+01] [-6.51549790e-01 7.58591203e-01 4.71782925e-03 -1.26252830e+02] [ 7.18727437e-03 -4.59276134e-05 9.99974170e-01 -7.55538743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.911858064 meters 0.01679550568605679 Centerline is valid? [True, True] Translation: X:57.53, Y:-126.27, Z:-0.76 [[ 7.57643588e-01 6.52643376e-01 -5.72856700e-03 5.75277476e+01] [-6.52624331e-01 7.57665244e-01 4.98608098e-03 -1.26272132e+02] [ 7.59446884e-03 -3.90700766e-05 9.99971161e-01 -7.55405589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941858064 meters 0.01688852652297668 Centerline is valid? [True, True] Translation: X:57.55, Y:-126.29, Z:-0.75 [[ 7.57408668e-01 6.52916244e-01 -5.69985139e-03 5.75528950e+01] [-6.52897376e-01 7.57430113e-01 4.96389793e-03 -1.26292942e+02] [ 7.55824868e-03 -3.82813020e-05 9.99971435e-01 -7.54946207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.971858064 meters 0.01686210957428472 Centerline is valid? [True, True] Translation: X:57.58, Y:-126.31, Z:-0.75 [[ 7.57384099e-01 6.52944740e-01 -5.70017823e-03 5.75779576e+01] [-6.52925849e-01 7.57405548e-01 4.96697464e-03 -1.26313863e+02] [ 7.56050659e-03 -4.01139021e-05 9.99971418e-01 -7.54896223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001858064 meters 0.01692743656010805 Centerline is valid? [True, True] Translation: X:57.60, Y:-126.33, Z:-0.76 [[ 7.57849730e-01 6.52393856e-01 -6.78554953e-03 5.76030127e+01] [-6.52367039e-01 7.57880105e-01 5.91543492e-03 -1.26333230e+02] [ 9.00182639e-03 -5.63419021e-05 9.99959481e-01 -7.55085717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.031858064 meters 0.017127150564049492 Centerline is valid? [True, True] Translation: X:57.63, Y:-126.35, Z:-0.76 [[ 7.58155443e-01 6.52032795e-01 -7.31836773e-03 5.76284670e+01] [-6.52001550e-01 7.58190760e-01 6.38351065e-03 -1.26354827e+02] [ 9.71097709e-03 -6.81062381e-05 9.99952845e-01 -7.55357186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061858064 meters 0.017116076881632487 Centerline is valid? [True, True] Translation: X:57.65, Y:-126.38, Z:-0.76 [[ 7.58647333e-01 6.51459219e-01 -7.42366941e-03 5.76531809e+01] [-6.51427005e-01 7.58683650e-01 6.47898162e-03 -1.26376123e+02] [ 9.85300891e-03 -7.92833985e-05 9.99951455e-01 -7.55359003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.091858064 meters 0.017423606688190384 Centerline is valid? [True, True] Translation: X:57.68, Y:-126.40, Z:-0.76 [[ 7.59056751e-01 6.50980174e-01 -7.59358008e-03 5.76766952e+01] [-6.50946409e-01 7.59094728e-01 6.63071792e-03 -1.26397531e+02] [ 1.00807125e-02 -9.00775123e-05 9.99949184e-01 -7.55740438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121858064 meters 0.01747424477339191 Centerline is valid? [True, True] Translation: X:57.70, Y:-126.42, Z:-0.75 [[ 7.60389530e-01 6.49418741e-01 -7.94110240e-03 5.77017938e+01] [-6.49381694e-01 7.60430986e-01 6.93759413e-03 -1.26417445e+02] [ 1.05440640e-02 -1.18467404e-04 9.99944403e-01 -7.54862215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.151858064 meters 0.01814815693204649 Centerline is valid? [True, True] Translation: X:57.72, Y:-126.44, Z:-0.76 [[ 7.60825959e-01 6.48903191e-01 -8.27706817e-03 5.77247039e+01] [-6.48862876e-01 7.60870969e-01 7.23439704e-03 -1.26438822e+02] [ 1.09922042e-02 -1.33434803e-04 9.99939575e-01 -7.56113409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18185806399998 meters 0.017893431916280483 Centerline is valid? [True, True] Translation: X:57.75, Y:-126.46, Z:-0.75 [[ 7.61585437e-01 6.48014140e-01 -8.08065153e-03 5.77495547e+01] [-6.47975629e-01 7.61628291e-01 7.06615823e-03 -1.26458914e+02] [ 1.07334233e-02 -1.45417946e-04 9.99942385e-01 -7.54490997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21185806399998 meters 0.018005184465322184 Centerline is valid? [True, True] Translation: X:57.77, Y:-126.48, Z:-0.75 [[ 7.62133573e-01 6.47370699e-01 -7.97463057e-03 5.77735582e+01] [-6.47333122e-01 7.62175277e-01 6.97682558e-03 -1.26480206e+02] [ 1.05946587e-02 -1.55030506e-04 9.99943863e-01 -7.53834337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24185806399998 meters 0.018563554222118514 Centerline is valid? [True, True] Translation: X:57.80, Y:-126.50, Z:-0.75 [[ 7.63099882e-01 6.46229660e-01 -8.11143609e-03 5.77972883e+01] [-6.46190684e-01 7.63142972e-01 7.09968443e-03 -1.26500824e+02] [ 1.07782121e-02 -1.76233925e-04 9.99941898e-01 -7.53384119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27185806399999 meters 0.018517560783526562 Centerline is valid? [True, True] Translation: X:57.82, Y:-126.52, Z:-0.75 [[ 7.63228864e-01 6.46078962e-01 -7.97978473e-03 5.78223430e+01] [-6.46041191e-01 7.63270557e-01 6.98827394e-03 -1.26521993e+02] [ 1.06057115e-02 -1.78382741e-04 9.99943742e-01 -7.53250459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.301858064 meters 0.018143928453501233 Centerline is valid? [True, True] Translation: X:57.85, Y:-126.54, Z:-0.75 [[ 7.63090041e-01 6.46242747e-01 -7.99381775e-03 5.78481733e+01] [-6.46204810e-01 7.63131889e-01 7.00452720e-03 -1.26542039e+02] [ 1.06269621e-02 -1.79441470e-04 9.99943516e-01 -7.52390675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.331858064 meters 0.018352992891417307 Centerline is valid? [True, True] Translation: X:57.87, Y:-126.56, Z:-0.75 [[ 7.62970717e-01 6.46389068e-01 -7.54045150e-03 5.78727801e+01] [-6.46355285e-01 7.63007958e-01 6.61075149e-03 -1.26561964e+02] [ 1.00265420e-02 -1.69999128e-04 9.99949719e-01 -7.51940927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.361858064 meters 0.018305824323733694 Centerline is valid? [True, True] Translation: X:57.90, Y:-126.58, Z:-0.75 [[ 7.62668736e-01 6.46747671e-01 -7.33820631e-03 5.78979405e+01] [-6.46715657e-01 7.62704021e-01 6.43702692e-03 -1.26582489e+02] [ 9.76001162e-03 -1.63586277e-04 9.99952357e-01 -7.51842064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.391858064 meters 0.01825195198135362 Centerline is valid? [True, True] Translation: X:57.92, Y:-126.60, Z:-0.75 [[ 7.62499647e-01 6.46952642e-01 -6.82405861e-03 5.79235458e+01] [-6.46924935e-01 7.62530167e-01 5.98937485e-03 -1.26603045e+02] [ 9.07839244e-03 -1.52242532e-04 9.99958779e-01 -7.51624593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.421858064 meters 0.01805798779975854 Centerline is valid? [True, True] Translation: X:57.95, Y:-126.62, Z:-0.75 [[ 7.61702941e-01 6.47895773e-01 -6.30048435e-03 5.79495766e+01] [-6.47872164e-01 7.61728987e-01 5.53256676e-03 -1.26622227e+02] [ 8.38378818e-03 -1.32263944e-04 9.99964847e-01 -7.51184689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.451858064 meters 0.018165420732238594 Centerline is valid? [True, True] Translation: X:57.97, Y:-126.64, Z:-0.75 [[ 7.61267852e-01 6.48409036e-01 -6.08102324e-03 5.79736695e+01] [-6.48387048e-01 7.61292129e-01 5.34132914e-03 -1.26641937e+02] [ 8.09280121e-03 -1.23325455e-04 9.99967245e-01 -7.51495342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.481858064 meters 0.018174242706079865 Centerline is valid? [True, True] Translation: X:58.00, Y:-126.66, Z:-0.75 [[ 7.60750628e-01 6.49021714e-01 -5.41261336e-03 5.79994673e+01] [-6.49004293e-01 7.60769875e-01 4.75652104e-03 -1.26661772e+02] [ 7.20483863e-03 -1.05717059e-04 9.99974039e-01 -7.51296374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.511858064 meters 0.017925252946577354 Centerline is valid? [True, True] Translation: X:58.03, Y:-126.68, Z:-0.75 [[ 7.59914667e-01 6.50003529e-01 -5.01115416e-03 5.80251235e+01] [-6.49988603e-01 7.59931184e-01 4.40586666e-03 -1.26681141e+02] [ 6.67196119e-03 -9.08896079e-05 9.99977738e-01 -7.50990662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.541858064 meters 0.0178650748192777 Centerline is valid? [True, True] Translation: X:58.05, Y:-126.70, Z:-0.75 [[ 7.59173440e-01 6.50871993e-01 -4.61920159e-03 5.80501216e+01] [-6.50859320e-01 7.59187489e-01 4.06237304e-03 -1.26700517e+02] [ 6.15092489e-03 -7.75953108e-05 9.99981080e-01 -7.51140467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.571858064 meters 0.017564100192937547 Centerline is valid? [True, True] Translation: X:58.08, Y:-126.72, Z:-0.75 [[ 7.57736221e-01 6.52546654e-01 -4.32237980e-03 5.80763204e+01] [-6.52535574e-01 7.57748547e-01 3.80317351e-03 -1.26718922e+02] [ 5.75702516e-03 -6.12957412e-05 9.99983426e-01 -7.50770118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601858064 meters 0.01749861477443553 Centerline is valid? [True, True] Translation: X:58.10, Y:-126.74, Z:-0.75 [[ 7.57114780e-01 6.53267952e-01 -4.26540025e-03 5.81017728e+01] [-6.53257170e-01 7.57126793e-01 3.75368752e-03 -1.26739426e+02] [ 5.68161257e-03 -5.55690050e-05 9.99983858e-01 -7.50625589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.631858064 meters 0.017435783689770373 Centerline is valid? [True, True] Translation: X:58.13, Y:-126.76, Z:-0.75 [[ 7.55699287e-01 6.54903973e-01 -4.40159153e-03 5.81288988e+01] [-6.54892508e-01 7.55712104e-01 3.87544987e-03 -1.26757221e+02] [ 5.86438351e-03 -4.61053898e-05 9.99982803e-01 -7.51203491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661858064 meters 0.017421031640871835 Centerline is valid? [True, True] Translation: X:58.15, Y:-126.78, Z:-0.75 [[ 7.54775368e-01 6.55968392e-01 -4.42872140e-03 5.81548461e+01] [-6.55956790e-01 7.54788359e-01 3.90152886e-03 -1.26777119e+02] [ 5.90202697e-03 -3.97280057e-05 9.99982582e-01 -7.51747585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.691858064 meters 0.017337651259829414 Centerline is valid? [True, True] Translation: X:58.18, Y:-126.80, Z:-0.75 [[ 7.53773488e-01 6.57117949e-01 -4.64001070e-03 5.81810074e+01] [-6.57105221e-01 7.53787769e-01 4.08996047e-03 -1.26797553e+02] [ 6.18516975e-03 -3.39285103e-05 9.99980871e-01 -7.52223810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721858064 meters 0.017489567888091057 Centerline is valid? [True, True] Translation: X:58.21, Y:-126.82, Z:-0.75 [[ 7.52824997e-01 6.58202308e-01 -4.92394049e-03 5.82065428e+01] [-6.58187983e-01 7.52841099e-01 4.34265594e-03 -1.26818019e+02] [ 6.56529094e-03 -2.83814863e-05 9.99978448e-01 -7.52335167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.751858064 meters 0.017562233463781024 Centerline is valid? [True, True] Translation: X:58.23, Y:-126.84, Z:-0.75 [[ 7.51110201e-01 6.60154392e-01 -5.44473580e-03 5.82330578e+01] [-6.60136907e-01 7.51129935e-01 4.80475500e-03 -1.26837690e+02] [ 7.26158416e-03 -1.46294482e-05 9.99973634e-01 -7.51957240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781858064 meters 0.01761899383337718 Centerline is valid? [True, True] Translation: X:58.26, Y:-126.86, Z:-0.75 [[ 7.50029399e-01 6.61381196e-01 -5.55105493e-03 5.82575854e+01] [-6.61363036e-01 7.50049940e-01 4.90122108e-03 -1.26857682e+02] [ 7.40514389e-03 -4.79736066e-06 9.99972582e-01 -7.52153183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.811858064 meters 0.017698175475899733 Centerline is valid? [True, True] Translation: X:58.28, Y:-126.88, Z:-0.75 [[ 7.48976697e-01 6.62573386e-01 -5.51508065e-03 5.82833849e+01] [-6.62555472e-01 7.48997001e-01 4.87225073e-03 -1.26878661e+02] [ 7.35900253e-03 4.84460605e-06 9.99972922e-01 -7.52016254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841858064 meters 0.017796512994393304 Centerline is valid? [True, True] Translation: X:58.31, Y:-126.90, Z:-0.75 [[ 7.48076968e-01 6.63591840e-01 -5.16908696e-03 5.83086614e+01] [-6.63576116e-01 7.48094826e-01 4.56821094e-03 -1.26898801e+02] [ 6.89839472e-03 1.27092584e-05 9.99976206e-01 -7.52175468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.871858064 meters 0.01798947881753141 Centerline is valid? [True, True] Translation: X:58.33, Y:-126.92, Z:-0.75 [[ 7.46271388e-01 6.65628796e-01 -4.16191587e-03 5.83349160e+01] [-6.65618623e-01 7.46282993e-01 3.68019129e-03 -1.26919091e+02] [ 5.55560833e-03 2.38272502e-05 9.99984567e-01 -7.51897987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901858064 meters 0.018185934794962794 Centerline is valid? [True, True] Translation: X:58.36, Y:-126.94, Z:-0.75 [[ 7.45377311e-01 6.66630764e-01 -4.01110786e-03 5.83598284e+01] [-6.66621318e-01 7.45388103e-01 3.54884903e-03 -1.26940247e+02] [ 5.35560402e-03 2.86584628e-05 9.99985658e-01 -7.51699819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93185806399998 meters 0.01832296432846732 Centerline is valid? [True, True] Translation: X:58.38, Y:-126.96, Z:-0.75 [[ 7.44365814e-01 6.67761331e-01 -3.78663460e-03 5.83842716e+01] [-6.67752919e-01 7.44375445e-01 3.35201275e-03 -1.26960808e+02] [ 5.05702231e-03 3.34126071e-05 9.99987213e-01 -7.51944816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96185806399998 meters 0.018622426377259547 Centerline is valid? [True, True] Translation: X:58.41, Y:-126.98, Z:-0.75 [[ 7.42591729e-01 6.69734417e-01 -3.65171928e-03 5.84088841e+01] [-6.69726610e-01 7.42600706e-01 3.23415209e-03 -1.26981104e+02] [ 4.87779228e-03 4.39989859e-05 9.99988103e-01 -7.51816133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99185806399998 meters 0.01881011991407743 Centerline is valid? [True, True] Translation: X:58.43, Y:-127.00, Z:-0.75 [[ 7.41536940e-01 6.70901824e-01 -3.70272710e-03 5.84332867e+01] [-6.70893803e-01 7.41546182e-01 3.28094311e-03 -1.27002484e+02] [ 4.94693386e-03 5.11961548e-05 9.99987763e-01 -7.51713434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02185806399999 meters 0.01906149443647612 Centerline is valid? [True, True] Translation: X:58.46, Y:-127.02, Z:-0.75 [[ 7.40740095e-01 6.71782944e-01 -3.43349495e-03 5.84572220e+01] [-6.71776053e-01 7.40748050e-01 3.04320257e-03 -1.27022206e+02] [ 4.58772627e-03 5.23175222e-05 9.99989475e-01 -7.51905907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.051858064 meters 0.019053985479702627 Centerline is valid? [True, True] Translation: X:58.48, Y:-127.04, Z:-0.75 [[ 7.39637126e-01 6.73002487e-01 -2.13862137e-03 5.84820866e+01] [-6.72999816e-01 7.39640217e-01 1.89659858e-03 -1.27043124e+02] [ 2.85822594e-03 3.64970653e-05 9.99995915e-01 -7.51314367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.081858064 meters 0.019092976840761194 Centerline is valid? [True, True] Translation: X:58.51, Y:-127.07, Z:-0.75 [[ 7.39024518e-01 6.73675606e-01 -1.98499142e-03 5.85067113e+01] [-6.73673304e-01 7.39027183e-01 1.76136795e-03 -1.27065421e+02] [ 2.65355323e-03 3.55416285e-05 9.99996479e-01 -7.51447950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.111858064 meters 0.019022134805173955 Centerline is valid? [True, True] Translation: X:58.53, Y:-127.09, Z:-0.75 [[ 7.38740176e-01 6.73987192e-01 -2.05346485e-03 5.85306087e+01] [-6.73984727e-01 7.38743029e-01 1.82317639e-03 -1.27088456e+02] [ 2.74578038e-03 3.71502943e-05 9.99996230e-01 -7.51452420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.141858064 meters 0.01925352505334423 Centerline is valid? [True, True] Translation: X:58.55, Y:-127.11, Z:-0.75 [[ 7.38999562e-01 6.73704314e-01 -1.46415412e-03 5.85522897e+01] [-6.73703060e-01 7.39001012e-01 1.30055746e-03 -1.27111143e+02] [ 1.95820255e-03 2.52937156e-05 9.99998082e-01 -7.51108674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.171858064 meters 0.018984949019730246 Centerline is valid? [True, True] Translation: X:58.57, Y:-127.13, Z:-0.75 [[ 7.39328822e-01 6.73343262e-01 -1.32114272e-03 5.85748204e+01] [-6.73342238e-01 7.39330002e-01 1.17411007e-03 -1.27134244e+02] [ 1.76733955e-03 2.15277851e-05 9.99998438e-01 -7.50614712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.201858064 meters 0.01900858296525454 Centerline is valid? [True, True] Translation: X:58.60, Y:-127.16, Z:-0.75 [[ 7.39753062e-01 6.72878284e-01 -4.72276082e-04 5.85980950e+01] [-6.72878153e-01 7.39753213e-01 4.19926071e-04 -1.27156851e+02] [ 6.31926883e-04 7.14266080e-06 9.99999800e-01 -7.50474317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.231858064 meters 0.018910426166190476 Centerline is valid? [True, True] Translation: X:58.62, Y:-127.18, Z:-0.75 [[ 7.41062520e-01 6.71435903e-01 -4.12945357e-04 5.86191641e+01] [-6.71435802e-01 7.41062635e-01 3.67339142e-04 -1.27179288e+02] [ 5.52663063e-04 5.04502729e-06 9.99999847e-01 -7.51348188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.261858064 meters 0.018781920496041108 Centerline is valid? [True, True] Translation: X:58.64, Y:-127.20, Z:-0.75 [[ 7.41826535e-01 6.70591290e-01 -8.44966953e-04 5.86412833e+01] [-6.70590868e-01 7.41827016e-01 7.52008306e-04 -1.27203068e+02] [ 1.13110953e-03 8.76740650e-06 9.99999360e-01 -7.51750399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.291858064 meters 0.01876811423984375 Centerline is valid? [True, True] Translation: X:58.66, Y:-127.23, Z:-0.75 [[ 7.42567026e-01 6.69770611e-01 -1.24150433e-03 5.86631807e+01] [-6.69769699e-01 7.42568063e-01 1.10541125e-03 -1.27225905e+02] [ 1.66227343e-03 1.06800372e-05 9.99998618e-01 -7.52695396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321858064 meters 0.01856621943411228 Centerline is valid? [True, True] Translation: X:58.68, Y:-127.25, Z:-0.75 [[ 7.45012991e-01 6.67046435e-01 -2.16711860e-03 5.86822076e+01] [-6.67043642e-01 7.45016143e-01 1.93048340e-03 -1.27253408e+02] [ 2.90226041e-03 7.32747587e-06 9.99995788e-01 -7.53746549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.351858064 meters 0.01849381579010605 Centerline is valid? [True, True] Translation: X:58.70, Y:-127.28, Z:-0.75 [[ 7.46502742e-01 6.65377736e-01 -2.47465525e-03 5.87036529e+01] [-6.65374082e-01 7.46506844e-01 2.20518959e-03 -1.27278018e+02] [ 3.31463114e-03 3.91386705e-07 9.99994507e-01 -7.53940607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381858064 meters 0.018649529598766444 Centerline is valid? [True, True] Translation: X:58.73, Y:-127.30, Z:-0.75 [[ 7.48076021e-01 6.63607453e-01 -2.72326279e-03 5.87254602e+01] [-6.63603011e-01 7.48080977e-01 2.42806096e-03 -1.27302732e+02] [ 3.64850044e-03 -9.20879438e-06 9.99993344e-01 -7.54487361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.411858064 meters 0.018811893599428878 Centerline is valid? [True, True] Translation: X:58.75, Y:-127.33, Z:-0.76 [[ 7.49743542e-01 6.61721562e-01 -3.03225841e-03 5.87471791e+01] [-6.61716034e-01 7.49749674e-01 2.70488406e-03 -1.27327098e+02] [ 4.06331486e-03 -2.14753445e-05 9.99991744e-01 -7.55264966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441858064 meters 0.019269215341329658 Centerline is valid? [True, True] Translation: X:58.76, Y:-127.35, Z:-0.76 [[ 7.53415112e-01 6.57535692e-01 -3.53313505e-03 5.87648772e+01] [-6.57528134e-01 7.53423394e-01 3.15310276e-03 -1.27353854e+02] [ 4.73522421e-03 -5.24595705e-05 9.99988787e-01 -7.56188682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.471858064 meters 0.01984849060945059 Centerline is valid? [True, True] Translation: X:58.78, Y:-127.38, Z:-0.76 [[ 7.54838224e-01 6.55900895e-01 -3.64302969e-03 5.87843797e+01] [-6.55892833e-01 7.54847012e-01 3.25262222e-03 -1.27378289e+02] [ 4.88332790e-03 -6.57665178e-05 9.99988074e-01 -7.56212062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501858064 meters 0.01984040993683361 Centerline is valid? [True, True] Translation: X:58.81, Y:-127.40, Z:-0.76 [[ 7.56157397e-01 6.54382386e-01 -3.11174443e-03 5.88063688e+01] [-6.54376486e-01 7.56163797e-01 2.77960991e-03 -1.27401744e+02] [ 4.17191625e-03 -6.55702076e-05 9.99991295e-01 -7.55502147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.531858064 meters 0.020648047564037864 Centerline is valid? [True, True] Translation: X:58.82, Y:-127.43, Z:-0.75 [[ 7.58400491e-01 6.51784320e-01 -2.42784308e-03 5.88244179e+01] [-6.51780712e-01 7.58404375e-01 2.16966653e-03 -1.27428759e+02] [ 3.25544144e-03 -6.30548701e-05 9.99994699e-01 -7.54718028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561858064 meters 0.02101883027924159 Centerline is valid? [True, True] Translation: X:58.85, Y:-127.45, Z:-0.75 [[ 7.59070948e-01 6.51003915e-01 -2.28007251e-03 5.88458136e+01] [-6.51000726e-01 7.59074370e-01 2.03857007e-03 -1.27452685e+02] [ 3.05786170e-03 -6.30904576e-05 9.99995323e-01 -7.54758179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.591858064 meters 0.021062670419687905 Centerline is valid? [True, True] Translation: X:58.87, Y:-127.48, Z:-0.75 [[ 7.59370504e-01 6.50654009e-01 -2.40808436e-03 5.88678274e+01] [-6.50650447e-01 7.59374319e-01 2.15404095e-03 -1.27475996e+02] [ 3.23017280e-03 -6.88939947e-05 9.99994781e-01 -7.54556889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621858064 meters 0.02098599540546536 Centerline is valid? [True, True] Translation: X:58.89, Y:-127.50, Z:-0.75 [[ 7.59526101e-01 6.50472503e-01 -2.37173262e-03 5.88893607e+01] [-6.50469043e-01 7.59529801e-01 2.12269646e-03 -1.27501337e+02] [ 3.18215728e-03 -6.95047187e-05 9.99994935e-01 -7.54542451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.651858064 meters 0.0207520000304489 Centerline is valid? [True, True] Translation: X:58.91, Y:-127.52, Z:-0.75 [[ 7.59401473e-01 6.50615353e-01 -3.01083213e-03 5.89129745e+01] [-6.50609772e-01 7.59407437e-01 2.69619492e-03 -1.27524502e+02] [ 4.04063412e-03 -8.86175873e-05 9.99991833e-01 -7.54404688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68185806399998 meters 0.0207520000304489 Centerline is valid? [True, True] Translation: X:58.94, Y:-127.55, Z:-0.75 [[ 7.59220692e-01 6.50826306e-01 -3.01008296e-03 5.89370803e+01] [-6.50820724e-01 7.59226654e-01 2.69703129e-03 -1.27546183e+02] [ 4.04063412e-03 -8.86175880e-05 9.99991833e-01 -7.54405020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71185806399998 meters 0.02074254948670274 Centerline is valid? [True, True] Translation: X:58.96, Y:-127.57, Z:-0.75 [[ 7.57631659e-01 6.52676445e-01 -2.77978176e-03 5.89598455e+01] [-6.52671693e-01 7.57636755e-01 2.49180262e-03 -1.27566907e+02] [ 3.73240571e-03 -7.35836899e-05 9.99993032e-01 -7.54252443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74185806399998 meters 0.02028225715656508 Centerline is valid? [True, True] Translation: X:58.99, Y:-127.59, Z:-0.75 [[ 7.55526931e-01 6.55112833e-01 -2.49672455e-03 5.89850828e+01] [-6.55109008e-01 7.55531054e-01 2.23912815e-03 -1.27586985e+02] [ 3.35323452e-03 -5.60948780e-05 9.99994376e-01 -7.54224345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77185806399999 meters 0.020025766609715934 Centerline is valid? [True, True] Translation: X:59.01, Y:-127.61, Z:-0.75 [[ 7.53532483e-01 6.57401384e-01 -3.49521185e-03 5.90087026e+01] [-6.57393907e-01 7.53540587e-01 3.13607439e-03 -1.27608221e+02] [ 4.69544363e-03 -6.54029480e-05 9.99988974e-01 -7.54625625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.801858064 meters 0.019234805023395116 Centerline is valid? [True, True] Translation: X:59.03, Y:-127.63, Z:-0.75 [[ 7.49864813e-01 6.61575139e-01 -4.59321421e-03 5.90346941e+01] [-6.61562298e-01 7.49878878e-01 4.12233219e-03 -1.27628218e+02] [ 6.17158681e-03 -5.24945074e-05 9.99980954e-01 -7.54596890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.831858064 meters 0.018914923615291918 Centerline is valid? [True, True] Translation: X:59.06, Y:-127.65, Z:-0.75 [[ 7.47689587e-01 6.64031240e-01 -4.77432758e-03 5.90599086e+01] [-6.64017403e-01 7.47704829e-01 4.28695019e-03 -1.27647504e+02] [ 6.41645664e-03 -3.50714188e-05 9.99979414e-01 -7.54812671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.861858064 meters 0.01879249671473027 Centerline is valid? [True, True] Translation: X:59.08, Y:-127.67, Z:-0.76 [[ 7.46460110e-01 6.65407375e-01 -5.50722619e-03 5.90840993e+01] [-6.65388981e-01 7.46480424e-01 4.94778702e-03 -1.27669528e+02] [ 7.40333052e-03 -2.88780186e-05 9.99972595e-01 -7.55313118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.891858064 meters 0.018630501010683774 Centerline is valid? [True, True] Translation: X:59.11, Y:-127.69, Z:-0.76 [[ 7.45346974e-01 6.66645729e-01 -6.43119187e-03 5.91068143e+01] [-6.66620673e-01 7.45374719e-01 5.77989173e-03 -1.27692615e+02] [ 8.64678797e-03 -2.08593577e-05 9.99962616e-01 -7.55867969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.921858064 meters 0.018621878617032555 Centerline is valid? [True, True] Translation: X:59.13, Y:-127.71, Z:-0.76 [[ 7.44849050e-01 6.67203682e-01 -6.25620808e-03 5.91315897e+01] [-6.67179964e-01 7.44875323e-01 5.62570703e-03 -1.27714558e+02] [ 8.41358746e-03 -1.62858579e-05 9.99964605e-01 -7.55861649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.951858064 meters 0.018437539372923934 Centerline is valid? [True, True] Translation: X:59.16, Y:-127.74, Z:-0.75 [[ 7.45194276e-01 6.66825747e-01 -5.37729065e-03 5.91560089e+01] [-6.66808195e-01 7.45213676e-01 4.83810284e-03 -1.27737258e+02] [ 7.23340208e-03 -1.97050691e-05 9.99973838e-01 -7.54565059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.981858064 meters 0.018525284736103965 Centerline is valid? [True, True] Translation: X:59.18, Y:-127.76, Z:-0.75 [[ 7.45415705e-01 6.66581972e-01 -4.88887028e-03 5.91801383e+01] [-6.66567443e-01 7.45431737e-01 4.40113000e-03 -1.27760268e+02] [ 6.57803298e-03 -2.19096573e-05 9.99978364e-01 -7.54164933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.011858064 meters 0.018661824045332426 Centerline is valid? [True, True] Translation: X:59.20, Y:-127.78, Z:-0.75 [[ 7.45642878e-01 6.66331787e-01 -4.31837717e-03 5.92047632e+01] [-6.66320434e-01 7.45655382e-01 3.88978525e-03 -1.27782501e+02] [ 5.81190873e-03 -2.29677190e-05 9.99983110e-01 -7.54061592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.041858064 meters 0.018705907237388797 Centerline is valid? [True, True] Translation: X:59.23, Y:-127.80, Z:-0.75 [[ 7.46066944e-01 6.65858961e-01 -3.99500622e-03 5.92287615e+01] [-6.65849227e-01 7.46077639e-01 3.60042882e-03 -1.27804102e+02] [ 5.37796260e-03 -2.60891186e-05 9.99985538e-01 -7.54750129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.071858064 meters 0.018837115825303747 Centerline is valid? [True, True] Translation: X:59.25, Y:-127.83, Z:-0.76 [[ 7.46354375e-01 6.65537241e-01 -3.91502232e-03 5.92536470e+01] [-6.65527878e-01 7.46364643e-01 3.53034094e-03 -1.27825954e+02] [ 5.27160760e-03 -2.93289081e-05 9.99986105e-01 -7.55083018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101858064 meters 0.01902041926625748 Centerline is valid? [True, True] Translation: X:59.28, Y:-127.85, Z:-0.76 [[ 7.46619216e-01 6.65239116e-01 -4.08229518e-03 5.92778491e+01] [-6.65228920e-01 7.46630375e-01 3.68324284e-03 -1.27848845e+02] [ 5.49820280e-03 -3.43190604e-05 9.99984884e-01 -7.56918594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.131858064 meters 0.019115118643707907 Centerline is valid? [True, True] Translation: X:59.30, Y:-127.87, Z:-0.76 [[ 7.46532931e-01 6.65333526e-01 -4.45894004e-03 5.93022992e+01] [-6.65321351e-01 7.46546246e-01 4.02531598e-03 -1.27871417e+02] [ 6.00698263e-03 -3.84029261e-05 9.99981957e-01 -7.57758234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161858064 meters 0.019207431671124854 Centerline is valid? [True, True] Translation: X:59.33, Y:-127.89, Z:-0.76 [[ 7.46589166e-01 6.65268298e-01 -4.76541994e-03 5.93265560e+01] [-6.65254374e-01 7.46604373e-01 4.30437232e-03 -1.27893366e+02] [ 6.42144582e-03 -4.33812782e-05 9.99979381e-01 -7.58399858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.191858064 meters 0.019217451465600253 Centerline is valid? [True, True] Translation: X:59.35, Y:-127.91, Z:-0.76 [[ 7.46849485e-01 6.64973818e-01 -5.06641582e-03 5.93498819e+01] [-6.64958057e-01 7.46866668e-01 4.57860182e-03 -1.27914494e+02] [ 6.82858744e-03 -5.05723940e-05 9.99976684e-01 -7.59690608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221858064 meters 0.019309639985845683 Centerline is valid? [True, True] Translation: X:59.37, Y:-127.94, Z:-0.76 [[ 7.47026752e-01 6.64772039e-01 -5.40070003e-03 5.93737313e+01] [-6.64754112e-01 7.47046272e-01 4.88236069e-03 -1.27936494e+02] [ 7.28022969e-03 -5.71164929e-05 9.99973497e-01 -7.60118532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.251858064 meters 0.019339285413880285 Centerline is valid? [True, True] Translation: X:59.40, Y:-127.96, Z:-0.76 [[ 7.47272820e-01 6.64492190e-01 -5.78463187e-03 5.93976483e+01] [-6.64471593e-01 7.47295206e-01 5.23227213e-03 -1.27958685e+02] [ 7.79963163e-03 -6.62111910e-05 9.99969580e-01 -7.60431286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281858064 meters 0.01940360223749255 Centerline is valid? [True, True] Translation: X:59.42, Y:-127.98, Z:-0.76 [[ 7.47550286e-01 6.64176368e-01 -6.19052240e-03 5.94221137e+01] [-6.64152743e-01 7.47575913e-01 5.60243152e-03 -1.27981415e+02] [ 8.34888805e-03 -7.66468483e-05 9.99965145e-01 -7.60701110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.311858064 meters 0.019316791640279607 Centerline is valid? [True, True] Translation: X:59.45, Y:-128.00, Z:-0.76 [[ 7.48758491e-01 6.62811070e-01 -6.49668296e-03 5.94457081e+01] [-6.62784975e-01 7.48786669e-01 5.88234945e-03 -1.28003499e+02] [ 8.76351593e-03 -9.85552480e-05 9.99961595e-01 -7.60028746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341858064 meters 0.019759446865539692 Centerline is valid? [True, True] Translation: X:59.47, Y:-128.03, Z:-0.76 [[ 7.49336298e-01 6.62156636e-01 -6.61072525e-03 5.94673619e+01] [-6.62129567e-01 7.49365450e-01 5.98826221e-03 -1.28025846e+02] [ 8.91901666e-03 -1.10065593e-04 9.99960219e-01 -7.60334081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.371858064 meters 0.019666130530388737 Centerline is valid? [True, True] Translation: X:59.49, Y:-128.05, Z:-0.76 [[ 7.50350411e-01 6.61010178e-01 -6.30910640e-03 5.94906554e+01] [-6.60985461e-01 7.50376925e-01 5.71757517e-03 -1.28047263e+02] [ 8.51358324e-03 -1.19957269e-04 9.99963752e-01 -7.59332632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401858064 meters 0.020136328183019022 Centerline is valid? [True, True] Translation: X:59.51, Y:-128.07, Z:-0.76 [[ 7.52703398e-01 6.58333789e-01 -5.84951023e-03 5.95129549e+01] [-6.58312441e-01 7.52726114e-01 5.30358743e-03 -1.28070869e+02] [ 7.89460991e-03 -1.41222925e-04 9.99968827e-01 -7.57935267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43185806399998 meters 0.02024570318750354 Centerline is valid? [True, True] Translation: X:59.54, Y:-128.09, Z:-0.76 [[ 7.53874021e-01 6.56999091e-01 -5.11423878e-03 5.95358281e+01] [-6.56982726e-01 7.53891355e-01 4.63916428e-03 -1.28093021e+02] [ 6.90350712e-03 -1.37378886e-04 9.99976161e-01 -7.56764239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46185806399998 meters 0.020701112860458795 Centerline is valid? [True, True] Translation: X:59.56, Y:-128.12, Z:-0.76 [[ 7.55036480e-01 6.55665532e-01 -4.75649974e-03 5.95588070e+01] [-6.55651337e-01 7.55051449e-01 4.31671626e-03 -1.28115825e+02] [ 6.42172408e-03 -1.40672837e-04 9.99979371e-01 -7.56047631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49185806399998 meters 0.023296319954027984 Centerline is valid? [True, True] Translation: X:59.58, Y:-128.14, Z:-0.76 [[ 7.57133851e-01 6.53246279e-01 -4.19897925e-03 5.95777935e+01] [-6.53235176e-01 7.57145481e-01 3.81125982e-03 -1.28140633e+02] [ 5.66892946e-03 -1.42712876e-04 9.99983921e-01 -7.56618325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52185806399999 meters 0.022102888737294497 Centerline is valid? [True, True] Translation: X:59.60, Y:-128.16, Z:-0.76 [[ 7.57911485e-01 6.52343732e-01 -4.22334538e-03 5.96037102e+01] [-6.52332476e-01 7.57923237e-01 3.83517659e-03 -1.28160444e+02] [ 5.70282501e-03 -1.51699031e-04 9.99983727e-01 -7.55907260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.551858064 meters 0.02444981080064879 Centerline is valid? [True, True] Translation: X:59.62, Y:-128.18, Z:-0.76 [[ 7.58567280e-01 6.51582260e-01 -4.02978614e-03 5.96237448e+01] [-6.51571993e-01 7.58577969e-01 3.66098656e-03 -1.28184539e+02] [ 5.44234088e-03 -1.51408833e-04 9.99985179e-01 -7.56448292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.581858064 meters 0.022114248412802934 Centerline is valid? [True, True] Translation: X:59.65, Y:-128.20, Z:-0.76 [[ 7.58895579e-01 6.51200002e-01 -4.00709490e-03 5.96506079e+01] [-6.51189835e-01 7.58906143e-01 3.64210077e-03 -1.28202609e+02] [ 5.41274496e-03 -1.54594701e-04 9.99985339e-01 -7.55403176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.611858064 meters 0.022755782079486437 Centerline is valid? [True, True] Translation: X:59.67, Y:-128.22, Z:-0.76 [[ 7.59551064e-01 6.50439004e-01 -3.35899276e-03 5.96732427e+01] [-6.50431847e-01 7.59558479e-01 3.05437001e-03 -1.28223438e+02] [ 4.53803282e-03 -1.35154120e-04 9.99989694e-01 -7.55906563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.641858064 meters 0.023207407705542086 Centerline is valid? [True, True] Translation: X:59.70, Y:-128.25, Z:-0.76 [[ 7.59813072e-01 6.50133389e-01 -3.26669671e-03 5.96973236e+01] [-6.50126611e-01 7.59820083e-01 2.97182356e-03 -1.28245314e+02] [ 4.41418349e-03 -1.34263931e-04 9.99990248e-01 -7.56432981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.671858064 meters 0.02652626668671433 Centerline is valid? [True, True] Translation: X:59.72, Y:-128.27, Z:-0.76 [[ 7.59793131e-01 6.50157596e-01 -3.08180761e-03 5.97174840e+01] [-6.50151558e-01 7.59799371e-01 2.80501106e-03 -1.28271082e+02] [ 4.16525473e-03 -1.27586122e-04 9.99991317e-01 -7.57290005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.701858064 meters 0.02686795076758923 Centerline is valid? [True, True] Translation: X:59.74, Y:-128.29, Z:-0.76 [[ 7.59896185e-01 6.50039639e-01 -2.50109822e-03 5.97421740e+01] [-6.50035658e-01 7.59900294e-01 2.27755920e-03 -1.28293273e+02] [ 3.38108903e-03 -1.04905526e-04 9.99994279e-01 -7.57210002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.731858064 meters 0.0234786035707947 Centerline is valid? [True, True] Translation: X:59.77, Y:-128.31, Z:-0.76 [[ 7.59649323e-01 6.50331655e-01 -1.28239387e-03 5.97704809e+01] [-6.50330607e-01 7.59650404e-01 1.16831837e-03 -1.28309467e+02] [ 1.73396544e-03 -5.35322791e-05 9.99998495e-01 -7.56283753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.761858064 meters 0.022616816017803444 Centerline is valid? [True, True] Translation: X:59.80, Y:-128.33, Z:-0.76 [[ 7.59312438e-01 6.50725413e-01 -1.02887005e-03 5.97953850e+01] [-6.50724738e-01 7.59313134e-01 9.37789865e-04 -1.28329425e+02] [ 1.39147824e-03 -4.25643164e-05 9.99999031e-01 -7.56085828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.791858064 meters 0.021730430669722432 Centerline is valid? [True, True] Translation: X:59.82, Y:-128.35, Z:-0.76 [[ 7.58938653e-01 6.51162053e-01 -3.20050027e-04 5.98205612e+01] [-6.51161987e-01 7.58938720e-01 2.91861408e-04 -1.28349574e+02] [ 4.32947431e-04 -1.31004920e-05 9.99999906e-01 -7.56065087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821858064 meters 0.023263622960441308 Centerline is valid? [True, True] Translation: X:59.84, Y:-128.37, Z:-0.76 [[ 7.57945861e-01 6.52316961e-01 8.08941915e-04 5.98421971e+01] [-6.52316545e-01 7.57946292e-01 -7.37886916e-04 -1.28372646e+02] [-1.09447068e-03 3.15921391e-05 9.99999401e-01 -7.55642245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.851858064 meters 0.021217728443568645 Centerline is valid? [True, True] Translation: X:59.87, Y:-128.39, Z:-0.76 [[ 7.57200642e-01 6.53181470e-01 1.07461709e-03 5.98690280e+01] [-6.53180735e-01 7.57201404e-01 -9.80700734e-04 -1.28390577e+02] [-1.45427711e-03 4.06680490e-05 9.99998942e-01 -7.55588721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881858064 meters 0.020986494797766105 Centerline is valid? [True, True] Translation: X:59.89, Y:-128.41, Z:-0.76 [[ 7.56188170e-01 6.54351837e-01 1.76800553e-03 5.98933923e+01] [-6.54349849e-01 7.56190234e-01 -1.61426883e-03 -1.28411669e+02] [-2.39324829e-03 6.37968464e-05 9.99997134e-01 -7.55389802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.911858064 meters 0.020801881496234104 Centerline is valid? [True, True] Translation: X:59.92, Y:-128.43, Z:-0.76 [[ 7.54860798e-01 6.55882181e-01 1.93402514e-03 5.99171767e+01] [-6.55879805e-01 7.54863273e-01 -1.76663538e-03 -1.28432156e+02] [-2.61862921e-03 6.50757641e-05 9.99996569e-01 -7.55391024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941858064 meters 0.01987402868300846 Centerline is valid? [True, True] Translation: X:59.94, Y:-128.45, Z:-0.76 [[ 7.52268005e-01 6.58854606e-01 1.85918409e-03 5.99421038e+01] [-6.58852419e-01 7.52270300e-01 -1.69838985e-03 -1.28450807e+02] [-2.51760095e-03 5.27164080e-05 9.99996829e-01 -7.55288464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.971858064 meters 0.019543828246887256 Centerline is valid? [True, True] Translation: X:59.97, Y:-128.47, Z:-0.76 [[ 7.50826778e-01 6.60496228e-01 1.97028461e-03 5.99666401e+01] [-6.60493775e-01 7.50829362e-01 -1.80072779e-03 -1.28471259e+02] [-2.66872145e-03 5.06739260e-05 9.99996438e-01 -7.55426330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001858064 meters 0.01910730408796936 Centerline is valid? [True, True] Translation: X:59.99, Y:-128.49, Z:-0.76 [[ 7.49391424e-01 6.62124581e-01 1.87937105e-03 5.99914328e+01] [-6.62122353e-01 7.49393780e-01 -1.71844410e-03 -1.28491674e+02] [-2.54621306e-03 4.34136923e-05 9.99996757e-01 -7.55577933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.031858064 meters 0.018531563031968346 Centerline is valid? [True, True] Translation: X:60.02, Y:-128.51, Z:-0.76 [[ 7.46688290e-01 6.65171167e-01 1.97894063e-03 6.00171042e+01] [-6.65168704e-01 7.46690912e-01 -1.81027022e-03 -1.28510180e+02] [-2.68179654e-03 3.53782061e-05 9.99996403e-01 -7.56176479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061858064 meters 0.017876229633172418 Centerline is valid? [True, True] Translation: X:60.04, Y:-128.53, Z:-0.76 [[ 7.45200561e-01 6.66837318e-01 2.02843460e-03 6.00426400e+01] [-6.66834735e-01 7.45203322e-01 -1.85643451e-03 -1.28529603e+02] [-2.74953602e-03 3.07853907e-05 9.99996220e-01 -7.57280244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.091858064 meters 0.017919098326868943 Centerline is valid? [True, True] Translation: X:60.07, Y:-128.55, Z:-0.76 [[ 7.43961121e-01 6.68221532e-01 1.35463101e-03 6.00659552e+01] [-6.68220381e-01 7.43962354e-01 -1.24031259e-03 -1.28549609e+02] [-1.83659806e-03 1.75522969e-05 9.99998313e-01 -7.57731744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121858064 meters 0.01758274282972962 Centerline is valid? [True, True] Translation: X:60.09, Y:-128.57, Z:-0.76 [[ 7.42795627e-01 6.69517249e-01 1.14417609e-03 6.00902996e+01] [-6.69516429e-01 7.42796509e-01 -1.04809463e-03 -1.28569981e+02] [-1.55160743e-03 1.24754205e-05 9.99998796e-01 -7.58251804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.151858064 meters 0.017270547611883975 Centerline is valid? [True, True] Translation: X:60.11, Y:-128.59, Z:-0.76 [[ 7.41320638e-01 6.71150490e-01 8.55969648e-04 6.01139100e+01] [-6.71150031e-01 7.41321132e-01 -7.84419038e-04 -1.28589907e+02] [-1.16101161e-03 7.02196550e-06 9.99999326e-01 -7.58462710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18185806399998 meters 0.016960577197389567 Centerline is valid? [True, True] Translation: X:60.14, Y:-128.61, Z:-0.76 [[ 7.40849399e-01 6.71670641e-01 8.47432479e-04 6.01385817e+01] [-6.71670191e-01 7.40849884e-01 -7.77030174e-04 -1.28611193e+02] [-1.14972861e-03 6.46720212e-06 9.99999339e-01 -7.58621485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21185806399998 meters 0.016826390966734887 Centerline is valid? [True, True] Translation: X:60.16, Y:-128.63, Z:-0.76 [[ 7.40670915e-01 6.71867513e-01 8.00406503e-04 6.01625711e+01] [-6.71867112e-01 7.40671347e-01 -7.34321199e-04 -1.28633668e+02] [-1.08620472e-03 6.12354940e-06 9.99999410e-01 -7.58450558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24185806399998 meters 0.016718396338749254 Centerline is valid? [True, True] Translation: X:60.19, Y:-128.66, Z:-0.76 [[ 7.41255227e-01 6.71222690e-01 8.88447449e-04 6.01866120e+01] [-6.71222194e-01 7.41255759e-01 -8.15546901e-04 -1.28656562e+02] [-1.20598037e-03 8.18275729e-06 9.99999273e-01 -7.58316827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27185806399999 meters 0.01672060007925615 Centerline is valid? [True, True] Translation: X:60.21, Y:-128.68, Z:-0.76 [[ 7.41538400e-01 6.70909351e-01 1.20178131e-03 6.02099809e+01] [-6.70908443e-01 7.41539374e-01 -1.10378145e-03 -1.28679144e+02] [-1.63170545e-03 1.22111010e-05 9.99998669e-01 -7.57958658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.301858064 meters 0.016767943578755953 Centerline is valid? [True, True] Translation: X:60.23, Y:-128.70, Z:-0.76 [[ 7.42720244e-01 6.69599924e-01 1.60677200e-03 6.02314327e+01] [-6.69598297e-01 7.42721981e-01 -1.47613923e-03 -1.28702357e+02] [-2.18180760e-03 2.04666936e-05 9.99997620e-01 -7.57328004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.331858064 meters 0.016652511684840346 Centerline is valid? [True, True] Translation: X:60.26, Y:-128.72, Z:-0.76 [[ 7.43121789e-01 6.69154431e-01 1.53438672e-03 6.02552244e+01] [-6.69152945e-01 7.43123373e-01 -1.41044977e-03 -1.28724923e+02] [-2.08404734e-03 2.13965653e-05 9.99997828e-01 -7.57571520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.361858064 meters 0.01700534301178685 Centerline is valid? [True, True] Translation: X:60.28, Y:-128.75, Z:-0.76 [[ 7.43747583e-01 6.68458962e-01 1.46593835e-03 6.02766860e+01] [-6.68457603e-01 7.43749027e-01 -1.34815502e-03 -1.28748135e+02] [-1.99147652e-03 2.27694044e-05 9.99998017e-01 -7.57496722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.391858064 meters 0.017148717660864034 Centerline is valid? [True, True] Translation: X:60.30, Y:-128.77, Z:-0.76 [[ 7.44157017e-01 6.68003554e-01 1.25933630e-03 6.02996146e+01] [-6.68002550e-01 7.44158082e-01 -1.15877584e-03 -1.28771149e+02] [-1.71121166e-03 2.10713078e-05 9.99998536e-01 -7.57784819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.421858064 meters 0.017547672914192295 Centerline is valid? [True, True] Translation: X:60.32, Y:-128.79, Z:-0.76 [[ 7.45393806e-01 6.66624192e-01 5.11115830e-04 6.03204856e+01] [-6.66624026e-01 7.45393981e-01 -4.70421509e-04 -1.28794054e+02] [-6.94577021e-04 9.92718672e-06 9.99999759e-01 -7.58913609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.451858064 meters 0.017140202950836028 Centerline is valid? [True, True] Translation: X:60.34, Y:-128.82, Z:-0.76 [[ 7.45626378e-01 6.66364240e-01 6.41877400e-05 6.03449735e+01] [-6.66364237e-01 7.45626381e-01 -5.91065946e-05 -1.28815508e+02] [-8.72465932e-05 1.29902167e-06 9.99999996e-01 -7.59183767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.481858064 meters 0.017287443904652547 Centerline is valid? [True, True] Translation: X:60.37, Y:-128.84, Z:-0.76 [[ 7.45998536e-01 6.65947582e-01 4.54643348e-05 6.03667735e+01] [-6.65947581e-01 7.45998537e-01 -4.18774642e-05 -1.28837082e+02] [-6.18045232e-05 9.63663227e-07 9.99999998e-01 -7.59279071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.511858064 meters 0.0175150352415547 Centerline is valid? [True, True] Translation: X:60.39, Y:-128.86, Z:-0.76 [[ 7.46142654e-01 6.65785957e-01 4.46318105e-04 6.03889287e+01] [-6.65785830e-01 7.46142787e-01 -4.11332832e-04 -1.28860505e+02] [-6.06876658e-04 9.76070134e-06 9.99999816e-01 -7.58215261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.541858064 meters 0.017559596802152754 Centerline is valid? [True, True] Translation: X:60.41, Y:-128.88, Z:-0.76 [[ 7.45923123e-01 6.66031413e-01 9.22626890e-04 6.04131817e+01] [-6.66030870e-01 7.45923693e-01 -8.50772674e-04 -1.28883416e+02] [-1.25485058e-03 2.01130196e-05 9.99999212e-01 -7.57713975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.571858064 meters 0.017559596802152754 Centerline is valid? [True, True] Translation: X:60.44, Y:-128.91, Z:-0.76 [[ 7.45741239e-01 6.66235059e-01 9.22394566e-04 6.04369592e+01] [-6.66234516e-01 7.45741809e-01 -8.51024550e-04 -1.28905457e+02] [-1.25485058e-03 2.01130051e-05 9.99999212e-01 -7.57714307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601858064 meters 0.0174436689380648 Centerline is valid? [True, True] Translation: X:60.46, Y:-128.93, Z:-0.76 [[ 7.45341023e-01 6.66682726e-01 9.49661903e-04 6.04618177e+01] [-6.66682150e-01 7.45341628e-01 -8.76659369e-04 -1.28927553e+02] [-1.29227621e-03 2.02875519e-05 9.99999165e-01 -7.57638816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.631858064 meters 0.017318307690452162 Centerline is valid? [True, True] Translation: X:60.49, Y:-128.95, Z:-0.76 [[ 7.44807307e-01 6.67278595e-01 1.16263402e-03 6.04861027e+01] [-6.67277732e-01 7.44808214e-01 -1.07383814e-03 -1.28949107e+02] [-1.58248857e-03 2.40026977e-05 9.99998748e-01 -7.57533760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661858064 meters 0.017227016674762168 Centerline is valid? [True, True] Translation: X:60.51, Y:-128.97, Z:-0.76 [[ 7.43960215e-01 6.68222347e-01 1.44685489e-03 6.05094102e+01] [-6.68221010e-01 7.43961622e-01 -1.33670997e-03 -1.28969235e+02] [-1.96962398e-03 2.76401976e-05 9.99998060e-01 -7.57336194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.691858064 meters 0.01661724469984428 Centerline is valid? [True, True] Translation: X:60.53, Y:-128.99, Z:-0.76 [[ 7.43355484e-01 6.68895833e-01 9.94174524e-04 6.05337748e+01] [-6.68895202e-01 7.43356149e-01 -9.18941001e-04 -1.28989604e+02] [-1.35370155e-03 1.81012639e-05 9.99999084e-01 -7.57481937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721858064 meters 0.01657275030136355 Centerline is valid? [True, True] Translation: X:60.56, Y:-129.01, Z:-0.76 [[ 7.42746279e-01 6.69572312e-01 9.40328754e-04 6.05567529e+01] [-6.69571747e-01 7.42746874e-01 -8.69564492e-04 -1.29010776e+02] [-1.28066255e-03 1.62482241e-05 9.99999180e-01 -7.57768158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.751858064 meters 0.016406899161778902 Centerline is valid? [True, True] Translation: X:60.58, Y:-129.03, Z:-0.76 [[ 7.41174882e-01 6.71311721e-01 6.05996269e-04 6.05813689e+01] [-6.71311487e-01 7.41175130e-01 -5.60660960e-04 -1.29031752e+02] [-8.25527637e-04 8.73556487e-06 9.99999659e-01 -7.58334547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781858064 meters 0.01622783063453733 Centerline is valid? [True, True] Translation: X:60.61, Y:-129.05, Z:-0.76 [[ 7.40251538e-01 6.72329854e-01 4.77867843e-04 6.06053407e+01] [-6.72329708e-01 7.40251692e-01 -4.42329474e-04 -1.29052567e+02] [-6.51133790e-04 6.15032621e-06 9.99999788e-01 -7.58822037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.811858064 meters 0.016071886811693893 Centerline is valid? [True, True] Translation: X:60.63, Y:-129.07, Z:-0.76 [[ 7.39276938e-01 6.73401502e-01 1.64724881e-04 6.06298659e+01] [-6.73401484e-01 7.39276956e-01 -1.52545516e-04 -1.29073748e+02] [-2.24501688e-04 1.84740278e-06 9.99999975e-01 -7.59016641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841858064 meters 0.016001107794926958 Centerline is valid? [True, True] Translation: X:60.66, Y:-129.10, Z:-0.76 [[ 7.38400443e-01 6.74362501e-01 -5.32247495e-05 6.06550204e+01] [-6.74362499e-01 7.38400445e-01 4.93215463e-05 -1.29095726e+02] [ 7.25617801e-05 -5.26276486e-07 9.99999997e-01 -7.59425972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.871858064 meters 0.01567701339652945 Centerline is valid? [True, True] Translation: X:60.68, Y:-129.12, Z:-0.76 [[ 7.36147023e-01 6.76821543e-01 -4.00011869e-04 6.06797086e+01] [-6.76821442e-01 7.36147131e-01 3.70816428e-04 -1.29115417e+02] [ 5.45444137e-04 -2.23879975e-06 9.99999851e-01 -7.59366127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901858064 meters 0.01555369482939524 Centerline is valid? [True, True] Translation: X:60.71, Y:-129.14, Z:-0.76 [[ 7.35068865e-01 6.77992400e-01 -2.63876329e-04 6.07052058e+01] [-6.77992356e-01 7.35068912e-01 2.44754371e-04 -1.29136929e+02] [ 3.59908889e-04 -1.00518350e-06 9.99999935e-01 -7.59328717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93185806399998 meters 0.015435054407842723 Centerline is valid? [True, True] Translation: X:60.73, Y:-129.16, Z:-0.76 [[ 7.33903277e-01 6.79253981e-01 -9.57969094e-05 6.07298368e+01] [-6.79253976e-01 7.33903283e-01 8.89068067e-05 -1.29158357e+02] [ 1.30695969e-04 -1.78565206e-07 9.99999991e-01 -7.59019859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96185806399998 meters 0.015246648059445062 Centerline is valid? [True, True] Translation: X:60.75, Y:-129.18, Z:-0.76 [[ 7.31996209e-01 6.81308620e-01 -3.37637015e-04 6.07549193e+01] [-6.81308548e-01 7.31996287e-01 3.13521565e-04 -1.29180134e+02] [ 4.60753986e-04 5.38387816e-07 9.99999894e-01 -7.58550710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99185806399998 meters 0.015182774943749918 Centerline is valid? [True, True] Translation: X:60.78, Y:-129.20, Z:-0.76 [[ 7.31217785e-01 6.82143907e-01 -4.90895435e-04 6.07787357e+01] [-6.82143755e-01 7.31217950e-01 4.56073190e-04 -1.29201997e+02] [ 6.70059101e-04 1.37242703e-06 9.99999776e-01 -7.58423959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02185806399999 meters 0.015178836210676755 Centerline is valid? [True, True] Translation: X:60.80, Y:-129.22, Z:-0.76 [[ 7.30613479e-01 6.82790968e-01 -6.61378822e-04 6.08025971e+01] [-6.82790692e-01 7.30613779e-01 6.14810646e-04 -1.29224292e+02] [ 9.02999636e-04 2.39435827e-06 9.99999592e-01 -7.58590898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.051858064 meters 0.015062693522681418 Centerline is valid? [True, True] Translation: X:60.83, Y:-129.25, Z:-0.76 [[ 7.30579229e-01 6.82827275e-01 -9.50496255e-04 6.08259060e+01] [-6.82826703e-01 7.30579847e-01 8.83879367e-04 -1.29246375e+02] [ 1.29795035e-03 3.28031761e-06 9.99999158e-01 -7.58865420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.081858064 meters 0.015031014861150778 Centerline is valid? [True, True] Translation: X:60.85, Y:-129.27, Z:-0.76 [[ 7.30480138e-01 6.82932666e-01 -1.31952867e-03 6.08492475e+01] [-6.82931563e-01 7.30481330e-01 1.22774316e-03 -1.29269168e+02] [ 1.80235696e-03 4.30578404e-06 9.99998376e-01 -7.58686998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.111858064 meters 0.014909014966819885 Centerline is valid? [True, True] Translation: X:60.87, Y:-129.29, Z:-0.76 [[ 7.30613194e-01 6.82790683e-01 -1.11517981e-03 6.08718734e+01] [-6.82789894e-01 7.30614045e-01 1.03815575e-03 -1.29291312e+02] [ 1.52360910e-03 2.94321839e-06 9.99998839e-01 -7.58913737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.141858064 meters 0.014805307435644977 Centerline is valid? [True, True] Translation: X:60.90, Y:-129.32, Z:-0.76 [[ 7.31036405e-01 6.82336837e-01 -1.48815243e-03 6.08953277e+01] [-6.82335430e-01 7.31037920e-01 1.38590055e-03 -1.29315198e+02] [ 2.03354685e-03 2.27537185e-06 9.99997932e-01 -7.58422314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.171858064 meters 0.014778603722747547 Centerline is valid? [True, True] Translation: X:60.92, Y:-129.34, Z:-0.76 [[ 7.30918018e-01 6.82464476e-01 -1.04362939e-03 6.09195772e+01] [-6.82463783e-01 7.30918763e-01 9.72467546e-04 -1.29337979e+02] [ 1.42648286e-03 1.44521096e-06 9.99998983e-01 -7.58457147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.201858064 meters 0.014729433807622058 Centerline is valid? [True, True] Translation: X:60.94, Y:-129.36, Z:-0.76 [[ 7.30878548e-01 6.82506569e-01 -1.15385343e-03 6.09437735e+01] [-6.82505721e-01 7.30879459e-01 1.07577358e-03 -1.29360848e+02] [ 1.57755030e-03 1.25174124e-06 9.99998756e-01 -7.58371085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.231858064 meters 0.014593927724717959 Centerline is valid? [True, True] Translation: X:60.97, Y:-129.38, Z:-0.76 [[ 7.31165275e-01 6.82198579e-01 -1.56189352e-03 6.09663510e+01] [-6.82197023e-01 7.31166944e-01 1.45695471e-03 -1.29383784e+02] [ 2.13593735e-03 2.44420874e-07 9.99997719e-01 -7.59076492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.261858064 meters 0.014588326116120437 Centerline is valid? [True, True] Translation: X:60.99, Y:-129.41, Z:-0.76 [[ 7.31326970e-01 6.82023785e-01 -2.10239253e-03 6.09898766e+01] [-6.82020962e-01 7.31329992e-01 1.96221395e-03 -1.29407251e+02] [ 2.87581929e-03 -1.14420904e-06 9.99995865e-01 -7.59194361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.291858064 meters 0.014605884596870962 Centerline is valid? [True, True] Translation: X:61.01, Y:-129.43, Z:-0.76 [[ 7.31641378e-01 6.81686212e-01 -2.19117737e-03 6.10125017e+01] [-6.81683141e-01 7.31644660e-01 2.04619327e-03 -1.29430178e+02] [ 2.99802496e-03 -3.39099174e-06 9.99995506e-01 -7.59237293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321858064 meters 0.01456308909750224 Centerline is valid? [True, True] Translation: X:61.03, Y:-129.45, Z:-0.76 [[ 7.32022714e-01 6.81277258e-01 -2.01086116e-03 6.10346120e+01] [-6.81274668e-01 7.32025476e-01 1.87844308e-03 -1.29452584e+02] [ 2.75174215e-03 -5.11423161e-06 9.99996214e-01 -7.59248826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.351858064 meters 0.014671728269040516 Centerline is valid? [True, True] Translation: X:61.06, Y:-129.48, Z:-0.76 [[ 7.33079886e-01 6.80140693e-01 -1.58717702e-03 6.10574627e+01] [-6.80139075e-01 7.33081604e-01 1.48349868e-03 -1.29476611e+02] [ 2.17251809e-03 -8.02193720e-06 9.99997640e-01 -7.58006829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381858064 meters 0.014757234643897848 Centerline is valid? [True, True] Translation: X:61.08, Y:-129.50, Z:-0.76 [[ 7.33678139e-01 6.79495019e-01 -1.70539985e-03 6.10802186e+01] [-6.79493148e-01 7.33680121e-01 1.59455657e-03 -1.29499164e+02] [ 2.33471121e-03 -1.10837856e-05 9.99997275e-01 -7.57916684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.411858064 meters 0.014864415414447565 Centerline is valid? [True, True] Translation: X:61.10, Y:-129.52, Z:-0.76 [[ 7.34036712e-01 6.79108481e-01 -1.33255574e-03 6.11040899e+01] [-6.79107337e-01 7.34037922e-01 1.24663980e-03 -1.29522424e+02] [ 1.82475011e-03 -1.01310035e-05 9.99998335e-01 -7.58022345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441858064 meters 0.014940904573359977 Centerline is valid? [True, True] Translation: X:61.13, Y:-129.55, Z:-0.76 [[ 7.34601788e-01 6.78497289e-01 -1.28105124e-03 6.11262654e+01] [-6.78496230e-01 7.34602905e-01 1.19907489e-03 -1.29545457e+02] [ 1.75463302e-03 -1.16541238e-05 9.99998461e-01 -7.57683277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.471858064 meters 0.014896886536650845 Centerline is valid? [True, True] Translation: X:61.15, Y:-129.57, Z:-0.76 [[ 7.34677713e-01 6.78415077e-01 -1.28116590e-03 6.11501282e+01] [-6.78414017e-01 7.34678829e-01 1.19983678e-03 -1.29568413e+02] [ 1.75523282e-03 -1.23324415e-05 9.99998460e-01 -7.57657599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501858064 meters 0.014846127677467725 Centerline is valid? [True, True] Translation: X:61.17, Y:-129.59, Z:-0.76 [[ 7.34610945e-01 6.78487145e-01 -1.39781187e-03 6.11744915e+01] [-6.78485880e-01 7.34612275e-01 1.30978808e-03 -1.29591238e+02] [ 1.91552413e-03 -1.37890467e-05 9.99998165e-01 -7.57900678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.531858064 meters 0.014906178190937468 Centerline is valid? [True, True] Translation: X:61.20, Y:-129.61, Z:-0.76 [[ 7.34667271e-01 6.78425514e-01 -1.68012950e-03 6.11988187e+01] [-6.78423685e-01 7.34669192e-01 1.57517466e-03 -1.29614137e+02] [ 2.30297806e-03 -1.73896174e-05 9.99997348e-01 -7.58321351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561858064 meters 0.014910806684624385 Centerline is valid? [True, True] Translation: X:61.22, Y:-129.64, Z:-0.76 [[ 7.34640988e-01 6.78453027e-01 -2.02692752e-03 6.12229042e+01] [-6.78450363e-01 7.34643784e-01 1.90132559e-03 -1.29636921e+02] [ 2.77902981e-03 -2.16219988e-05 9.99996138e-01 -7.58427069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.591858064 meters 0.014914005451074373 Centerline is valid? [True, True] Translation: X:61.25, Y:-129.66, Z:-0.76 [[ 7.34607490e-01 6.78488965e-01 -2.13563132e-03 6.12467704e+01] [-6.78486004e-01 7.34610594e-01 2.00436890e-03 -1.29659562e+02] [ 2.92879957e-03 -2.34284445e-05 9.99995711e-01 -7.58373701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621858064 meters 0.014833974200623509 Centerline is valid? [True, True] Translation: X:61.27, Y:-129.68, Z:-0.76 [[ 7.34754781e-01 6.78328588e-01 -2.39534521e-03 6.12705299e+01] [-6.78324860e-01 7.34758685e-01 2.24932948e-03 -1.29682347e+02] [ 3.28578519e-03 -2.78833855e-05 9.99994601e-01 -7.58238275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.651858064 meters 0.014932892267559804 Centerline is valid? [True, True] Translation: X:61.29, Y:-129.70, Z:-0.76 [[ 7.34786195e-01 6.78293508e-01 -2.67662273e-03 6.12933728e+01] [-6.78288847e-01 7.34791069e-01 2.51471940e-03 -1.29704374e+02] [ 3.67247632e-03 -3.22577561e-05 9.99993256e-01 -7.58319705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68185806399998 meters 0.015192647373956139 Centerline is valid? [True, True] Translation: X:61.32, Y:-129.73, Z:-0.76 [[ 7.35583282e-01 6.77428043e-01 -2.91242414e-03 6.13156676e+01] [-6.77422513e-01 7.35589047e-01 2.73743410e-03 -1.29726616e+02] [ 3.99676192e-03 -4.06690802e-05 9.99992012e-01 -7.58596985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71185806399998 meters 0.015363056961904691 Centerline is valid? [True, True] Translation: X:61.34, Y:-129.75, Z:-0.76 [[ 7.35957994e-01 6.77021501e-01 -2.77832484e-03 6.13392768e+01] [-6.77016460e-01 7.35963237e-01 2.61273636e-03 -1.29749370e+02] [ 3.81362363e-03 -4.18925648e-05 9.99992727e-01 -7.58389790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74185806399998 meters 0.015050832422010175 Centerline is valid? [True, True] Translation: X:61.36, Y:-129.77, Z:-0.76 [[ 7.37333994e-01 6.75524157e-01 -2.38656727e-03 6.13637413e+01] [-6.75520426e-01 7.37337855e-01 2.24543073e-03 -1.29770374e+02] [ 3.27654909e-03 -4.34574677e-05 9.99994631e-01 -7.57283552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77185806399999 meters 0.0163649381925867 Centerline is valid? [True, True] Translation: X:61.38, Y:-129.79, Z:-0.76 [[ 7.38007767e-01 6.74788203e-01 -2.32740968e-03 6.13844212e+01] [-6.74784649e-01 7.38011435e-01 2.19076259e-03 -1.29794404e+02] [ 3.19595571e-03 -4.62994874e-05 9.99994892e-01 -7.58070839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.801858064 meters 0.016114552023545715 Centerline is valid? [True, True] Translation: X:61.41, Y:-129.82, Z:-0.76 [[ 7.38680122e-01 6.74052634e-01 -2.17343299e-03 6.14084456e+01] [-6.74049528e-01 7.38683318e-01 2.04677339e-03 -1.29816381e+02] [ 2.98511169e-03 -4.69093365e-05 9.99995543e-01 -7.57673997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.831858064 meters 0.016116579138216063 Centerline is valid? [True, True] Translation: X:61.43, Y:-129.84, Z:-0.76 [[ 7.39542468e-01 6.73106084e-01 -2.26671617e-03 6.14321530e+01] [-6.73102698e-01 7.39545939e-01 2.13563914e-03 -1.29838041e+02] [ 3.11385244e-03 -5.36630661e-05 9.99995151e-01 -7.57600278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.861858064 meters 0.017002474013627127 Centerline is valid? [True, True] Translation: X:61.46, Y:-129.86, Z:-0.76 [[ 7.41223924e-01 6.71251932e-01 -2.81747495e-03 6.14550449e+01] [-6.71246682e-01 7.41229275e-01 2.65580555e-03 -1.29860572e+02] [ 3.87110953e-03 -7.73258989e-05 9.99992504e-01 -7.58126952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.891858064 meters 0.017557970990259388 Centerline is valid? [True, True] Translation: X:61.48, Y:-129.88, Z:-0.76 [[ 7.41653547e-01 6.70774726e-01 -3.35911722e-03 6.14782713e+01] [-6.70767252e-01 7.41661148e-01 3.16787742e-03 -1.29882423e+02] [ 4.61625884e-03 -9.62817017e-05 9.99989340e-01 -7.58409180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.921858064 meters 0.018589714014315164 Centerline is valid? [True, True] Translation: X:61.50, Y:-129.90, Z:-0.76 [[ 7.41905963e-01 6.70492214e-01 -3.96644059e-03 6.15004061e+01] [-6.70481781e-01 7.41916557e-01 3.74226863e-03 -1.29904006e+02] [ 5.45192992e-03 -1.16985261e-04 9.99985131e-01 -7.59080114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.951858064 meters 0.018862396112995533 Centerline is valid? [True, True] Translation: X:61.52, Y:-129.93, Z:-0.76 [[ 7.42368783e-01 6.69973561e-01 -4.90081795e-03 6.15238277e+01] [-6.69957614e-01 7.42384944e-01 4.62501434e-03 -1.29925342e+02] [ 6.73693079e-03 -1.50125965e-04 9.99977295e-01 -7.59303137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.981858064 meters 0.019139937198789585 Centerline is valid? [True, True] Translation: X:61.55, Y:-129.95, Z:-0.76 [[ 7.42241638e-01 6.70112974e-01 -5.09439950e-03 6.15471895e+01] [-6.70095729e-01 7.42259104e-01 4.81010265e-03 -1.29947219e+02] [ 7.00467660e-03 -1.56523127e-04 9.99975455e-01 -7.59774449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.011858064 meters 0.01849043402443492 Centerline is valid? [True, True] Translation: X:61.57, Y:-129.97, Z:-0.76 [[ 7.41902161e-01 6.70485243e-01 -5.54282781e-03 6.15728117e+01] [-6.70464817e-01 7.41922847e-01 5.23635735e-03 -1.29968048e+02] [ 7.62325092e-03 -1.68593803e-04 9.99970928e-01 -7.59720596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.041858064 meters 0.018306385093322435 Centerline is valid? [True, True] Translation: X:61.60, Y:-129.99, Z:-0.76 [[ 7.41384874e-01 6.71052946e-01 -6.03424186e-03 6.15986887e+01] [-6.71028730e-01 7.41409409e-01 5.70371386e-03 -1.29988973e+02] [ 8.30133768e-03 -1.79497526e-04 9.99965527e-01 -7.60589577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.071858064 meters 0.018107164342455517 Centerline is valid? [True, True] Translation: X:61.62, Y:-130.01, Z:-0.76 [[ 7.41225166e-01 6.71227557e-01 -6.23061980e-03 6.16233078e+01] [-6.71201717e-01 7.41251329e-01 5.89255283e-03 -1.30011168e+02] [ 8.57369905e-03 -1.85705736e-04 9.99963228e-01 -7.60711884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101858064 meters 0.018407824847372578 Centerline is valid? [True, True] Translation: X:61.65, Y:-130.03, Z:-0.76 [[ 7.41116169e-01 6.71345712e-01 -6.46205182e-03 6.16464515e+01] [-6.71317895e-01 7.41144316e-01 6.11453333e-03 -1.30032474e+02] [ 8.89427871e-03 -1.93488494e-04 9.99960426e-01 -7.61527265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.131858064 meters 0.018554009348033904 Centerline is valid? [True, True] Translation: X:61.67, Y:-130.05, Z:-0.76 [[ 7.41111710e-01 6.71352071e-01 -6.31115615e-03 6.16715317e+01] [-6.71325509e-01 7.41138557e-01 5.97496534e-03 -1.30054521e+02] [ 8.68874651e-03 -1.91276663e-04 9.99962234e-01 -7.62015117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161858064 meters 0.018396491065360593 Centerline is valid? [True, True] Translation: X:61.70, Y:-130.08, Z:-0.76 [[ 7.41135945e-01 6.71327238e-01 -6.10335601e-03 6.16962904e+01] [-6.71302369e-01 7.41161052e-01 5.78135794e-03 -1.30076537e+02] [ 8.40475282e-03 -1.87574827e-04 9.99964662e-01 -7.62203814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.191858064 meters 0.018787299582280072 Centerline is valid? [True, True] Translation: X:61.72, Y:-130.10, Z:-0.76 [[ 7.41636404e-01 6.70776156e-01 -5.89857107e-03 6.17198282e+01] [-6.70752889e-01 7.41659837e-01 5.59000653e-03 -1.30098439e+02] [ 8.12437635e-03 -1.89268755e-04 9.99966979e-01 -7.62370231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221858064 meters 0.018476614095078264 Centerline is valid? [True, True] Translation: X:61.74, Y:-130.12, Z:-0.76 [[ 7.42859642e-01 6.69421769e-01 -5.83505342e-03 6.17440302e+01] [-6.69398937e-01 7.42882531e-01 5.53249067e-03 -1.30119030e+02] [ 8.03832894e-03 -2.03885481e-04 9.99967671e-01 -7.61784774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.251858064 meters 0.018529350917252652 Centerline is valid? [True, True] Translation: X:61.77, Y:-130.14, Z:-0.76 [[ 7.43325269e-01 6.68905090e-01 -5.79010890e-03 6.17673480e+01] [-6.68882572e-01 7.43347790e-01 5.49254383e-03 -1.30141061e+02] [ 7.97805518e-03 -2.09843685e-04 9.99968153e-01 -7.61376235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281858064 meters 0.019117255509795067 Centerline is valid? [True, True] Translation: X:61.79, Y:-130.16, Z:-0.76 [[ 7.43879962e-01 6.68292086e-01 -5.31881890e-03 6.17894008e+01] [-6.68273053e-01 7.43898950e-01 5.04773219e-03 -1.30163143e+02] [ 7.33002327e-03 -2.00483487e-04 9.99973115e-01 -7.61609954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.311858064 meters 0.018942934009894618 Centerline is valid? [True, True] Translation: X:61.81, Y:-130.18, Z:-0.76 [[ 7.44446692e-01 6.67664344e-01 -4.84223089e-03 6.18137951e+01] [-6.67648540e-01 7.44462416e-01 4.59766230e-03 -1.30184653e+02] [ 6.67455409e-03 -1.89806097e-04 9.99977707e-01 -7.60904537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341858064 meters 0.018659466443052254 Centerline is valid? [True, True] Translation: X:61.84, Y:-130.21, Z:-0.76 [[ 7.44403883e-01 6.67714579e-01 -4.48325069e-03 6.18385285e+01] [-6.67701018e-01 7.44417362e-01 4.25919197e-03 -1.30206415e+02] [ 6.18133423e-03 -1.77087988e-04 9.99980880e-01 -7.61186576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.371858064 meters 0.018418875902471387 Centerline is valid? [True, True] Translation: X:61.86, Y:-130.23, Z:-0.76 [[ 7.44009040e-01 6.68155721e-01 -4.29886556e-03 6.18628895e+01] [-6.68143248e-01 7.44021441e-01 4.08601910e-03 -1.30228047e+02] [ 5.92854519e-03 -1.67777147e-04 9.99982412e-01 -7.61380635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401858064 meters 0.018678720768737625 Centerline is valid? [True, True] Translation: X:61.89, Y:-130.25, Z:-0.76 [[ 7.43602214e-01 6.68610493e-01 -3.96947774e-03 6.18857899e+01] [-6.68599855e-01 7.43612793e-01 3.77463936e-03 -1.30249391e+02] [ 5.47551791e-03 -1.52837944e-04 9.99984998e-01 -7.61571444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43185806399998 meters 0.017925052717662076 Centerline is valid? [True, True] Translation: X:61.91, Y:-130.27, Z:-0.76 [[ 7.42166531e-01 6.70203816e-01 -3.96045878e-03 6.19110554e+01] [-6.70193240e-01 7.42177084e-01 3.76790168e-03 -1.30269719e+02] [ 5.46462383e-03 -1.42137818e-04 9.99985059e-01 -7.61599877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46185806399998 meters 0.017925052717662076 Centerline is valid? [True, True] Translation: X:61.93, Y:-130.29, Z:-0.76 [[ 7.41979519e-01 6.70410856e-01 -3.95940714e-03 6.19345052e+01] [-6.70400276e-01 7.41990070e-01 3.76900675e-03 -1.30292121e+02] [ 5.46462383e-03 -1.42138178e-04 9.99985059e-01 -7.61600208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49185806399998 meters 0.01755109109764944 Centerline is valid? [True, True] Translation: X:61.96, Y:-130.31, Z:-0.76 [[ 7.41002415e-01 6.71488788e-01 -4.26947477e-03 6.19589225e+01] [-6.71476493e-01 7.41014700e-01 4.06615292e-03 -1.30313305e+02] [ 5.89411966e-03 -1.46177189e-04 9.99982619e-01 -7.62101749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52185806399999 meters 0.017210087297568157 Centerline is valid? [True, True] Translation: X:61.98, Y:-130.33, Z:-0.76 [[ 7.39855185e-01 6.72753252e-01 -4.16732425e-03 6.19828164e+01] [-6.72741547e-01 7.39866909e-01 3.97080729e-03 -1.30334185e+02] [ 5.75463884e-03 -1.34290197e-04 9.99983433e-01 -7.62536543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.551858064 meters 0.017626889273775107 Centerline is valid? [True, True] Translation: X:62.01, Y:-130.36, Z:-0.76 [[ 7.38916648e-01 6.73783086e-01 -4.30592005e-03 6.20056160e+01] [-6.73770595e-01 7.38929182e-01 4.10471587e-03 -1.30355582e+02] [ 5.94745811e-03 -1.31840579e-04 9.99982305e-01 -7.63054629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.581858064 meters 0.016237311545921493 Centerline is valid? [True, True] Translation: X:62.03, Y:-130.37, Z:-0.76 [[ 7.37432553e-01 6.75408516e-01 -4.07006693e-03 6.20322671e+01] [-6.75397378e-01 7.37443776e-01 3.88056928e-03 -1.30374822e+02] [ 5.62241507e-03 -1.12745576e-04 9.99984188e-01 -7.63047200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.611858064 meters 0.01620374626197489 Centerline is valid? [True, True] Translation: X:62.06, Y:-130.40, Z:-0.76 [[ 7.36932778e-01 6.75952850e-01 -4.22203729e-03 6.20560161e+01] [-6.75940859e-01 7.36944864e-01 4.02773228e-03 -1.30397132e+02] [ 5.83396581e-03 -1.14320423e-04 9.99982976e-01 -7.63599076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.641858064 meters 0.016318910668825116 Centerline is valid? [True, True] Translation: X:62.08, Y:-130.42, Z:-0.76 [[ 7.36455279e-01 6.76469976e-01 -4.68975098e-03 6.20786811e+01] [-6.76455178e-01 7.36470200e-01 4.47626540e-03 -1.30419411e+02] [ 6.48192099e-03 -1.24162945e-04 9.99978984e-01 -7.63976287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.671858064 meters 0.016193736481315956 Centerline is valid? [True, True] Translation: X:62.10, Y:-130.44, Z:-0.76 [[ 7.36036087e-01 6.76924766e-01 -4.87232887e-03 6.21021641e+01] [-6.76908795e-01 7.36052203e-01 4.65175345e-03 -1.30442059e+02] [ 6.73517551e-03 -1.25736139e-04 9.99977311e-01 -7.63528247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.701858064 meters 0.016152115445159265 Centerline is valid? [True, True] Translation: X:62.13, Y:-130.46, Z:-0.76 [[ 7.35745095e-01 6.77244982e-01 -4.28828991e-03 6.21260714e+01] [-6.77232604e-01 7.35757584e-01 4.09613204e-03 -1.30464175e+02] [ 5.92922669e-03 -1.09539321e-04 9.99982416e-01 -7.62918992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.731858064 meters 0.016201018566685675 Centerline is valid? [True, True] Translation: X:62.15, Y:-130.49, Z:-0.76 [[ 7.35427842e-01 6.77594211e-01 -3.46042393e-03 6.21495690e+01] [-6.77586147e-01 7.35435978e-01 3.30694552e-03 -1.30485551e+02] [ 4.78568740e-03 -8.72844815e-05 9.99988545e-01 -7.62685969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.761858064 meters 0.016167260004502776 Centerline is valid? [True, True] Translation: X:62.17, Y:-130.51, Z:-0.76 [[ 7.35002248e-01 6.78058568e-01 -2.87654518e-03 6.21735093e+01] [-6.78052994e-01 7.35007873e-01 2.75027281e-03 -1.30507148e+02] [ 3.97912940e-03 -7.10066281e-05 9.99992081e-01 -7.62231987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.791858064 meters 0.015696622494546952 Centerline is valid? [True, True] Translation: X:62.20, Y:-130.53, Z:-0.76 [[ 7.34477433e-01 6.78629634e-01 -2.17236975e-03 6.21983858e+01] [-6.78626455e-01 7.34480644e-01 2.07801673e-03 -1.30528244e+02] [ 3.00576727e-03 -5.20288080e-05 9.99995481e-01 -7.62062193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821858064 meters 0.015571104891999836 Centerline is valid? [True, True] Translation: X:62.22, Y:-130.55, Z:-0.76 [[ 7.33999321e-01 6.79146220e-01 -2.32565517e-03 6.22226043e+01] [-6.79142575e-01 7.34003003e-01 2.22587835e-03 -1.30550940e+02] [ 3.21873475e-03 -5.43417555e-05 9.99994818e-01 -7.62390780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.851858064 meters 0.015305857753534838 Centerline is valid? [True, True] Translation: X:62.25, Y:-130.57, Z:-0.76 [[ 7.33607879e-01 6.79568683e-01 -2.42569813e-03 6.22469281e+01] [-6.79564715e-01 7.33611887e-01 2.32293692e-03 -1.30573527e+02] [ 3.35811616e-03 -5.57059653e-05 9.99994360e-01 -7.62600285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881858064 meters 0.016062372523914483 Centerline is valid? [True, True] Translation: X:62.27, Y:-130.60, Z:-0.76 [[ 7.33314971e-01 6.79884123e-01 -2.59474714e-03 6.22684720e+01] [-6.79879581e-01 7.33319560e-01 2.48569239e-03 -1.30597074e+02] [ 3.59276162e-03 -5.86798489e-05 9.99993544e-01 -7.63565561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.911858064 meters 0.015375756772359563 Centerline is valid? [True, True] Translation: X:62.29, Y:-130.62, Z:-0.76 [[ 7.32633539e-01 6.80617078e-01 -2.91401372e-03 6.22929248e+01] [-6.80611350e-01 7.32639331e-01 2.79288806e-03 -1.30618517e+02] [ 4.03580837e-03 -6.28526533e-05 9.99991854e-01 -7.63941020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941858064 meters 0.015364637693823192 Centerline is valid? [True, True] Translation: X:62.32, Y:-130.64, Z:-0.76 [[ 7.32227885e-01 6.81054173e-01 -2.74539808e-03 6.23165362e+01] [-6.81049087e-01 7.32233030e-01 2.63272525e-03 -1.30640863e+02] [ 3.80329967e-03 -5.80039861e-05 9.99992766e-01 -7.63902295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.971858064 meters 0.015337391852751956 Centerline is valid? [True, True] Translation: X:62.34, Y:-130.66, Z:-0.76 [[ 7.31788905e-01 6.81526955e-01 -2.45108289e-03 6.23389544e+01] [-6.81522902e-01 7.31793008e-01 2.35111974e-03 -1.30661974e+02] [ 3.39603680e-03 -5.00542140e-05 9.99994232e-01 -7.63657894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001858064 meters 0.015336433802591226 Centerline is valid? [True, True] Translation: X:62.36, Y:-130.68, Z:-0.76 [[ 7.31468221e-01 6.81871186e-01 -2.43465137e-03 6.23626638e+01] [-6.81867185e-01 7.31472271e-01 2.33662415e-03 -1.30684975e+02] [ 3.37415665e-03 -4.90574356e-05 9.99994306e-01 -7.63638242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.031858064 meters 0.01476858068522072 Centerline is valid? [True, True] Translation: X:62.39, Y:-130.71, Z:-0.76 [[ 7.31099140e-01 6.82267765e-01 -2.17817916e-03 6.23873014e+01] [-6.82264560e-01 7.31102384e-01 2.09165741e-03 -1.30707519e+02] [ 3.01954241e-03 -4.31144901e-05 9.99995440e-01 -7.63133895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061858064 meters 0.014830369622400707 Centerline is valid? [True, True] Translation: X:62.41, Y:-130.73, Z:-0.76 [[ 7.31015274e-01 6.82359097e-01 -1.65302299e-03 6.24098491e+01] [-6.82357250e-01 7.31017142e-01 1.58791654e-03 -1.30729946e+02] [ 2.29191744e-03 -3.28390224e-05 9.99997373e-01 -7.62877600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.091858064 meters 0.01448494017292883 Centerline is valid? [True, True] Translation: X:62.43, Y:-130.75, Z:-0.76 [[ 7.30165294e-01 6.83269574e-01 -1.15476643e-03 6.24332709e+01] [-6.83268673e-01 7.30166207e-01 1.10983499e-03 -1.30751710e+02] [ 1.60148791e-03 -2.13472685e-05 9.99998717e-01 -7.62033990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121858064 meters 0.014289506418969365 Centerline is valid? [True, True] Translation: X:62.46, Y:-130.77, Z:-0.76 [[ 7.29428151e-01 6.84057018e-01 -7.53880333e-04 6.24572580e+01] [-6.84056635e-01 7.29428540e-01 7.24740497e-04 -1.30773814e+02] [ 1.04566565e-03 -1.29492776e-05 9.99999453e-01 -7.62126995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.151858064 meters 0.014696836175156242 Centerline is valid? [True, True] Translation: X:62.48, Y:-130.80, Z:-0.76 [[ 7.28561905e-01 6.84979557e-01 -7.46508768e-04 6.24786432e+01] [-6.84979181e-01 7.28562287e-01 7.17982385e-04 -1.30795900e+02] [ 1.03568139e-03 -1.17516494e-05 9.99999464e-01 -7.62228650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18185806399998 meters 0.013927392464975234 Centerline is valid? [True, True] Translation: X:62.50, Y:-130.82, Z:-0.76 [[ 7.26954716e-01 6.86685051e-01 -6.94384717e-04 6.25037122e+01] [-6.86684726e-01 7.26955047e-01 6.68173828e-04 -1.30816292e+02] [ 9.63611454e-04 -8.90873577e-06 9.99999536e-01 -7.62274837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21185806399998 meters 0.013919899817045646 Centerline is valid? [True, True] Translation: X:62.53, Y:-130.84, Z:-0.76 [[ 7.26429716e-01 6.87240625e-01 -4.36973957e-04 6.25273927e+01] [-6.87240496e-01 7.26429848e-01 4.20713927e-04 -1.30839011e+02] [ 6.06562627e-04 -5.31289978e-06 9.99999816e-01 -7.61985731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24185806399998 meters 0.013650117901597893 Centerline is valid? [True, True] Translation: X:62.55, Y:-130.86, Z:-0.76 [[ 7.26048080e-01 6.87643839e-01 -3.70089687e-04 6.25514009e+01] [-6.87643746e-01 7.26048174e-01 3.56523669e-04 -1.30862098e+02] [ 5.13864246e-04 -4.36346680e-06 9.99999868e-01 -7.61858186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27185806399999 meters 0.0138717242860574 Centerline is valid? [True, True] Translation: X:62.57, Y:-130.89, Z:-0.76 [[ 7.26199700e-01 6.87483585e-01 -5.62074026e-04 6.25733664e+01] [-6.87483372e-01 7.26199917e-01 5.41757594e-04 -1.30885147e+02] [ 7.80627565e-04 -7.00765607e-06 9.99999695e-01 -7.62265990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.301858064 meters 0.013906669662074655 Centerline is valid? [True, True] Translation: X:62.60, Y:-130.91, Z:-0.76 [[ 7.26394102e-01 6.87277750e-01 -9.49754326e-04 6.25962495e+01] [-6.87277140e-01 7.26394723e-01 9.15939661e-04 -1.30908939e+02] [ 1.31940148e-03 -1.25887317e-05 9.99999130e-01 -7.62533301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.331858064 meters 0.014220540653499952 Centerline is valid? [True, True] Translation: X:62.62, Y:-130.93, Z:-0.76 [[ 7.26978934e-01 6.86658040e-01 -1.53804593e-03 6.26172407e+01] [-6.86656437e-01 7.26980560e-01 1.48395704e-03 -1.30931508e+02] [ 2.13710052e-03 -2.26963628e-05 9.99997716e-01 -7.62917020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.361858064 meters 0.014567587748379516 Centerline is valid? [True, True] Translation: X:62.64, Y:-130.96, Z:-0.76 [[ 7.28280502e-01 6.85274331e-01 -2.56935983e-03 6.26378939e+01] [-6.85269845e-01 7.28285033e-01 2.48019837e-03 -1.30956530e+02] [ 3.57084259e-03 -4.55752974e-05 9.99993624e-01 -7.63430761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.391858064 meters 0.014749824507632875 Centerline is valid? [True, True] Translation: X:62.66, Y:-130.98, Z:-0.76 [[ 7.28857733e-01 6.84659606e-01 -2.76187742e-03 6.26597717e+01] [-6.84654413e-01 7.28862964e-01 2.66732041e-03 -1.30979821e+02] [ 3.83923670e-03 -5.31655432e-05 9.99992629e-01 -7.63805873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.421858064 meters 0.015185036950180796 Centerline is valid? [True, True] Translation: X:62.68, Y:-131.00, Z:-0.76 [[ 7.29659796e-01 6.83803151e-01 -3.13560125e-03 6.26807284e+01] [-6.83796443e-01 7.29666531e-01 3.02959403e-03 -1.31002582e+02] [ 4.35958922e-03 -6.64599805e-05 9.99990495e-01 -7.63703457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.451858064 meters 0.01583810741593991 Centerline is valid? [True, True] Translation: X:62.70, Y:-131.03, Z:-0.76 [[ 7.31423640e-01 6.81914446e-01 -3.48547084e-03 6.27012800e+01] [-6.81906128e-01 7.31431939e-01 3.36925609e-03 -1.31027786e+02] [ 4.84692909e-03 -8.75896252e-05 9.99988250e-01 -7.63074082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.481858064 meters 0.01623761614140274 Centerline is valid? [True, True] Translation: X:62.72, Y:-131.05, Z:-0.76 [[ 7.32201552e-01 6.81077655e-01 -3.75689795e-03 6.27227200e+01] [-6.81067971e-01 7.32211183e-01 3.63337419e-03 -1.31051335e+02] [ 5.22545267e-03 -1.01659358e-04 9.99986342e-01 -7.63273039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.511858064 meters 0.015658441156491825 Centerline is valid? [True, True] Translation: X:62.75, Y:-131.07, Z:-0.76 [[ 7.32869935e-01 6.80355797e-01 -4.20104354e-03 6.27452624e+01] [-6.80343665e-01 7.32881966e-01 4.06479777e-03 -1.31073550e+02] [ 5.84437777e-03 -1.20814715e-04 9.99982914e-01 -7.62781212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.541858064 meters 0.01715474549013287 Centerline is valid? [True, True] Translation: X:62.76, Y:-131.10, Z:-0.76 [[ 7.33490161e-01 6.79684063e-01 -4.66449998e-03 6.27645105e+01] [-6.79669080e-01 7.33504979e-01 4.51529328e-03 -1.31098102e+02] [ 6.49040684e-03 -1.41606789e-04 9.99978927e-01 -7.63697585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.571858064 meters 0.017200621033605014 Centerline is valid? [True, True] Translation: X:62.79, Y:-131.12, Z:-0.76 [[ 7.34910628e-01 6.78144417e-01 -5.14960906e-03 6.27850492e+01] [-6.78126101e-01 7.34928649e-01 4.98712843e-03 -1.31122449e+02] [ 7.16658853e-03 -1.73009372e-04 9.99974305e-01 -7.63289690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601858064 meters 0.017354726396228988 Centerline is valid? [True, True] Translation: X:62.81, Y:-131.15, Z:-0.76 [[ 7.35625739e-01 6.77368518e-01 -5.16365388e-03 6.28070667e+01] [-6.77350065e-01 7.35643839e-01 5.00316413e-03 -1.31145913e+02] [ 7.18759604e-03 -1.82855021e-04 9.99974152e-01 -7.63448597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.631858064 meters 0.01803939920071962 Centerline is valid? [True, True] Translation: X:62.83, Y:-131.17, Z:-0.76 [[ 7.36325318e-01 6.76605743e-01 -5.44926170e-03 6.28275804e+01] [-6.76585153e-01 7.36345454e-01 5.28226243e-03 -1.31169194e+02] [ 7.58654817e-03 -2.02574005e-04 9.99971201e-01 -7.64033271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661858064 meters 0.01697089987197088 Centerline is valid? [True, True] Translation: X:62.85, Y:-131.19, Z:-0.76 [[ 7.36585525e-01 6.76320277e-01 -5.71374677e-03 6.28510891e+01] [-6.76297610e-01 7.36607654e-01 5.54140935e-03 -1.31191633e+02] [ 7.95655711e-03 -2.17528634e-04 9.99968322e-01 -7.63542655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.691858064 meters 0.018069851928102378 Centerline is valid? [True, True] Translation: X:62.87, Y:-131.22, Z:-0.76 [[ 7.37457806e-01 6.75369696e-01 -5.63540073e-03 6.28701647e+01] [-6.75347599e-01 7.37479303e-01 5.46794237e-03 -1.31216781e+02] [ 7.84887398e-03 -2.26522427e-04 9.99969171e-01 -7.63702457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721858064 meters 0.018492102222929057 Centerline is valid? [True, True] Translation: X:62.89, Y:-131.24, Z:-0.76 [[ 7.37639228e-01 6.75171513e-01 -5.63893211e-03 6.28914755e+01] [-6.75149371e-01 7.37660746e-01 5.47282519e-03 -1.31240202e+02] [ 7.85471452e-03 -2.29849086e-04 9.99969125e-01 -7.63693067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.751858064 meters 0.01924445889802292 Centerline is valid? [True, True] Translation: X:62.91, Y:-131.26, Z:-0.76 [[ 7.37506304e-01 6.75317043e-01 -5.59846885e-03 6.29119403e+01] [-6.75295200e-01 7.37527518e-01 5.43634476e-03 -1.31264902e+02] [ 7.80028110e-03 -2.28719391e-04 9.99969551e-01 -7.63727314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781858064 meters 0.018758721899127227 Centerline is valid? [True, True] Translation: X:62.94, Y:-131.29, Z:-0.76 [[ 7.37404347e-01 6.75429011e-01 -5.52093536e-03 6.29356768e+01] [-6.75407749e-01 7.37424979e-01 5.36398405e-03 -1.31288305e+02] [ 7.69426608e-03 -2.26542627e-04 9.99970373e-01 -7.63578169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.811858064 meters 0.01811938101539375 Centerline is valid? [True, True] Translation: X:62.96, Y:-131.31, Z:-0.76 [[ 7.36968749e-01 6.75903224e-01 -5.64753479e-03 6.29587566e+01] [-6.75880969e-01 7.36990352e-01 5.48964058e-03 -1.31311087e+02] [ 7.87264442e-03 -2.28632260e-04 9.99968984e-01 -7.63007632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841858064 meters 0.019226166274634474 Centerline is valid? [True, True] Translation: X:62.98, Y:-131.34, Z:-0.76 [[ 7.36756067e-01 6.76134541e-01 -5.70794020e-03 6.29794890e+01] [-6.76111792e-01 7.36778141e-01 5.55121846e-03 -1.31336026e+02] [ 7.95885611e-03 -2.30688200e-04 9.99968301e-01 -7.63670896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871858064 meters 0.019209465185399496 Centerline is valid? [True, True] Translation: X:63.00, Y:-131.36, Z:-0.76 [[ 7.36242298e-01 6.76696052e-01 -5.45271626e-03 6.30016017e+01] [-6.76675288e-01 7.36262458e-01 5.30546847e-03 -1.31359966e+02] [ 7.60481984e-03 -2.16391954e-04 9.99971060e-01 -7.64009770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901858064 meters 0.01755647399448939 Centerline is valid? [True, True] Translation: X:63.03, Y:-131.38, Z:-0.76 [[ 7.35598021e-01 6.77395868e-01 -5.51266251e-03 6.30263826e+01] [-6.77374657e-01 7.35618647e-01 5.36472670e-03 -1.31381339e+02] [ 7.68926103e-03 -2.12144468e-04 9.99970415e-01 -7.63423304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93185806399998 meters 0.017794660358289784 Centerline is valid? [True, True] Translation: X:63.05, Y:-131.40, Z:-0.76 [[ 7.34820533e-01 6.78241422e-01 -5.23047060e-03 6.30481093e+01] [-6.78222332e-01 7.34839122e-01 5.09239156e-03 -1.31404101e+02] [ 7.29742532e-03 -1.94571916e-04 9.99973355e-01 -7.63947625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96185806399998 meters 0.016800759468915332 Centerline is valid? [True, True] Translation: X:63.07, Y:-131.43, Z:-0.76 [[ 7.33177275e-01 6.80020869e-01 -4.76456052e-03 6.30713095e+01] [-6.80005061e-01 7.33192739e-01 4.63958287e-03 -1.31426865e+02] [ 6.64835435e-03 -1.61711458e-04 9.99977886e-01 -7.63368398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99185806399998 meters 0.0166320304873731 Centerline is valid? [True, True] Translation: X:63.09, Y:-131.45, Z:-0.76 [[ 7.32172772e-01 6.81103452e-01 -4.59564496e-03 6.30942688e+01] [-6.81088752e-01 7.32187180e-01 4.47725694e-03 -1.31449723e+02] [ 6.41434748e-03 -1.48083532e-04 9.99979417e-01 -7.63268470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02185806399999 meters 0.01647798001450719 Centerline is valid? [True, True] Translation: X:63.12, Y:-131.47, Z:-0.76 [[ 7.31132649e-01 6.82221257e-01 -4.38251047e-03 6.31159006e+01] [-6.82207897e-01 7.31145771e-01 4.27150945e-03 -1.31471479e+02] [ 6.11836854e-03 -1.33256769e-04 9.99981274e-01 -7.63466004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.051858064 meters 0.015759009031409137 Centerline is valid? [True, True] Translation: X:63.14, Y:-131.49, Z:-0.76 [[ 7.29224455e-01 6.84262458e-01 -4.07217647e-03 6.31387668e+01] [-6.84250944e-01 7.29235817e-01 3.97094381e-03 -1.31493455e+02] [ 5.68674471e-03 -1.09318745e-04 9.99983824e-01 -7.63610026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.081858064 meters 0.015134253453996313 Centerline is valid? [True, True] Translation: X:63.16, Y:-131.52, Z:-0.76 [[ 7.28497816e-01 6.85034905e-01 -4.25576846e-03 6.31625875e+01] [-6.85022336e-01 7.28510238e-01 4.15106916e-03 -1.31515784e+02] [ 5.94399816e-03 -1.08748359e-04 9.99982328e-01 -7.63562605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.111858064 meters 0.015461604362922257 Centerline is valid? [True, True] Translation: X:63.18, Y:-131.54, Z:-0.76 [[ 7.27455783e-01 6.86138959e-01 -4.62735984e-03 6.31839182e+01] [-6.86124109e-01 7.27470492e-01 4.51555480e-03 -1.31538694e+02] [ 6.46456581e-03 -1.09923303e-04 9.99979098e-01 -7.64207753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.141858064 meters 0.014656316218932399 Centerline is valid? [True, True] Translation: X:63.21, Y:-131.56, Z:-0.76 [[ 7.25974464e-01 6.87703941e-01 -4.93629842e-03 6.32074492e+01] [-6.87687062e-01 7.25991239e-01 4.81940011e-03 -1.31560442e+02] [ 6.89802986e-03 -1.04132856e-04 9.99976203e-01 -7.64252906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.171858064 meters 0.01473869570103149 Centerline is valid? [True, True] Translation: X:63.23, Y:-131.58, Z:-0.76 [[ 7.25258266e-01 6.88459831e-01 -4.84862102e-03 6.32288933e+01] [-6.88443548e-01 7.25274467e-01 4.73594676e-03 -1.31582809e+02] [ 6.77709013e-03 -9.67826745e-05 9.99977031e-01 -7.64550725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.201858064 meters 0.01506456780119958 Centerline is valid? [True, True] Translation: X:63.25, Y:-131.61, Z:-0.77 [[ 7.24656291e-01 6.89095235e-01 -4.58450749e-03 6.32501806e+01] [-6.89080678e-01 7.24670787e-01 4.47993680e-03 -1.31605228e+02] [ 6.40936176e-03 -8.73188523e-05 9.99979456e-01 -7.65074412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.231858064 meters 0.01450044795540628 Centerline is valid? [True, True] Translation: X:63.27, Y:-131.63, Z:-0.76 [[ 7.24424383e-01 6.89342782e-01 -3.98018527e-03 6.32734353e+01] [-6.89331802e-01 7.24435313e-01 3.89155540e-03 -1.31627929e+02] [ 5.56600239e-03 -7.54693389e-05 9.99984507e-01 -7.64356214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.261858064 meters 0.014679769073216853 Centerline is valid? [True, True] Translation: X:63.30, Y:-131.65, Z:-0.76 [[ 7.24496835e-01 6.89266913e-01 -3.93176708e-03 6.32955221e+01] [-6.89256186e-01 7.24507500e-01 3.84619629e-03 -1.31651574e+02] [ 5.49965058e-03 -7.65622533e-05 9.99984874e-01 -7.64049826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.291858064 meters 0.015372357868468014 Centerline is valid? [True, True] Translation: X:63.32, Y:-131.68, Z:-0.76 [[ 7.24551298e-01 6.89210452e-01 -3.79071812e-03 6.33164757e+01] [-6.89200470e-01 7.24561210e-01 3.71010145e-03 -1.31676005e+02] [ 5.30364800e-03 -7.55941114e-05 9.99985933e-01 -7.64010024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321858064 meters 0.014903450867289036 Centerline is valid? [True, True] Translation: X:63.34, Y:-131.70, Z:-0.76 [[ 7.25121148e-01 6.88612577e-01 -3.46988908e-03 6.33396008e+01] [-6.88604198e-01 7.25129446e-01 3.39772733e-03 -1.31698036e+02] [ 4.85583652e-03 -7.43837554e-05 9.99988208e-01 -7.63500822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.351858064 meters 0.015252240861629183 Centerline is valid? [True, True] Translation: X:63.36, Y:-131.72, Z:-0.76 [[ 7.26056317e-01 6.87626711e-01 -3.42513280e-03 6.33603634e+01] [-6.87618528e-01 7.26064391e-01 3.35552081e-03 -1.31723116e+02] [ 4.79421270e-03 -8.11123027e-05 9.99988504e-01 -7.63242204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381858064 meters 0.015252240861629183 Centerline is valid? [True, True] Translation: X:63.38, Y:-131.75, Z:-0.76 [[ 7.25866468e-01 6.87827119e-01 -3.42420611e-03 6.33834678e+01] [-6.87818934e-01 7.25874540e-01 3.35646646e-03 -1.31745852e+02] [ 4.79421270e-03 -8.11126579e-05 9.99988504e-01 -7.63242536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.411858064 meters 0.01567340476739747 Centerline is valid? [True, True] Translation: X:63.40, Y:-131.77, Z:-0.76 [[ 7.26683679e-01 6.86964505e-01 -3.25571890e-03 6.34041650e+01] [-6.86957091e-01 7.26690967e-01 3.19273132e-03 -1.31768952e+02] [ 4.55919460e-03 -8.35665615e-05 9.99989603e-01 -7.63228912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441858064 meters 0.01607217052146183 Centerline is valid? [True, True] Translation: X:63.43, Y:-131.79, Z:-0.76 [[ 7.27243489e-01 6.86370307e-01 -3.56505061e-03 6.34256903e+01] [-6.86361401e-01 7.27252221e-01 3.49774396e-03 -1.31792690e+02] [ 4.99343857e-03 -9.67983894e-05 9.99987528e-01 -7.63101439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.471858064 meters 0.016552637498885536 Centerline is valid? [True, True] Translation: X:63.45, Y:-131.82, Z:-0.76 [[ 7.27987307e-01 6.85580937e-01 -3.64124886e-03 6.34476224e+01] [-6.85571629e-01 7.27996406e-01 3.57419998e-03 -1.31816205e+02] [ 5.10121946e-03 -1.05635314e-04 9.99986983e-01 -7.63330980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501858064 meters 0.017486475531423518 Centerline is valid? [True, True] Translation: X:63.47, Y:-131.84, Z:-0.76 [[ 7.29375261e-01 6.84102126e-01 -4.00121722e-03 6.34673850e+01] [-6.84090854e-01 7.29386225e-01 3.92925905e-03 -1.31839974e+02] [ 5.60644719e-03 -1.28708246e-04 9.99984275e-01 -7.63347854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.531858064 meters 0.01806833061950434 Centerline is valid? [True, True] Translation: X:63.49, Y:-131.86, Z:-0.76 [[ 7.29839330e-01 6.83606944e-01 -4.01231105e-03 6.34889978e+01] [-6.83595591e-01 7.29850347e-01 3.94198269e-03 -1.31864012e+02] [ 5.62315335e-03 -1.34215862e-04 9.99984181e-01 -7.63631910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561858064 meters 0.018130815835107866 Centerline is valid? [True, True] Translation: X:63.51, Y:-131.89, Z:-0.76 [[ 7.30045700e-01 6.83386546e-01 -4.01301685e-03 6.35111092e+01] [-6.83375176e-01 7.30056717e-01 3.94452203e-03 -1.31887226e+02] [ 5.62536319e-03 -1.37285256e-04 9.99984168e-01 -7.63325996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591858064 meters 0.017681163292112227 Centerline is valid? [True, True] Translation: X:63.53, Y:-131.91, Z:-0.76 [[ 7.30369825e-01 6.83042885e-01 -3.51231882e-03 6.35342283e+01] [-6.83034163e-01 7.30378260e-01 3.45402592e-03 -1.31909016e+02] [ 4.92456914e-03 -1.23682567e-04 9.99987867e-01 -7.62631392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621858064 meters 0.01880377038996332 Centerline is valid? [True, True] Translation: X:63.56, Y:-131.93, Z:-0.76 [[ 7.30114943e-01 6.83317382e-01 -3.08638214e-03 6.35553481e+01] [-6.83310643e-01 7.30121459e-01 3.03670241e-03 -1.31932873e+02] [ 4.32846537e-03 -1.08184048e-04 9.99990626e-01 -7.62424282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.651858064 meters 0.019115856625474742 Centerline is valid? [True, True] Translation: X:63.58, Y:-131.96, Z:-0.76 [[ 7.29858566e-01 6.83592198e-01 -2.86010833e-03 6.35775937e+01] [-6.83586407e-01 7.29864164e-01 2.81544526e-03 -1.31956004e+02] [ 4.01210698e-03 -9.97456651e-05 9.99991947e-01 -7.62235688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68185806399998 meters 0.01790801848127217 Centerline is valid? [True, True] Translation: X:63.60, Y:-131.98, Z:-0.76 [[ 7.29215637e-01 6.84278721e-01 -2.68079106e-03 6.36019559e+01] [-6.84273634e-01 7.29220559e-01 2.64017221e-03 -1.31977457e+02] [ 3.76150161e-03 -9.08602184e-05 9.99992921e-01 -7.62070839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71185806399998 meters 0.0168586692732439 Centerline is valid? [True, True] Translation: X:63.63, Y:-132.00, Z:-0.76 [[ 7.28216982e-01 6.85341947e-01 -2.53843679e-03 6.36266156e+01] [-6.85337388e-01 7.28221401e-01 2.50119897e-03 -1.31998666e+02] [ 3.56272057e-03 -8.17299277e-05 9.99993650e-01 -7.61754110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74185806399998 meters 0.016789475752209643 Centerline is valid? [True, True] Translation: X:63.65, Y:-132.02, Z:-0.76 [[ 7.27114181e-01 6.86512006e-01 -2.49666994e-03 6.36491087e+01] [-6.86507599e-01 7.27118463e-01 2.46115496e-03 -1.32020388e+02] [ 3.50498724e-03 -7.55577843e-05 9.99993855e-01 -7.61994393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77185806399999 meters 0.016270980687128893 Centerline is valid? [True, True] Translation: X:63.67, Y:-132.04, Z:-0.76 [[ 7.24427897e-01 6.89345117e-01 -2.74449167e-03 6.36738604e+01] [-6.89339806e-01 7.24433092e-01 2.70675167e-03 -1.32041270e+02] [ 3.85408663e-03 -6.89590610e-05 9.99992571e-01 -7.62372456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.801858064 meters 0.015829879496102442 Centerline is valid? [True, True] Translation: X:63.70, Y:-132.06, Z:-0.76 [[ 7.22933026e-01 6.90912637e-01 -2.75099762e-03 6.36981280e+01] [-6.90907308e-01 7.22938257e-01 2.71448430e-03 -1.32062436e+02] [ 3.86427293e-03 -6.17059852e-05 9.99992532e-01 -7.62745632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.831858064 meters 0.01550821165800704 Centerline is valid? [True, True] Translation: X:63.72, Y:-132.08, Z:-0.76 [[ 7.21293818e-01 6.92623476e-01 -2.81929272e-03 6.37221641e+01] [-6.92617887e-01 7.21299325e-01 2.78322258e-03 -1.32083588e+02] [ 3.96127923e-03 -5.48286767e-05 9.99992153e-01 -7.62833039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.861858064 meters 0.015175574411286074 Centerline is valid? [True, True] Translation: X:63.75, Y:-132.10, Z:-0.76 [[ 7.18823604e-01 6.95187408e-01 -2.66351438e-03 6.37467645e+01] [-6.95182431e-01 7.18828538e-01 2.63070288e-03 -1.32103566e+02] [ 3.74344166e-03 -3.93829231e-05 9.99992993e-01 -7.63029988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.891858064 meters 0.015066429256367305 Centerline is valid? [True, True] Translation: X:63.77, Y:-132.12, Z:-0.76 [[ 7.17732272e-01 6.96315704e-01 -2.19681589e-03 6.37702330e+01] [-6.96312321e-01 7.17735633e-01 2.17078662e-03 -1.32124810e+02] [ 3.08828586e-03 -2.83736348e-05 9.99995231e-01 -7.62931227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.921858064 meters 0.014959889930274618 Centerline is valid? [True, True] Translation: X:63.79, Y:-132.15, Z:-0.76 [[ 7.16834595e-01 6.97240452e-01 -1.97863719e-03 6.37937948e+01] [-6.97237709e-01 7.16837325e-01 1.95613270e-03 -1.32146355e+02] [ 2.78225584e-03 -2.26431348e-05 9.99996129e-01 -7.62727731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.951858064 meters 0.01486651224863471 Centerline is valid? [True, True] Translation: X:63.82, Y:-132.17, Z:-0.76 [[ 7.15791952e-01 6.98312093e-01 -1.45017999e-03 6.38165132e+01] [-6.98310620e-01 7.15793421e-01 1.43432170e-03 -1.32167707e+02] [ 2.03963348e-03 -1.39998456e-05 9.99997920e-01 -7.62377418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.981858064 meters 0.014892134512949625 Centerline is valid? [True, True] Translation: X:63.84, Y:-132.19, Z:-0.76 [[ 7.15533717e-01 6.98577117e-01 -1.22911570e-03 6.38387603e+01] [-6.98576058e-01 7.15534773e-01 1.21629152e-03 -1.32190384e+02] [ 1.72914844e-03 -1.16667920e-05 9.99998505e-01 -7.62495498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.011858064 meters 0.014967457086137786 Centerline is valid? [True, True] Translation: X:63.86, Y:-132.21, Z:-0.76 [[ 7.15548275e-01 6.98562281e-01 -1.18583758e-03 6.38618482e+01] [-6.98561294e-01 7.15549257e-01 1.17408710e-03 -1.32213606e+02] [ 1.66869816e-03 -1.17357660e-05 9.99998608e-01 -7.62563525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.041858064 meters 0.014987864323524823 Centerline is valid? [True, True] Translation: X:63.89, Y:-132.24, Z:-0.76 [[ 7.15564842e-01 6.98545915e-01 -7.49480162e-04 6.38850969e+01] [-6.98545521e-01 7.15565234e-01 7.42447097e-04 -1.32237045e+02] [ 1.05493534e-03 -7.72302944e-06 9.99999444e-01 -7.62614438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.071858064 meters 0.015225315831130872 Centerline is valid? [True, True] Translation: X:63.91, Y:-132.26, Z:-0.76 [[ 7.16168651e-01 6.97927250e-01 -1.32162583e-04 6.39073639e+01] [-6.97927238e-01 7.16168663e-01 1.30989673e-04 -1.32260177e+02] [ 1.86071963e-04 -1.57083062e-06 9.99999983e-01 -7.62818824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101858064 meters 0.015188303134382604 Centerline is valid? [True, True] Translation: X:63.93, Y:-132.28, Z:-0.76 [[ 7.16344426e-01 6.97746836e-01 -1.30080549e-04 6.39309084e+01] [-6.97746824e-01 7.16344438e-01 1.28998407e-04 -1.32282602e+02] [ 1.83190708e-04 -1.64399929e-06 9.99999983e-01 -7.62839648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.131858064 meters 0.015274543164938233 Centerline is valid? [True, True] Translation: X:63.95, Y:-132.31, Z:-0.76 [[ 7.16677901e-01 6.97404278e-01 2.43268345e-04 6.39542513e+01] [-6.97404237e-01 7.16677942e-01 -2.41367961e-04 -1.32305980e+02] [-3.42676106e-04 3.32670930e-06 9.99999941e-01 -7.63106426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161858064 meters 0.015357149235032529 Centerline is valid? [True, True] Translation: X:63.98, Y:-132.33, Z:-0.76 [[ 7.16807793e-01 6.97270680e-01 4.33434650e-04 6.39762924e+01] [-6.97270547e-01 7.16807924e-01 -4.30276159e-04 -1.32328404e+02] [-6.10708342e-04 6.20408811e-06 9.99999814e-01 -7.63242494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.191858064 meters 0.015349055761783251 Centerline is valid? [True, True] Translation: X:64.00, Y:-132.35, Z:-0.76 [[ 7.16585462e-01 6.97499250e-01 2.69428656e-04 6.39998384e+01] [-6.97499198e-01 7.16585512e-01 -2.67611560e-04 -1.32351717e+02] [-3.79727533e-04 3.84028156e-06 9.99999928e-01 -7.63147584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221858064 meters 0.015528820687371568 Centerline is valid? [True, True] Translation: X:64.02, Y:-132.37, Z:-0.76 [[ 7.16370846e-01 6.97719723e-01 -1.32112291e-05 6.40224260e+01] [-6.97719722e-01 7.16370846e-01 1.31327760e-05 -1.32374307e+02] [ 1.86271362e-05 -1.90202732e-07 1.00000000e+00 -7.63632704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.251858064 meters 0.015495948863510337 Centerline is valid? [True, True] Translation: X:64.05, Y:-132.40, Z:-0.76 [[ 7.16055421e-01 6.98043196e-01 -5.74806626e-04 6.40466630e+01] [-6.98042962e-01 7.16055652e-01 5.71554085e-04 -1.32397081e+02] [ 8.10562973e-04 -8.02468105e-06 9.99999671e-01 -7.64414243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281858064 meters 0.0154121126766213 Centerline is valid? [True, True] Translation: X:64.07, Y:-132.42, Z:-0.77 [[ 7.15569134e-01 6.98540401e-01 -1.45665053e-03 6.40710053e+01] [-6.98538898e-01 7.15570616e-01 1.44920521e-03 -1.32419672e+02] [ 2.05466470e-03 -1.94794593e-05 9.99997889e-01 -7.66367091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.311858064 meters 0.015577738421319636 Centerline is valid? [True, True] Translation: X:64.09, Y:-132.44, Z:-0.77 [[ 7.15256292e-01 6.98860495e-01 -1.56383371e-03 6.40947017e+01] [-6.98858761e-01 7.15258001e-01 1.55670041e-03 -1.32442727e+02] [ 2.20646099e-03 -2.05408734e-05 9.99997566e-01 -7.67431584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341858064 meters 0.01553043547656578 Centerline is valid? [True, True] Translation: X:64.12, Y:-132.47, Z:-0.77 [[ 7.15068678e-01 6.99051634e-01 -1.89693504e-03 6.41172042e+01] [-6.99049082e-01 7.15071194e-01 1.88925283e-03 -1.32465508e+02] [ 2.67712888e-03 -2.48948259e-05 9.99996416e-01 -7.67653254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.371858064 meters 0.015623925530698546 Centerline is valid? [True, True] Translation: X:64.14, Y:-132.49, Z:-0.77 [[ 7.15109721e-01 6.99009898e-01 -1.80263128e-03 6.41400508e+01] [-6.99007591e-01 7.15111992e-01 1.79632246e-03 -1.32489134e+02] [ 2.54473043e-03 -2.45147037e-05 9.99996762e-01 -7.67315234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40185806399998 meters 0.01587183566091713 Centerline is valid? [True, True] Translation: X:64.16, Y:-132.51, Z:-0.77 [[ 7.15134955e-01 6.98984552e-01 -1.61041317e-03 6.41617157e+01] [-6.98982708e-01 7.15136768e-01 1.60560118e-03 -1.32512195e+02] [ 2.27395609e-03 -2.25705684e-05 9.99997414e-01 -7.67230787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43185806399998 meters 0.015970680249575736 Centerline is valid? [True, True] Translation: X:64.18, Y:-132.54, Z:-0.77 [[ 7.15508238e-01 6.98602081e-01 -1.75885535e-03 6.41844448e+01] [-6.98599878e-01 7.15510399e-01 1.75454957e-03 -1.32535742e+02] [ 2.48421127e-03 -2.66585340e-05 9.99996914e-01 -7.66508784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46185806399998 meters 0.016234756329051983 Centerline is valid? [True, True] Translation: X:64.21, Y:-132.56, Z:-0.77 [[ 7.16383326e-01 6.97705579e-01 -1.36226875e-03 6.42060810e+01] [-6.97704254e-01 7.16384621e-01 1.35957525e-03 -1.32559159e+02] [ 1.92449162e-03 -2.35163384e-05 9.99998148e-01 -7.65906535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49185806399998 meters 0.016421204593645853 Centerline is valid? [True, True] Translation: X:64.23, Y:-132.58, Z:-0.77 [[ 7.16672161e-01 6.97409069e-01 -1.26650122e-03 6.42290355e+01] [-6.97407923e-01 7.16673280e-01 1.26467649e-03 -1.32582783e+02] [ 1.78966444e-03 -2.30904434e-05 9.99998398e-01 -7.66031559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52185806399999 meters 0.01654155861928214 Centerline is valid? [True, True] Translation: X:64.25, Y:-132.61, Z:-0.77 [[ 7.16875200e-01 6.97200180e-01 -1.36265096e-03 6.42517649e+01] [-6.97198851e-01 7.16876495e-01 1.36141545e-03 -1.32606312e+02] [ 1.92603154e-03 -2.59262920e-05 9.99998145e-01 -7.66001436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.551858064 meters 0.01689891470886247 Centerline is valid? [True, True] Translation: X:64.27, Y:-132.63, Z:-0.77 [[ 7.17409401e-01 6.96650471e-01 -1.36823680e-03 6.42731160e+01] [-6.96649130e-01 7.17410705e-01 1.36758492e-03 -1.32629215e+02] [ 1.93431641e-03 -2.79372989e-05 9.99998129e-01 -7.66430567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.581858064 meters 0.016990760192080644 Centerline is valid? [True, True] Translation: X:64.30, Y:-132.65, Z:-0.77 [[ 7.17426930e-01 6.96631825e-01 -1.64319305e-03 6.42959785e+01] [-6.96629888e-01 7.17428811e-01 1.64327250e-03 -1.32652657e+02] [ 2.32362995e-03 -3.42305548e-05 9.99997300e-01 -7.66720319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.611858064 meters 0.01738186564735773 Centerline is valid? [True, True] Translation: X:64.91, Y:-132.19, Z:0.26 [[ 7.48505807e-01 -6.63124141e-01 -2.33025093e-03 6.49070504e+01] [-6.63121127e-01 -7.48509433e-01 2.00000937e-03 -1.32189813e+02] [-3.07046930e-03 4.82199900e-05 -9.99995285e-01 2.57378401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.641858064 meters 0.017683483513415785 Centerline is valid? [True, True] Translation: X:64.91, Y:-132.19, Z:0.26 [[ 7.97581302e-01 -6.03204914e-01 -2.81037486e-03 6.49076596e+01] [-6.03201422e-01 -7.97586251e-01 2.05345621e-03 -1.32190953e+02] [-3.48017122e-03 5.74238317e-05 -9.99993943e-01 2.57367276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.671858064 meters 0.01683191161608789 Centerline is valid? [True, True] Translation: X:64.90, Y:-132.20, Z:0.26 [[ 8.41893524e-01 -5.39632797e-01 -3.42621905e-03 6.49017032e+01] [-5.39628663e-01 -8.41900493e-01 2.11347002e-03 -1.32201510e+02] [-4.02503325e-03 6.95692776e-05 -9.99991897e-01 2.56607263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.701858064 meters 0.01746498876070402 Centerline is valid? [True, True] Translation: X:64.90, Y:-132.21, Z:0.26 [[ 8.81131649e-01 -4.72854102e-01 -4.00200733e-03 6.48986183e+01] [-4.72849642e-01 -8.81140733e-01 2.05521475e-03 -1.32207705e+02] [-4.49814840e-03 8.14329702e-05 -9.99989880e-01 2.56771839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.731858064 meters 0.017583532131090717 Centerline is valid? [True, True] Translation: X:64.90, Y:-132.21, Z:0.26 [[ 9.14623633e-01 -4.04282721e-01 -4.36937800e-03 6.48967631e+01] [-4.04278600e-01 -9.14634065e-01 1.82777949e-03 -1.32214515e+02] [-4.73532163e-03 9.47157059e-05 -9.99988784e-01 2.56634260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.761858064 meters 0.017370831127122656 Centerline is valid? [True, True] Translation: X:64.89, Y:-132.22, Z:0.26 [[ 9.43267655e-01 -3.32004884e-01 -4.34607606e-03 6.48938747e+01] [-3.32001815e-01 -9.43277662e-01 1.43050048e-03 -1.32223902e+02] [-4.57448961e-03 9.35603064e-05 -9.99989533e-01 2.56269024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.791858064 meters 0.01774868443318424 Centerline is valid? [True, True] Translation: X:64.89, Y:-132.23, Z:0.26 [[ 9.66137770e-01 -2.57988413e-01 -4.44843375e-03 6.48915476e+01] [-2.57986141e-01 -9.66148006e-01 1.08723934e-03 -1.32231826e+02] [-4.57834055e-03 9.72112589e-05 -9.99989515e-01 2.56526374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821858064 meters 0.017453676137655964 Centerline is valid? [True, True] Translation: X:64.89, Y:-132.24, Z:0.26 [[ 9.83304418e-01 -1.81909305e-01 -4.62874250e-03 6.48868885e+01] [-1.81907774e-01 -9.83315308e-01 7.53281417e-04 -1.32241784e+02] [-4.68854226e-03 1.01299299e-04 -9.99989004e-01 2.56209729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.851858064 meters 0.01787600553295541 Centerline is valid? [True, True] Translation: X:64.88, Y:-132.25, Z:0.26 [[ 9.94487449e-01 -1.04768607e-01 -4.27237618e-03 6.48826845e+01] [-1.04768047e-01 -9.94496621e-01 3.55366044e-04 -1.32249318e+02] [-4.28609488e-03 9.42014366e-05 -9.99990810e-01 2.55881990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881858064 meters 0.01792735952633378 Centerline is valid? [True, True] Translation: X:64.88, Y:-132.26, Z:0.26 [[ 9.99635612e-01 -2.67010593e-02 -3.96190937e-03 6.48795417e+01] [-2.67011965e-02 -9.99643459e-01 1.82634619e-05 -1.32256936e+02] [-3.96098444e-03 8.75309138e-05 -9.99992151e-01 2.55326038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.911858064 meters 0.01804356724277172 Centerline is valid? [True, True] Translation: X:64.88, Y:-132.26, Z:0.25 [[ 9.98665012e-01 5.15219582e-02 -3.69893441e-03 6.48758140e+01] [ 5.15212992e-02 -9.98671859e-01 -2.73267091e-04 -1.32264335e+02] [-3.70810095e-03 8.23283763e-05 -9.99993122e-01 2.54792271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941858064 meters 0.01785924649807838 Centerline is valid? [True, True] Translation: X:64.87, Y:-132.27, Z:0.25 [[ 9.91567872e-01 1.29533470e-01 -3.77309770e-03 6.48742517e+01] [ 1.29532207e-01 -9.91575047e-01 -5.78410294e-04 -1.32273807e+02] [-3.81623302e-03 8.47953927e-05 -9.99992715e-01 2.54666191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.971858064 meters 0.01750515276957552 Centerline is valid? [True, True] Translation: X:64.87, Y:-132.28, Z:0.25 [[ 9.78318025e-01 2.07080356e-01 -3.40113999e-03 6.48733274e+01] [ 2.07078833e-01 -9.78323934e-01 -7.97984224e-04 -1.32284599e+02] [-3.49266351e-03 7.63782524e-05 -9.99993898e-01 2.54214494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001858064 meters 0.01764241847607417 Centerline is valid? [True, True] Translation: X:64.87, Y:-132.29, Z:0.25 [[ 9.59059541e-01 2.83185360e-01 -3.29363611e-03 6.48728010e+01] [ 2.83183421e-01 -9.59065194e-01 -1.05067151e-03 -1.32294779e+02] [-3.45634655e-03 7.49533974e-05 -9.99994024e-01 2.54141114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.031858064 meters 0.01769928082409949 Centerline is valid? [True, True] Translation: X:64.87, Y:-132.30, Z:0.25 [[ 9.33743601e-01 3.57927243e-01 -3.31315859e-03 6.48732091e+01] [ 3.57924701e-01 -9.33749475e-01 -1.35103019e-03 -1.32303147e+02] [-3.57723061e-03 7.56544888e-05 -9.99993599e-01 2.54392675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061858064 meters 0.017258347346646545 Centerline is valid? [True, True] Translation: X:64.88, Y:-132.31, Z:0.25 [[ 9.02745035e-01 4.30161446e-01 -3.54003819e-03 6.48758486e+01] [ 4.30157776e-01 -9.02751973e-01 -1.77867487e-03 -1.32313725e+02] [-3.96089382e-03 8.29149482e-05 -9.99992152e-01 2.54413929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.091858064 meters 0.01742304093706209 Centerline is valid? [True, True] Translation: X:64.88, Y:-132.32, Z:0.25 [[ 8.66095071e-01 4.99860085e-01 -4.38440619e-03 6.48772977e+01] [ 4.99853061e-01 -8.66106162e-01 -2.65197316e-03 -1.32323281e+02] [-5.12297675e-03 1.05302024e-04 -9.99986872e-01 2.54690923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121858064 meters 0.017212598444776583 Centerline is valid? [True, True] Translation: X:64.88, Y:-132.33, Z:0.25 [[ 8.24389777e-01 5.66004920e-01 -4.46391429e-03 6.48810784e+01] [ 5.65995869e-01 -8.24401855e-01 -3.20282882e-03 -1.32332875e+02] [-5.49287609e-03 1.13822286e-04 -9.99984908e-01 2.54569181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15185806399998 meters 0.01801743948222279 Centerline is valid? [True, True] Translation: X:64.88, Y:-132.34, Z:0.25 [[ 7.77698659e-01 6.28621658e-01 -4.42791364e-03 6.48827274e+01] [ 6.28610573e-01 -7.77711255e-01 -3.73506073e-03 -1.32340306e+02] [-5.79157835e-03 1.21318394e-04 -9.99983221e-01 2.54534134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18185806399998 meters 0.017235852717924997 Centerline is valid? [True, True] Translation: X:64.89, Y:-132.35, Z:0.25 [[ 7.26148223e-01 6.87525201e-01 -4.22577436e-03 6.48886876e+01] [ 6.87512549e-01 -7.26160508e-01 -4.17274820e-03 -1.32351215e+02] [-5.93746000e-03 1.24760782e-04 -9.99982365e-01 2.53563067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21185806399998 meters 0.01800560218329685 Centerline is valid? [True, True] Translation: X:64.89, Y:-132.36, Z:0.25 [[ 6.70403957e-01 7.41989427e-01 -3.19749149e-03 6.48919923e+01] [ 7.41980234e-01 -6.70411574e-01 -3.69508171e-03 -1.32359396e+02] [-4.88534686e-03 1.04721916e-04 -9.99988061e-01 2.52673615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24185806399998 meters 0.018307811874294016 Centerline is valid? [True, True] Translation: X:64.89, Y:-132.37, Z:0.25 [[ 6.10691931e-01 7.91863284e-01 -2.81142908e-03 6.48936912e+01] [ 7.91854097e-01 -6.10698394e-01 -3.81597506e-03 -1.32365071e+02] [-4.73866577e-03 1.04143545e-04 -9.99988767e-01 2.51682895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27185806399999 meters 0.018307811874294016 Centerline is valid? [True, True] Translation: X:64.90, Y:-132.37, Z:0.25 [[ 5.46803840e-01 8.37257004e-01 -2.50393665e-03 6.48957085e+01] [ 8.37247338e-01 -5.46809564e-01 -4.02440340e-03 -1.32370870e+02] [-4.73863644e-03 1.04144940e-04 -9.99988767e-01 2.51682639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.301858064 meters 0.018256300513373822 Centerline is valid? [True, True] Translation: X:64.90, Y:-132.38, Z:0.25 [[ 4.79976513e-01 8.77278802e-01 -2.10977678e-03 6.49002971e+01] [ 8.77269365e-01 -4.79981139e-01 -4.07026974e-03 -1.32376973e+02] [-4.58341442e-03 1.02791342e-04 -9.99989491e-01 2.50843344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.331858064 meters 0.01878538017477669 Centerline is valid? [True, True] Translation: X:64.90, Y:-132.38, Z:0.25 [[ 4.11352398e-01 9.11474964e-01 -1.61064283e-03 6.49027562e+01] [ 9.11467000e-01 -4.11355539e-01 -3.81161927e-03 -1.32382358e+02] [-4.13674239e-03 9.98709404e-05 -9.99991439e-01 2.50279490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.361858064 meters 0.019492253139437136 Centerline is valid? [True, True] Translation: X:64.90, Y:-132.39, Z:0.25 [[ 3.39752408e-01 9.40513802e-01 -1.44573820e-03 6.49043324e+01] [ 9.40503784e-01 -3.39755464e-01 -4.34252599e-03 -1.32387877e+02] [-4.57540308e-03 1.15661411e-04 -9.99989526e-01 2.50229597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.391858064 meters 0.019909855487612278 Centerline is valid? [True, True] Translation: X:64.91, Y:-132.39, Z:0.25 [[ 2.65827862e-01 9.64019804e-01 -1.16877084e-03 6.49060495e+01] [ 9.64008281e-01 -2.65830401e-01 -4.71507888e-03 -1.32392419e+02] [-4.85612424e-03 1.26694566e-04 -9.99988201e-01 2.50259752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.421858064 meters 0.019650200652242558 Centerline is valid? [True, True] Translation: X:64.91, Y:-132.40, Z:0.25 [[ 1.90103676e-01 9.81763662e-01 -8.39680330e-04 6.49106093e+01] [ 9.81750646e-01 -1.90105481e-01 -5.05724431e-03 -1.32397736e+02] [-5.12464652e-03 1.37044026e-04 -9.99986860e-01 2.49984521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.451858064 meters 0.01916626261979582 Centerline is valid? [True, True] Translation: X:64.92, Y:-132.40, Z:0.25 [[ 1.13945918e-01 9.93486821e-01 -5.14170093e-04 6.49201929e+01] [ 9.93468987e-01 -1.13946954e-01 -5.95515256e-03 -1.32402591e+02] [-5.97495371e-03 1.67753283e-04 -9.99982136e-01 2.49864634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.481858064 meters 0.0193576444806611 Centerline is valid? [True, True] Translation: X:64.93, Y:-132.41, Z:0.25 [[ 3.61019819e-02 9.99348110e-01 -4.43404427e-05 6.49278960e+01] [ 9.99331631e-01 -3.61016414e-02 -5.74129883e-03 -1.32406677e+02] [-5.73915690e-03 1.62961460e-04 -9.99983518e-01 2.50209081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.511858064 meters 0.018549940406414576 Centerline is valid? [True, True] Translation: X:64.94, Y:-132.41, Z:0.25 [[-4.24198432e-02 9.99099783e-01 4.25627601e-04 6.49407996e+01] [ 9.99081713e-01 4.24216369e-02 -6.01119785e-03 -1.32409626e+02] [-6.02384229e-03 1.70242682e-04 -9.99981842e-01 2.50253366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.541858064 meters 0.018842596690170996 Centerline is valid? [True, True] Translation: X:64.95, Y:-132.41, Z:0.25 [[-1.21102939e-01 9.92639379e-01 1.06863224e-03 6.49508042e+01] [ 9.92613913e-01 1.21107490e-01 -7.11307145e-03 -1.32412711e+02] [-7.19013419e-03 1.99325368e-04 -9.99974131e-01 2.50958176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.571858064 meters 0.01857256344696947 Centerline is valid? [True, True] Translation: X:64.96, Y:-132.41, Z:0.25 [[-1.99235883e-01 9.79949762e-01 1.87792645e-03 6.49613784e+01] [ 9.79916221e-01 1.99244607e-01 -8.11086986e-03 -1.32414289e+02] [-8.32241170e-03 2.24234274e-04 -9.99965343e-01 2.51482445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.601858064 meters 0.018496645047514738 Centerline is valid? [True, True] Translation: X:64.97, Y:-132.42, Z:0.25 [[-2.76522853e-01 9.61002595e-01 3.02051422e-03 6.49729616e+01] [ 9.60955050e-01 2.76539229e-01 -9.56280625e-03 -1.32416140e+02] [-1.00251723e-02 2.58243923e-04 -9.99949713e-01 2.52598493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.631858064 meters 0.018529981823900258 Centerline is valid? [True, True] Translation: X:64.98, Y:-132.42, Z:0.25 [[-3.51186606e-01 9.36298092e-01 3.72154001e-03 6.49825037e+01] [ 9.36252921e-01 3.51206233e-01 -9.20051919e-03 -1.32416201e+02] [-9.92145661e-03 2.53203594e-04 -9.99950749e-01 2.53235526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.661858064 meters 0.018956756099603293 Centerline is valid? [True, True] Translation: X:64.99, Y:-132.42, Z:0.25 [[-4.23102878e-01 9.06069100e-01 4.76864239e-03 6.49910563e+01] [ 9.06018726e-01 4.23129660e-01 -9.55817399e-03 -1.32416668e+02] [-1.06781201e-02 2.76388380e-04 -9.99942949e-01 2.54039893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.691858064 meters 0.01852476040532973 Centerline is valid? [True, True] Translation: X:65.00, Y:-132.41, Z:0.25 [[-4.91325266e-01 8.70956709e-01 5.82183341e-03 6.50028011e+01] [ 8.70902898e-01 4.91359658e-01 -9.68651352e-03 -1.32412783e+02] [-1.12971480e-02 3.11022758e-04 -9.99936137e-01 2.53908486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.721858064 meters 0.01872191091657597 Centerline is valid? [True, True] Translation: X:65.01, Y:-132.41, Z:0.25 [[-5.57206511e-01 8.30347688e-01 6.60463197e-03 6.50119541e+01] [ 8.30296116e-01 5.57245558e-01 -9.26001854e-03 -1.32409787e+02] [-1.13694368e-02 3.24057649e-04 -9.99935313e-01 2.53723090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.751858064 meters 0.019287490007931556 Centerline is valid? [True, True] Translation: X:65.02, Y:-132.41, Z:0.25 [[-6.19236514e-01 7.85171629e-01 7.18702976e-03 6.50203157e+01] [ 7.85124954e-01 6.19278128e-01 -8.56779913e-03 -1.32407003e+02] [-1.11779631e-02 3.37222344e-04 -9.99937468e-01 2.53126924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.781858064 meters 0.020191782975871018 Centerline is valid? [True, True] Translation: X:65.03, Y:-132.41, Z:0.25 [[-6.77646950e-01 7.35349331e-01 7.48151960e-03 6.50282053e+01] [ 7.35309953e-01 6.77688163e-01 -7.61746027e-03 -1.32405153e+02] [-1.06716316e-02 3.39287109e-04 -9.99942999e-01 2.52864462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.811858064 meters 0.021923418903769365 Centerline is valid? [True, True] Translation: X:65.03, Y:-132.40, Z:0.25 [[-7.30679792e-01 6.82681663e-01 7.26554285e-03 6.50345013e+01] [ 6.82652483e-01 7.30715834e-01 -6.32110482e-03 -1.32403992e+02] [-9.62434955e-03 3.41137312e-04 -9.99953627e-01 2.51452197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.841858064 meters 0.020728683039408374 Centerline is valid? [True, True] Translation: X:65.06, Y:-132.39, Z:0.25 [[-7.76114805e-01 6.30545487e-01 7.62882573e-03 6.50618643e+01] [ 6.30519448e-01 7.76152217e-01 -5.74125089e-03 -1.32387031e+02] [-9.54124984e-03 3.54253173e-04 -9.99954419e-01 2.50021858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.871858064 meters 0.02239646449696782 Centerline is valid? [True, True] Translation: X:65.08, Y:-132.37, Z:0.25 [[-8.18225826e-01 5.74845681e-01 7.67729851e-03 6.50770525e+01] [ 5.74824318e-01 8.18261768e-01 -4.96802515e-03 -1.32366586e+02] [-9.13788766e-03 3.48131398e-04 -9.99958188e-01 2.50030110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90185806399998 meters 0.024604877921516933 Centerline is valid? [True, True] Translation: X:65.09, Y:-132.35, Z:0.25 [[-8.56320407e-01 5.16376614e-01 8.39962460e-03 6.50899599e+01] [ 5.16356027e-01 8.56361519e-01 -4.62618232e-03 -1.32345029e+02] [-9.58196764e-03 3.75702459e-04 -9.99954021e-01 2.49993187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93185806399998 meters 0.02271458996459346 Centerline is valid? [True, True] Translation: X:65.11, Y:-132.32, Z:0.25 [[-8.90852176e-01 4.54216871e-01 8.33278008e-03 6.51088144e+01] [ 4.54200718e-01 8.90891074e-01 -3.84729124e-03 -1.32319601e+02] [-9.17110399e-03 3.57386922e-04 -9.99957881e-01 2.48402845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96185806399998 meters 0.022800866612239748 Centerline is valid? [True, True] Translation: X:65.12, Y:-132.29, Z:0.25 [[-9.20986822e-01 3.89503604e-01 8.37948803e-03 6.51203299e+01] [ 3.89490859e-01 9.21024877e-01 -3.16973246e-03 -1.32293401e+02] [-8.95233915e-03 3.44452163e-04 -9.99959868e-01 2.47628031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99185806399998 meters 0.02114985292753275 Centerline is valid? [True, True] Translation: X:65.38, Y:-131.61, Z:-0.76 [[-9.24213263e-01 -3.81787303e-01 8.26437257e-03 6.53783403e+01] [ 3.81768713e-01 -9.24250149e-01 -3.78296592e-03 -1.31614228e+02] [ 9.08263594e-03 -3.41188392e-04 9.99958694e-01 -7.57089415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02185806399999 meters 0.020932192189413 Centerline is valid? [True, True] Translation: X:65.08, Y:-132.27, Z:0.25 [[-9.23484989e-01 3.83529151e-01 8.99249354e-03 6.50766974e+01] [ 3.83514565e-01 9.23528707e-01 -3.36250218e-03 -1.32271109e+02] [-9.59444354e-03 3.43531956e-04 -9.99953913e-01 2.47212132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.051858064 meters 0.020168754757837287 Centerline is valid? [True, True] Translation: X:65.33, Y:-131.60, Z:-0.76 [[-9.24756223e-01 -3.80457368e-01 8.83848723e-03 6.53318776e+01] [ 3.80436446e-01 -9.24798397e-01 -4.00448911e-03 -1.31601356e+02] [ 9.69735621e-03 -3.40693557e-04 9.99952922e-01 -7.56966567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.081858064 meters 0.02039494813901769 Centerline is valid? [True, True] Translation: X:65.03, Y:-132.25, Z:0.25 [[-9.25869381e-01 3.77743272e-01 8.71262413e-03 6.50313331e+01] [ 3.77729673e-01 9.25910322e-01 -3.22017083e-03 -1.32252630e+02] [-9.28350648e-03 3.09559085e-04 -9.99956859e-01 2.46791336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.111858064 meters 0.01922475426312593 Centerline is valid? [True, True] Translation: X:65.04, Y:-132.22, Z:0.25 [[-9.50666236e-01 3.10073993e-01 9.37158615e-03 6.50392767e+01] [ 3.10062171e-01 9.50712375e-01 -2.72586383e-03 -1.32222725e+02] [-9.75490241e-03 3.14387631e-04 -9.99952370e-01 2.46166810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.141858064 meters 0.019032254514276124 Centerline is valid? [True, True] Translation: X:65.05, Y:-132.19, Z:0.25 [[-9.70712930e-01 2.40038260e-01 9.90157448e-03 6.50462784e+01] [ 2.40028991e-01 9.70763380e-01 -2.13165986e-03 -1.32193500e+02] [-1.01237658e-02 3.07435144e-04 -9.99948706e-01 2.47142408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.171858064 meters 0.01898115624878717 Centerline is valid? [True, True] Translation: X:65.20, Y:-131.50, Z:-0.76 [[-9.68939557e-01 -2.47089676e-01 1.01403411e-02 6.51969891e+01] [ 2.47072968e-01 -9.68992573e-01 -2.88834925e-03 -1.31504750e+02] [ 1.05395965e-02 -2.93231656e-04 9.99944414e-01 -7.57529354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.201858064 meters 0.018483870161966114 Centerline is valid? [True, True] Translation: X:64.99, Y:-132.18, Z:0.25 [[-9.71888497e-01 2.35209590e-01 1.04498048e-02 6.49933947e+01] [ 2.35199452e-01 9.71944623e-01 -2.20627551e-03 -1.32180627e+02] [-1.06755687e-02 3.13534563e-04 -9.99942965e-01 2.47597968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.231858064 meters 0.018613248992297084 Centerline is valid? [True, True] Translation: X:65.14, Y:-131.50, Z:-0.76 [[-9.69907509e-01 -2.43259483e-01 1.02101491e-02 6.51415063e+01] [ 2.43242564e-01 -9.69961197e-01 -2.88634571e-03 -1.31495732e+02] [ 1.06055794e-02 -3.15945536e-04 9.99943709e-01 -7.58441153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.261858064 meters 0.018211953018330704 Centerline is valid? [True, True] Translation: X:64.94, Y:-132.17, Z:0.25 [[-9.72734682e-01 2.31702564e-01 1.00578203e-02 6.49427904e+01] [ 2.31693417e-01 9.72786630e-01 -2.08141933e-03 -1.32168886e+02] [-1.02663833e-02 3.05661978e-04 -9.99947253e-01 2.47784346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.291858064 meters 0.017938359034792507 Centerline is valid? [True, True] Translation: X:64.93, Y:-132.14, Z:0.25 [[-9.86643023e-01 1.62644414e-01 9.07415569e-03 6.49347553e+01] [ 1.62640113e-01 9.86684710e-01 -1.21483745e-03 -1.32138475e+02] [-9.15091720e-03 2.77210815e-04 -9.99958091e-01 2.47172412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.321858064 meters 0.021208405869043247 Centerline is valid? [True, True] Translation: X:64.94, Y:-132.12, Z:0.25 [[-9.95670067e-01 9.26861752e-02 7.09865316e-03 6.49443332e+01] [ 9.26853869e-02 9.95695347e-01 -4.40650072e-04 -1.32116216e+02] [-7.10893809e-03 2.19199327e-04 -9.99974707e-01 2.48027525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.351858064 meters 0.01863316226176528 Centerline is valid? [True, True] Translation: X:64.94, Y:-132.08, Z:0.25 [[-9.99747122e-01 2.16284880e-02 6.15635387e-03 6.49424515e+01] [ 2.16292437e-02 9.99766059e-01 5.61888685e-05 -1.32083479e+02] [-6.15369837e-03 1.89331938e-04 -9.99981048e-01 2.46742361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.381858064 meters 0.018747446381553696 Centerline is valid? [True, True] Translation: X:64.94, Y:-132.05, Z:0.25 [[-9.98757768e-01 -4.95742886e-02 5.03105975e-03 6.49360267e+01] [-4.95728754e-02 9.98770427e-01 4.05289140e-04 -1.32054712e+02] [-5.04496561e-03 1.55381579e-04 -9.99987262e-01 2.47295807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.411858064 meters 0.01848404216244778 Centerline is valid? [True, True] Translation: X:64.92, Y:-132.03, Z:0.25 [[-9.92692482e-01 -1.20582117e-01 4.64648555e-03 6.49223955e+01] [-1.20580108e-01 9.92703345e-01 7.11110884e-04 -1.32026730e+02] [-4.69832900e-03 1.45640697e-04 -9.99988952e-01 2.47211427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.441858064 meters 0.019210277354857412 Centerline is valid? [True, True] Translation: X:64.80, Y:-131.34, Z:-0.76 [[-9.93305563e-01 1.15483252e-01 2.77085724e-03 6.48020032e+01] [-1.15483401e-01 -9.93309404e-01 1.06706602e-04 -1.31342105e+02] [ 2.76464138e-03 -2.13995756e-04 9.99996155e-01 -7.57056481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.471858064 meters 0.018725231620780346 Centerline is valid? [True, True] Translation: X:64.80, Y:-132.04, Z:0.25 [[-9.91970160e-01 -1.26461810e-01 1.61628765e-03 6.47967408e+01] [-1.26461557e-01 9.91971475e-01 2.58310570e-04 -1.32044234e+02] [-1.63597766e-03 5.18381264e-05 -9.99998660e-01 2.46481892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.501858064 meters 0.018537151278673437 Centerline is valid? [True, True] Translation: X:64.77, Y:-132.02, Z:0.25 [[-9.80333519e-01 -1.97347158e-01 5.39129628e-04 6.47699285e+01] [-1.97347118e-01 9.80333667e-01 1.26477434e-04 -1.32019839e+02] [-5.53486888e-04 1.75943897e-05 -9.99999847e-01 2.45790319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.531858064 meters 0.019731283727824945 Centerline is valid? [True, True] Translation: X:64.72, Y:-132.00, Z:0.25 [[-9.63406893e-01 -2.68042940e-01 -3.76422759e-04 6.47249989e+01] [-2.68042914e-01 9.63406966e-01 -1.17910181e-04 -1.32003480e+02] [ 3.94253300e-04 -1.26980277e-05 -9.99999922e-01 2.45332719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.561858064 meters 0.019259843249979227 Centerline is valid? [True, True] Translation: X:64.66, Y:-132.00, Z:0.25 [[-9.41072852e-01 -3.38203559e-01 -4.88908277e-04 6.46574181e+01] [-3.38203504e-01 9.41072979e-01 -1.93670304e-04 -1.31995504e+02] [ 5.25598355e-04 -1.69073731e-05 -9.99999862e-01 2.45513384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.591858064 meters 0.019819410314147166 Centerline is valid? [True, True] Translation: X:64.59, Y:-131.99, Z:0.25 [[-9.13538926e-01 -4.06750764e-01 -6.68876692e-04 6.45892367e+01] [-4.06750636e-01 9.13539170e-01 -3.24105691e-04 -1.31994985e+02] [ 7.42875296e-04 -2.40171452e-05 -9.99999724e-01 2.45709149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.621858064 meters 0.020171096100237942 Centerline is valid? [True, True] Translation: X:64.51, Y:-132.00, Z:0.25 [[-8.80930049e-01 -4.73245343e-01 -1.04624436e-03 6.45106038e+01] [-4.73244956e-01 8.80930669e-01 -6.06891347e-04 -1.32004958e+02] [ 1.20887725e-03 -3.94989590e-05 -9.99999269e-01 2.45512043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65185806399998 meters 0.019286817369187383 Centerline is valid? [True, True] Translation: X:64.43, Y:-132.02, Z:0.25 [[-8.42897109e-01 -5.38074077e-01 -8.66344579e-04 6.44269711e+01] [-5.38073751e-01 8.42897554e-01 -5.93438671e-04 -1.32022682e+02] [ 1.04955369e-03 -3.40504632e-05 -9.99999449e-01 2.45863419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68185806399998 meters 0.01979956057625668 Centerline is valid? [True, True] Translation: X:64.34, Y:-132.05, Z:0.25 [[-8.00033121e-01 -5.99955277e-01 -8.18771482e-04 6.43398144e+01] [-5.99954919e-01 8.00033539e-01 -6.56573333e-04 -1.32052675e+02] [ 1.04895928e-03 -3.40544344e-05 -9.99999449e-01 2.46322246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71185806399998 meters 0.018659499859205397 Centerline is valid? [True, True] Translation: X:64.25, Y:-132.09, Z:0.25 [[-7.52786228e-01 -6.58265064e-01 1.83196903e-05 6.42466775e+01] [-6.58265063e-01 7.52786229e-01 1.70120355e-05 -1.32092283e+02] [-2.49892393e-05 7.47213958e-07 -1.00000000e+00 2.47416579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74185806399998 meters 0.01854227528379472 Centerline is valid? [True, True] Translation: X:64.16, Y:-132.14, Z:0.25 [[-7.00640612e-01 -7.13514165e-01 5.19809626e-04 6.41604912e+01] [-7.13513941e-01 7.00640804e-01 5.65040751e-04 -1.32138719e+02] [-7.67364414e-04 2.49990820e-05 -9.99999705e-01 2.48019080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77185806399999 meters 0.01874849412614273 Centerline is valid? [True, True] Translation: X:64.07, Y:-132.20, Z:0.25 [[-6.44535809e-01 -7.64573828e-01 6.72853006e-04 6.40725939e+01] [-7.64573352e-01 6.44536159e-01 8.53420316e-04 -1.32198636e+02] [-1.08618093e-03 3.56144753e-05 -9.99999409e-01 2.48259100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.801858064 meters 0.01984313075577414 Centerline is valid? [True, True] Translation: X:63.99, Y:-132.27, Z:0.25 [[-5.84875727e-01 -8.11122550e-01 7.69949892e-04 6.39878388e+01] [-8.11121741e-01 5.84876232e-01 1.14646490e-03 -1.32269685e+02] [-1.38024892e-03 4.60163927e-05 -9.99999046e-01 2.49116457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.831858064 meters 0.020172768384450403 Centerline is valid? [True, True] Translation: X:63.91, Y:-132.35, Z:0.25 [[-5.21661968e-01 -8.53151997e-01 6.79508882e-04 6.39056001e+01] [-8.53151153e-01 5.21662408e-01 1.20080324e-03 -1.32349804e+02] [-1.37894192e-03 4.66895943e-05 -9.99999048e-01 2.49481829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.861858064 meters 0.01914023091968446 Centerline is valid? [True, True] Translation: X:63.83, Y:-132.43, Z:0.25 [[-4.55157217e-01 -8.90410943e-01 5.10593346e-04 6.38286719e+01] [-8.90410278e-01 4.55157501e-01 1.08930906e-03 -1.32433638e+02] [-1.20233309e-03 4.11693143e-05 -9.99999276e-01 2.49861332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.891858064 meters 0.0196939656477911 Centerline is valid? [True, True] Translation: X:63.76, Y:-132.53, Z:0.25 [[-3.86303538e-01 -9.22371701e-01 1.47738016e-04 6.37600651e+01] [-9.22371619e-01 3.86303566e-01 3.90421189e-04 -1.32526977e+02] [-4.17185179e-04 1.45517335e-05 -9.99999913e-01 2.49521580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.921858064 meters 0.02053657447702266 Centerline is valid? [True, True] Translation: X:63.70, Y:-132.63, Z:0.25 [[-3.14729494e-01 -9.49181389e-01 1.90404946e-04 6.36972280e+01] [-9.49181167e-01 3.14729550e-01 6.50053238e-04 -1.32630119e+02] [-6.76944499e-04 2.38621375e-05 -9.99999771e-01 2.49352250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.951858064 meters 0.021221297114428595 Centerline is valid? [True, True] Translation: X:63.64, Y:-132.74, Z:0.25 [[-2.41165035e-01 -9.70484114e-01 1.05765193e-04 6.36427392e+01] [-9.70483984e-01 2.41165057e-01 5.01004414e-04 -1.32736807e+02] [-5.11723693e-04 1.81813211e-05 -9.99999869e-01 2.49223397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.981858064 meters 0.021550574449216264 Centerline is valid? [True, True] Translation: X:63.60, Y:-132.85, Z:0.25 [[-1.66176160e-01 -9.86096082e-01 -2.89480494e-05 6.35968121e+01] [-9.86096058e-01 1.66176162e-01 -2.20331141e-04 -1.32847975e+02] [ 2.22078150e-04 -8.06822542e-06 -9.99999975e-01 2.48658745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.011858064 meters 0.01921596051308331 Centerline is valid? [True, True] Translation: X:63.55, Y:-132.96, Z:0.25 [[-8.95043897e-02 -9.95986425e-01 -7.16977508e-05 6.35537540e+01] [-9.95985541e-01 8.95044058e-02 -1.32830841e-03 -1.32963261e+02] [ 1.32939441e-03 -4.74795105e-05 -9.99999115e-01 2.48533459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.041858064 meters 0.01975910068264018 Centerline is valid? [True, True] Translation: X:63.52, Y:-133.09, Z:0.25 [[-1.19029507e-02 -9.99929157e-01 3.47954738e-05 6.35237636e+01] [-9.99928023e-01 1.19028848e-02 -1.50653846e-03 -1.33090641e+02] [ 1.50601757e-03 -5.27252224e-05 -9.99998865e-01 2.48238124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.071858064 meters 0.01906490734085513 Centerline is valid? [True, True] Translation: X:63.50, Y:-133.21, Z:0.25 [[ 6.62035697e-02 -9.97806113e-01 2.17847173e-04 6.35007304e+01] [-9.97803759e-01 -6.62038871e-02 -2.16901810e-03 -1.33205200e+02] [ 2.17868185e-03 -7.37719873e-05 -9.99997624e-01 2.48473720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.101858064 meters 0.019999536420112464 Centerline is valid? [True, True] Translation: X:63.49, Y:-133.33, Z:0.25 [[ 1.44891709e-01 -9.89447458e-01 3.47736373e-04 6.34908004e+01] [-9.89445552e-01 -1.44892112e-01 -1.94305231e-03 -1.33327462e+02] [ 1.97293242e-03 -6.25340391e-05 -9.99998052e-01 2.48701363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.131858064 meters 0.019574524483402723 Centerline is valid? [True, True] Translation: X:63.49, Y:-133.45, Z:0.25 [[ 2.21449970e-01 -9.75171641e-01 4.26750122e-04 6.34885301e+01] [-9.75170257e-01 -2.21450375e-01 -1.64328006e-03 -1.33451079e+02] [ 1.69698409e-03 -5.22497045e-05 -9.99998559e-01 2.49307934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.161858064 meters 0.017612415332375467 Centerline is valid? [True, True] Translation: X:63.49, Y:-133.57, Z:0.25 [[ 2.96913610e-01 -9.54904332e-01 1.55994014e-04 6.34925185e+01] [-9.54904225e-01 -2.96913650e-01 -4.53756990e-04 -1.33570357e+02] [ 4.79611268e-04 -1.42327168e-05 -9.99999885e-01 2.50221987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.191858064 meters 0.017612415332375467 Centerline is valid? [True, True] Translation: X:63.51, Y:-133.69, Z:0.25 [[ 3.69349214e-01 -9.29290655e-01 1.90371215e-04 6.35081243e+01] [-9.29290551e-01 -3.69349262e-01 -4.40444057e-04 -1.33689371e+02] [ 4.79614014e-04 -1.42325050e-05 -9.99999885e-01 2.50221852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.221858064 meters 0.017876671345962145 Centerline is valid? [True, True] Translation: X:63.53, Y:-133.81, Z:0.25 [[ 4.39483457e-01 -8.98250684e-01 7.44787471e-06 6.35347257e+01] [-8.98250684e-01 -4.39483457e-01 -1.39949006e-05 -1.33808174e+02] [ 1.58441466e-05 -5.39531281e-07 -1.00000000e+00 2.50488090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.251858064 meters 0.018036847851415436 Centerline is valid? [True, True] Translation: X:63.57, Y:-133.92, Z:0.25 [[ 5.06731347e-01 -8.62104016e-01 -8.90943193e-05 6.35683165e+01] [-8.62104004e-01 -5.06731355e-01 1.41848144e-04 -1.33921437e+02] [-1.67434740e-04 4.92966820e-06 -9.99999986e-01 2.50697065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.281858064 meters 0.01818476829357533 Centerline is valid? [True, True] Translation: X:63.60, Y:-134.02, Z:0.25 [[ 5.70919230e-01 -8.21006205e-01 -2.09039988e-04 6.36048073e+01] [-8.21006157e-01 -5.70919268e-01 2.82165693e-04 -1.34023439e+02] [-3.51004741e-04 1.05292968e-05 -9.99999938e-01 2.51057308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.311858064 meters 0.01858268745336534 Centerline is valid? [True, True] Translation: X:63.65, Y:-134.13, Z:0.25 [[ 6.30523185e-01 -7.76170013e-01 -7.89893482e-04 6.36536717e+01] [-7.76169479e-01 -6.30523678e-01 9.11260973e-04 -1.34126293e+02] [-1.20533998e-03 3.85200414e-05 -9.99999273e-01 2.51502042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.341858064 meters 0.01897719498067224 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.22, Z:0.25 [[ 6.87178499e-01 -7.26488497e-01 -4.17801416e-04 6.37048144e+01] [-7.26488379e-01 -6.87178626e-01 4.13648481e-04 -1.34220163e+02] [-5.87615066e-04 1.92775316e-05 -9.99999827e-01 2.51534066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.371858064 meters 0.020039664879328026 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.23, Z:0.25 [[ 7.41284658e-01 -6.71190710e-01 -2.93667813e-04 6.37026687e+01] [-6.71190664e-01 -7.41284716e-01 2.48468830e-04 -1.34225928e+02] [-3.84461432e-04 1.29209629e-05 -9.99999926e-01 2.51197177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40185806399998 meters 0.019869242165762167 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.23, Z:0.25 [[ 7.90518235e-01 -6.12437795e-01 9.31412471e-04 6.36999350e+01] [-6.12437429e-01 -7.90518783e-01 -6.70187105e-04 -1.34233820e+02] [ 1.14674697e-03 -4.06367324e-05 -9.99999342e-01 2.50767885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43185806399998 meters 0.021949952847806535 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.24, Z:0.25 [[ 8.35901625e-01 -5.48878183e-01 1.10191808e-03 6.36991638e+01] [-5.48877777e-01 -8.35902350e-01 -6.68749497e-04 -1.34238290e+02] [ 1.28815792e-03 -4.58095577e-05 -9.99999169e-01 2.50211211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46185806399998 meters 0.022423476003834653 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.24, Z:0.25 [[ 8.76128655e-01 -4.82075848e-01 1.20668544e-03 6.36990821e+01] [-4.82075466e-01 -8.76129485e-01 -6.08772873e-04 -1.34241013e+02] [ 1.35068739e-03 -4.83500868e-05 -9.99999087e-01 2.50507032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49185806399998 meters 0.021270861671356212 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.25, Z:0.25 [[ 9.11342785e-01 -4.11647730e-01 6.89547026e-04 6.36986565e+01] [-4.11647634e-01 -9.11343045e-01 -2.82591649e-04 -1.34248649e+02] [ 7.44742097e-04 -2.63125410e-05 -9.99999722e-01 2.51263066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52185806399999 meters 0.019133327750791955 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.26, Z:0.25 [[ 9.40987562e-01 -3.38440857e-01 4.40946436e-04 6.36968801e+01] [-3.38440828e-01 -9.40987665e-01 -1.41544390e-04 -1.34262223e+02] [ 4.62829562e-04 -1.60427660e-05 -9.99999893e-01 2.51545189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.551858064 meters 0.020859305123376744 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.27, Z:0.25 [[ 9.64895741e-01 -2.62633215e-01 5.98398601e-05 6.36968824e+01] [-2.62633214e-01 -9.64895743e-01 -1.40964146e-05 -1.34268309e+02] [ 6.14414128e-05 -2.11436441e-06 -9.99999998e-01 2.51641819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.581858064 meters 0.017932019527799267 Centerline is valid? [True, True] Translation: X:63.69, Y:-134.28, Z:0.25 [[ 9.82954187e-01 -1.83848044e-01 -9.81270456e-04 6.36932257e+01] [-1.83847984e-01 -9.82954676e-01 1.52508293e-04 -1.34283337e+02] [-9.92582735e-04 3.04959290e-05 -9.99999507e-01 2.51719680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.611858064 meters 0.01751060560636035 Centerline is valid? [True, True] Translation: X:63.69, Y:-134.29, Z:0.25 [[ 9.94516574e-01 -1.04574086e-01 -1.02180778e-03 6.36911423e+01] [-1.04574061e-01 -9.94517099e-01 7.76071477e-05 -1.34293860e+02] [-1.02432101e-03 2.96729948e-05 -9.99999475e-01 2.51650097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.641858064 meters 0.01762284439492161 Centerline is valid? [True, True] Translation: X:63.69, Y:-134.30, Z:0.25 [[ 9.99687127e-01 -2.49791639e-02 -1.30017977e-03 6.36889332e+01] [-2.49791894e-02 -9.99687971e-01 -3.32754045e-06 -1.34303117e+02] [-1.29969095e-03 3.58039359e-05 -9.99999155e-01 2.51942065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.671858064 meters 0.01679346743757575 Centerline is valid? [True, True] Translation: X:63.69, Y:-134.31, Z:0.25 [[ 9.98473109e-01 5.51862796e-02 -2.43425648e-03 6.36885689e+01] [ 5.51859619e-02 -9.98476074e-01 -1.97543584e-04 -1.34314019e+02] [-2.44144855e-03 6.29051704e-05 -9.99997018e-01 2.51831428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.701858064 meters 0.016268303401557164 Centerline is valid? [True, True] Translation: X:63.69, Y:-134.32, Z:0.25 [[ 9.90745469e-01 1.35677422e-01 -3.87975443e-03 6.36888724e+01] [ 1.35676021e-01 -9.90753061e-01 -6.23493554e-04 -1.34323543e+02] [-3.92847258e-03 9.13337710e-05 -9.99992279e-01 2.52421099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.731858064 meters 0.015971359478393145 Centerline is valid? [True, True] Translation: X:63.69, Y:-134.33, Z:0.25 [[ 9.76940406e-01 2.13469682e-01 -4.25891586e-03 6.36901460e+01] [ 2.13467210e-01 -9.76949684e-01 -1.03194275e-03 -1.34333333e+02] [-4.38103499e-03 9.90076784e-05 -9.99990398e-01 2.52615165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.761858064 meters 0.015758080184858428 Centerline is valid? [True, True] Translation: X:63.69, Y:-134.34, Z:0.25 [[ 9.56964407e-01 2.90171896e-01 -4.40395145e-03 6.36928392e+01] [ 2.90168338e-01 -9.56974535e-01 -1.44038043e-03 -1.34342485e+02] [-4.63242731e-03 1.00505533e-04 -9.99989265e-01 2.52959639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.791858064 meters 0.0158110062117898 Centerline is valid? [True, True] Translation: X:63.69, Y:-134.35, Z:0.25 [[ 9.30988710e-01 3.65019310e-01 -4.57449168e-03 6.36941045e+01] [ 3.65014357e-01 -9.30999942e-01 -1.90443436e-03 -1.34350539e+02] [-4.95400681e-03 1.03251744e-04 -9.99987724e-01 2.53424248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.821858064 meters 0.015757763820979365 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.36, Z:0.25 [[ 8.99557669e-01 4.36779667e-01 -4.41850808e-03 6.36969311e+01] [ 4.36773831e-01 -8.99568514e-01 -2.26030804e-03 -1.34358050e+02] [-4.96200734e-03 1.03388726e-04 -9.99987684e-01 2.53675650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.851858064 meters 0.01603788453188387 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.36, Z:0.25 [[ 8.62743673e-01 5.05623225e-01 -4.30221894e-03 6.36994521e+01] [ 5.05616318e-01 -8.62754393e-01 -2.64497612e-03 -1.34363245e+02] [-5.04911965e-03 1.06664307e-04 -9.99987247e-01 2.53773155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.881858064 meters 0.016441124640535775 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.37, Z:0.25 [[ 8.20955199e-01 5.70978209e-01 -4.05530199e-03 6.37000379e+01] [ 5.70970578e-01 -8.20965208e-01 -2.95404208e-03 -1.34367400e+02] [-5.01595550e-03 1.09678077e-04 -9.99987414e-01 2.53350711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.911858064 meters 0.016933783821443043 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.37, Z:0.25 [[ 7.74112870e-01 6.33035925e-01 -3.84489717e-03 6.37007656e+01] [ 6.33027381e-01 -7.74122410e-01 -3.29090589e-03 -1.34372313e+02] [-5.05968271e-03 1.13607412e-04 -9.99987193e-01 2.53793822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.941858064 meters 0.017139097467934482 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.38, Z:0.25 [[ 7.22698336e-01 6.91153405e-01 -3.75294703e-03 6.37029632e+01] [ 6.91143191e-01 -7.22708070e-01 -3.75959399e-03 -1.34376969e+02] [-5.31074130e-03 1.23228538e-04 -9.99985890e-01 2.54137859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.971858064 meters 0.016506703241409012 Centerline is valid? [True, True] Translation: X:63.71, Y:-134.38, Z:0.25 [[ 6.67330537e-01 7.44752380e-01 -3.72112350e-03 6.37091208e+01] [ 7.44739613e-01 -6.67340897e-01 -4.36314950e-03 -1.34383651e+02] [-5.73272387e-03 1.40394826e-04 -9.99983558e-01 2.54252440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.001858064 meters 0.0175898169068489 Centerline is valid? [True, True] Translation: X:63.71, Y:-134.39, Z:0.25 [[ 6.07547027e-01 7.94275470e-01 -3.61773819e-03 6.37122245e+01] [ 7.94259839e-01 -6.07557778e-01 -4.98543161e-03 -1.34388827e+02] [-6.15779102e-03 1.55460000e-04 -9.99981029e-01 2.54409438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.031858064 meters 0.01690943737351849 Centerline is valid? [True, True] Translation: X:63.72, Y:-134.40, Z:0.25 [[ 5.44418098e-01 8.38808751e-01 -2.96893556e-03 6.37190949e+01] [ 8.38794747e-01 -5.44426173e-01 -4.84928910e-03 -1.34396023e+02] [-5.68399236e-03 1.49713195e-04 -9.99983835e-01 2.53571288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.061858064 meters 0.019343260805957368 Centerline is valid? [True, True] Translation: X:63.72, Y:-134.40, Z:0.25 [[ 4.78781095e-01 8.77930646e-01 -2.53858174e-03 6.37199467e+01] [ 8.77916504e-01 -4.78787799e-01 -4.98561659e-03 -1.34400383e+02] [-5.59246756e-03 1.58356170e-04 -9.99984350e-01 2.53358647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.091858064 meters 0.018073686025143056 Centerline is valid? [True, True] Translation: X:63.73, Y:-134.41, Z:0.25 [[ 4.09447859e-01 9.12330894e-01 -2.18862541e-03 6.37279602e+01] [ 9.12315599e-01 -4.09453674e-01 -5.28551642e-03 -1.34406167e+02] [-5.71828064e-03 1.67426278e-04 -9.99983637e-01 2.52789734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.121858064 meters 0.017988163909273717 Centerline is valid? [True, True] Translation: X:63.74, Y:-134.41, Z:0.25 [[ 3.37543985e-01 9.41307776e-01 -1.93102539e-03 6.37354305e+01] [ 9.41289031e-01 -3.37549456e-01 -5.94342898e-03 -1.34410992e+02] [-6.24641249e-03 1.88515688e-04 -9.99980473e-01 2.52890927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15185806399998 meters 0.01830243669640157 Centerline is valid? [True, True] Translation: X:63.74, Y:-134.42, Z:0.25 [[ 2.63770938e-01 9.64584026e-01 -1.59635959e-03 6.37421799e+01] [ 9.64561157e-01 -2.63775682e-01 -6.64562705e-03 -1.34415690e+02] [-6.83134654e-03 2.13136832e-04 -9.99976643e-01 2.53128533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18185806399998 meters 0.019166856595019606 Centerline is valid? [True, True] Translation: X:63.75, Y:-134.42, Z:0.25 [[ 1.88628182e-01 9.82048008e-01 -1.05827173e-03 6.37460846e+01] [ 9.82025375e-01 -1.88631023e-01 -6.67079459e-03 -1.34420892e+02] [-6.75066341e-03 2.19050157e-04 -9.99977190e-01 2.53087314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21185806399998 meters 0.019428469063483726 Centerline is valid? [True, True] Translation: X:63.75, Y:-134.42, Z:0.25 [[ 1.11348777e-01 9.93781239e-01 -5.47321818e-04 6.37519191e+01] [ 9.93757167e-01 -1.11349891e-01 -6.92060220e-03 -1.34424569e+02] [-6.93850886e-03 2.26695610e-04 -9.99975903e-01 2.52729145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24185806399998 meters 0.01838245838960725 Centerline is valid? [True, True] Translation: X:63.76, Y:-134.43, Z:0.25 [[ 3.27996971e-02 9.99461945e-01 -3.59011821e-06 6.37627903e+01] [ 9.99435710e-01 -3.27988621e-02 -7.24546253e-03 -1.34428097e+02] [-7.24168183e-03 2.34060884e-04 -9.99973751e-01 2.52484675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27185806399999 meters 0.01847546946896387 Centerline is valid? [True, True] Translation: X:63.77, Y:-134.43, Z:0.25 [[-4.64737399e-02 9.98919341e-01 5.85361971e-04 6.37713328e+01] [ 9.98891242e-01 4.64768254e-02 -7.49612573e-03 -1.34432300e+02] [-7.51523074e-03 2.36339949e-04 -9.99971732e-01 2.52750041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.301858064 meters 0.019509008480601178 Centerline is valid? [True, True] Translation: X:63.78, Y:-134.44, Z:0.25 [[-1.26614795e-01 9.91951165e-01 1.25735408e-03 6.37772537e+01] [ 9.91919125e-01 1.26620816e-01 -7.97615450e-03 -1.34436206e+02] [-8.07116294e-03 2.37294392e-04 -9.99967399e-01 2.54183448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.331858064 meters 0.018375816841985353 Centerline is valid? [True, True] Translation: X:63.79, Y:-134.44, Z:0.25 [[-2.05017255e-01 9.78756266e-01 2.02396708e-03 6.37861787e+01] [ 9.78719722e-01 2.05027097e-01 -8.46134794e-03 -1.34438065e+02] [-8.69656541e-03 2.46174173e-04 -9.99962154e-01 2.54065326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.361858064 meters 0.0189820823927427 Centerline is valid? [True, True] Translation: X:63.79, Y:-134.44, Z:0.25 [[-2.83022113e-01 9.59109586e-01 2.69907336e-03 6.37914009e+01] [ 9.59073408e-01 2.83034889e-01 -8.33365346e-03 -1.34441987e+02] [-8.75681885e-03 2.30001272e-04 -9.99961632e-01 2.54461300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.391858064 meters 0.017918369742053054 Centerline is valid? [True, True] Translation: X:63.80, Y:-134.44, Z:0.25 [[-3.58090263e-01 9.33681560e-01 3.17937994e-03 6.37988873e+01] [ 9.33649843e-01 3.58104314e-01 -7.69872069e-03 -1.34444127e+02] [-8.32670321e-03 2.11590664e-04 -9.99965310e-01 2.53468765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.421858064 meters 0.017498029351831243 Centerline is valid? [True, True] Translation: X:63.81, Y:-134.45, Z:0.25 [[-4.30608310e-01 9.02531575e-01 3.63853485e-03 6.38066068e+01] [ 9.02503179e-01 4.30623636e-01 -7.16207138e-03 -1.34445323e+02] [-8.03083467e-03 1.99741816e-04 -9.99967732e-01 2.52850060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.451858064 meters 0.018452340767802028 Centerline is valid? [True, True] Translation: X:63.81, Y:-134.45, Z:0.25 [[-4.99944320e-01 8.66048185e-01 4.02705977e-03 6.38103402e+01] [ 8.66023126e-01 4.99960502e-01 -6.59101931e-03 -1.34448769e+02] [-7.72151114e-03 1.92384221e-04 -9.99970170e-01 2.52245924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.481858064 meters 0.01850936329024909 Centerline is valid? [True, True] Translation: X:63.82, Y:-134.45, Z:0.25 [[-5.66173987e-01 8.24272434e-01 4.68745223e-03 6.38152821e+01] [ 8.24247056e-01 5.66193355e-01 -6.47111263e-03 -1.34451359e+02] [-7.98796406e-03 1.99843066e-04 -9.99968076e-01 2.51929106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.511858064 meters 0.017304082378599622 Centerline is valid? [True, True] Translation: X:63.83, Y:-134.45, Z:0.25 [[-6.28899420e-01 7.77468965e-01 5.24678870e-03 6.38258890e+01] [ 7.77444568e-01 6.28921273e-01 -6.16251174e-03 -1.34448218e+02] [-8.09097865e-03 2.03487314e-04 -9.99967247e-01 2.50851227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.541858064 meters 0.01922020319056829 Centerline is valid? [True, True] Translation: X:63.83, Y:-134.45, Z:0.25 [[-6.87781833e-01 7.25896143e-01 5.56230645e-03 6.38318203e+01] [ 7.25874717e-01 6.87804296e-01 -5.58085608e-03 -1.34448919e+02] [-7.87690018e-03 1.99126192e-04 -9.99968957e-01 2.51635086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.571858064 meters 0.017523038116891057 Centerline is valid? [True, True] Translation: X:63.84, Y:-134.45, Z:0.25 [[-7.42400475e-01 6.69927977e-01 6.16768782e-03 6.38410174e+01] [ 6.69907148e-01 7.42426065e-01 -5.28684628e-03 -1.34445296e+02] [-8.12085843e-03 2.06820968e-04 -9.99967004e-01 2.50651014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.601858064 meters 0.01793220146892527 Centerline is valid? [True, True] Translation: X:63.86, Y:-134.42, Z:0.25 [[-7.87931591e-01 6.15731216e-01 6.23513137e-03 6.38579895e+01] [ 6.15713903e-01 7.87956236e-01 -4.62161467e-03 -1.34424437e+02] [-7.75868307e-03 1.97540877e-04 -9.99969881e-01 2.50941794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.631858064 meters 0.01838314823209266 Centerline is valid? [True, True] Translation: X:64.32, Y:-133.82, Z:-0.76 [[-7.77444698e-01 -6.28918042e-01 6.46823981e-03 6.43194990e+01] [ 6.28894406e-01 -7.77471585e-01 -5.45524899e-03 -1.33819523e+02] [ 8.45977717e-03 -1.73314573e-04 9.99964200e-01 -7.61253896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.661858064 meters 0.017832157519209437 Centerline is valid? [True, True] Translation: X:63.83, Y:-134.40, Z:0.25 [[-7.90314045e-01 6.12659815e-01 7.18760060e-03 6.38267639e+01] [ 6.12637036e-01 7.90346696e-01 -5.28792778e-03 -1.34404281e+02] [-8.92039724e-03 2.24266729e-04 -9.99960187e-01 2.50728310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.691858064 meters 0.01801527346543199 Centerline is valid? [True, True] Translation: X:63.84, Y:-134.38, Z:0.25 [[-8.31999735e-01 5.54713296e-01 8.34265646e-03 6.38419264e+01] [ 5.54688311e-01 8.32041526e-01 -5.27033342e-03 -1.34381979e+02] [-9.86496063e-03 2.42658014e-04 -9.99951311e-01 2.51010146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.721858064 meters 0.018223797531967286 Centerline is valid? [True, True] Translation: X:64.25, Y:-133.74, Z:-0.76 [[-8.21720489e-01 -5.69833415e-01 8.08189506e-03 6.42521875e+01] [ 5.69802985e-01 -8.21760198e-01 -5.89367909e-03 -1.33735090e+02] [ 9.99979496e-03 -2.37868936e-04 9.99949973e-01 -7.61427248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.751858064 meters 0.018459151122557763 Centerline is valid? [True, True] Translation: X:63.80, Y:-134.36, Z:0.25 [[-8.34013300e-01 5.51676625e-01 8.64388763e-03 6.38039267e+01] [ 5.51650084e-01 8.34058055e-01 -5.41722460e-03 -1.34363746e+02] [-1.01980603e-02 2.50363968e-04 -9.99947967e-01 2.50773468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.781858064 meters 0.018422035535087266 Centerline is valid? [True, True] Translation: X:63.82, Y:-134.34, Z:0.25 [[-8.71006645e-01 4.91183727e-01 9.27204568e-03 6.38190570e+01] [ 4.91159013e-01 8.71055957e-01 -4.93392207e-03 -1.34341002e+02] [-1.04999329e-02 2.56569903e-04 -9.99944841e-01 2.50614436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.811858064 meters 0.01802420360372472 Centerline is valid? [True, True] Translation: X:63.82, Y:-134.31, Z:0.25 [[-9.03617992e-01 4.28235382e-01 9.43307157e-03 6.38232764e+01] [ 4.28214937e-01 9.03667192e-01 -4.19199279e-03 -1.34311857e+02] [-1.03195169e-02 2.51422043e-04 -9.99946721e-01 2.50385479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.841858064 meters 0.018614226461844078 Centerline is valid? [True, True] Translation: X:63.85, Y:-134.29, Z:0.25 [[-9.32365779e-01 3.61390935e-01 9.52085348e-03 6.38458926e+01] [ 3.61374579e-01 9.32414361e-01 -3.44578876e-03 -1.34290799e+02] [-1.01226573e-02 2.27858903e-04 -9.99948739e-01 2.50863418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.871858064 meters 0.018044169797096273 Centerline is valid? [True, True] Translation: X:64.12, Y:-133.57, Z:-0.76 [[-9.23738765e-01 -3.82908326e-01 9.37594537e-03 6.41151624e+01] [ 3.82886142e-01 -9.23786319e-01 -4.12773515e-03 -1.33566586e+02] [ 1.02419142e-02 -2.23029417e-04 9.99947525e-01 -7.60732010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90185806399998 meters 0.0179817466011823 Centerline is valid? [True, True] Translation: X:63.81, Y:-134.28, Z:0.25 [[-9.34176408e-01 3.56672603e-01 9.95458989e-03 6.38050378e+01] [ 3.56654897e-01 9.34229417e-01 -3.56092935e-03 -1.34276188e+02] [-1.05699566e-02 2.23817041e-04 -9.99944111e-01 2.50430907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93185806399998 meters 0.01847443115798378 Centerline is valid? [True, True] Translation: X:63.82, Y:-134.25, Z:0.25 [[-9.57153324e-01 2.89389413e-01 1.05489973e-02 6.38156832e+01] [ 2.89374477e-01 9.57211427e-01 -2.94912082e-03 -1.34251146e+02] [-1.09510651e-02 2.29849774e-04 -9.99940009e-01 2.50907562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96185806399998 meters 0.01813075144349656 Centerline is valid? [True, True] Translation: X:63.82, Y:-134.22, Z:0.25 [[-9.75332448e-01 2.20476157e-01 1.08111030e-02 6.38228118e+01] [ 2.20465205e-01 9.75392337e-01 -2.20945696e-03 -1.34222455e+02] [-1.10321996e-02 2.28516959e-04 -9.99939117e-01 2.50654968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99185806399998 meters 0.01683696007570202 Centerline is valid? [True, True] Translation: X:63.97, Y:-133.47, Z:-0.76 [[-9.69308800e-01 -2.45652255e-01 9.76831524e-03 6.39749326e+01] [ 2.45637003e-01 -9.69357983e-01 -2.75032323e-03 -1.33468391e+02] [ 1.01446175e-02 -2.66452838e-04 9.99948507e-01 -7.59256247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02185806399999 meters 0.017350172737470942 Centerline is valid? [True, True] Translation: X:63.77, Y:-134.21, Z:0.25 [[-9.76121272e-01 2.16974215e-01 1.04619670e-02 6.37672082e+01] [ 2.16964254e-01 9.76177309e-01 -2.09158336e-03 -1.34209791e+02] [-1.06665545e-02 2.28233855e-04 -9.99943085e-01 2.49054781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.051858064 meters 0.01756222783777951 Centerline is valid? [True, True] Translation: X:63.77, Y:-134.18, Z:0.25 [[-9.88992490e-01 1.47576287e-01 1.07281687e-02 6.37730745e+01] [ 1.47570191e-01 9.89050648e-01 -1.36197689e-03 -1.34182145e+02] [-1.08116977e-02 2.36172998e-04 -9.99941524e-01 2.49250941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.081858064 meters 0.01756222783777951 Centerline is valid? [True, True] Translation: X:63.88, Y:-133.42, Z:-0.76 [[-9.85219008e-01 -1.70970427e-01 1.06122281e-02 6.38753970e+01] [ 1.70957923e-01 -9.85276132e-01 -2.08117517e-03 -1.33421514e+02] [ 1.08117944e-02 -2.36168863e-04 9.99941523e-01 -7.59395381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.111858064 meters 0.017533296925549596 Centerline is valid? [True, True] Translation: X:63.70, Y:-134.17, Z:0.25 [[-9.89675725e-01 1.42915136e-01 1.08269834e-02 6.37018387e+01] [ 1.42909191e-01 9.89734918e-01 -1.32472265e-03 -1.34172981e+02] [-1.09051665e-02 2.36229592e-04 -9.99940509e-01 2.49527938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.141858064 meters 0.01759168817310024 Centerline is valid? [True, True] Translation: X:63.81, Y:-133.41, Z:-0.76 [[-9.85856277e-01 -1.67233898e-01 1.09646488e-02 6.38107049e+01] [ 1.67221013e-01 -9.85917224e-01 -2.08812649e-03 -1.33414392e+02] [ 1.11594416e-02 -2.25072937e-04 9.99937706e-01 -7.59933097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.171858064 meters 0.017671510436891337 Centerline is valid? [True, True] Translation: X:63.64, Y:-134.17, Z:0.25 [[-9.90454615e-01 1.37378705e-01 1.12582161e-02 6.36447041e+01] [ 1.37372516e-01 9.90518569e-01 -1.32495879e-03 -1.34165564e+02] [-1.13334933e-02 2.34257926e-04 -9.99935746e-01 2.50454766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.201858064 meters 0.0176177862060285 Centerline is valid? [True, True] Translation: X:63.74, Y:-133.41, Z:-0.76 [[-9.86456910e-01 -1.63609266e-01 1.16091767e-02 6.37416276e+01] [ 1.63595389e-01 -9.86525196e-01 -2.14150261e-03 -1.33407277e+02] [ 1.18031150e-02 -2.13292258e-04 9.99930318e-01 -7.61186629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.231858064 meters 0.01784470810611873 Centerline is valid? [True, True] Translation: X:63.57, Y:-134.16, Z:0.25 [[-9.91161301e-01 1.32102636e-01 1.21724948e-02 6.35731515e+01] [ 1.32095673e-01 9.91236014e-01 -1.37780452e-03 -1.34156080e+02] [-1.22478268e-02 2.42307369e-04 -9.99924963e-01 2.52655462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.261858064 meters 0.017945199825263845 Centerline is valid? [True, True] Translation: X:63.67, Y:-133.40, Z:-0.76 [[-9.87092269e-01 -1.59665887e-01 1.24762495e-02 6.36697729e+01] [ 1.59650276e-01 -9.87171087e-01 -2.24381085e-03 -1.33398929e+02] [ 1.26744528e-02 -2.23011673e-04 9.99919651e-01 -7.63162354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.291858064 meters 0.01758305372173072 Centerline is valid? [True, True] Translation: X:63.51, Y:-134.15, Z:0.25 [[-9.91787037e-01 1.27252376e-01 1.28571405e-02 6.35144432e+01] [ 1.27244967e-01 9.91870339e-01 -1.39594094e-03 -1.34149154e+02] [-1.29302531e-02 2.51530290e-04 -9.99916369e-01 2.52753360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.321858064 meters 0.018240334310746276 Centerline is valid? [True, True] Translation: X:63.60, Y:-133.39, Z:-0.76 [[-9.87795620e-01 -1.55256174e-01 1.24632915e-02 6.36044458e+01] [ 1.55240442e-01 -9.87874208e-01 -2.22584210e-03 -1.33392540e+02] [ 1.26577400e-02 -2.63870189e-04 9.99919853e-01 -7.63511666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.351858064 meters 0.01829764576148751 Centerline is valid? [True, True] Translation: X:63.45, Y:-134.14, Z:0.25 [[-9.92336127e-01 1.23039609e-01 1.14133617e-02 6.34493864e+01] [ 1.23034099e-01 9.92401735e-01 -1.18630747e-03 -1.34142007e+02] [-1.14726027e-02 2.27016915e-04 -9.99934162e-01 2.52744348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.381858064 meters 0.018335352513461554 Centerline is valid? [True, True] Translation: X:63.53, Y:-133.38, Z:-0.76 [[-9.88529294e-01 -1.50615366e-01 1.11735147e-02 6.35311320e+01] [ 1.50603076e-01 -9.88592412e-01 -1.93808243e-03 -1.33384856e+02] [ 1.13379569e-02 -2.33085563e-04 9.99935696e-01 -7.62257822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.411858064 meters 0.01731455311927099 Centerline is valid? [True, True] Translation: X:63.38, Y:-134.13, Z:0.25 [[-9.92910063e-01 1.18326406e-01 1.13343917e-02 6.33830669e+01] [ 1.18321289e-01 9.92974728e-01 -1.12334114e-03 -1.34133977e+02] [-1.13876855e-02 2.25723118e-04 -9.99935133e-01 2.50617708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.441858064 meters 0.017419476703523524 Centerline is valid? [True, True] Translation: X:63.46, Y:-133.38, Z:-0.76 [[-9.89240597e-01 -1.45885003e-01 1.09821726e-02 6.34627330e+01] [ 1.45873349e-01 -9.89301526e-01 -1.85910268e-03 -1.33379336e+02] [ 1.11358953e-02 -2.37093551e-04 9.99937966e-01 -7.60792910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.471858064 meters 0.0172763258079028 Centerline is valid? [True, True] Translation: X:63.32, Y:-134.13, Z:0.25 [[-9.93496151e-01 1.13355642e-01 1.07654900e-02 6.33163982e+01] [ 1.13351268e-01 9.93554455e-01 -1.01757589e-03 -1.34127912e+02] [-1.08114486e-02 2.09324209e-04 -9.99941533e-01 2.50028501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.501858064 meters 0.01709196891322057 Centerline is valid? [True, True] Translation: X:63.32, Y:-134.10, Z:0.25 [[-9.99110584e-01 4.11659927e-02 9.13244022e-03 6.33172008e+01] [ 4.11657805e-02 9.99152308e-01 -2.11297123e-04 -1.34099333e+02] [-9.13339697e-03 1.64834837e-04 -9.99958276e-01 2.49114416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.531858064 meters 0.016006941966795384 Centerline is valid? [True, True] Translation: X:63.31, Y:-134.07, Z:0.25 [[-9.99475411e-01 -3.12477827e-02 8.51344189e-03 6.33145941e+01] [-3.12454267e-02 9.99511659e-01 4.09644676e-04 -1.34068295e+02] [-8.52208491e-03 1.43423657e-04 -9.99963676e-01 2.47734897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.561858064 meters 0.01636043704889753 Centerline is valid? [True, True] Translation: X:63.28, Y:-133.32, Z:-0.76 [[-9.99961777e-01 -3.62751455e-03 7.95518570e-03 6.32821790e+01] [ 3.62602937e-03 -9.99993406e-01 -2.01108238e-04 -1.33316296e+02] [ 7.95586277e-03 -1.72254814e-04 9.99968337e-01 -7.58560233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.591858064 meters 0.015999060467202102 Centerline is valid? [True, True] Translation: X:63.21, Y:-134.07, Z:0.25 [[-9.99175182e-01 -4.00049581e-02 6.96841656e-03 6.32109014e+01] [-4.00032843e-02 9.99199476e-01 3.79468439e-04 -1.34071373e+02] [-6.97801880e-03 1.00395898e-04 -9.99975648e-01 2.48035065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.621858064 meters 0.01587880063670967 Centerline is valid? [True, True] Translation: X:63.19, Y:-134.04, Z:0.25 [[-9.93558911e-01 -1.13089074e-01 7.17995811e-03 6.31921500e+01] [-1.13085470e-01 9.93584850e-01 9.07272495e-04 -1.34044724e+02] [-7.23650021e-03 8.94797355e-05 -9.99973812e-01 2.48323362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65185806399998 meters 0.015430810894893735 Centerline is valid? [True, True] Translation: X:63.17, Y:-134.02, Z:0.25 [[-9.82752370e-01 -1.84771189e-01 7.57538705e-03 6.31742637e+01] [-1.84764982e-01 9.82781562e-01 1.51724251e-03 -1.34018143e+02] [-7.72529342e-03 9.14074164e-05 -9.99970155e-01 2.47880508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68185806399998 meters 0.01569772972852734 Centerline is valid? [True, True] Translation: X:63.14, Y:-134.00, Z:0.25 [[-9.66744454e-01 -2.55627413e-01 7.73214178e-03 6.31392587e+01] [-2.55618447e-01 9.66775370e-01 2.14313719e-03 -1.33998051e+02] [-8.02308885e-03 9.53879192e-05 -9.99967810e-01 2.48973051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71185806399998 meters 0.015941259331557177 Centerline is valid? [True, True] Translation: X:63.08, Y:-133.99, Z:0.25 [[-9.45519293e-01 -3.25482481e-01 7.37709769e-03 6.30828088e+01] [-3.25471763e-01 9.45548066e-01 2.64329805e-03 -1.33986250e+02] [-7.83574766e-03 9.82523090e-05 -9.99969295e-01 2.49670417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74185806399998 meters 0.016249382583452415 Centerline is valid? [True, True] Translation: X:63.02, Y:-133.98, Z:0.25 [[-9.19510415e-01 -3.93001361e-01 7.10827155e-03 6.30167748e+01] [-3.92988693e-01 9.19537883e-01 3.15738469e-03 -1.33983501e+02] [-7.77718146e-03 1.09777766e-04 -9.99969751e-01 2.49737450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77185806399999 meters 0.01703653550003914 Centerline is valid? [True, True] Translation: X:62.94, Y:-133.99, Z:0.25 [[-8.88622287e-01 -4.58584619e-01 7.11187787e-03 6.29421664e+01] [-4.58568755e-01 8.88650736e-01 3.81662511e-03 -1.33991447e+02] [-8.07022108e-03 1.30253153e-04 -9.99967427e-01 2.50106539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.801858064 meters 0.0172191283928817 Centerline is valid? [True, True] Translation: X:62.86, Y:-134.01, Z:0.25 [[-8.53035881e-01 -5.21816638e-01 6.09763097e-03 6.28604253e+01] [-5.21802176e-01 8.53057664e-01 3.88725717e-03 -1.34008156e+02] [-7.23006629e-03 1.34212736e-04 -9.99973854e-01 2.49284275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.831858064 meters 0.01830922379147844 Centerline is valid? [True, True] Translation: X:62.78, Y:-134.04, Z:0.25 [[-8.14179562e-01 -5.80597953e-01 4.20211514e-03 6.27758894e+01] [-5.80589430e-01 8.14190396e-01 3.14831873e-03 -1.34036371e+02] [-5.24922920e-03 1.23593129e-04 -9.99986215e-01 2.47905598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.861858064 meters 0.01887310293802383 Centerline is valid? [True, True] Translation: X:62.69, Y:-134.07, Z:0.25 [[-7.69193802e-01 -6.39006945e-01 3.31962573e-03 6.26872295e+01] [-6.39000354e-01 7.69200956e-01 2.90457686e-03 -1.34073741e+02] [-4.40950407e-03 1.12940505e-04 -9.99990272e-01 2.47291496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.891858064 meters 0.01986153927777497 Centerline is valid? [True, True] Translation: X:62.60, Y:-134.12, Z:0.25 [[-7.20490250e-01 -6.93461673e-01 2.16978081e-03 6.25987434e+01] [-6.93458153e-01 7.20493511e-01 2.21151199e-03 -1.34120962e+02] [-3.09691180e-03 8.87206287e-05 -9.99995201e-01 2.46776402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.921858064 meters 0.021216741394824296 Centerline is valid? [True, True] Translation: X:62.51, Y:-134.18, Z:0.25 [[-6.66095856e-01 -7.45863454e-01 2.00484406e-03 6.25081805e+01] [-7.45859655e-01 6.66098867e-01 2.38222277e-03 -1.34181657e+02] [-3.11223726e-03 9.14564185e-05 -9.99995153e-01 2.47726133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.951858064 meters 0.0206917629373809 Centerline is valid? [True, True] Translation: X:62.42, Y:-134.25, Z:0.25 [[-6.07883041e-01 -7.94024133e-01 1.97076319e-03 6.24182949e+01] [-7.94019402e-01 6.07886227e-01 2.74287569e-03 -1.34248670e+02] [-3.37590929e-03 1.02523404e-04 -9.99994296e-01 2.48260541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.981858064 meters 0.020187358456727297 Centerline is valid? [True, True] Translation: X:62.33, Y:-134.32, Z:0.25 [[-5.46157253e-01 -8.37680988e-01 1.67828828e-03 6.23346605e+01] [-8.37676446e-01 5.46159823e-01 2.76054790e-03 -1.34319212e+02] [-3.22907212e-03 1.01830703e-04 -9.99994781e-01 2.49336267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.011858064 meters 0.020194486939017067 Centerline is valid? [True, True] Translation: X:62.25, Y:-134.41, Z:0.25 [[-4.80517098e-01 -8.76984225e-01 1.40962236e-03 6.22515784e+01] [-8.76979828e-01 4.80519155e-01 2.77908672e-03 -1.34408927e+02] [-3.11456576e-03 9.91883129e-05 -9.99995145e-01 2.49517040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.041858064 meters 0.020341025957129184 Centerline is valid? [True, True] Translation: X:62.18, Y:-134.49, Z:0.25 [[-4.11497803e-01 -9.11409988e-01 1.18016335e-03 6.21805586e+01] [-9.11405532e-01 4.11499483e-01 2.85155311e-03 -1.34494997e+02] [-3.08457059e-03 9.78004370e-05 -9.99995238e-01 2.49434430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.071858064 meters 0.020224957043001826 Centerline is valid? [True, True] Translation: X:62.11, Y:-134.60, Z:0.25 [[-3.39872810e-01 -9.40470993e-01 8.85936935e-04 6.21120125e+01] [-9.40467076e-01 3.39873953e-01 2.71568162e-03 -1.34597720e+02] [-2.85512668e-03 8.97918241e-05 -9.99995920e-01 2.48753738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.101858064 meters 0.019397326438336155 Centerline is valid? [True, True] Translation: X:62.05, Y:-134.70, Z:0.25 [[-2.65795180e-01 -9.64029364e-01 5.54291870e-04 6.20511868e+01] [-9.64026664e-01 2.65795748e-01 2.28291346e-03 -1.34701297e+02] [-2.34812403e-03 7.24352519e-05 -9.99997241e-01 2.48248693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.131858064 meters 0.021018530580653876 Centerline is valid? [True, True] Translation: X:62.00, Y:-134.81, Z:0.25 [[-1.89953121e-01 -9.81793115e-01 3.01206554e-04 6.20014834e+01] [-9.81791365e-01 1.89953352e-01 1.85469952e-03 -1.34814008e+02] [-1.87814641e-03 5.65839689e-05 -9.99998235e-01 2.48201278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.161858064 meters 0.018381442589841823 Centerline is valid? [True, True] Translation: X:61.95, Y:-134.93, Z:0.25 [[-1.11859189e-01 -9.93724060e-01 1.23519289e-04 6.19518233e+01] [-9.93722973e-01 1.11859249e-01 1.46988884e-03 -1.34929602e+02] [-1.47448068e-03 4.16766187e-05 -9.99998912e-01 2.47673074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.191858064 meters 0.0193364549435575 Centerline is valid? [True, True] Translation: X:61.92, Y:-135.05, Z:0.25 [[-3.41217429e-02 -9.99417684e-01 1.20260292e-05 6.19193647e+01] [-9.99416051e-01 3.41217089e-02 1.80696243e-03 -1.35049548e+02] [-1.80632056e-03 4.96377009e-05 -9.99998367e-01 2.47871047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.221858064 meters 0.01828686623066387 Centerline is valid? [True, True] Translation: X:61.89, Y:-135.17, Z:0.25 [[ 4.36040356e-02 -9.99048878e-01 -1.67781295e-04 6.18921997e+01] [-9.99046062e-01 -4.36043112e-02 2.37265762e-03 -1.35169266e+02] [-2.37771692e-03 6.41637948e-05 -9.99997171e-01 2.47903225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.251858064 meters 0.018655955454341646 Centerline is valid? [True, True] Translation: X:61.88, Y:-135.29, Z:0.25 [[ 1.21268251e-01 -9.92619658e-01 -4.74505624e-04 6.18776595e+01] [-9.92614545e-01 -1.21269150e-01 3.18714387e-03 -1.35294390e+02] [-3.22116455e-03 8.45018205e-05 -9.99994808e-01 2.48748574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.281858064 meters 0.018609088832618234 Centerline is valid? [True, True] Translation: X:61.87, Y:-135.42, Z:0.25 [[ 1.97863630e-01 -9.80229119e-01 -9.26484832e-04 6.18697650e+01] [-9.80220768e-01 -1.97865770e-01 4.04757395e-03 -1.35418520e+02] [-4.15086948e-03 1.07292001e-04 -9.99991379e-01 2.49674947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.311858064 meters 0.018677451441852372 Centerline is valid? [True, True] Translation: X:61.87, Y:-135.54, Z:0.25 [[ 2.72599478e-01 -9.62126852e-01 -1.20230205e-03 6.18714687e+01] [-9.62119125e-01 -2.72602109e-01 3.85729736e-03 -1.35537761e+02] [-4.03895944e-03 1.05260547e-04 -9.99991838e-01 2.50057707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.341858064 meters 0.019300902145753536 Centerline is valid? [True, True] Translation: X:61.88, Y:-135.66, Z:0.25 [[ 3.45464252e-01 -9.38431117e-01 -1.22065873e-03 6.18839264e+01] [-9.38426121e-01 -3.45466398e-01 3.06340487e-03 -1.35657217e+02] [-3.29649103e-03 8.72011631e-05 -9.99994563e-01 2.49864022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.371858064 meters 0.019531159599382595 Centerline is valid? [True, True] Translation: X:61.90, Y:-135.78, Z:0.25 [[ 4.15883975e-01 -9.09417169e-01 -9.65708176e-04 6.19039099e+01] [-9.09415041e-01 -4.15885092e-01 1.96814318e-03 -1.35776034e+02] [-2.19148684e-03 5.97103290e-05 -9.99997597e-01 2.48592322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40185806399998 meters 0.01825535969868831 Centerline is valid? [True, True] Translation: X:61.93, Y:-135.89, Z:0.25 [[ 4.84349776e-01 -8.74873709e-01 -1.13460883e-03 6.19315099e+01] [-8.74871598e-01 -4.84351102e-01 1.92298362e-03 -1.35894241e+02] [-2.23191685e-03 6.12403496e-05 -9.99997507e-01 2.48019983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43185806399998 meters 0.018900965540124937 Centerline is valid? [True, True] Translation: X:61.97, Y:-136.00, Z:0.25 [[ 5.50397951e-01 -8.34901676e-01 -1.13404697e-03 6.19668603e+01] [-8.34900100e-01 -5.50399117e-01 1.62331721e-03 -1.36003518e+02] [-1.97948871e-03 5.33454665e-05 -9.99998039e-01 2.47926367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46185806399998 meters 0.018395912992755097 Centerline is valid? [True, True] Translation: X:62.01, Y:-136.11, Z:0.25 [[ 6.13080636e-01 -7.90019352e-01 -1.24832930e-03 6.20095762e+01] [-7.90017884e-01 -6.13081904e-01 1.52361844e-03 -1.36110264e+02] [-1.96901616e-03 5.21015120e-05 -9.99998060e-01 2.47601022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49185806399998 meters 0.018458865231009144 Centerline is valid? [True, True] Translation: X:62.06, Y:-136.21, Z:0.25 [[ 6.72138219e-01 -7.40424681e-01 -1.22775148e-03 6.20587921e+01] [-7.40423568e-01 -6.72139338e-01 1.28456962e-03 -1.36210120e+02] [-1.77634712e-03 4.56477924e-05 -9.99998421e-01 2.47207161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52185806399999 meters 0.017844660236051427 Centerline is valid? [True, True] Translation: X:62.11, Y:-136.31, Z:0.25 [[ 7.27546998e-01 -6.86056902e-01 -1.13739297e-03 6.21122269e+01] [-6.86056142e-01 -7.27547886e-01 1.02154083e-03 -1.36307861e+02] [-1.52834299e-03 3.70964679e-05 -9.99998831e-01 2.46672064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.551858064 meters 0.01805494181353431 Centerline is valid? [True, True] Translation: X:62.11, Y:-136.32, Z:0.25 [[ 7.79305081e-01 -6.26643814e-01 -1.05888342e-03 6.21071868e+01] [-6.26643290e-01 -7.79305800e-01 8.10811698e-04 -1.36316728e+02] [-1.33328412e-03 3.16725118e-05 -9.99999111e-01 2.46595727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.581858064 meters 0.01730818633495134 Centerline is valid? [True, True] Translation: X:62.10, Y:-136.33, Z:0.25 [[ 8.26315480e-01 -5.63206737e-01 -9.48310851e-04 6.21013945e+01] [-5.63206401e-01 -8.26316024e-01 6.14892777e-04 -1.36329237e+02] [-1.12991621e-03 2.59993214e-05 -9.99999361e-01 2.46584298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.611858064 meters 0.018252442233375483 Centerline is valid? [True, True] Translation: X:62.10, Y:-136.34, Z:0.25 [[ 8.67905095e-01 -4.96728295e-01 -1.32187309e-03 6.20978789e+01] [-4.96727779e-01 -8.67906101e-01 7.17046678e-04 -1.36339516e+02] [-1.50343910e-03 3.42826211e-05 -9.99998869e-01 2.46366363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.641858064 meters 0.017064407688571686 Centerline is valid? [True, True] Translation: X:62.09, Y:-136.36, Z:0.25 [[ 9.03995204e-01 -4.27541026e-01 -1.15838809e-03 6.20932708e+01] [-4.27540716e-01 -9.03995946e-01 5.15597599e-04 -1.36355193e+02] [-1.26761726e-03 2.91603155e-05 -9.99999196e-01 2.46067387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.671858064 meters 0.018467515610143218 Centerline is valid? [True, True] Translation: X:62.09, Y:-136.36, Z:0.25 [[ 9.34493452e-01 -3.55978626e-01 -1.09851813e-03 6.20917788e+01] [-3.55978414e-01 -9.34494097e-01 3.89242131e-04 -1.36364419e+02] [-1.16512058e-03 2.73045185e-05 -9.99999321e-01 2.45886635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.701858064 meters 0.01690110807328984 Centerline is valid? [True, True] Translation: X:62.09, Y:-136.38, Z:0.25 [[ 9.59458374e-01 -2.81846965e-01 -1.38428516e-03 6.20894685e+01] [-2.81846722e-01 -9.59459372e-01 3.71631176e-04 -1.36382036e+02] [-1.43290849e-03 3.35915894e-05 -9.99998973e-01 2.45760631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.731858064 meters 0.017192846027922055 Centerline is valid? [True, True] Translation: X:62.09, Y:-136.40, Z:0.25 [[ 9.78470133e-01 -2.06372723e-01 -2.54904368e-03 6.20889199e+01] [-2.06372187e-01 -9.78473452e-01 4.74562633e-04 -1.36396979e+02] [-2.59210835e-03 6.17063558e-05 -9.99996639e-01 2.46521259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.761858064 meters 0.017065426013690765 Centerline is valid? [True, True] Translation: X:62.09, Y:-136.41, Z:0.25 [[ 9.91675969e-01 -1.28725910e-01 -2.90050931e-03 6.20879565e+01] [-1.28725560e-01 -9.91680208e-01 3.07811240e-04 -1.36408668e+02] [-2.91600096e-03 6.81206764e-05 -9.99995746e-01 2.46713855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.791858064 meters 0.016783317102122466 Centerline is valid? [True, True] Translation: X:62.09, Y:-136.42, Z:0.25 [[ 9.98713904e-01 -5.06161316e-02 -2.92332122e-03 6.20874890e+01] [-5.06161142e-02 -9.98718180e-01 7.99684641e-05 -1.36422435e+02] [-2.92362174e-03 6.81015439e-05 -9.99995724e-01 2.46705482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.821858064 meters 0.01683061731220369 Centerline is valid? [True, True] Translation: X:62.09, Y:-136.44, Z:0.25 [[ 9.99623747e-01 2.72129408e-02 -3.43802140e-03 6.20880201e+01] [ 2.72124976e-02 -9.99629656e-01 -1.75636420e-04 -1.36436862e+02] [-3.44152773e-03 8.20131876e-05 -9.99994075e-01 2.46621222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.851858064 meters 0.0172780091308489 Centerline is valid? [True, True] Translation: X:62.09, Y:-136.45, Z:0.25 [[ 9.94496659e-01 1.04699786e-01 -3.78805880e-03 6.20886034e+01] [ 1.04698668e-01 -9.94503869e-01 -4.92895388e-04 -1.36447921e+02] [-3.81884517e-03 9.35781078e-05 -9.99992704e-01 2.46689072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.881858064 meters 0.017945441101282558 Centerline is valid? [True, True] Translation: X:62.09, Y:-136.46, Z:0.25 [[ 9.83336124e-01 1.81738150e-01 -4.61660929e-03 6.20901456e+01] [ 1.81735582e-01 -9.83346953e-01 -9.73262868e-04 -1.36458167e+02] [-4.71660767e-03 1.18042359e-04 -9.99988870e-01 2.47172401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.911858064 meters 0.017683991964995326 Centerline is valid? [True, True] Translation: X:62.09, Y:-136.47, Z:0.25 [[ 9.66257196e-01 2.57527005e-01 -5.18382192e-03 6.20936776e+01] [ 2.57522527e-01 -9.66271092e-01 -1.52504495e-03 -1.36468236e+02] [-5.40171753e-03 1.38634741e-04 -9.99985401e-01 2.47034821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.941858064 meters 0.017599761702281863 Centerline is valid? [True, True] Translation: X:62.10, Y:-136.48, Z:0.25 [[ 9.43291503e-01 3.31926490e-01 -5.09369523e-03 6.20981284e+01] [ 3.31920832e-01 -9.43305245e-01 -1.94332237e-03 -1.36477779e+02] [-5.44994960e-03 1.42415917e-04 -9.99985139e-01 2.46953253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.971858064 meters 0.018176717904611995 Centerline is valid? [True, True] Translation: X:62.10, Y:-136.49, Z:0.25 [[ 9.14604104e-01 4.04315186e-01 -5.34454071e-03 6.21014451e+01] [ 4.04307272e-01 -9.14619706e-01 -2.53452715e-03 -1.36485521e+02] [-5.91297007e-03 1.57252257e-04 -9.99982506e-01 2.47032638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.001858064 meters 0.018176717904611995 Centerline is valid? [True, True] Translation: X:62.11, Y:-136.49, Z:0.25 [[ 8.80151448e-01 4.74665266e-01 -5.12976080e-03 6.21055476e+01] [ 4.74656155e-01 -8.80166382e-01 -2.94508925e-03 -1.36491416e+02] [-5.91297458e-03 1.57252030e-04 -9.99982506e-01 2.47032679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.031858064 meters 0.018279393637974265 Centerline is valid? [True, True] Translation: X:62.11, Y:-136.50, Z:0.25 [[ 8.40794119e-01 5.41331557e-01 -5.03933924e-03 6.21120205e+01] [ 5.41320627e-01 -8.40809204e-01 -3.44405366e-03 -1.36499081e+02] [-6.10149774e-03 1.67841785e-04 -9.99981372e-01 2.46419948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.061858064 meters 0.017659581008851698 Centerline is valid? [True, True] Translation: X:62.12, Y:-136.51, Z:0.25 [[ 7.96207825e-01 6.05008030e-01 -4.28754266e-03 6.21204759e+01] [ 6.04998200e-01 -7.96219354e-01 -3.45216564e-03 -1.36508021e+02] [-5.50241238e-03 1.54685702e-04 -9.99984850e-01 2.45718807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.091858064 meters 0.01799568020961576 Centerline is valid? [True, True] Translation: X:62.13, Y:-136.51, Z:0.25 [[ 7.46980281e-01 6.64835574e-01 -3.75755818e-03 6.21287902e+01] [ 6.64826142e-01 -7.46989717e-01 -3.54450430e-03 -1.36514528e+02] [-5.16336988e-03 1.49551909e-04 -9.99986659e-01 2.45203192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.121858064 meters 0.01853461036648671 Centerline is valid? [True, True] Translation: X:62.14, Y:-136.52, Z:0.24 [[ 6.94049178e-01 7.19921621e-01 -2.93232755e-03 6.21384560e+01] [ 7.19914359e-01 -6.94055359e-01 -3.23632962e-03 -1.36521050e+02] [-4.36510131e-03 1.35147206e-04 -9.99990464e-01 2.44020455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15185806399998 meters 0.018883953170871035 Centerline is valid? [True, True] Translation: X:62.15, Y:-136.53, Z:0.24 [[ 6.36289925e-01 7.71445709e-01 -2.57859451e-03 6.21472425e+01] [ 7.71438500e-01 -6.36295136e-01 -3.33767255e-03 -1.36526545e+02] [-4.21558031e-03 1.34500339e-04 -9.99991105e-01 2.43663789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18185806399998 meters 0.019386786553390514 Centerline is valid? [True, True] Translation: X:62.15, Y:-136.53, Z:0.24 [[ 5.74513533e-01 8.18490218e-01 -2.82205704e-03 6.21549038e+01] [ 8.18478872e-01 -5.74520440e-01 -4.31283331e-03 -1.36531267e+02] [-5.15134133e-03 1.67987038e-04 -9.99986718e-01 2.43605532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21185806399998 meters 0.018704596104344936 Centerline is valid? [True, True] Translation: X:62.17, Y:-136.54, Z:0.24 [[ 5.09147309e-01 8.60675112e-01 -2.71461677e-03 6.21673783e+01] [ 8.60660857e-01 -5.09154511e-01 -4.95724562e-03 -1.36536542e+02] [-5.64873731e-03 1.87603868e-04 -9.99984028e-01 2.43797270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24185806399998 meters 0.01886641266346643 Centerline is valid? [True, True] Translation: X:62.18, Y:-136.54, Z:0.24 [[ 4.40794652e-01 8.97603841e-01 -2.72373955e-03 6.21814095e+01] [ 8.97583437e-01 -4.40803010e-01 -6.05644106e-03 -1.36541085e+02] [-6.63691735e-03 2.24863325e-04 -9.99977950e-01 2.44421741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27185806399999 meters 0.019636233994424677 Centerline is valid? [True, True] Translation: X:62.19, Y:-136.54, Z:0.24 [[ 3.69072051e-01 9.29398122e-01 -2.22502946e-03 6.21924476e+01] [ 9.29377430e-01 -3.69078691e-01 -6.20585220e-03 -1.36544519e+02] [-6.58891835e-03 2.22514445e-04 -9.99978268e-01 2.44785868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.301858064 meters 0.019874100462850094 Centerline is valid? [True, True] Translation: X:62.20, Y:-136.55, Z:0.25 [[ 2.94272167e-01 9.55719941e-01 -1.81286686e-03 6.22038154e+01] [ 9.55696784e-01 -2.94277664e-01 -6.65682831e-03 -1.36547751e+02] [-6.89554979e-03 2.26368260e-04 -9.99976200e-01 2.45474922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.331858064 meters 0.01936218748126065 Centerline is valid? [True, True] Translation: X:62.21, Y:-136.55, Z:0.25 [[ 2.17765224e-01 9.76000261e-01 -1.34053817e-03 6.22145325e+01] [ 9.75974714e-01 -2.17769228e-01 -7.06553991e-03 -1.36548513e+02] [-7.18789676e-03 2.30297522e-04 -9.99974140e-01 2.45592689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.361858064 meters 0.019289238081733745 Centerline is valid? [True, True] Translation: X:62.22, Y:-136.55, Z:0.25 [[ 1.40119929e-01 9.90134211e-01 -8.05759162e-04 6.22241930e+01] [ 9.90106913e-01 -1.40122052e-01 -7.35608461e-03 -1.36547756e+02] [-7.39641566e-03 2.32946335e-04 -9.99972619e-01 2.45642141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.391858064 meters 0.019310855689764 Centerline is valid? [True, True] Translation: X:62.23, Y:-136.55, Z:0.25 [[ 6.06623983e-02 9.98158316e-01 -2.24667296e-04 6.22346168e+01] [ 9.98131517e-01 -6.06624166e-02 -7.31751930e-03 -1.36547625e+02] [-7.31767160e-03 2.19650762e-04 -9.99973201e-01 2.46692189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.421858064 meters 0.01922327534699316 Centerline is valid? [True, True] Translation: X:62.24, Y:-136.55, Z:0.25 [[-1.83900232e-02 9.99830831e-01 3.41760012e-04 6.22430169e+01] [ 9.99805250e-01 1.83919984e-02 -7.15520906e-03 -1.36545710e+02] [-7.16028427e-03 2.10108994e-04 -9.99974343e-01 2.47235477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.451858064 meters 0.019153278419247032 Centerline is valid? [True, True] Translation: X:62.25, Y:-136.54, Z:0.25 [[-9.75296144e-02 9.95232244e-01 8.68519486e-04 6.22503747e+01] [ 9.95208694e-01 9.75332839e-02 -6.84938431e-03 -1.36542933e+02] [-6.90143767e-03 1.96340333e-04 -9.99976166e-01 2.47854165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.481858064 meters 0.017786728377586467 Centerline is valid? [True, True] Translation: X:62.26, Y:-136.54, Z:0.25 [[-1.76581142e-01 9.84285073e-01 1.41267750e-03 6.22621924e+01] [ 9.84261538e-01 1.76586692e-01 -6.80918528e-03 -1.36537877e+02] [-6.95163947e-03 1.88070422e-04 -9.99975819e-01 2.47543150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.511858064 meters 0.016749594759591875 Centerline is valid? [True, True] Translation: X:62.27, Y:-136.53, Z:0.25 [[-2.56209333e-01 9.66619685e-01 1.77858656e-03 6.22743446e+01] [ 9.66600338e-01 2.56215461e-01 -6.11753162e-03 -1.36531177e+02] [-6.36902786e-03 1.51813676e-04 -9.99979706e-01 2.47110887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.541858064 meters 0.016652186657784247 Centerline is valid? [True, True] Translation: X:62.28, Y:-136.53, Z:0.25 [[-3.32880796e-01 9.42966692e-01 2.04791013e-03 6.22824049e+01] [ 9.42951132e-01 3.32887071e-01 -5.41852416e-03 -1.36526249e+02] [-5.79121061e-03 1.27356546e-04 -9.99983223e-01 2.46905215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.571858064 meters 0.015155495253818275 Centerline is valid? [True, True] Translation: X:62.29, Y:-136.52, Z:0.25 [[-4.09910039e-01 9.12124234e-01 1.77256957e-03 6.22936555e+01] [ 9.12116456e-01 4.09913865e-01 -3.76751701e-03 -1.36517177e+02] [-4.16304441e-03 7.24468341e-05 -9.99991332e-01 2.45229288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.601858064 meters 0.014739858843183476 Centerline is valid? [True, True] Translation: X:62.30, Y:-136.51, Z:0.24 [[-4.82170252e-01 8.76075626e-01 1.82888302e-03 6.23016051e+01] [ 8.76069756e-01 4.82173718e-01 -3.20769995e-03 -1.36509054e+02] [-3.69202707e-03 5.55716093e-05 -9.99993183e-01 2.44656731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.631858064 meters 0.014962951648291187 Centerline is valid? [True, True] Translation: X:62.31, Y:-136.50, Z:0.25 [[-5.50944693e-01 8.34538495e-01 2.33367484e-03 6.23070609e+01] [ 8.34531422e-01 5.50949633e-01 -3.43621812e-03 -1.36501564e+02] [-4.15339359e-03 5.43588397e-05 -9.99991373e-01 2.45493959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.661858064 meters 0.014310135461194539 Centerline is valid? [True, True] Translation: X:62.31, Y:-136.49, Z:0.25 [[-6.15753149e-01 7.87934174e-01 2.79235759e-03 6.23130727e+01] [ 7.87926453e-01 6.15759478e-01 -3.48852241e-03 -1.36492018e+02] [-4.46814668e-03 5.21037485e-05 -9.99990016e-01 2.45601560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.691858064 meters 0.014140478917530213 Centerline is valid? [True, True] Translation: X:62.32, Y:-136.48, Z:0.25 [[-6.76854801e-01 7.36108492e-01 3.44477255e-03 6.23171520e+01] [ 7.36099332e-01 6.76863565e-01 -3.67267979e-03 -1.36484422e+02] [-5.03513181e-03 4.98238286e-05 -9.99987322e-01 2.46386829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.721858064 meters 0.01410136243068925 Centerline is valid? [True, True] Translation: X:62.32, Y:-136.48, Z:0.25 [[-7.32418112e-01 6.80846056e-01 3.51536625e-03 6.23175253e+01] [ 6.80838520e-01 7.32426546e-01 -3.20359990e-03 -1.36478261e+02] [-4.75590591e-03 4.70221660e-05 -9.99988690e-01 2.46287741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.751858064 meters 0.014302773431076199 Centerline is valid? [True, True] Translation: X:62.34, Y:-136.46, Z:0.25 [[-7.78195423e-01 6.28011172e-01 3.72182494e-03 6.23383669e+01] [ 6.28004303e-01 7.78204321e-01 -2.93774750e-03 -1.36461396e+02] [-4.74127850e-03 5.11804198e-05 -9.99988759e-01 2.46045602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.781858064 meters 0.014084097645859621 Centerline is valid? [True, True] Translation: X:62.35, Y:-136.44, Z:0.25 [[-8.20154536e-01 5.72129026e-01 3.86199219e-03 6.23512278e+01] [ 5.72122997e-01 8.20163627e-01 -2.62704720e-03 -1.36436214e+02] [-4.67047548e-03 5.49498706e-05 -9.99989092e-01 2.45457796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.811858064 meters 0.014807329934189787 Centerline is valid? [True, True] Translation: X:62.36, Y:-136.41, Z:0.25 [[-8.58009142e-01 5.13618542e-01 4.03808704e-03 6.23622570e+01] [ 5.13613184e-01 8.58018642e-01 -2.34672170e-03 -1.36413643e+02] [-4.67007374e-03 6.05060704e-05 -9.99989093e-01 2.45964730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.841858064 meters 0.01444466168768665 Centerline is valid? [True, True] Translation: X:62.37, Y:-136.39, Z:0.25 [[-8.91679010e-01 4.52647886e-01 4.29352677e-03 6.23690873e+01] [ 4.52643004e-01 8.91689344e-01 -2.10323114e-03 -1.36385745e+02] [-4.78051520e-03 6.80277912e-05 -9.99988571e-01 2.45204046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.871858064 meters 0.015097917453330372 Centerline is valid? [True, True] Translation: X:62.38, Y:-136.36, Z:0.25 [[-9.20318484e-01 3.91139552e-01 4.87223600e-03 6.23772085e+01] [ 3.91134592e-01 9.20331377e-01 -1.97190953e-03 -1.36362818e+02] [-5.25536347e-03 9.09152507e-05 -9.99986186e-01 2.45715089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90185806399998 meters 0.014984620227389242 Centerline is valid? [True, True] Translation: X:62.38, Y:-136.34, Z:0.25 [[-9.45278584e-01 3.26225629e-01 5.02371231e-03 6.23825895e+01] [ 3.26221575e-01 9.45291928e-01 -1.62938135e-03 -1.36336399e+02] [-5.28042066e-03 9.86240468e-05 -9.99986054e-01 2.45440133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93185806399998 meters 0.015628161597169836 Centerline is valid? [True, True] Translation: X:62.38, Y:-136.31, Z:0.25 [[-9.65673245e-01 2.59710356e-01 5.07107566e-03 6.23845503e+01] [ 2.59707345e-01 9.65686554e-01 -1.25494586e-03 -1.36311003e+02] [-5.22299202e-03 1.05127954e-04 -9.99986355e-01 2.45486520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96185806399998 meters 0.01651860331645936 Centerline is valid? [True, True] Translation: X:62.38, Y:-136.29, Z:0.25 [[-9.81202416e-01 1.92892666e-01 5.85139298e-03 6.23807793e+01] [ 1.92890048e-01 9.81219854e-01 -1.01393427e-03 -1.36286386e+02] [-5.93708345e-03 1.33800721e-04 -9.99982366e-01 2.45778727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99185806399998 meters 0.016832339042648328 Centerline is valid? [True, True] Translation: X:62.48, Y:-135.71, Z:-0.76 [[-9.76865176e-01 -2.13759077e-01 6.44090892e-03 6.24820808e+01] [ 2.13753714e-01 -9.76886404e-01 -1.51783388e-03 -1.35714810e+02] [ 6.61648712e-03 -1.05950861e-04 9.99978105e-01 -7.56116431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02185806399999 meters 0.016566037631727308 Centerline is valid? [True, True] Translation: X:62.33, Y:-136.28, Z:0.25 [[-9.81581178e-01 1.90917193e-01 7.00114755e-03 6.23302439e+01] [ 1.90913598e-01 9.81606130e-01 -1.18453772e-03 -1.36281241e+02] [-7.09851797e-03 1.73894332e-04 -9.99974790e-01 2.46038689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.051858064 meters 0.017338790404409936 Centerline is valid? [True, True] Translation: X:62.34, Y:-136.26, Z:0.25 [[-9.92349026e-01 1.23175429e-01 8.43941462e-03 6.23371699e+01] [ 1.23172858e-01 9.92384888e-01 -8.25789748e-04 -1.36257504e+02] [-8.47686454e-03 2.20035165e-04 -9.99964047e-01 2.46825710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.081858064 meters 0.01769789801331795 Centerline is valid? [True, True] Translation: X:62.40, Y:-135.67, Z:-0.76 [[-9.90423810e-01 -1.37814494e-01 8.23657374e-03 6.23967512e+01] [ 1.37807836e-01 -9.90458033e-01 -1.37325052e-03 -1.35666108e+02] [ 8.34723445e-03 -2.25035610e-04 9.99965136e-01 -7.57482564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.111858064 meters 0.01785878213900009 Centerline is valid? [True, True] Translation: X:62.28, Y:-136.26, Z:0.25 [[-9.92716643e-01 1.20142239e-01 8.91683025e-03 6.22776129e+01] [ 1.20139591e-01 9.92756659e-01 -8.33946205e-04 -1.36255612e+02] [-8.95243477e-03 2.43392065e-04 -9.99959897e-01 2.47247385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.141858064 meters 0.017834758854352425 Centerline is valid? [True, True] Translation: X:62.27, Y:-136.23, Z:0.25 [[-9.98718736e-01 4.97640417e-02 9.18834552e-03 6.22718995e+01] [ 4.97642764e-02 9.98760970e-01 -2.03228786e-04 -1.36228481e+02] [-9.18707437e-03 2.54282969e-04 -9.99957766e-01 2.47514680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.171858064 meters 0.01931954492698143 Centerline is valid? [True, True] Translation: X:62.26, Y:-136.21, Z:0.25 [[-9.99734856e-01 -2.02400860e-02 1.09798435e-02 6.22635315e+01] [-2.02353764e-02 9.99795098e-01 5.39867268e-04 -1.36206514e+02] [-1.09885207e-02 3.17542859e-04 -9.99939574e-01 2.48207918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.201858064 meters 0.019743014902039818 Centerline is valid? [True, True] Translation: X:62.25, Y:-136.18, Z:0.25 [[-9.95808875e-01 -9.07200734e-02 1.15996975e-02 6.22514180e+01] [-9.07098609e-02 9.95876372e-01 1.40461096e-03 -1.36182095e+02] [-1.16792910e-02 3.46517117e-04 -9.99931735e-01 2.48215389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.231858064 meters 0.02005319444984118 Centerline is valid? [True, True] Translation: X:62.23, Y:-136.16, Z:0.25 [[-9.86791643e-01 -1.61585847e-01 1.15007251e-02 6.22296266e+01] [-1.61570721e-01 9.86858597e-01 2.23859220e-03 -1.36159764e+02] [-1.17113143e-02 3.50843622e-04 -9.99931359e-01 2.47916596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.261858064 meters 0.020390528460171593 Centerline is valid? [True, True] Translation: X:62.20, Y:-136.14, Z:0.25 [[-9.72480719e-01 -2.32722078e-01 1.10311165e-02 6.21975762e+01] [-2.32703151e-01 9.72543223e-01 2.98719708e-03 -1.36142142e+02] [-1.14234243e-02 3.38015997e-04 -9.99934693e-01 2.47400416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.291858064 meters 0.0202326726516527 Centerline is valid? [True, True] Translation: X:62.14, Y:-136.13, Z:0.25 [[-9.52626335e-01 -3.03951111e-01 1.08068480e-02 6.21444604e+01] [-3.03927640e-01 9.52687575e-01 3.79135834e-03 -1.36130363e+02] [-1.14479374e-02 3.27247981e-04 -9.99934417e-01 2.47237913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.321858064 meters 0.019542352042741813 Centerline is valid? [True, True] Translation: X:62.08, Y:-136.13, Z:0.25 [[-9.26781327e-01 -3.75434186e-01 1.12046177e-02 6.20787072e+01] [-3.75402555e-01 9.26849000e-01 4.88386493e-03 -1.36127905e+02] [-1.22185585e-02 3.20032717e-04 -9.99925299e-01 2.47693150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.351858064 meters 0.019311756047082143 Centerline is valid? [True, True] Translation: X:62.01, Y:-136.13, Z:0.25 [[-8.95970992e-01 -4.43970827e-01 1.12198971e-02 6.20062300e+01] [-4.43931542e-01 8.96041184e-01 5.91467170e-03 -1.36132635e+02] [-1.26794315e-02 3.18508077e-04 -9.99919562e-01 2.48147599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.381858064 meters 0.018280802044231763 Centerline is valid? [True, True] Translation: X:61.92, Y:-136.15, Z:0.25 [[-8.59770816e-01 -5.10568287e-01 1.06848943e-02 6.19244071e+01] [-5.10524496e-01 8.59837155e-01 6.69367392e-03 -1.36146892e+02] [-1.26048467e-02 3.00125223e-04 -9.99920511e-01 2.47659357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.411858064 meters 0.01767573911172117 Centerline is valid? [True, True] Translation: X:61.84, Y:-136.17, Z:0.25 [[-8.18023057e-01 -5.75104678e-01 9.63780475e-03 6.18424494e+01] [-5.75060974e-01 8.18079789e-01 7.09473846e-03 -1.36170985e+02] [-1.19647106e-02 2.61334253e-04 -9.99928386e-01 2.47101837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.441858064 meters 0.018312220241326047 Centerline is valid? [True, True] Translation: X:61.76, Y:-136.21, Z:0.25 [[-7.71591914e-01 -6.36059538e-01 8.61297023e-03 6.17558873e+01] [-6.36016534e-01 7.71639949e-01 7.39986055e-03 -1.36207659e+02] [-1.13528638e-02 2.31681096e-04 -9.99935527e-01 2.47619028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.471858064 meters 0.01571782173996514 Centerline is valid? [True, True] Translation: X:61.67, Y:-136.25, Z:0.24 [[-7.20528912e-01 -6.93378486e-01 8.02264705e-03 6.16663908e+01] [-6.93332125e-01 7.20573542e-01 8.02092440e-03 -1.36248703e+02] [-1.13424436e-02 2.16949002e-04 -9.99935649e-01 2.44921333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.501858064 meters 0.017422036304096982 Centerline is valid? [True, True] Translation: X:61.58, Y:-136.31, Z:0.25 [[-6.64946389e-01 -7.46858118e-01 7.01794721e-03 6.15806057e+01] [-7.46813452e-01 6.64983394e-01 8.17028967e-03 -1.36306264e+02] [-1.07688655e-02 1.91707227e-04 -9.99941996e-01 2.46841952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.531858064 meters 0.01672136201918958 Centerline is valid? [True, True] Translation: X:61.49, Y:-136.37, Z:0.25 [[-6.04603869e-01 -7.96502548e-01 6.15254232e-03 6.14949775e+01] [-7.96458539e-01 6.04635150e-01 8.37441406e-03 -1.36371282e+02] [-1.03902855e-02 1.62958270e-04 -9.99946006e-01 2.46860897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.561858064 meters 0.015332876686353325 Centerline is valid? [True, True] Translation: X:61.41, Y:-136.44, Z:0.24 [[-5.41766639e-01 -8.40513168e-01 5.15003021e-03 6.14116473e+01] [-8.40472580e-01 5.41791096e-01 8.26134961e-03 -1.36442827e+02] [-9.73401365e-03 1.47264436e-04 -9.99952613e-01 2.44819785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.591858064 meters 0.01578064596192687 Centerline is valid? [True, True] Translation: X:61.34, Y:-136.52, Z:0.25 [[-4.75281025e-01 -8.79823219e-01 4.36471875e-03 6.13366489e+01] [-8.79783472e-01 4.75301047e-01 8.36408561e-03 -1.36522790e+02] [-9.43347211e-03 1.35283757e-04 -9.99955495e-01 2.45280055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.621858064 meters 0.014846911089259144 Centerline is valid? [True, True] Translation: X:61.26, Y:-136.62, Z:0.24 [[-4.04903039e-01 -9.14352339e-01 3.65093717e-03 6.12632281e+01] [-9.14312566e-01 4.04919482e-01 8.52907669e-03 -1.36615888e+02] [-9.27691680e-03 1.15351339e-04 -9.99956962e-01 2.44383254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65185806399998 meters 0.014673253516251355 Centerline is valid? [True, True] Translation: X:61.20, Y:-136.71, Z:0.24 [[-3.32927468e-01 -9.42947300e-01 3.11276035e-03 6.11973442e+01] [-9.42902871e-01 3.32942001e-01 9.15421057e-03 -1.36712944e+02] [-9.66830680e-03 1.12657482e-04 -9.99953255e-01 2.44601018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68185806399998 meters 0.013860535021830515 Centerline is valid? [True, True] Translation: X:61.14, Y:-136.81, Z:0.24 [[-2.57807884e-01 -9.66192639e-01 2.62285192e-03 6.11395692e+01] [-9.66138466e-01 2.57821205e-01 1.02318079e-02 -1.36812917e+02] [-1.05621243e-02 1.03802616e-04 -9.99944214e-01 2.43742271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71185806399998 meters 0.013797046340627726 Centerline is valid? [True, True] Translation: X:61.09, Y:-136.92, Z:0.24 [[-1.82089602e-01 -9.83280258e-01 1.81952197e-03 6.10891825e+01] [-9.83225849e-01 1.82098668e-01 1.03442808e-02 -1.36918915e+02] [-1.05026596e-02 9.45849393e-05 -9.99944841e-01 2.43758645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74185806399998 meters 0.014363811293726053 Centerline is valid? [True, True] Translation: X:61.05, Y:-137.03, Z:0.25 [[-1.05127115e-01 -9.94458264e-01 1.02526608e-03 6.10481194e+01] [-9.94402686e-01 1.05132080e-01 1.05139806e-02 -1.37032565e+02] [-1.05635032e-02 8.57771091e-05 -9.99944201e-01 2.45777411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77185806399999 meters 0.013705335197256408 Centerline is valid? [True, True] Translation: X:61.02, Y:-137.15, Z:0.24 [[-2.67427008e-02 -9.99642327e-01 2.15544522e-04 6.10151098e+01] [-9.99585515e-01 2.67434789e-02 1.06576215e-02 -1.37150118e+02] [-1.06595739e-02 6.95583996e-05 -9.99943183e-01 2.43578510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.801858064 meters 0.013680258325565955 Centerline is valid? [True, True] Translation: X:60.99, Y:-137.27, Z:0.24 [[ 5.09472198e-02 -9.98701158e-01 -6.15229284e-04 6.09915063e+01] [-9.98642510e-01 -5.09508955e-02 1.08233278e-02 -1.37268692e+02] [-1.08406165e-02 6.29756544e-05 -9.99941237e-01 2.43528519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.831858064 meters 0.013803597386797187 Centerline is valid? [True, True] Translation: X:60.98, Y:-137.39, Z:0.24 [[ 1.28566486e-01 -9.91699821e-01 -1.45718598e-03 6.09775790e+01] [-9.91640749e-01 -1.28574733e-01 1.08241794e-02 -1.37390398e+02] [-1.09216941e-02 5.33782831e-05 -9.99940355e-01 2.43583500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.861858064 meters 0.013727573253314052 Centerline is valid? [True, True] Translation: X:60.97, Y:-137.51, Z:0.24 [[ 2.06082105e-01 -9.78531770e-01 -2.39622807e-03 6.09740410e+01] [-9.78467762e-01 -2.06096032e-01 1.11921667e-02 -1.37509251e+02] [-1.14457438e-02 3.81266323e-05 -9.99934495e-01 2.43275607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.891858064 meters 0.013727573253314052 Centerline is valid? [True, True] Translation: X:60.97, Y:-137.63, Z:0.24 [[ 2.80505268e-01 -9.59846993e-01 -3.24739938e-03 6.09747319e+01] [-9.59784241e-01 -2.80524062e-01 1.09754629e-02 -1.37625511e+02] [-1.14457387e-02 3.81275990e-05 -9.99934495e-01 2.43275361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.921858064 meters 0.013897342419477121 Centerline is valid? [True, True] Translation: X:60.99, Y:-137.75, Z:0.24 [[ 3.54032953e-01 -9.35224372e-01 -4.00517332e-03 6.09882391e+01] [-9.35165527e-01 -3.54055606e-01 1.04911370e-02 -1.37746891e+02] [-1.12296211e-02 3.12918112e-05 -9.99936945e-01 2.43783057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.951858064 meters 0.013984116825920954 Centerline is valid? [True, True] Translation: X:61.01, Y:-137.86, Z:0.24 [[ 4.25180397e-01 -9.05095073e-01 -4.95358423e-03 6.10084279e+01] [-9.05034412e-01 -4.25209251e-01 1.04787853e-02 -1.37861152e+02] [-1.15906068e-02 2.77901056e-05 -9.99932826e-01 2.44010507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.981858064 meters 0.014124679640055449 Centerline is valid? [True, True] Translation: X:61.04, Y:-137.97, Z:0.24 [[ 4.93780764e-01 -8.69565521e-01 -6.03015579e-03 6.10379866e+01] [-8.69501287e-01 -4.93817582e-01 1.05691634e-02 -1.37974353e+02] [-1.21683770e-02 2.43786669e-05 -9.99925962e-01 2.44584827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.011858064 meters 0.014218799438353644 Centerline is valid? [True, True] Translation: X:61.08, Y:-138.08, Z:0.24 [[ 5.58504274e-01 -8.29471755e-01 -7.04153569e-03 6.10798478e+01] [-8.29406579e-01 -5.58548661e-01 1.03981238e-02 -1.38084319e+02] [-1.25579903e-02 3.28994396e-05 -9.99921145e-01 2.44717790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.041858064 meters 0.014361483576380259 Centerline is valid? [True, True] Translation: X:61.12, Y:-138.19, Z:0.24 [[ 6.20003247e-01 -7.84557230e-01 -8.11952755e-03 6.11236166e+01] [-7.84490827e-01 -6.20056409e-01 1.02074148e-02 -1.38185472e+02] [-1.30428662e-02 4.10645974e-05 -9.99914937e-01 2.44532351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.071858064 meters 0.014499820574755308 Centerline is valid? [True, True] Translation: X:61.18, Y:-138.28, Z:0.24 [[ 6.77787656e-01 -7.35201783e-01 -9.06812531e-03 6.11750357e+01] [-7.35136958e-01 -6.77848313e-01 9.76309270e-03 -1.38282293e+02] [-1.33246566e-02 4.90103380e-05 -9.99911222e-01 2.44675865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.101858064 meters 0.014917147019694566 Centerline is valid? [True, True] Translation: X:61.23, Y:-138.37, Z:0.24 [[ 7.31093880e-01 -6.82202931e-01 -1.00448901e-02 6.12348946e+01] [-6.82139800e-01 -7.31162880e-01 9.28098291e-03 -1.38372316e+02] [-1.36759645e-02 6.67494978e-05 -9.99906477e-01 2.44318914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.131858064 meters 0.015059363311215986 Centerline is valid? [True, True] Translation: X:61.24, Y:-138.37, Z:0.24 [[ 7.81995639e-01 -6.23191279e-01 -1.07447733e-02 6.12369330e+01] [-6.23133704e-01 -7.82069450e-01 8.47128300e-03 -1.38372015e+02] [-1.36823886e-02 7.09240276e-05 -9.99906389e-01 2.44340552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.161858064 meters 0.01482840587418366 Centerline is valid? [True, True] Translation: X:61.24, Y:-138.38, Z:0.24 [[ 8.28013600e-01 -5.60589445e-01 -1.15304660e-02 6.12356356e+01] [-5.60536430e-01 -8.28093876e-01 7.70995863e-03 -1.38375574e+02] [-1.38704297e-02 7.92956568e-05 -9.99903798e-01 2.42867172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.191858064 meters 0.015044940049370178 Centerline is valid? [True, True] Translation: X:61.24, Y:-138.38, Z:0.24 [[ 8.68867363e-01 -4.94900643e-01 -1.19523210e-02 6.12353560e+01] [-4.94855249e-01 -8.68949564e-01 6.70357798e-03 -1.38375646e+02] [-1.37035691e-02 9.01486346e-05 -9.99906098e-01 2.44022008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.221858064 meters 0.014928065267395783 Centerline is valid? [True, True] Translation: X:61.24, Y:-138.38, Z:0.24 [[ 9.04585432e-01 -4.26118954e-01 -1.21586683e-02 6.12354232e+01] [-4.26081916e-01 -9.04667136e-01 5.61908514e-03 -1.38377770e+02] [-1.33939463e-02 9.76461352e-05 -9.99910292e-01 2.43069405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.251858064 meters 0.01464957164677537 Centerline is valid? [True, True] Translation: X:61.23, Y:-138.38, Z:0.24 [[ 9.34730036e-01 -3.55147831e-01 -1.22383893e-02 6.12324562e+01] [-3.55118931e-01 -9.34810144e-01 4.53203312e-03 -1.38383802e+02] [-1.30501122e-02 1.09856227e-04 -9.99914838e-01 2.39945809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.281858064 meters 0.015690317824618216 Centerline is valid? [True, True] Translation: X:61.23, Y:-138.39, Z:0.24 [[ 9.59447356e-01 -2.81628966e-01 -1.20787702e-02 6.12301758e+01] [-2.81608145e-01 -9.59523378e-01 3.42643366e-03 -1.38388270e+02] [-1.25548454e-02 1.13997364e-04 -9.99921178e-01 2.42567689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.311858064 meters 0.015199288713901072 Centerline is valid? [True, True] Translation: X:61.23, Y:-138.39, Z:0.24 [[ 9.78548277e-01 -2.05672108e-01 -1.19269959e-02 6.12292488e+01] [-2.05658194e-01 -9.78620954e-01 2.39481948e-03 -1.38391060e+02] [-1.21645556e-02 1.09437953e-04 -9.99926003e-01 2.40806628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.341858064 meters 0.014662025647814532 Centerline is valid? [True, True] Translation: X:61.22, Y:-138.40, Z:0.24 [[ 9.91739699e-01 -1.27756786e-01 -1.14268754e-02 6.12233810e+01] [-1.27749419e-01 -9.91805522e-01 1.37529453e-03 -1.38401174e+02] [-1.15089413e-02 9.58425149e-05 -9.99933765e-01 2.39206428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.371858064 meters 0.01451749961254599 Centerline is valid? [True, True] Translation: X:61.22, Y:-138.41, Z:0.24 [[ 9.98715419e-01 -4.93791775e-02 -1.13670074e-02 6.12189075e+01] [-4.93770087e-02 -9.98780100e-01 4.71537046e-04 -1.38410842e+02] [-1.13764249e-02 9.03375039e-05 -9.99935282e-01 2.39276552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40185806399998 meters 0.014687845567114033 Centerline is valid? [True, True] Translation: X:61.21, Y:-138.42, Z:0.24 [[ 9.99523652e-01 2.86317205e-02 -1.15192445e-02 6.12144355e+01] [ 2.86287196e-02 -9.99590024e-01 -4.25356590e-04 -1.38418289e+02] [-1.15267006e-02 9.53727510e-05 -9.99933561e-01 2.39535453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43185806399998 meters 0.014960335018568336 Centerline is valid? [True, True] Translation: X:61.21, Y:-138.42, Z:0.24 [[ 9.94299278e-01 1.05992284e-01 -1.16009375e-02 6.12102320e+01] [ 1.05983822e-01 -9.94366947e-01 -1.34353234e-03 -1.38424423e+02] [-1.16779928e-02 1.06361547e-04 -9.99931804e-01 2.39856481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46185806399998 meters 0.014921083345190923 Centerline is valid? [True, True] Translation: X:61.21, Y:-138.43, Z:0.24 [[ 9.83131088e-01 1.82597923e-01 -1.05480962e-02 6.12077512e+01] [ 1.82586236e-01 -9.83187666e-01 -2.06869796e-03 -1.38434193e+02] [-1.07484980e-02 1.07864094e-04 -9.99942227e-01 2.38045028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49185806399998 meters 0.016001741153810492 Centerline is valid? [True, True] Translation: X:61.20, Y:-138.44, Z:0.24 [[ 9.66018422e-01 2.58277465e-01 -1.00577850e-02 6.12040259e+01] [ 2.58262252e-01 -9.66070773e-01 -2.80556553e-03 -1.38441194e+02] [-1.04411464e-02 1.12681797e-04 -9.99945483e-01 2.40526556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52185806399999 meters 0.015387375855710504 Centerline is valid? [True, True] Translation: X:61.20, Y:-138.45, Z:0.24 [[ 9.43112234e-01 3.32332429e-01 -9.71958392e-03 6.12026885e+01] [ 3.32313467e-01 -9.43162309e-01 -3.55212508e-03 -1.38449533e+02] [-1.03476316e-02 1.20103982e-04 -9.99946455e-01 2.38692149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.551858064 meters 0.015171851713952944 Centerline is valid? [True, True] Translation: X:61.20, Y:-138.46, Z:0.24 [[ 9.14995044e-01 4.03357222e-01 -9.32847863e-03 6.12031154e+01] [ 4.03334712e-01 -9.15042585e-01 -4.26355898e-03 -1.38461616e+02] [-1.02556925e-02 1.38636093e-04 -9.99947399e-01 2.37929404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.581858064 meters 0.015677429038569574 Centerline is valid? [True, True] Translation: X:61.20, Y:-138.47, Z:0.24 [[ 8.80914154e-01 4.73190317e-01 -9.00983937e-03 6.12022895e+01] [ 4.73163865e-01 -8.80960216e-01 -5.00545132e-03 -1.38471568e+02] [-1.03058411e-02 1.46242491e-04 -9.99946883e-01 2.38968303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.611858064 meters 0.015561945752512893 Centerline is valid? [True, True] Translation: X:61.20, Y:-138.48, Z:0.24 [[ 8.41246990e-01 5.40582924e-01 -8.57928983e-03 6.12027266e+01] [ 5.40553017e-01 -8.41290723e-01 -5.68819330e-03 -1.38480552e+02] [-1.02926171e-02 1.47614491e-04 -9.99947019e-01 2.38916939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.641858064 meters 0.015509751858099207 Centerline is valid? [True, True] Translation: X:61.20, Y:-138.49, Z:0.24 [[ 7.96096206e-01 6.05116621e-01 -8.04400237e-03 6.12035142e+01] [ 6.05083917e-01 -7.96136832e-01 -6.29279515e-03 -1.38489245e+02] [-1.02120015e-02 1.42373880e-04 -9.99947846e-01 2.38964197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.671858064 meters 0.015560220991572614 Centerline is valid? [True, True] Translation: X:61.20, Y:-138.50, Z:0.24 [[ 7.46162430e-01 6.65717955e-01 -7.82511054e-03 6.12047262e+01] [ 6.65679285e-01 -7.46203446e-01 -7.17678319e-03 -1.38497136e+02] [-1.06168379e-02 1.46031997e-04 -9.99943629e-01 2.39293190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.701858064 meters 0.01511024322675009 Centerline is valid? [True, True] Translation: X:61.21, Y:-138.51, Z:0.24 [[ 6.90986984e-01 7.22824581e-01 -7.84939891e-03 6.12097578e+01] [ 7.22775520e-01 -6.91031550e-01 -8.42284715e-03 -1.38507955e+02] [-1.15124233e-02 1.46724369e-04 -9.99933719e-01 2.39280455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.731858064 meters 0.015046314717029859 Centerline is valid? [True, True] Translation: X:61.21, Y:-138.52, Z:0.24 [[ 6.31762130e-01 7.75131122e-01 -6.95376946e-03 6.12125145e+01] [ 7.75081800e-01 -6.31800384e-01 -8.74516303e-03 -1.38517929e+02] [-1.11720422e-02 1.35122665e-04 -9.99937582e-01 2.39566934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.761858064 meters 0.014978519767025989 Centerline is valid? [True, True] Translation: X:61.22, Y:-138.53, Z:0.24 [[ 5.68774228e-01 8.22469623e-01 -6.29258771e-03 6.12166444e+01] [ 8.22416719e-01 -5.68809021e-01 -9.32946819e-03 -1.38525946e+02] [-1.12524848e-02 1.31231734e-04 -9.99936680e-01 2.39575187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.791858064 meters 0.01469276814334064 Centerline is valid? [True, True] Translation: X:61.22, Y:-138.53, Z:0.24 [[ 5.01856796e-01 8.64935019e-01 -5.21248999e-03 6.12219073e+01] [ 8.64885988e-01 -5.01883852e-01 -9.21015929e-03 -1.38534712e+02] [-1.05822539e-02 1.13971472e-04 -9.99944000e-01 2.38475161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.821858064 meters 0.014780980504053078 Centerline is valid? [True, True] Translation: X:61.23, Y:-138.54, Z:0.24 [[ 4.32044895e-01 9.01841953e-01 -4.27781847e-03 6.12261655e+01] [ 9.01795363e-01 -4.32066060e-01 -9.16744106e-03 -1.38543473e+02] [-1.01158831e-02 1.03029249e-04 -9.99948828e-01 2.38480470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.851858064 meters 0.01446533760246234 Centerline is valid? [True, True] Translation: X:61.23, Y:-138.55, Z:0.24 [[ 3.59636238e-01 9.33086679e-01 -3.32051506e-03 6.12348338e+01] [ 9.33044528e-01 -3.59651555e-01 -8.86952068e-03 -1.38552169e+02] [-9.47026000e-03 9.16126445e-05 -9.99955152e-01 2.37607617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.881858064 meters 0.01440498884756319 Centerline is valid? [True, True] Translation: X:61.24, Y:-138.56, Z:0.24 [[ 2.85041751e-01 9.58511776e-01 -2.52506480e-03 6.12422218e+01] [ 9.58471487e-01 -2.85052922e-01 -8.78860827e-03 -1.38560209e+02] [-9.14376162e-03 8.49176759e-05 -9.99958191e-01 2.37473567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.911858064 meters 0.014212169327923503 Centerline is valid? [True, True] Translation: X:61.25, Y:-138.57, Z:0.24 [[ 2.08193427e-01 9.78086239e-01 -1.67523641e-03 6.12496797e+01] [ 9.78051817e-01 -2.08200155e-01 -8.20602447e-03 -1.38566996e+02] [-8.37498409e-03 6.99723433e-05 -9.99964927e-01 2.36651618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.941858064 meters 0.014163007613194821 Centerline is valid? [True, True] Translation: X:61.26, Y:-138.57, Z:0.24 [[ 1.30568578e-01 9.91438822e-01 -9.52786092e-04 6.12568711e+01] [ 9.91408840e-01 -1.30572039e-01 -7.71070175e-03 -1.38574094e+02] [-7.76909629e-03 6.21748073e-05 -9.99969818e-01 2.36609821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.971858064 meters 0.014035475882266148 Centerline is valid? [True, True] Translation: X:61.26, Y:-138.58, Z:0.24 [[ 5.15524745e-02 9.98670213e-01 -3.85221392e-04 6.12644262e+01] [ 9.98632762e-01 -5.15538774e-02 -8.64890368e-03 -1.38580561e+02] [-8.65726213e-03 6.11776835e-05 -9.99962523e-01 2.38400954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.001858064 meters 0.014157508830505323 Centerline is valid? [True, True] Translation: X:61.27, Y:-138.59, Z:0.24 [[-2.68951457e-02 9.99638208e-01 3.22715150e-04 6.12719666e+01] [ 9.99592908e-01 2.68969992e-02 -9.51676214e-03 -1.38585948e+02] [-9.52199912e-03 6.66290709e-05 -9.99954663e-01 2.39882502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.031858064 meters 0.014137464085328337 Centerline is valid? [True, True] Translation: X:61.28, Y:-138.59, Z:0.24 [[-1.04929990e-01 9.94478955e-01 1.14226851e-03 6.12782131e+01] [ 9.94427393e-01 1.04936181e-01 -1.01271205e-02 -1.38590179e+02] [-1.01910736e-02 7.32644385e-05 -9.99948067e-01 2.41117581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.061858064 meters 0.014169971790127512 Centerline is valid? [True, True] Translation: X:61.28, Y:-138.59, Z:0.24 [[-1.81772718e-01 9.83338623e-01 1.95760932e-03 6.12829708e+01] [ 9.83286335e-01 1.81783240e-01 -1.01408435e-02 -1.38594525e+02] [-1.03277436e-02 8.15618187e-05 -9.99946664e-01 2.41346823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.091858064 meters 0.014312038155297892 Centerline is valid? [True, True] Translation: X:61.29, Y:-138.60, Z:0.24 [[-2.57831037e-01 9.66186431e-01 2.63398447e-03 6.12883970e+01] [ 9.66139227e-01 2.57844478e-01 -9.55087541e-03 -1.38599212e+02] [-9.90708457e-03 8.22836035e-05 -9.99950920e-01 2.40862219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.121858064 meters 0.014438239671054634 Centerline is valid? [True, True] Translation: X:61.29, Y:-138.60, Z:0.24 [[-3.32338501e-01 9.43154771e-01 3.19357036e-03 6.12935296e+01] [ 9.43113559e-01 3.32353834e-01 -8.81720888e-03 -1.38603294e+02] [-9.37738797e-03 8.16015295e-05 -9.99956028e-01 2.40192783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15185806399998 meters 0.014215522905820396 Centerline is valid? [True, True] Translation: X:61.30, Y:-138.61, Z:0.24 [[-4.05054828e-01 9.14283324e-01 4.07294119e-03 6.13037429e+01] [ 9.14239251e-01 4.05075296e-01 -8.97752511e-03 -1.38605181e+02] [-9.85784935e-03 8.72528119e-05 -9.99951406e-01 2.39198630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18185806399998 meters 0.014521939212583098 Centerline is valid? [True, True] Translation: X:61.31, Y:-138.61, Z:0.24 [[-4.75428859e-01 8.79736288e-01 5.60924129e-03 6.13132941e+01] [ 8.79677582e-01 4.75461936e-01 -1.01636083e-02 -1.38607717e+02] [-1.16082758e-02 1.02251104e-04 -9.99932616e-01 2.41162221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21185806399998 meters 0.01444229558616081 Centerline is valid? [True, True] Translation: X:61.32, Y:-138.61, Z:0.24 [[-5.42866431e-01 8.39794621e-01 6.40568604e-03 6.13237948e+01] [ 8.39738372e-01 5.42904213e-01 -9.72025164e-03 -1.38607716e+02] [-1.16406890e-02 1.02302052e-04 -9.99932240e-01 2.41292603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24185806399998 meters 0.014337468556757483 Centerline is valid? [True, True] Translation: X:61.33, Y:-138.61, Z:0.24 [[-6.07944328e-01 7.93947267e-01 7.17158601e-03 6.13338954e+01] [ 7.93893736e-01 6.07986620e-01 -9.21988268e-03 -1.38606126e+02] [-1.16803290e-02 8.83018247e-05 -9.99931779e-01 2.41235936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27185806399999 meters 0.014269506940711333 Centerline is valid? [True, True] Translation: X:61.34, Y:-138.60, Z:0.24 [[-6.69031429e-01 7.43194194e-01 7.70299533e-03 6.13438207e+01] [ 7.43146216e-01 6.69075769e-01 -8.44500014e-03 -1.38604510e+02] [-1.14301626e-02 7.44813158e-05 -9.99934671e-01 2.41006752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.301858064 meters 0.014207992256827095 Centerline is valid? [True, True] Translation: X:61.35, Y:-138.60, Z:0.24 [[-7.25450250e-01 6.88226065e-01 8.17426182e-03 6.13531603e+01] [ 6.88183439e-01 7.25496298e-01 -7.65998951e-03 -1.38601661e+02] [-1.12022011e-02 6.84503032e-05 -9.99937251e-01 2.40582284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.331858064 meters 0.014330820011191006 Centerline is valid? [True, True] Translation: X:61.89, Y:-138.04, Z:-0.75 [[-6.86675418e-01 -7.26925088e-01 7.53572602e-03 6.18880938e+01] [ 7.26880098e-01 -6.86716761e-01 -8.08783648e-03 -1.38042878e+02] [ 1.10541606e-02 -7.61492281e-05 9.99938898e-01 -7.50439159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.361858064 meters 0.014434765741989201 Centerline is valid? [True, True] Translation: X:61.87, Y:-138.02, Z:-0.75 [[-6.87180271e-01 -7.26449991e-01 7.32709645e-03 6.18691598e+01] [ 7.26407561e-01 -6.87219329e-01 -7.85167516e-03 -1.38022751e+02] [ 1.07391716e-02 -7.30580045e-05 9.99942331e-01 -7.50095911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.391858064 meters 0.014504780087903936 Centerline is valid? [True, True] Translation: X:61.85, Y:-138.00, Z:-0.75 [[-6.87909151e-01 -7.25761656e-01 7.14275178e-03 6.18509401e+01] [ 7.25721347e-01 -6.87946228e-01 -7.64939612e-03 -1.38002762e+02] [ 1.04654675e-02 -7.84421422e-05 9.99945232e-01 -7.49966193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.421858064 meters 0.014613049274487533 Centerline is valid? [True, True] Translation: X:61.83, Y:-137.98, Z:-0.75 [[-6.88376814e-01 -7.25318342e-01 7.11783374e-03 6.18322782e+01] [ 7.25278340e-01 -6.88413608e-01 -7.61802591e-03 -1.37982555e+02] [ 1.04255075e-02 -8.16617674e-05 9.99945650e-01 -7.50253204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.451858064 meters 0.014734400287018652 Centerline is valid? [True, True] Translation: X:61.81, Y:-137.96, Z:-0.75 [[-6.88701213e-01 -7.25009996e-01 7.15154570e-03 6.18134059e+01] [ 7.24969646e-01 -6.88738338e-01 -7.64942986e-03 -1.37962564e+02] [ 1.04714568e-02 -8.35180592e-05 9.99945169e-01 -7.50650171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.481858064 meters 0.014628822631200166 Centerline is valid? [True, True] Translation: X:61.79, Y:-137.94, Z:-0.75 [[-6.88841964e-01 -7.24875766e-01 7.20218860e-03 6.17946624e+01] [ 7.24834885e-01 -6.88879610e-01 -7.69887914e-03 -1.37942966e+02] [ 1.05421718e-02 -8.29134860e-05 9.99944426e-01 -7.50473191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.511858064 meters 0.014564477746182684 Centerline is valid? [True, True] Translation: X:61.78, Y:-137.93, Z:-0.75 [[-6.88330419e-01 -7.25364175e-01 6.93163992e-03 6.17757268e+01] [ 7.25326381e-01 -6.88365316e-01 -7.40491682e-03 -1.37925017e+02] [ 1.01427619e-02 -6.93282049e-05 9.99948558e-01 -7.50999259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.541858064 meters 0.01450009192053443 Centerline is valid? [True, True] Translation: X:61.76, Y:-137.91, Z:-0.75 [[-6.88338957e-01 -7.25358533e-01 6.66927048e-03 6.17571347e+01] [ 7.25323589e-01 -6.88371262e-01 -7.12013509e-03 -1.37906275e+02] [ 9.75558488e-03 -6.36871632e-05 9.99952411e-01 -7.50775024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.571858064 meters 0.014454901602464742 Centerline is valid? [True, True] Translation: X:61.74, Y:-137.89, Z:-0.75 [[-6.88936918e-01 -7.24793942e-01 6.29806863e-03 6.17385132e+01] [ 7.24762793e-01 -6.88965702e-01 -6.71983040e-03 -1.37886611e+02] [ 9.20964564e-03 -6.49334276e-05 9.99957588e-01 -7.49270318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.601858064 meters 0.014323288445226403 Centerline is valid? [True, True] Translation: X:61.72, Y:-137.87, Z:-0.75 [[-6.89736040e-01 -7.24037019e-01 5.88130211e-03 6.17199301e+01] [ 7.24009863e-01 -6.89761111e-01 -6.27125300e-03 -1.37867156e+02] [ 8.59731281e-03 -6.73884811e-05 9.99963040e-01 -7.47678378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.631858064 meters 0.014417714657794465 Centerline is valid? [True, True] Translation: X:61.70, Y:-137.85, Z:-0.75 [[-6.90423153e-01 -7.23386947e-01 5.21487107e-03 6.17013450e+01] [ 7.23365604e-01 -6.90442844e-01 -5.55718640e-03 -1.37846941e+02] [ 7.62056651e-03 -6.45517937e-05 9.99970961e-01 -7.46797871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.661858064 meters 0.014608154339842569 Centerline is valid? [True, True] Translation: X:61.68, Y:-137.83, Z:-0.75 [[-6.91429806e-01 -7.22434838e-01 3.56781039e-03 6.16837387e+01] [ 7.22424848e-01 -6.91439009e-01 -3.79953425e-03 -1.37827250e+02] [ 5.21183919e-03 -4.96363490e-05 9.99986417e-01 -7.45142021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.691858064 meters 0.014516737605932853 Centerline is valid? [True, True] Translation: X:61.66, Y:-137.81, Z:-0.74 [[-6.91983039e-01 -7.21906714e-01 3.18899420e-03 6.16646822e+01] [ 7.21898737e-01 -6.91990386e-01 -3.39400778e-03 -1.37807352e+02] [ 4.65691033e-03 -4.64649388e-05 9.99989155e-01 -7.44425386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.721858064 meters 0.014855855461370927 Centerline is valid? [True, True] Translation: X:61.65, Y:-137.79, Z:-0.74 [[-6.93234122e-01 -7.20705196e-01 3.23605425e-03 6.16473030e+01] [ 7.20696980e-01 -6.93241673e-01 -3.44185578e-03 -1.37787317e+02] [ 4.72393101e-03 -5.37973434e-05 9.99988841e-01 -7.44184305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.751858064 meters 0.015022440779809744 Centerline is valid? [True, True] Translation: X:61.63, Y:-137.77, Z:-0.74 [[-6.94148165e-01 -7.19822560e-01 3.71569739e-03 6.16288464e+01] [ 7.19811728e-01 -6.94158107e-01 -3.94958682e-03 -1.37766698e+02] [ 5.42228317e-03 -6.69958851e-05 9.99985297e-01 -7.44368039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.781858064 meters 0.015186709477289484 Centerline is valid? [True, True] Translation: X:61.61, Y:-137.75, Z:-0.74 [[-6.95059341e-01 -7.18940024e-01 4.21352548e-03 6.16104852e+01] [ 7.18926095e-01 -6.95072108e-01 -4.47602431e-03 -1.37746234e+02] [ 6.14669706e-03 -8.18890936e-05 9.99981106e-01 -7.44829855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.811858064 meters 0.015530958512598924 Centerline is valid? [True, True] Translation: X:61.59, Y:-137.73, Z:-0.74 [[-6.95897682e-01 -7.18127311e-01 4.42515942e-03 6.15929319e+01] [ 7.18111950e-01 -6.95911745e-01 -4.69784634e-03 -1.37726192e+02] [ 6.45317217e-03 -9.14605215e-05 9.99979174e-01 -7.44972082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.841858064 meters 0.015530958512598924 Centerline is valid? [True, True] Translation: X:61.57, Y:-137.71, Z:-0.74 [[-6.96113876e-01 -7.17917737e-01 4.42657373e-03 6.15744891e+01] [ 7.17902381e-01 -6.96127944e-01 -4.69651372e-03 -1.37706783e+02] [ 6.45317217e-03 -9.14605413e-05 9.99979174e-01 -7.44972113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.871858064 meters 0.01583754964124349 Centerline is valid? [True, True] Translation: X:61.56, Y:-137.69, Z:-0.75 [[-6.97084288e-01 -7.16974542e-01 4.58269415e-03 6.15561818e+01] [ 7.16958083e-01 -6.97099344e-01 -4.85923509e-03 -1.37686760e+02] [ 6.67854094e-03 -1.01696822e-04 9.99977693e-01 -7.45140186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90185806399998 meters 0.015868509795188775 Centerline is valid? [True, True] Translation: X:61.54, Y:-137.67, Z:-0.75 [[-6.99111612e-01 -7.14998753e-01 4.44270039e-03 6.15356763e+01] [ 7.14983260e-01 -6.99125719e-01 -4.70818085e-03 -1.37667029e+02] [ 6.47234954e-03 -1.15087498e-04 9.99979048e-01 -7.45146932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93185806399998 meters 0.017184664933079217 Centerline is valid? [True, True] Translation: X:61.52, Y:-137.65, Z:-0.75 [[-7.00519975e-01 -7.13619975e-01 4.27750058e-03 6.15186305e+01] [ 7.13605604e-01 -7.00533024e-01 -4.53046260e-03 -1.37645781e+02] [ 6.22955902e-03 -1.21231160e-04 9.99980589e-01 -7.46261340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96185806399998 meters 0.017650914080280727 Centerline is valid? [True, True] Translation: X:61.50, Y:-137.62, Z:-0.75 [[-7.03818056e-01 -7.10368003e-01 4.17662944e-03 6.15000653e+01] [ 7.10354259e-01 -7.03830434e-01 -4.42120508e-03 -1.37624453e+02] [ 6.08032154e-03 -1.44837459e-04 9.99981504e-01 -7.46310819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99185806399998 meters 0.018223184898930742 Centerline is valid? [True, True] Translation: X:61.48, Y:-137.60, Z:-0.75 [[-7.05160845e-01 -7.09033963e-01 4.36132087e-03 6.14825567e+01] [ 7.09018963e-01 -7.05174314e-01 -4.61487232e-03 -1.37603755e+02] [ 6.34759267e-03 -1.61968067e-04 9.99979841e-01 -7.46279196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02185806399999 meters 0.018478074578102 Centerline is valid? [True, True] Translation: X:61.46, Y:-137.58, Z:-0.75 [[-7.06338465e-01 -7.07861465e-01 4.25673544e-03 6.14637380e+01] [ 7.07847169e-01 -7.06351272e-01 -4.50175475e-03 -1.37582934e+02] [ 6.19336921e-03 -1.66644409e-04 9.99980807e-01 -7.45763899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.051858064 meters 0.019271338674921604 Centerline is valid? [True, True] Translation: X:61.45, Y:-137.56, Z:-0.75 [[-7.07198769e-01 -7.07004757e-01 3.76498188e-03 6.14463023e+01] [ 7.06993574e-01 -7.07208775e-01 -3.97941008e-03 -1.37562648e+02] [ 5.47609008e-03 -1.52415918e-04 9.99984995e-01 -7.45754200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.081858064 meters 0.019241559181222737 Centerline is valid? [True, True] Translation: X:61.43, Y:-137.54, Z:-0.75 [[-7.07024731e-01 -7.07180872e-01 3.35329078e-03 6.14262478e+01] [ 7.07172013e-01 -7.07032670e-01 -3.54215959e-03 -1.37544424e+02] [ 4.87583364e-03 -1.33041033e-04 9.99988104e-01 -7.45211729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.111858064 meters 0.018306286759180664 Centerline is valid? [True, True] Translation: X:61.40, Y:-137.53, Z:-0.75 [[-7.06567937e-01 -7.07638977e-01 2.97130625e-03 6.14047473e+01] [ 7.07632034e-01 -7.06574175e-01 -3.13674692e-03 -1.37526836e+02] [ 4.31913264e-03 -1.13733312e-04 9.99990666e-01 -7.45235727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.141858064 meters 0.017901835317031548 Centerline is valid? [True, True] Translation: X:61.38, Y:-137.51, Z:-0.75 [[-7.05655714e-01 -7.08548050e-01 3.11020815e-03 6.13841297e+01] [ 7.08540460e-01 -7.05662560e-01 -3.28149448e-03 -1.37508135e+02] [ 4.51985396e-03 -1.11897019e-04 9.99989779e-01 -7.45692131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.171858064 meters 0.01778775826465046 Centerline is valid? [True, True] Translation: X:61.36, Y:-137.49, Z:-0.75 [[-7.04719223e-01 -7.09480372e-01 2.90159403e-03 6.13642817e+01] [ 7.09473781e-01 -7.04725189e-01 -3.05975581e-03 -1.37489734e+02] [ 4.21566309e-03 -9.76638466e-05 9.99991109e-01 -7.45910080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.201858064 meters 0.01703196683925467 Centerline is valid? [True, True] Translation: X:61.34, Y:-137.47, Z:-0.75 [[-7.02777038e-01 -7.11405268e-01 2.64178772e-03 6.13433299e+01] [ 7.11399822e-01 -7.02781999e-01 -2.78469316e-03 -1.37472388e+02] [ 3.83764624e-03 -7.76510971e-05 9.99992633e-01 -7.45085545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.231858064 meters 0.01672740134285186 Centerline is valid? [True, True] Translation: X:61.32, Y:-137.45, Z:-0.74 [[-7.01920827e-01 -7.12251416e-01 2.25218251e-03 6.13230036e+01] [ 7.12247467e-01 -7.01924438e-01 -2.37275700e-03 -1.37452656e+02] [ 3.27086148e-03 -6.13762681e-05 9.99994649e-01 -7.44617226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.261858064 meters 0.016397823232935562 Centerline is valid? [True, True] Translation: X:61.30, Y:-137.43, Z:-0.74 [[-7.00460304e-01 -7.13689230e-01 1.74499663e-03 6.13029380e+01] [ 7.13686866e-01 -7.00462477e-01 -1.83746357e-03 -1.37434373e+02] [ 2.53368262e-03 -4.16891119e-05 9.99996789e-01 -7.43530204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.291858064 meters 0.01564137217971224 Centerline is valid? [True, True] Translation: X:61.28, Y:-137.42, Z:-0.74 [[-6.99839554e-01 -7.14298634e-01 1.43546436e-03 6.12823101e+01] [ 7.14297037e-01 -6.99841025e-01 -1.51061348e-03 -1.37416672e+02] [ 2.08362600e-03 -3.18391267e-05 9.99997829e-01 -7.43150791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.321858064 meters 0.015880648766792564 Centerline is valid? [True, True] Translation: X:61.26, Y:-137.40, Z:-0.74 [[-6.99398851e-01 -7.14730096e-01 1.46155002e-03 6.12640786e+01] [ 7.14728444e-01 -6.99400378e-01 -1.53708833e-03 -1.37398322e+02] [ 2.12081193e-03 -3.04264437e-05 9.99997751e-01 -7.42892899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.351858064 meters 0.015781363028051425 Centerline is valid? [True, True] Translation: X:61.25, Y:-137.38, Z:-0.74 [[-6.99092185e-01 -7.15030364e-01 1.30203201e-03 6.12451362e+01] [ 7.15029055e-01 -6.99093397e-01 -1.36849407e-03 -1.37380285e+02] [ 1.88875680e-03 -2.57127930e-05 9.99998216e-01 -7.42640562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.381858064 meters 0.01479231781574218 Centerline is valid? [True, True] Translation: X:61.22, Y:-137.36, Z:-0.74 [[-6.98125831e-01 -7.15973806e-01 1.35423042e-03 6.12229383e+01] [ 7.15972393e-01 -6.98127144e-01 -1.42246028e-03 -1.37363595e+02] [ 1.96386932e-03 -2.34646673e-05 9.99998071e-01 -7.42378951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.411858064 meters 0.0148494496007435 Centerline is valid? [True, True] Translation: X:61.20, Y:-137.34, Z:-0.74 [[-6.97909203e-01 -7.16183828e-01 1.86257043e-03 6.12049114e+01] [ 7.16181160e-01 -6.97911688e-01 -1.95512111e-03 -1.37344788e+02] [ 2.70013579e-03 -3.05591620e-05 9.99996354e-01 -7.42472405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.441858064 meters 0.014880244664744916 Centerline is valid? [True, True] Translation: X:61.19, Y:-137.33, Z:-0.74 [[-6.97658576e-01 -7.16428029e-01 1.84154312e-03 6.11858808e+01] [ 7.16425424e-01 -6.97661006e-01 -1.93186267e-03 -1.37325249e+02] [ 2.66881339e-03 -2.84522510e-05 9.99996438e-01 -7.42470240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.471858064 meters 0.01488492214037571 Centerline is valid? [True, True] Translation: X:61.17, Y:-137.31, Z:-0.74 [[-6.97792287e-01 -7.16297909e-01 1.79699517e-03 6.11666576e+01] [ 7.16295432e-01 -6.97794600e-01 -1.88397866e-03 -1.37305489e+02] [ 2.60342350e-03 -2.74463458e-05 9.99996611e-01 -7.42280341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.501858064 meters 0.01492999909807619 Centerline is valid? [True, True] Translation: X:61.15, Y:-137.29, Z:-0.74 [[-6.97961854e-01 -7.16131655e-01 2.16883122e-03 6.11467130e+01] [ 7.16128050e-01 -6.97965223e-01 -2.27240939e-03 -1.37286641e+02] [ 3.14111307e-03 -3.28941978e-05 9.99995066e-01 -7.42453472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.531858064 meters 0.014928683489819116 Centerline is valid? [True, True] Translation: X:61.13, Y:-137.27, Z:-0.74 [[-6.98279655e-01 -7.15820756e-01 2.48365369e-03 6.11276366e+01] [ 7.15816033e-01 -6.98284071e-01 -2.60065131e-03 -1.37267578e+02] [ 3.59589600e-03 -3.81427662e-05 9.99993534e-01 -7.43143657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.561858064 meters 0.015132058380426801 Centerline is valid? [True, True] Translation: X:61.11, Y:-137.25, Z:-0.74 [[-6.98745635e-01 -7.15363414e-01 3.11804021e-03 6.11086042e+01] [ 7.15355975e-01 -6.98752591e-01 -3.26290336e-03 -1.37248141e+02] [ 4.51290036e-03 -4.94307866e-05 9.99989816e-01 -7.43750425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.591858064 meters 0.015315222039315743 Centerline is valid? [True, True] Translation: X:61.09, Y:-137.23, Z:-0.74 [[-6.99456955e-01 -7.14662822e-01 4.12540697e-03 6.10896055e+01] [ 7.14649802e-01 -6.99469118e-01 -4.31439253e-03 -1.37228750e+02] [ 5.96893071e-03 -6.95105875e-05 9.99982183e-01 -7.44575193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.621858064 meters 0.015619297067978483 Centerline is valid? [True, True] Translation: X:61.07, Y:-137.21, Z:-0.75 [[-7.00387834e-01 -7.13748364e-01 4.48938411e-03 6.10710647e+01] [ 7.13732945e-01 -7.00402218e-01 -4.69215143e-03 -1.37208729e+02] [ 6.49338999e-03 -8.21044359e-05 9.99978914e-01 -7.45116217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65185806399998 meters 0.016025047690238565 Centerline is valid? [True, True] Translation: X:61.05, Y:-137.19, Z:-0.75 [[-7.01346417e-01 -7.12802189e-01 5.12278322e-03 6.10534760e+01] [ 7.12782111e-01 -7.01365118e-01 -5.35107682e-03 -1.37188258e+02] [ 7.40720073e-03 -1.01530318e-04 9.99972561e-01 -7.45744900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68185806399998 meters 0.016316016519511548 Centerline is valid? [True, True] Translation: X:61.03, Y:-137.17, Z:-0.75 [[-7.02517619e-01 -7.11643911e-01 5.65157430e-03 6.10346120e+01] [ 7.11619461e-01 -7.02540340e-01 -5.90023918e-03 -1.37167460e+02] [ 8.16932821e-03 -1.23251718e-04 9.99966623e-01 -7.45840685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71185806399998 meters 0.016703481155594325 Centerline is valid? [True, True] Translation: X:61.02, Y:-137.15, Z:-0.75 [[-7.04505110e-01 -7.09675845e-01 5.72234474e-03 6.10158464e+01] [ 7.09650742e-01 -7.04528335e-01 -5.97082390e-03 -1.37146251e+02] [ 8.26890350e-03 -1.45609760e-04 9.99965801e-01 -7.45197563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74185806399998 meters 0.017637576963540482 Centerline is valid? [True, True] Translation: X:61.00, Y:-137.13, Z:-0.74 [[-7.05385772e-01 -7.08799378e-01 5.86125835e-03 6.09990376e+01] [ 7.08773034e-01 -7.05410106e-01 -6.11304299e-03 -1.37125570e+02] [ 8.46751194e-03 -1.57751686e-04 9.99964138e-01 -7.44965181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77185806399999 meters 0.017056443651047592 Centerline is valid? [True, True] Translation: X:60.98, Y:-137.11, Z:-0.74 [[-7.06353558e-01 -7.07838109e-01 5.46460952e-03 6.09795005e+01] [ 7.07815209e-01 -7.06374679e-01 -5.69579813e-03 -1.37106687e+02] [ 7.89176477e-03 -1.55313549e-04 9.99968847e-01 -7.43414373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.801858064 meters 0.017229497596239134 Centerline is valid? [True, True] Translation: X:60.96, Y:-137.09, Z:-0.74 [[-7.06785612e-01 -7.07409032e-01 5.15367746e-03 6.09619186e+01] [ 7.07388679e-01 -7.06804385e-01 -5.36819994e-03 -1.37087422e+02] [ 7.44015495e-03 -1.48513389e-04 9.99972311e-01 -7.42628224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.831858064 meters 0.017544971363781924 Centerline is valid? [True, True] Translation: X:60.94, Y:-137.07, Z:-0.74 [[-7.07078149e-01 -7.07119648e-01 4.72164317e-03 6.09437913e+01] [ 7.07102580e-01 -7.07093901e-01 -4.91499887e-03 -1.37068544e+02] [ 6.81413736e-03 -1.36602242e-04 9.99976774e-01 -7.41798934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.861858064 meters 0.017433772853570374 Centerline is valid? [True, True] Translation: X:60.92, Y:-137.05, Z:-0.74 [[-7.07160350e-01 -7.07040326e-01 4.26812321e-03 6.09243117e+01] [ 7.07026395e-01 -7.07173219e-01 -4.44017410e-03 -1.37049239e+02] [ 6.15768457e-03 -1.22239308e-04 9.99981034e-01 -7.41126628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.891858064 meters 0.017557062907635253 Centerline is valid? [True, True] Translation: X:60.91, Y:-137.03, Z:-0.74 [[-7.07171507e-01 -7.07030588e-01 4.02569708e-03 6.09060960e+01] [ 7.07018210e-01 -7.07182957e-01 -4.18528117e-03 -1.37030175e+02] [ 5.80602617e-03 -1.13470447e-04 9.99983138e-01 -7.40346143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.921858064 meters 0.01741563788957758 Centerline is valid? [True, True] Translation: X:60.89, Y:-137.01, Z:-0.74 [[-7.06090902e-01 -7.08109880e-01 4.00453901e-03 6.08856745e+01] [ 7.08097662e-01 -7.06102250e-01 -4.16104916e-03 -1.37010576e+02] [ 5.77409403e-03 -1.02474241e-04 9.99983325e-01 -7.39590960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.951858064 meters 0.01742412462586438 Centerline is valid? [True, True] Translation: X:60.87, Y:-136.99, Z:-0.74 [[-7.05140192e-01 -7.09053524e-01 4.51772880e-03 6.08667760e+01] [ 7.09038007e-01 -7.05154656e-01 -4.69209315e-03 -1.36991870e+02] [ 6.51264268e-03 -1.05342038e-04 9.99978787e-01 -7.39833278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.981858064 meters 0.016713851247026307 Centerline is valid? [True, True] Translation: X:60.85, Y:-136.97, Z:-0.74 [[-7.02816284e-01 -7.11347536e-01 5.82704759e-03 6.08460055e+01] [ 7.11321826e-01 -7.02840431e-01 -6.04876783e-03 -1.36973752e+02] [ 8.39826073e-03 -1.06266394e-04 9.99964728e-01 -7.40084430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.011858064 meters 0.01610074991381896 Centerline is valid? [True, True] Translation: X:60.83, Y:-136.96, Z:-0.74 [[-7.01328545e-01 -7.12811523e-01 6.16475725e-03 6.08252087e+01] [ 7.12782838e-01 -7.01355633e-01 -6.39540706e-03 -1.36955907e+02] [ 8.88240708e-03 -9.11483582e-05 9.99960547e-01 -7.39577177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.041858064 meters 0.015692382049831956 Centerline is valid? [True, True] Translation: X:60.80, Y:-136.94, Z:-0.74 [[-6.99848817e-01 -7.14261718e-01 6.46773006e-03 6.08049153e+01] [ 7.14230245e-01 -6.99878698e-01 -6.70562630e-03 -1.36937647e+02] [ 9.31619866e-03 -7.34762054e-05 9.99956601e-01 -7.39397891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.071858064 meters 0.015159586051006887 Centerline is valid? [True, True] Translation: X:60.78, Y:-136.92, Z:-0.74 [[-6.96091351e-01 -7.17923966e-01 6.48150272e-03 6.07841323e+01] [ 7.17892545e-01 -6.96121526e-01 -6.71673609e-03 -1.36920663e+02] [ 9.33401937e-03 -2.24394101e-05 9.99956437e-01 -7.38915197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.101858064 meters 0.015145347921505669 Centerline is valid? [True, True] Translation: X:60.76, Y:-136.90, Z:-0.74 [[-6.94309030e-01 -7.19644605e-01 6.82737012e-03 6.07646028e+01] [ 7.19609867e-01 -6.94342597e-01 -7.07089712e-03 -1.36901860e+02] [ 9.82906687e-03 3.65518781e-06 9.99951694e-01 -7.38470936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.131858064 meters 0.015280588793855798 Centerline is valid? [True, True] Translation: X:60.75, Y:-136.88, Z:-0.74 [[-6.92605497e-01 -7.21286809e-01 6.55472103e-03 6.07450801e+01] [ 7.21254902e-01 -6.92636512e-01 -6.78446874e-03 -1.36882818e+02] [ 9.43358692e-03 2.86643272e-05 9.99955502e-01 -7.37722874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.161858064 meters 0.01530619490775886 Centerline is valid? [True, True] Translation: X:60.73, Y:-136.86, Z:-0.74 [[-6.91516988e-01 -7.22335765e-01 5.94123136e-03 6.07251637e+01] [ 7.22309621e-01 -6.91542508e-01 -6.14583013e-03 -1.36863515e+02] [ 8.54796694e-03 4.14626279e-05 9.99963465e-01 -7.37290037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.191858064 meters 0.015618055965721397 Centerline is valid? [True, True] Translation: X:60.71, Y:-136.84, Z:-0.74 [[-6.89678873e-01 -7.24092847e-01 5.70974290e-03 6.07061983e+01] [ 7.24068789e-01 -6.89702505e-01 -5.90279651e-03 -1.36843410e+02] [ 8.21219671e-03 6.32125822e-05 9.99966277e-01 -7.35505828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.221858064 meters 0.015928218152264646 Centerline is valid? [True, True] Translation: X:60.69, Y:-136.82, Z:-0.74 [[-6.88823328e-01 -7.24904697e-01 5.96679372e-03 6.06887559e+01] [ 7.24878489e-01 -6.88849166e-01 -6.16462744e-03 -1.36823141e+02] [ 8.57898827e-03 7.88612189e-05 9.99963197e-01 -7.35733096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.251858064 meters 0.015960542990721596 Centerline is valid? [True, True] Translation: X:60.67, Y:-136.80, Z:-0.74 [[-6.88914185e-01 -7.24815779e-01 6.27154974e-03 6.06702242e+01] [ 7.24786856e-01 -6.88942726e-01 -6.47563434e-03 -1.36802568e+02] [ 9.01438052e-03 8.43804614e-05 9.99959366e-01 -7.36385320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.281858064 meters 0.015992216591950086 Centerline is valid? [True, True] Translation: X:60.65, Y:-136.78, Z:-0.74 [[-6.89358635e-01 -7.24393686e-01 6.20154103e-03 6.06520837e+01] [ 7.24365422e-01 -6.89386525e-01 -6.39954972e-03 -1.36782295e+02] [ 8.91105223e-03 8.05970236e-05 9.99960293e-01 -7.36592990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.311858064 meters 0.015957250760130534 Centerline is valid? [True, True] Translation: X:60.64, Y:-136.76, Z:-0.74 [[-6.90399121e-01 -7.23400567e-01 6.37762119e-03 6.06365465e+01] [ 7.23370670e-01 -6.90428573e-01 -6.57718205e-03 -1.36760916e+02] [ 9.16122912e-03 7.25034085e-05 9.99958032e-01 -7.36961691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.341858064 meters 0.016058440375409714 Centerline is valid? [True, True] Translation: X:60.62, Y:-136.74, Z:-0.74 [[-6.91150076e-01 -7.22680039e-01 6.71813535e-03 6.06187700e+01] [ 7.22646867e-01 -6.91182723e-01 -6.92455656e-03 -1.36739492e+02] [ 9.64769789e-03 6.89316727e-05 9.99953458e-01 -7.37419290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.371858064 meters 0.015691620924990195 Centerline is valid? [True, True] Translation: X:60.60, Y:-136.72, Z:-0.74 [[-6.92551593e-01 -7.21327411e-01 7.68489929e-03 6.06022459e+01] [ 7.21283975e-01 -6.92594227e-01 -7.91609056e-03 -1.36717181e+02] [ 1.10326100e-02 6.06935857e-05 9.99939137e-01 -7.36416820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40185806399998 meters 0.015691620924990195 Centerline is valid? [True, True] Translation: X:60.58, Y:-136.70, Z:-0.74 [[-6.92776029e-01 -7.21111835e-01 7.68736247e-03 6.05835212e+01] [ 7.21068413e-01 -6.92818676e-01 -7.91369857e-03 -1.36698046e+02] [ 1.10326100e-02 6.06935855e-05 9.99939137e-01 -7.36416851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43185806399998 meters 0.015551679836988777 Centerline is valid? [True, True] Translation: X:60.56, Y:-136.68, Z:-0.74 [[-6.93392776e-01 -7.20523218e-01 7.26299753e-03 6.05646042e+01] [ 7.20484474e-01 -6.93430811e-01 -7.47213284e-03 -1.36678979e+02] [ 1.04202315e-02 5.17540274e-05 9.99945707e-01 -7.36743541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46185806399998 meters 0.01572874727855798 Centerline is valid? [True, True] Translation: X:60.55, Y:-136.66, Z:-0.74 [[-6.94299342e-01 -7.19655864e-01 6.62277182e-03 6.05451597e+01] [ 7.19623641e-01 -6.94330927e-01 -6.81015249e-03 -1.36661606e+02] [ 9.49936147e-03 3.76187782e-05 9.99954879e-01 -7.39154842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49185806399998 meters 0.015538894978256427 Centerline is valid? [True, True] Translation: X:60.53, Y:-136.64, Z:-0.74 [[-6.94580046e-01 -7.19385148e-01 6.60067424e-03 6.05261694e+01] [ 7.19353168e-01 -6.94611407e-01 -6.78325654e-03 -1.36642458e+02] [ 9.46467764e-03 3.67012919e-05 9.99955208e-01 -7.37509585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52185806399999 meters 0.015667162321232476 Centerline is valid? [True, True] Translation: X:60.51, Y:-136.62, Z:-0.74 [[-6.94718353e-01 -7.19252537e-01 6.49604863e-03 6.05064342e+01] [ 7.19221595e-01 -6.94748722e-01 -6.67164427e-03 -1.36623997e+02] [ 9.31171855e-03 3.71847393e-05 9.99956644e-01 -7.38668342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.551858064 meters 0.01587403883299922 Centerline is valid? [True, True] Translation: X:60.49, Y:-136.61, Z:-0.74 [[-6.94811528e-01 -7.19157688e-01 7.01145360e-03 6.04862411e+01] [ 7.19121680e-01 -6.94846903e-01 -7.19658503e-03 -1.36606168e+02] [ 1.00473663e-02 4.18180492e-05 9.99949523e-01 -7.41399349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.581858064 meters 0.015976244114601003 Centerline is valid? [True, True] Translation: X:60.47, Y:-136.59, Z:-0.74 [[-6.94746143e-01 -7.19219023e-01 7.19677854e-03 6.04666700e+01] [ 7.19181137e-01 -6.94783415e-01 -7.38222251e-03 -1.36587614e+02] [ 1.03096372e-02 4.70167580e-05 9.99946853e-01 -7.41987007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.611858064 meters 0.016153468708497713 Centerline is valid? [True, True] Translation: X:60.45, Y:-136.57, Z:-0.74 [[-6.94366942e-01 -7.19587073e-01 6.99963183e-03 6.04461718e+01] [ 7.19551298e-01 -6.94402219e-01 -7.17550308e-03 -1.36569446e+02] [ 1.00239591e-02 5.41620351e-05 9.99949757e-01 -7.42670914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.641858064 meters 0.016510584926222184 Centerline is valid? [True, True] Translation: X:60.43, Y:-136.55, Z:-0.74 [[-6.93343566e-01 -7.20578941e-01 6.37876431e-03 6.04252595e+01] [ 7.20549312e-01 -6.93372905e-01 -6.53474870e-03 -1.36553347e+02] [ 9.13166464e-03 6.53882712e-05 9.99958303e-01 -7.44057493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.671858064 meters 0.016763634832805435 Centerline is valid? [True, True] Translation: X:60.41, Y:-136.54, Z:-0.75 [[-6.93099587e-01 -7.20815678e-01 6.14177380e-03 6.04062604e+01] [ 7.20788255e-01 -6.93126795e-01 -6.28788094e-03 -1.36535447e+02] [ 8.78943115e-03 6.87907426e-05 9.99961370e-01 -7.45074054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.701858064 meters 0.016763634832805435 Centerline is valid? [True, True] Translation: X:60.39, Y:-136.52, Z:-0.75 [[-6.93316586e-01 -7.20606943e-01 6.14366680e-03 6.03874708e+01] [ 7.20579529e-01 -6.93343803e-01 -6.28603137e-03 -1.36516386e+02] [ 8.78943115e-03 6.87907158e-05 9.99961370e-01 -7.45074085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.731858064 meters 0.016753917935872345 Centerline is valid? [True, True] Translation: X:60.37, Y:-136.50, Z:-0.74 [[-6.93650156e-01 -7.20287284e-01 5.97404641e-03 6.03685358e+01] [ 7.20261383e-01 -6.93675878e-01 -6.10869112e-03 -1.36496609e+02] [ 8.54406443e-03 6.55803736e-05 9.99963497e-01 -7.44857939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.761858064 meters 0.016734126474323693 Centerline is valid? [True, True] Translation: X:60.35, Y:-136.48, Z:-0.75 [[-6.94443902e-01 -7.19524682e-01 5.64793094e-03 6.03495630e+01] [ 7.19501526e-01 -6.94466867e-01 -5.77273099e-03 -1.36476358e+02] [ 8.07592333e-03 5.48570952e-05 9.99967388e-01 -7.45438645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.791858064 meters 0.016607024871174967 Centerline is valid? [True, True] Translation: X:60.33, Y:-136.45, Z:-0.75 [[-6.97366956e-01 -7.16700477e-01 4.44462312e-03 6.03327754e+01] [ 7.16686096e-01 -6.97381120e-01 -4.54028606e-03 -1.36454075e+02] [ 6.35362144e-03 1.91541161e-05 9.99979815e-01 -7.45483018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.821858064 meters 0.01659769010788316 Centerline is valid? [True, True] Translation: X:60.31, Y:-136.43, Z:-0.75 [[-6.98655119e-01 -7.15447795e-01 3.93416366e-03 6.03141980e+01] [ 7.15436520e-01 -6.98666195e-01 -4.01658331e-03 -1.36433183e+02] [ 5.62232283e-03 8.43786749e-06 9.99984195e-01 -7.45405786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.851858064 meters 0.016684212057242284 Centerline is valid? [True, True] Translation: X:60.30, Y:-136.41, Z:-0.75 [[-6.99579828e-01 -7.14547233e-01 3.21167332e-03 6.02961116e+01] [ 7.14539717e-01 -6.99587201e-01 -3.27735545e-03 -1.36413713e+02] [ 4.58867082e-03 2.09638533e-06 9.99989472e-01 -7.46102561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.881858064 meters 0.016680601669021165 Centerline is valid? [True, True] Translation: X:60.28, Y:-136.40, Z:-0.75 [[-7.00360935e-01 -7.13783759e-01 2.70308878e-03 6.02777766e+01] [ 7.13778436e-01 -7.00366151e-01 -2.75657324e-03 -1.36395041e+02] [ 3.86074910e-03 -1.18972720e-06 9.99992547e-01 -7.46270442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.911858064 meters 0.01670890366064621 Centerline is valid? [True, True] Translation: X:60.26, Y:-136.38, Z:-0.75 [[-7.00740880e-01 -7.13414778e-01 1.25416186e-03 6.02595516e+01] [ 7.13413633e-01 -7.00742003e-01 -1.27815860e-03 -1.36376647e+02] [ 1.79070113e-03 -9.21815929e-07 9.99998397e-01 -7.46470246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.941858064 meters 0.016783374155315264 Centerline is valid? [True, True] Translation: X:60.24, Y:-136.36, Z:-0.75 [[-7.00855796e-01 -7.13302942e-01 2.58513031e-04 6.02403821e+01] [ 7.13302893e-01 -7.00855844e-01 -2.63298546e-04 -1.36356905e+02] [ 3.68991996e-04 -1.36219401e-07 9.99999932e-01 -7.46035856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.971858064 meters 0.016777732123885104 Centerline is valid? [True, True] Translation: X:60.22, Y:-136.34, Z:-0.75 [[-7.01078530e-01 -7.13084010e-01 -2.99697196e-04 6.02230357e+01] [ 7.13083944e-01 -7.01078594e-01 3.05051502e-04 -1.36337218e+02] [-4.27638637e-04 1.55799729e-07 9.99999909e-01 -7.45600681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.001858064 meters 0.016905935122275718 Centerline is valid? [True, True] Translation: X:60.20, Y:-136.32, Z:-0.75 [[-7.00608534e-01 -7.13544849e-01 -1.19555860e-03 6.02028256e+01] [ 7.13543813e-01 -7.00609554e-01 1.21616201e-03 -1.36318747e+02] [-1.70540592e-03 -1.02995599e-06 9.99998546e-01 -7.45653623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.031858064 meters 0.01683584329919699 Centerline is valid? [True, True] Translation: X:60.18, Y:-136.30, Z:-0.75 [[-7.00815455e-01 -7.13341577e-01 -1.22162833e-03 6.01845174e+01] [ 7.13340496e-01 -7.00816520e-01 1.24187346e-03 -1.36299895e+02] [-1.74201729e-03 -1.11283983e-06 9.99998483e-01 -7.46212760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.061858064 meters 0.016847488034369244 Centerline is valid? [True, True] Translation: X:60.17, Y:-136.28, Z:-0.75 [[-7.02337477e-01 -7.11843898e-01 -5.77332190e-04 6.01671717e+01] [ 7.11843656e-01 -7.02337714e-01 5.86537408e-04 -1.36279112e+02] [-8.23005245e-04 9.76946771e-07 9.99999661e-01 -7.47967276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.091858064 meters 0.016880172393321766 Centerline is valid? [True, True] Translation: X:60.15, Y:-136.26, Z:-0.75 [[-7.03115190e-01 -7.11075571e-01 -7.49874866e-04 6.01474876e+01] [ 7.11075163e-01 -7.03115590e-01 7.61359063e-04 -1.36259648e+02] [-1.06863254e-03 2.10572976e-06 9.99999429e-01 -7.48758223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.121858064 meters 0.01686392002067162 Centerline is valid? [True, True] Translation: X:60.13, Y:-136.24, Z:-0.75 [[-7.04198997e-01 -7.10001947e-01 -1.00346956e-03 6.01280046e+01] [ 7.10001217e-01 -7.04199712e-01 1.01826433e-03 -1.36239520e+02] [-1.42961263e-03 4.59610949e-06 9.99998978e-01 -7.49652749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15185806399998 meters 0.016938676335959996 Centerline is valid? [True, True] Translation: X:60.11, Y:-136.22, Z:-0.75 [[-7.05219866e-01 -7.08988286e-01 -7.41995752e-04 6.01105045e+01] [ 7.08987887e-01 -7.05220257e-01 7.52436866e-04 -1.36219253e+02] [-1.05673936e-03 4.56742613e-06 9.99999442e-01 -7.50218919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18185806399998 meters 0.016977671599629752 Centerline is valid? [True, True] Translation: X:60.09, Y:-136.20, Z:-0.75 [[-7.07152106e-01 -7.07060735e-01 -1.00805161e-03 6.00910323e+01] [ 7.07059997e-01 -7.07152824e-01 1.02165661e-03 -1.36198552e+02] [-1.43521982e-03 9.71366014e-06 9.99998970e-01 -7.50697736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21185806399998 meters 0.017379992829598883 Centerline is valid? [True, True] Translation: X:60.07, Y:-136.18, Z:-0.75 [[-7.08477747e-01 -7.05732337e-01 -1.07285902e-03 6.00736258e+01] [ 7.05731500e-01 -7.08478559e-01 1.08669025e-03 -1.36177736e+02] [-1.52701006e-03 1.27454547e-05 9.99998834e-01 -7.51184866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24185806399998 meters 0.017681913122588263 Centerline is valid? [True, True] Translation: X:60.06, Y:-136.16, Z:-0.75 [[-7.11720651e-01 -7.02461760e-01 -1.09173373e-03 6.00553933e+01] [ 7.02460890e-01 -7.11721488e-01 1.10519367e-03 -1.36155703e+02] [-1.55336664e-03 1.96889086e-05 9.99998793e-01 -7.52563152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27185806399999 meters 0.01764719063837494 Centerline is valid? [True, True] Translation: X:60.03, Y:-136.14, Z:-0.75 [[-7.12282025e-01 -7.01890943e-01 -1.84967356e-03 6.00349577e+01] [ 7.01888449e-01 -7.12284426e-01 1.87142223e-03 -1.36136714e+02] [-2.63102798e-03 3.47159103e-05 9.99996538e-01 -7.52534985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.301858064 meters 0.017736229458706895 Centerline is valid? [True, True] Translation: X:60.01, Y:-136.12, Z:-0.75 [[-7.13387022e-01 -7.00765490e-01 -2.58551753e-03 6.00147361e+01] [ 7.00760615e-01 -7.13391705e-01 2.61443150e-03 -1.36116795e+02] [-3.67659014e-03 5.32726483e-05 9.99993240e-01 -7.53187129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.331858064 meters 0.01809085903234935 Centerline is valid? [True, True] Translation: X:60.00, Y:-136.10, Z:-0.75 [[-7.14646056e-01 -6.99480722e-01 -2.78102908e-03 5.99968602e+01] [ 6.99475079e-01 -7.14651464e-01 2.81044658e-03 -1.36096900e+02] [-3.95331970e-03 6.32140287e-05 9.99992184e-01 -7.53258120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.361858064 meters 0.01833851158767848 Centerline is valid? [True, True] Translation: X:59.98, Y:-136.08, Z:-0.75 [[-7.16610699e-01 -6.97465954e-01 -3.21710103e-03 5.99782435e+01] [ 6.97458390e-01 -7.16617915e-01 3.24930981e-03 -1.36075474e+02] [-4.57171520e-03 8.46960624e-05 9.99989546e-01 -7.53819194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.391858064 meters 0.018880869934866353 Centerline is valid? [True, True] Translation: X:59.96, Y:-136.06, Z:-0.75 [[-7.17342129e-01 -6.96713157e-01 -3.32385889e-03 5.99608981e+01] [ 6.96705082e-01 -7.17349823e-01 3.35550350e-03 -1.36055385e+02] [-4.72219302e-03 9.12946423e-05 9.99988846e-01 -7.53652619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.421858064 meters 0.018689938560867154 Centerline is valid? [True, True] Translation: X:59.94, Y:-136.03, Z:-0.75 [[-7.17393743e-01 -6.96659192e-01 -3.49092372e-03 5.99427163e+01] [ 6.96650296e-01 -7.17402231e-01 3.52200364e-03 -1.36034949e+02] [-4.95803267e-03 9.47103346e-05 9.99987704e-01 -7.53710481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.451858064 meters 0.018435442247012497 Centerline is valid? [True, True] Translation: X:59.92, Y:-136.02, Z:-0.75 [[-7.17065732e-01 -6.96997276e-01 -3.39605259e-03 5.99231735e+01] [ 6.96988870e-01 -7.17073769e-01 3.42430828e-03 -1.36015249e+02] [-4.82195377e-03 8.84432671e-05 9.99988370e-01 -7.53892932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.481858064 meters 0.018173794991672786 Centerline is valid? [True, True] Translation: X:59.90, Y:-136.00, Z:-0.75 [[-7.16057307e-01 -6.98034360e-01 -3.15679421e-03 5.99028650e+01] [ 6.98027114e-01 -7.16064262e-01 3.18133336e-03 -1.35995598e+02] [-4.48114751e-03 7.44890476e-05 9.99989957e-01 -7.54087904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.511858064 meters 0.017724782120941543 Centerline is valid? [True, True] Translation: X:59.88, Y:-135.98, Z:-0.75 [[-7.14942595e-01 -6.99175753e-01 -3.21760686e-03 5.98828764e+01] [ 6.99168246e-01 -7.14949832e-01 3.24063670e-03 -1.35977083e+02] [-4.56620209e-03 6.72206733e-05 9.99989573e-01 -7.54550904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.541858064 meters 0.017108130715974657 Centerline is valid? [True, True] Translation: X:59.86, Y:-135.96, Z:-0.76 [[-7.12407981e-01 -7.01759717e-01 -2.85802841e-03 5.98627835e+01] [ 7.01753821e-01 -7.12413712e-01 2.87697249e-03 -1.35958958e+02] [-4.05504203e-03 4.39458017e-05 9.99991777e-01 -7.55280555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.571858064 meters 0.016669172990295408 Centerline is valid? [True, True] Translation: X:59.84, Y:-135.94, Z:-0.76 [[-7.11544343e-01 -7.02634790e-01 -2.99991969e-03 5.98429173e+01] [ 7.02628310e-01 -7.11550666e-01 3.01795030e-03 -1.35940803e+02] [-4.25511173e-03 3.95769597e-05 9.99990946e-01 -7.56102482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.601858064 meters 0.016411176497776174 Centerline is valid? [True, True] Translation: X:59.82, Y:-135.92, Z:-0.76 [[-7.10535439e-01 -7.03655004e-01 -3.00410368e-03 5.98232287e+01] [ 7.03648523e-01 -7.10541789e-01 3.02029765e-03 -1.35922287e+02] [-4.25978876e-03 3.21954001e-05 9.99990927e-01 -7.56517603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.631858064 meters 0.016139967776670764 Centerline is valid? [True, True] Translation: X:59.80, Y:-135.90, Z:-0.76 [[-7.09490454e-01 -7.04707771e-01 -3.20220438e-03 5.98025631e+01] [ 7.04700425e-01 -7.09497679e-01 3.21765493e-03 -1.35902904e+02] [-4.53946301e-03 2.63006662e-05 9.99989696e-01 -7.56760695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.661858064 meters 0.01595639074958608 Centerline is valid? [True, True] Translation: X:59.78, Y:-135.88, Z:-0.76 [[-7.07851187e-01 -7.06349543e-01 -4.12545898e-03 5.97839573e+01] [ 7.06337396e-01 -7.07863209e-01 4.14261169e-03 -1.35884516e+02] [-5.84639251e-03 1.83866551e-05 9.99982910e-01 -7.56184698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.691858064 meters 0.015907111046925892 Centerline is valid? [True, True] Translation: X:59.76, Y:-135.87, Z:-0.76 [[-7.06709206e-01 -7.07489220e-01 -4.59358034e-03 5.97635642e+01] [ 7.07474202e-01 -7.06724135e-01 4.60981827e-03 -1.35866422e+02] [-6.50779082e-03 7.96142226e-06 9.99978824e-01 -7.55602024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.721858064 meters 0.015872475127893356 Centerline is valid? [True, True] Translation: X:59.74, Y:-135.85, Z:-0.76 [[-7.06091934e-01 -7.08103064e-01 -4.92256942e-03 5.97443919e+01] [ 7.08085854e-01 -7.06109093e-01 4.93676217e-03 -1.35848035e+02] [-6.97160745e-03 2.06172899e-07 9.99975698e-01 -7.55227672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.751858064 meters 0.015818233170878798 Centerline is valid? [True, True] Translation: X:59.73, Y:-135.83, Z:-0.76 [[-7.05785876e-01 -7.08408470e-01 -4.87211856e-03 5.97257570e+01] [ 7.08391640e-01 -7.05802692e-01 4.88315499e-03 -1.35827826e+02] [-6.89802275e-03 -4.90623472e-06 9.99976208e-01 -7.55663732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.781858064 meters 0.01573398570033804 Centerline is valid? [True, True] Translation: X:59.71, Y:-135.81, Z:-0.76 [[-7.06468851e-01 -7.07725680e-01 -5.11126684e-03 5.97071518e+01] [ 7.07707161e-01 -7.06487341e-01 5.11970880e-03 -1.35807528e+02] [-7.23439471e-03 -3.65355403e-07 9.99973831e-01 -7.55331033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.811858064 meters 0.01568868596730139 Centerline is valid? [True, True] Translation: X:59.69, Y:-135.79, Z:-0.75 [[-7.07512144e-01 -7.06678966e-01 -5.60407744e-03 5.96888473e+01] [ 7.06656700e-01 -7.07534338e-01 5.60973302e-03 -1.35788169e+02] [-7.92935755e-03 8.79536523e-06 9.99968562e-01 -7.54795917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.841858064 meters 0.015539982486644694 Centerline is valid? [True, True] Translation: X:59.67, Y:-135.77, Z:-0.76 [[-7.08120298e-01 -7.06073139e-01 -5.13481751e-03 5.96698603e+01] [ 7.06054453e-01 -7.08138915e-01 5.13681394e-03 -1.35768745e+02] [-7.26313044e-03 1.20214506e-05 9.99973623e-01 -7.55550308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.871858064 meters 0.015593441289076023 Centerline is valid? [True, True] Translation: X:59.65, Y:-135.75, Z:-0.76 [[-7.09438793e-01 -7.04750222e-01 -4.87064036e-03 5.96521965e+01] [ 7.04733395e-01 -7.09455512e-01 4.87020124e-03 -1.35749843e+02] [-6.88777806e-03 2.26067732e-05 9.99976279e-01 -7.55556184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90185806399998 meters 0.01546181566893945 Centerline is valid? [True, True] Translation: X:59.11, Y:-136.30, Z:0.25 [[-7.51895020e-01 6.59267883e-01 -4.44262913e-03 5.91147680e+01] [ 6.59256623e-01 7.51908144e-01 3.85332984e-03 -1.36296954e+02] [ 5.88082563e-03 -3.15331627e-05 -9.99982707e-01 2.48307632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93185806399998 meters 0.01545655850928272 Centerline is valid? [True, True] Translation: X:59.13, Y:-136.28, Z:0.25 [[-7.95297344e-01 6.06207594e-01 -3.80615653e-03 5.91324991e+01] [ 6.06200869e-01 7.95306451e-01 2.85579994e-03 -1.36276734e+02] [ 4.75826845e-03 -3.60852877e-05 -9.99988679e-01 2.49615759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96185806399998 meters 0.015496031375238951 Centerline is valid? [True, True] Translation: X:59.16, Y:-136.26, Z:0.25 [[-8.35552505e-01 5.49396224e-01 -3.97494180e-03 5.91551768e+01] [ 5.49390242e-01 8.35561959e-01 2.56401683e-03 -1.36258272e+02] [ 4.72997132e-03 -4.14235511e-05 -9.99988813e-01 2.49402022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99185806399998 meters 0.01569378952961296 Centerline is valid? [True, True] Translation: X:59.58, Y:-135.62, Z:-0.76 [[-8.08295347e-01 -5.88764876e-01 -3.81481866e-03 5.95778434e+01] [ 5.88758082e-01 -8.08304348e-01 2.82878432e-03 -1.35620342e+02] [-4.74902335e-03 4.04878850e-05 9.99988723e-01 -7.59790741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02185806399999 meters 0.016387254520787837 Centerline is valid? [True, True] Translation: X:59.11, Y:-136.24, Z:0.25 [[-8.34128938e-01 5.51557798e-01 -3.59324701e-03 5.91137833e+01] [ 5.51553008e-01 8.34136675e-01 2.29936917e-03 -1.36237503e+02] [ 4.26549411e-03 -6.38958376e-05 -9.99990901e-01 2.48991372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.051858064 meters 0.016625856227818255 Centerline is valid? [True, True] Translation: X:59.53, Y:-135.59, Z:-0.76 [[-8.13939275e-01 -5.80939185e-01 -3.53844996e-03 5.95311415e+01] [ 5.80933381e-01 -8.13946964e-01 2.59748803e-03 -1.35587257e+02] [-4.38909318e-03 5.85938215e-05 9.99990366e-01 -7.59113415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.081858064 meters 0.017040171251815152 Centerline is valid? [True, True] Translation: X:59.09, Y:-136.22, Z:0.25 [[-8.32178135e-01 5.54497079e-01 -3.54137021e-03 5.90894801e+01] [ 5.54492455e-01 8.32185666e-01 2.26589841e-03 -1.36221337e+02] [ 4.20351158e-03 -7.80319478e-05 -9.99991162e-01 2.49552174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.111858064 meters 0.017879231992992895 Centerline is valid? [True, True] Translation: X:59.11, Y:-136.20, Z:0.25 [[-8.67328861e-01 4.97728294e-01 -2.68202843e-03 5.91089585e+01] [ 4.97726159e-01 8.67333005e-01 1.45937513e-03 -1.36201927e+02] [ 3.05258407e-03 -6.91575412e-05 -9.99995338e-01 2.50656278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.141858064 meters 0.01819094260737519 Centerline is valid? [True, True] Translation: X:59.13, Y:-136.18, Z:0.25 [[-8.99806611e-01 4.36280317e-01 -2.74724779e-03 5.91262583e+01] [ 4.36278528e-01 8.99810802e-01 1.25146675e-03 -1.36179020e+02] [ 3.01799355e-03 -7.24871683e-05 -9.99995443e-01 2.50450494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.171858064 meters 0.019233402911642085 Centerline is valid? [True, True] Translation: X:59.46, Y:-135.48, Z:-0.76 [[-8.91665874e-01 -4.52686433e-01 -2.63853207e-03 5.94576983e+01] [ 4.52684206e-01 -8.91669775e-01 1.42171535e-03 -1.35475094e+02] [-2.99629055e-03 7.32732648e-05 9.99995508e-01 -7.60545158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.201858064 meters 0.019507890685243102 Centerline is valid? [True, True] Translation: X:59.09, Y:-136.17, Z:0.25 [[-8.99799767e-01 4.36296401e-01 -2.41433501e-03 5.90870709e+01] [ 4.36295048e-01 8.99803004e-01 1.08900849e-03 -1.36165943e+02] [ 2.64755638e-03 -7.34728252e-05 -9.99996493e-01 2.50048561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.231858064 meters 0.020584648325643367 Centerline is valid? [True, True] Translation: X:59.10, Y:-136.14, Z:0.25 [[-9.27770730e-01 3.73145892e-01 -1.90162654e-03 5.91001590e+01] [ 3.73145240e-01 9.27772677e-01 7.00242422e-04 -1.36143172e+02] [ 2.02556973e-03 -5.99184682e-05 -9.99997947e-01 2.49507106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.261858064 meters 0.019393969998739817 Centerline is valid? [True, True] Translation: X:59.38, Y:-135.41, Z:-0.76 [[-9.25064314e-01 -3.79805478e-01 -1.95279992e-03 5.93789681e+01] [ 3.79804502e-01 -9.25066374e-01 8.62846848e-04 -1.35408526e+02] [-2.13418350e-03 5.65066278e-05 9.99997721e-01 -7.59556630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.291858064 meters 0.021831394330114884 Centerline is valid? [True, True] Translation: X:59.06, Y:-136.13, Z:0.25 [[-9.28357008e-01 3.71681760e-01 -2.43605249e-03 5.90574919e+01] [ 3.71680712e-01 9.28360201e-01 8.86668803e-04 -1.36131737e+02] [ 2.59109280e-03 -8.22885274e-05 -9.99996640e-01 2.48315353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.321858064 meters 0.0199759240419672 Centerline is valid? [True, True] Translation: X:59.07, Y:-136.10, Z:0.25 [[-9.52257961e-01 3.05281873e-01 -2.78440759e-03 5.90672431e+01] [ 3.05280852e-01 9.52262028e-01 7.95107227e-04 -1.36102368e+02] [ 2.89421744e-03 -9.28791340e-05 -9.99995807e-01 2.48028725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.351858064 meters 0.021898131852923004 Centerline is valid? [True, True] Translation: X:59.29, Y:-135.34, Z:-0.76 [[-9.51036837e-01 -3.09067837e-01 -2.45092187e-03 5.92936213e+01] [ 3.09066533e-01 -9.51039989e-01 9.03560985e-04 -1.35343472e+02] [-2.61018634e-03 1.01821856e-04 9.99996588e-01 -7.57308879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.381858064 meters 0.019560791382876214 Centerline is valid? [True, True] Translation: X:59.02, Y:-136.09, Z:0.25 [[-9.53990059e-01 2.99828586e-01 -2.40552477e-03 5.90221545e+01] [ 2.99827832e-01 9.53993089e-01 6.76803706e-04 -1.36090323e+02] [ 2.49777910e-03 -7.55792671e-05 -9.99996878e-01 2.46985502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.411858064 meters 0.01844081885252132 Centerline is valid? [True, True] Translation: X:59.03, Y:-136.06, Z:0.25 [[-9.73442170e-01 2.28925997e-01 -1.79726824e-03 5.90274134e+01] [ 2.28925703e-01 9.73443828e-01 3.70416256e-04 -1.36060018e+02] [ 1.83433758e-03 -5.08620909e-05 -9.99998316e-01 2.47635570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.441858064 meters 0.01814175580004088 Centerline is valid? [True, True] Translation: X:59.19, Y:-135.30, Z:-0.76 [[-9.70200383e-01 -2.42300663e-01 -1.26699969e-03 5.91934979e+01] [ 2.42300361e-01 -9.70201208e-01 3.88712138e-04 -1.35295107e+02] [-1.32342984e-03 7.01341835e-05 9.99999122e-01 -7.58479006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.471858064 meters 0.01709447277937585 Centerline is valid? [True, True] Translation: X:58.98, Y:-136.05, Z:0.25 [[-9.75313584e-01 2.20824391e-01 2.64126916e-05 5.89762323e+01] [ 2.20824391e-01 9.75313585e-01 -5.51767606e-06 -1.36047960e+02] [-2.69790945e-05 4.51102124e-07 -1.00000000e+00 2.49075689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.501858064 meters 0.017095471666993725 Centerline is valid? [True, True] Translation: X:59.14, Y:-135.29, Z:-0.76 [[-9.70337377e-01 -2.41754736e-01 -1.48788759e-04 5.91355145e+01] [ 2.41754734e-01 -9.70337389e-01 2.90478238e-05 -1.35285039e+02] [-1.51397745e-04 -7.78419780e-06 9.99999989e-01 -7.59048651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.531858064 meters 0.017268726697566204 Centerline is valid? [True, True] Translation: X:58.92, Y:-136.04, Z:0.25 [[-9.76555739e-01 2.15264631e-01 -1.66550050e-04 5.89232159e+01] [ 2.15264629e-01 9.76555753e-01 3.27981707e-05 -1.36038904e+02] [ 1.69705695e-04 -3.82309284e-06 -9.99999986e-01 2.48623969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.561858064 meters 0.01691855759418287 Centerline is valid? [True, True] Translation: X:58.93, Y:-136.01, Z:0.25 [[-9.89455159e-01 1.44839195e-01 -3.09933830e-04 5.89290626e+01] [ 1.44839190e-01 9.89455207e-01 3.85388260e-05 -1.36011527e+02] [ 3.12247574e-04 -6.75812465e-06 -9.99999951e-01 2.48296498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.591858064 meters 0.016826461286629263 Centerline is valid? [True, True] Translation: X:58.93, Y:-135.98, Z:0.25 [[-9.97250061e-01 7.41040875e-02 9.48499412e-04 5.89303807e+01] [ 7.41040729e-02 9.97250512e-01 -5.05141603e-05 -1.35984666e+02] [-9.49634830e-04 1.99124201e-05 -9.99999549e-01 2.47974596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.621858064 meters 0.016908829587193728 Centerline is valid? [True, True] Translation: X:58.93, Y:-135.96, Z:0.25 [[-9.99995654e-01 2.81835664e-03 8.65051781e-04 5.89266728e+01] [ 2.81837106e-03 9.99996028e-01 1.54471857e-05 -1.35956227e+02] [-8.65004810e-04 1.78851555e-05 -9.99999626e-01 2.47827713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65185806399998 meters 0.016908829587193728 Centerline is valid? [True, True] Translation: X:58.92, Y:-135.93, Z:0.25 [[-9.97656330e-01 -6.84186038e-02 8.61749702e-04 5.89227120e+01] [-6.84185628e-02 9.97656702e-01 7.70251965e-05 -1.35928428e+02] [-8.65000321e-04 1.78849988e-05 -9.99999626e-01 2.47827655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68185806399998 meters 0.016537924260402462 Centerline is valid? [True, True] Translation: X:58.91, Y:-135.90, Z:0.25 [[-9.90141343e-01 -1.40071015e-01 4.81299316e-04 5.89099542e+01] [-1.40070993e-01 9.90141460e-01 7.78987231e-05 -1.35900276e+02] [-4.87465760e-04 9.71467314e-06 -9.99999881e-01 2.47868711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71185806399998 meters 0.01690413598805786 Centerline is valid? [True, True] Translation: X:58.89, Y:-135.88, Z:0.25 [[-9.77305158e-01 -2.11833629e-01 1.06855634e-03 5.88879754e+01] [-2.11833478e-01 9.77305742e-01 2.53356143e-04 -1.35876406e+02] [-1.09797560e-03 2.12502584e-05 -9.99999397e-01 2.48564121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74185806399998 meters 0.017030293098149792 Centerline is valid? [True, True] Translation: X:58.84, Y:-135.86, Z:0.25 [[-9.59197083e-01 -2.82734609e-01 1.44807405e-03 5.88385877e+01] [-2.82734241e-01 9.59198175e-01 4.57515800e-04 -1.35860968e+02] [-1.51834553e-03 2.94277046e-05 -9.99998847e-01 2.48728660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77185806399999 meters 0.01676481727961093 Centerline is valid? [True, True] Translation: X:58.77, Y:-135.86, Z:0.25 [[-9.35803891e-01 -3.52516230e-01 1.83996422e-03 5.87682603e+01] [-3.52515468e-01 9.35805699e-01 7.34181117e-04 -1.35855901e+02] [-1.98065976e-03 3.84336971e-05 -9.99998038e-01 2.48848801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.801858064 meters 0.0172494621689178 Centerline is valid? [True, True] Translation: X:58.69, Y:-135.86, Z:0.25 [[-9.07294244e-01 -4.20489341e-01 2.42239744e-03 5.86907408e+01] [-4.20487684e-01 9.07297477e-01 1.18176993e-03 -1.35860614e+02] [-2.69475674e-03 5.36247652e-05 -9.99996368e-01 2.49869961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.831858064 meters 0.017082146028621507 Centerline is valid? [True, True] Translation: X:58.62, Y:-135.86, Z:0.25 [[-8.73252426e-01 -4.87260897e-01 2.64918537e-03 5.86247942e+01] [-4.87258439e-01 8.73256443e-01 1.54899207e-03 -1.35863092e+02] [-3.06818146e-03 6.18231605e-05 -9.99995291e-01 2.49972930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.861858064 meters 0.01714694010292632 Centerline is valid? [True, True] Translation: X:58.54, Y:-135.88, Z:0.25 [[-8.34001099e-01 -5.51754349e-01 3.05040939e-03 5.85398875e+01] [-5.51750333e-01 8.34006674e-01 2.10646428e-03 -1.35883122e+02] [-3.70631262e-03 7.37291304e-05 -9.99993129e-01 2.50684686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.891858064 meters 0.017394925017243153 Centerline is valid? [True, True] Translation: X:58.45, Y:-135.92, Z:0.25 [[-7.89802354e-01 -6.13341459e-01 4.94936986e-03 5.84471921e+01] [-6.13328416e-01 7.89817852e-01 4.00196517e-03 -1.35917038e+02] [-6.36367183e-03 1.25172332e-04 -9.99979744e-01 2.52740545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.921858064 meters 0.01739030547424316 Centerline is valid? [True, True] Translation: X:58.36, Y:-135.96, Z:0.25 [[-7.40753346e-01 -6.71756601e-01 5.24875247e-03 5.83556104e+01] [-6.71738396e-01 7.40771928e-01 4.94752216e-03 -1.35959164e+02] [-7.21165916e-03 1.39105032e-04 -9.99973986e-01 2.53282624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.951858064 meters 0.016841582335182174 Centerline is valid? [True, True] Translation: X:58.27, Y:-136.01, Z:0.25 [[-6.86987411e-01 -7.26653208e-01 4.83862110e-03 5.82658478e+01] [-7.26633799e-01 6.87004438e-01 5.31265840e-03 -1.36007988e+02] [-7.18461444e-03 1.33823807e-04 -9.99974181e-01 2.53409925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.981858064 meters 0.016472671966840723 Centerline is valid? [True, True] Translation: X:58.18, Y:-136.07, Z:0.25 [[-6.29169058e-01 -7.77253222e-01 4.87090212e-03 5.81758757e+01] [-7.77228137e-01 6.29187896e-01 6.24618789e-03 -1.36070573e+02] [-7.91958232e-03 1.44105970e-04 -9.99968629e-01 2.52932097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.011858064 meters 0.01659115462552862 Centerline is valid? [True, True] Translation: X:58.09, Y:-136.14, Z:0.25 [[-5.67937182e-01 -8.23059259e-01 4.56215621e-03 5.80906709e+01] [-8.23030532e-01 5.67955485e-01 6.87833073e-03 -1.36141647e+02] [-8.25237544e-03 1.51665923e-04 -9.99965937e-01 2.52525357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.041858064 meters 0.016688972661555702 Centerline is valid? [True, True] Translation: X:58.01, Y:-136.22, Z:0.25 [[-5.03099693e-01 -8.64218361e-01 4.16210755e-03 5.80078308e+01] [-8.64186168e-01 5.03116884e-01 7.46113577e-03 -1.36224358e+02] [-8.54207711e-03 1.56859340e-04 -9.99963504e-01 2.52686224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.071858064 meters 0.016730859344926435 Centerline is valid? [True, True] Translation: X:57.93, Y:-136.31, Z:0.25 [[-4.35397736e-01 -9.00231828e-01 3.38631539e-03 5.79315970e+01] [-9.00201860e-01 4.35410878e-01 7.34695802e-03 -1.36312828e+02] [-8.08840401e-03 1.50481473e-04 -9.99967277e-01 2.52328661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.101858064 meters 0.016946512260812504 Centerline is valid? [True, True] Translation: X:57.86, Y:-136.41, Z:0.25 [[-3.64971243e-01 -9.31015741e-01 2.38373523e-03 5.78633479e+01] [-9.30993515e-01 3.64979004e-01 6.43434762e-03 -1.36406105e+02] [-6.86049222e-03 1.29109803e-04 -9.99976458e-01 2.51070591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.131858064 meters 0.016905414265912272 Centerline is valid? [True, True] Translation: X:57.80, Y:-136.51, Z:0.25 [[-2.91953259e-01 -9.56430878e-01 1.80812322e-03 5.78003554e+01] [-9.56409853e-01 2.91958833e-01 6.34292992e-03 -1.36508154e+02] [-6.59447158e-03 1.22532200e-04 -9.99978249e-01 2.50384339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.161858064 meters 0.01707662726617344 Centerline is valid? [True, True] Translation: X:57.75, Y:-136.62, Z:0.25 [[-2.17344839e-01 -9.76094249e-01 1.11263226e-03 5.77455873e+01] [-9.76078894e-01 2.17347662e-01 5.47594658e-03 -1.36615894e+02] [-5.58686798e-03 1.04151858e-04 -9.99984388e-01 2.50180687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.191858064 meters 0.016920628986929438 Centerline is valid? [True, True] Translation: X:57.70, Y:-136.73, Z:0.25 [[-1.41119033e-01 -9.89992425e-01 6.45921427e-04 5.76985644e+01] [-9.89978688e-01 1.41120478e-01 5.21618241e-03 -1.36732155e+02] [-5.25513382e-03 9.66541701e-05 -9.99986187e-01 2.49198923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.221858064 meters 0.017324814037030647 Centerline is valid? [True, True] Translation: X:57.66, Y:-136.85, Z:0.25 [[-6.38598987e-02 -9.97958843e-01 2.47438815e-04 5.76616368e+01] [-9.97944292e-01 6.38603040e-02 5.38994875e-03 -1.36847430e+02] [-5.39474854e-03 9.72714281e-05 -9.99985444e-01 2.49774515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.251858064 meters 0.016816028623598062 Centerline is valid? [True, True] Translation: X:57.63, Y:-136.98, Z:0.25 [[ 1.49456155e-02 -9.99888292e-01 -1.80714976e-04 5.76314221e+01] [-9.99871767e-01 -1.49464076e-02 5.74927645e-03 -1.36977268e+02] [-5.75133524e-03 9.47653271e-05 -9.99983456e-01 2.50166603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.281858064 meters 0.016556084628780107 Centerline is valid? [True, True] Translation: X:57.61, Y:-137.10, Z:0.25 [[ 9.31662967e-02 -9.95650392e-01 -5.80767635e-04 5.76106235e+01] [-9.95636190e-01 -9.31680701e-02 5.31872535e-03 -1.37097893e+02] [-5.34969998e-03 8.27073307e-05 -9.99985687e-01 2.50250830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.311858064 meters 0.016059897019665044 Centerline is valid? [True, True] Translation: X:57.60, Y:-137.22, Z:0.25 [[ 1.70779830e-01 -9.85308649e-01 -1.05681508e-03 5.75992998e+01] [-9.85292637e-01 -1.70783080e-01 5.61770049e-03 -1.37219145e+02] [-5.71565501e-03 8.18821796e-05 -9.99983662e-01 2.49877497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.341858064 meters 0.01582086448915587 Centerline is valid? [True, True] Translation: X:57.60, Y:-137.34, Z:0.25 [[ 2.47586911e-01 -9.68864647e-01 -1.42016839e-03 5.75961125e+01] [-9.68850321e-01 -2.47590973e-01 5.26925511e-03 -1.37335317e+02] [-5.45681587e-03 7.13320055e-05 -9.99985109e-01 2.49899055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.371858064 meters 0.015607008735481943 Centerline is valid? [True, True] Translation: X:57.60, Y:-137.46, Z:0.25 [[ 3.23537441e-01 -9.46213257e-01 -1.99916946e-03 5.76043913e+01] [-9.46196442e-01 -3.23543610e-01 5.64145525e-03 -1.37457508e+02] [-5.98483826e-03 6.63850335e-05 -9.99982089e-01 2.49829568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40185806399998 meters 0.015567750262590137 Centerline is valid? [True, True] Translation: X:57.62, Y:-137.58, Z:0.25 [[ 3.96266112e-01 -9.18132226e-01 -2.52682213e-03 5.76212046e+01] [-9.18114584e-01 -3.96274163e-01 5.69200753e-03 -1.37576615e+02] [-6.22732986e-03 6.43625537e-05 -9.99980608e-01 2.50334613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43185806399998 meters 0.015431670625585142 Centerline is valid? [True, True] Translation: X:57.65, Y:-137.70, Z:0.25 [[ 4.66919100e-01 -8.84294453e-01 -3.14249027e-03 5.76488856e+01] [-8.84275279e-01 -4.66929671e-01 5.82345619e-03 -1.37699745e+02] [-6.61697195e-03 5.97435376e-05 -9.99978106e-01 2.51160809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46185806399998 meters 0.015437529358896088 Centerline is valid? [True, True] Translation: X:57.68, Y:-137.81, Z:0.25 [[ 5.34045019e-01 -8.45446486e-01 -4.01962535e-03 5.76842504e+01] [-8.45423415e-01 -5.34060142e-01 6.24613534e-03 -1.37813897e+02] [-7.42749486e-03 6.25679255e-05 -9.99972414e-01 2.51702709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49185806399998 meters 0.015382556512404893 Centerline is valid? [True, True] Translation: X:57.72, Y:-137.92, Z:0.25 [[ 5.97514064e-01 -8.01845538e-01 -4.54708958e-03 5.77210672e+01] [-8.01823108e-01 -5.97531363e-01 5.99781520e-03 -1.37915593e+02] [-7.52634999e-03 6.21825584e-05 -9.99971675e-01 2.51587315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52185806399999 meters 0.015354213339457233 Centerline is valid? [True, True] Translation: X:57.77, Y:-138.02, Z:0.25 [[ 6.57584783e-01 -7.53362257e-01 -5.25000206e-03 5.77694544e+01] [-7.53338991e-01 -6.57605737e-01 5.92100399e-03 -1.38019328e+02] [-7.91309240e-03 6.14691299e-05 -9.99968689e-01 2.51247033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.551858064 meters 0.015418935600093761 Centerline is valid? [True, True] Translation: X:57.82, Y:-138.12, Z:0.25 [[ 7.13430229e-01 -7.00704480e-01 -5.52627539e-03 5.78243467e+01] [-7.00684088e-01 -7.13451630e-01 5.34610211e-03 -1.38117002e+02] [-7.68876788e-03 5.81023814e-05 -9.99970439e-01 2.51455534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.581858064 meters 0.01542089032016683 Centerline is valid? [True, True] Translation: X:57.83, Y:-138.12, Z:0.25 [[ 7.65915870e-01 -6.42916707e-01 -5.56671036e-03 5.78257455e+01] [-6.42900255e-01 -7.65936097e-01 4.59975834e-03 -1.38115992e+02] [-7.22100590e-03 5.58115983e-05 -9.99973927e-01 2.51133870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.611858064 meters 0.015549624650739193 Centerline is valid? [True, True] Translation: X:57.83, Y:-138.12, Z:0.25 [[ 8.13396053e-01 -5.81681133e-01 -5.82418803e-03 5.78263136e+01] [-5.81666750e-01 -8.13416902e-01 4.09094523e-03 -1.38115283e+02] [-7.11711864e-03 6.01778239e-05 -9.99974671e-01 2.50998053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.641858064 meters 0.015681682213768977 Centerline is valid? [True, True] Translation: X:57.83, Y:-138.11, Z:0.25 [[ 8.56014390e-01 -5.16914992e-01 -6.18500803e-03 5.78274836e+01] [-5.16902054e-01 -8.56036732e-01 3.65782547e-03 -1.38114713e+02] [-7.18537888e-03 6.58921175e-05 -9.99974183e-01 2.51083418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.671858064 meters 0.015889338962658376 Centerline is valid? [True, True] Translation: X:57.83, Y:-138.11, Z:0.25 [[ 8.93489733e-01 -4.49038311e-01 -6.37896023e-03 5.78292296e+01] [-4.49027427e-01 -8.93512501e-01 3.12724052e-03 -1.38112917e+02] [-7.10393151e-03 7.01708054e-05 -9.99974764e-01 2.50586596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.701858064 meters 0.016220994014638022 Centerline is valid? [True, True] Translation: X:57.83, Y:-138.11, Z:0.25 [[ 9.25666212e-01 -3.78277955e-01 -6.91755877e-03 5.78305487e+01] [-3.78268012e-01 -9.25692056e-01 2.74380937e-03 -1.38109769e+02] [-7.44145180e-03 7.68395774e-05 -9.99972309e-01 2.50610797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.731858064 meters 0.016334028398573862 Centerline is valid? [True, True] Translation: X:57.83, Y:-138.11, Z:0.25 [[ 9.52295350e-01 -3.05089322e-01 -7.35332839e-03 5.78320530e+01] [-3.05080890e-01 -9.52323736e-01 2.26973656e-03 -1.38105952e+02] [-7.69522156e-03 8.19004011e-05 -9.99970388e-01 2.50619108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.761858064 meters 0.01669962252281016 Centerline is valid? [True, True] Translation: X:57.83, Y:-138.10, Z:0.25 [[ 9.73079552e-01 -2.30313081e-01 -8.48941320e-03 5.78322387e+01] [-2.30305192e-01 -9.73116578e-01 1.90884508e-03 -1.38101615e+02] [-8.70082072e-03 9.76978235e-05 -9.99962142e-01 2.51818027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.791858064 meters 0.016835255682359093 Centerline is valid? [True, True] Translation: X:57.83, Y:-138.10, Z:0.25 [[ 9.88060831e-01 -1.53800529e-01 -9.01063354e-03 5.78322905e+01] [-1.53795109e-01 -9.88101911e-01 1.29551026e-03 -1.38097465e+02] [-9.10267438e-03 1.05748417e-04 -9.99958564e-01 2.52092477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.821858064 meters 0.017009416321739787 Centerline is valid? [True, True] Translation: X:57.83, Y:-138.09, Z:0.25 [[ 9.97041602e-01 -7.63020826e-02 -9.27553735e-03 5.78281468e+01] [-7.62998151e-02 -9.97084741e-01 5.98608043e-04 -1.38091352e+02] [-9.29417179e-03 1.10884662e-04 -9.99956802e-01 2.52485105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.851858064 meters 0.016122821958748847 Centerline is valid? [True, True] Translation: X:57.82, Y:-138.10, Z:0.25 [[ 9.99959556e-01 9.40137788e-04 -8.94439755e-03 5.78242091e+01] [ 9.39061315e-04 -9.99999551e-01 -1.24550706e-04 -1.38099437e+02] [-8.94451063e-03 1.16146331e-04 -9.99959990e-01 2.49573746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.881858064 meters 0.01636678807839236 Centerline is valid? [True, True] Translation: X:57.82, Y:-138.10, Z:0.25 [[ 9.96869340e-01 7.85899759e-02 -8.66804395e-03 5.78214019e+01] [ 7.85859708e-02 -9.96907018e-01 -8.02216007e-04 -1.38104405e+02] [-8.70427998e-03 1.18517893e-04 -9.99962110e-01 2.49373413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.911858064 meters 0.016553158589502983 Centerline is valid? [True, True] Translation: X:57.82, Y:-138.11, Z:0.25 [[ 9.87828347e-01 1.55352552e-01 -7.79370864e-03 5.78183850e+01] [ 1.55346790e-01 -9.87859085e-01 -1.34309388e-03 -1.38110197e+02] [-7.90773895e-03 1.16018593e-04 -9.99968727e-01 2.48702802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.941858064 meters 0.016580537577108097 Centerline is valid? [True, True] Translation: X:57.82, Y:-138.12, Z:0.25 [[ 9.72738635e-01 2.31785593e-01 -7.41536949e-03 5.78166163e+01] [ 2.31777951e-01 -9.72766892e-01 -1.88574325e-03 -1.38118094e+02] [-7.65051404e-03 1.15616167e-04 -9.99970728e-01 2.48127624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.971858064 meters 0.016657282968743168 Centerline is valid? [True, True] Translation: X:57.82, Y:-138.13, Z:0.25 [[ 9.51766880e-01 3.06746757e-01 -6.79945126e-03 5.78153428e+01] [ 3.06738084e-01 -9.51791161e-01 -2.30935056e-03 -1.38125860e+02] [-7.18004340e-03 1.12312729e-04 -9.99974217e-01 2.47872247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.001858064 meters 0.016730571643451958 Centerline is valid? [True, True] Translation: X:57.81, Y:-138.13, Z:0.25 [[ 9.25195826e-01 3.79438987e-01 -6.22410457e-03 5.78147148e+01] [ 3.79429581e-01 -9.25216754e-01 -2.67406568e-03 -1.38134150e+02] [-6.77329060e-03 1.12425022e-04 -9.99977055e-01 2.47522335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.031858064 meters 0.01755144325713041 Centerline is valid? [True, True] Translation: X:57.81, Y:-138.14, Z:0.25 [[ 8.92661199e-01 4.50691399e-01 -5.76593044e-03 5.78130880e+01] [ 4.50681212e-01 -8.92679814e-01 -3.03225886e-03 -1.38140299e+02] [-6.51374270e-03 1.08183311e-04 -9.99978780e-01 2.48267724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.061858064 meters 0.016431290222771174 Centerline is valid? [True, True] Translation: X:57.82, Y:-138.15, Z:0.25 [[ 8.54726336e-01 5.19049195e-01 -5.55191520e-03 5.78164551e+01] [ 5.19037402e-01 -8.54744360e-01 -3.50057072e-03 -1.38153237e+02] [-6.56243662e-03 1.10378347e-04 -9.99978461e-01 2.47041309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.091858064 meters 0.016764486914022658 Centerline is valid? [True, True] Translation: X:57.82, Y:-138.16, Z:0.25 [[ 8.11367436e-01 5.84513645e-01 -5.16555565e-03 5.78174032e+01] [ 5.84500954e-01 -8.11383872e-01 -3.85314654e-03 -1.38163183e+02] [-6.44346527e-03 1.07045424e-04 -9.99979235e-01 2.47199151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.121858064 meters 0.016128762926004712 Centerline is valid? [True, True] Translation: X:57.82, Y:-138.18, Z:0.25 [[ 7.62016907e-01 6.47540662e-01 -4.61783671e-03 5.78219025e+01] [ 6.47528038e-01 -7.62030894e-01 -4.04443702e-03 -1.38175348e+02] [-6.13787167e-03 9.17506455e-05 -9.99981159e-01 2.46241998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15185806399998 meters 0.015888097434736237 Centerline is valid? [True, True] Translation: X:57.83, Y:-138.19, Z:0.25 [[ 7.08191696e-01 7.06005669e-01 -4.52952294e-03 5.78270635e+01] [ 7.05990412e-01 -7.08206176e-01 -4.64229140e-03 -1.38186151e+02] [-6.48532017e-03 8.98324534e-05 -9.99978966e-01 2.45891349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18185806399998 meters 0.016109256674535045 Centerline is valid? [True, True] Translation: X:57.83, Y:-138.20, Z:0.25 [[ 6.49561712e-01 7.60297334e-01 -4.18883406e-03 5.78306915e+01] [ 7.60280718e-01 -6.49575213e-01 -5.02719474e-03 -1.38196723e+02] [-6.54312554e-03 8.07834497e-05 -9.99978590e-01 2.46360585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21185806399998 meters 0.01522247560794272 Centerline is valid? [True, True] Translation: X:57.84, Y:-138.21, Z:0.25 [[ 5.85297006e-01 8.10810964e-01 -3.60500916e-03 5.78392190e+01] [ 8.10794993e-01 -5.85308105e-01 -5.08936984e-03 -1.38208300e+02] [-6.23655795e-03 5.58695545e-05 -9.99980551e-01 2.45508940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24185806399998 meters 0.015012949796575279 Centerline is valid? [True, True] Translation: X:57.84, Y:-138.22, Z:0.25 [[ 5.18555623e-01 8.55037822e-01 -3.22332858e-03 5.78448403e+01] [ 8.55020753e-01 -5.18565639e-01 -5.40288542e-03 -1.38217511e+02] [-6.29117883e-03 4.56837901e-05 -9.99980209e-01 2.45341674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27185806399999 meters 0.01489299443696837 Centerline is valid? [True, True] Translation: X:57.85, Y:-138.23, Z:0.25 [[ 4.48488355e-01 8.93784617e-01 -2.69312648e-03 5.78502036e+01] [ 8.93768048e-01 -4.48496440e-01 -5.44240514e-03 -1.38225944e+02] [-6.07219564e-03 3.38249343e-05 -9.99981563e-01 2.45552125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.301858064 meters 0.014754404431528253 Centerline is valid? [True, True] Translation: X:57.86, Y:-138.23, Z:0.25 [[ 3.74801395e-01 9.27101569e-01 -2.56808344e-03 5.78559772e+01] [ 9.27079413e-01 -3.74810192e-01 -6.40954238e-03 -1.38233441e+02] [-6.90484064e-03 2.14881363e-05 -9.99976161e-01 2.45414823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.331858064 meters 0.014621608095547491 Centerline is valid? [True, True] Translation: X:57.86, Y:-138.24, Z:0.25 [[ 3.00423428e-01 9.53803573e-01 -2.12304204e-03 5.78631395e+01] [ 9.53779349e-01 -3.00430929e-01 -6.79782752e-03 -1.38240591e+02] [-7.12161968e-03 1.73129947e-05 -9.99974641e-01 2.45310816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.361858064 meters 0.014741272874493585 Centerline is valid? [True, True] Translation: X:57.87, Y:-138.25, Z:0.25 [[ 2.23571153e-01 9.74686288e-01 -1.60597280e-03 5.78698771e+01] [ 9.74660861e-01 -2.23576920e-01 -7.04038758e-03 -1.38248094e+02] [-7.22122770e-03 8.74873138e-06 -9.99973927e-01 2.46063782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.391858064 meters 0.014557794230977784 Centerline is valid? [True, True] Translation: X:57.88, Y:-138.25, Z:0.25 [[ 1.43938230e-01 9.89586146e-01 -1.02288865e-03 5.78802639e+01] [ 9.89561636e-01 -1.43941864e-01 -6.96479550e-03 -1.38254007e+02] [-7.03950163e-03 -9.71103219e-06 -9.99975222e-01 2.45704746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.421858064 meters 0.014574505548720135 Centerline is valid? [True, True] Translation: X:57.89, Y:-138.26, Z:0.25 [[ 6.51285091e-02 9.97876769e-01 -4.79937873e-04 5.78885223e+01] [ 9.97851451e-01 -6.51302755e-02 -7.10837624e-03 -1.38260500e+02] [-7.12454200e-03 -1.59487560e-05 -9.99974620e-01 2.45545064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.451858064 meters 0.014638647612326696 Centerline is valid? [True, True] Translation: X:57.90, Y:-138.27, Z:0.25 [[-1.35039861e-02 9.99908814e-01 7.58569225e-05 5.78950754e+01] [ 9.99885154e-01 1.35041884e-02 -6.87869368e-03 -1.38266050e+02] [-6.87909083e-03 -1.70415734e-05 -9.99976339e-01 2.45465006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.481858064 meters 0.014652219392875237 Centerline is valid? [True, True] Translation: X:57.90, Y:-138.27, Z:0.25 [[-9.14484495e-02 9.95809654e-01 5.59637667e-04 5.79017522e+01] [ 9.95790110e-01 9.14501610e-02 -6.23902944e-03 -1.38270543e+02] [-6.26406471e-03 -1.32679155e-05 -9.99980380e-01 2.45014121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.511858064 meters 0.014652219392875237 Centerline is valid? [True, True] Translation: X:57.91, Y:-138.27, Z:0.25 [[-1.69155435e-01 9.85588831e-01 1.04654406e-03 5.79099062e+01] [ 9.85569480e-01 1.69158672e-01 -6.17603203e-03 -1.38274666e+02] [-6.26406019e-03 -1.32674976e-05 -9.99980381e-01 2.45014083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.541858064 meters 0.014630881258841204 Centerline is valid? [True, True] Translation: X:57.92, Y:-138.28, Z:0.25 [[-2.45062386e-01 9.69505973e-01 1.61081063e-03 5.79170169e+01] [ 9.69484795e-01 2.45067680e-01 -6.40821080e-03 -1.38278896e+02] [-6.60755628e-03 -8.75501341e-06 -9.99978170e-01 2.45546658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.571858064 meters 0.014617213499856428 Centerline is valid? [True, True] Translation: X:57.93, Y:-138.28, Z:0.25 [[-3.20574480e-01 9.47220802e-01 2.18052266e-03 5.79264065e+01] [ 9.47198654e-01 3.20581896e-01 -6.47756432e-03 -1.38280686e+02] [-6.83471976e-03 -1.11536872e-05 -9.99976643e-01 2.45108677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.601858064 meters 0.014616564403956202 Centerline is valid? [True, True] Translation: X:57.94, Y:-138.28, Z:0.25 [[-3.93657948e-01 9.19251816e-01 3.08523346e-03 5.79369521e+01] [ 9.19223348e-01 3.93670037e-01 -7.23453547e-03 -1.38283004e+02] [-7.86492384e-03 -1.19137526e-05 -9.99969071e-01 2.45588971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.631858064 meters 0.014580444953279913 Centerline is valid? [True, True] Translation: X:57.95, Y:-138.28, Z:0.25 [[-4.63789708e-01 8.85936652e-01 3.91858785e-03 5.79452161e+01] [ 8.85904913e-01 4.63806261e-01 -7.49910346e-03 -1.38283884e+02] [-8.46119619e-03 -6.51077000e-06 -9.99964203e-01 2.45853635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.661858064 meters 0.01463968054761831 Centerline is valid? [True, True] Translation: X:57.95, Y:-138.28, Z:0.25 [[-5.30863510e-01 8.47444237e-01 4.71152086e-03 5.79533897e+01] [ 8.47410902e-01 5.30884417e-01 -7.51651249e-03 -1.38284771e+02] [-8.87109820e-03 2.35193842e-06 -9.99960651e-01 2.46015488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.691858064 meters 0.014617686676117635 Centerline is valid? [True, True] Translation: X:57.96, Y:-138.28, Z:0.25 [[-5.95060309e-01 8.03662899e-01 5.40120008e-03 5.79619333e+01] [ 8.03629929e-01 5.95084822e-01 -7.27959446e-03 -1.38284579e+02] [-9.06451217e-03 8.76830569e-06 -9.99958916e-01 2.45795049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.721858064 meters 0.014623758073273345 Centerline is valid? [True, True] Translation: X:57.97, Y:-138.29, Z:0.25 [[-6.54830778e-01 7.55746064e-01 6.67367168e-03 5.79688187e+01] [ 7.55707255e-01 6.54864784e-01 -7.65896124e-03 -1.38285737e+02] [-1.01585824e-02 2.80185570e-05 -9.99948400e-01 2.45990633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.751858064 meters 0.014658334353496703 Centerline is valid? [True, True] Translation: X:57.98, Y:-138.28, Z:0.25 [[-7.11969436e-01 7.02172305e-01 7.31958351e-03 5.79767624e+01] [ 7.02135619e-01 7.12007060e-01 -7.17766483e-03 -1.38283825e+02] [-1.02515526e-02 2.90623177e-05 -9.99947451e-01 2.45385304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.781858064 meters 0.01471896604680986 Centerline is valid? [True, True] Translation: X:58.52, Y:-137.75, Z:-0.75 [[-6.67460985e-01 -7.44613314e-01 6.84450917e-03 5.85159708e+01] [ 7.44573747e-01 -6.67496077e-01 -7.67608099e-03 -1.37746463e+02] [ 1.02843951e-02 -2.72427300e-05 9.99947114e-01 -7.54595569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.811858064 meters 0.014836220412982664 Centerline is valid? [True, True] Translation: X:58.50, Y:-137.73, Z:-0.75 [[-6.67923437e-01 -7.44194099e-01 7.30929464e-03 5.84979749e+01] [ 7.44148940e-01 -6.67963428e-01 -8.19834267e-03 -1.37725005e+02] [ 1.09834997e-02 -3.66613524e-05 9.99939679e-01 -7.54539530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.841858064 meters 0.014905091767981434 Centerline is valid? [True, True] Translation: X:58.48, Y:-137.70, Z:-0.75 [[-6.68766866e-01 -7.43431684e-01 7.75946677e-03 5.84795755e+01] [ 7.43380798e-01 -6.68811878e-01 -8.69833896e-03 -1.37703175e+02] [ 1.16562443e-02 -4.89222903e-05 9.99932063e-01 -7.54814406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.871858064 meters 0.014821586333656154 Centerline is valid? [True, True] Translation: X:58.46, Y:-137.68, Z:-0.75 [[-6.69134136e-01 -7.43107082e-01 7.16751274e-03 5.84609765e+01] [ 7.43063694e-01 -6.69172521e-01 -8.03019953e-03 -1.37682722e+02] [ 1.07636007e-02 -4.73621365e-05 9.99942070e-01 -7.53968019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90185806399998 meters 0.014899299922663742 Centerline is valid? [True, True] Translation: X:58.44, Y:-137.66, Z:-0.75 [[-6.68977979e-01 -7.43252069e-01 6.69516514e-03 5.84437080e+01] [ 7.43214269e-01 -6.69011480e-01 -7.49598582e-03 -1.37662808e+02] [ 1.00505493e-02 -3.87071732e-05 9.99949491e-01 -7.53026839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93185806399998 meters 0.01480429614101896 Centerline is valid? [True, True] Translation: X:58.43, Y:-137.64, Z:-0.75 [[-6.68554022e-01 -7.43637331e-01 6.24808571e-03 5.84256193e+01] [ 7.43604460e-01 -6.68583217e-01 -6.99203357e-03 -1.37643294e+02] [ 9.37690243e-03 -2.84477631e-05 9.99956036e-01 -7.52018065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96185806399998 meters 0.014788276279464016 Centerline is valid? [True, True] Translation: X:58.41, Y:-137.62, Z:-0.75 [[-6.67105034e-01 -7.44937910e-01 6.19539929e-03 5.84075272e+01] [ 7.44905688e-01 -6.67133802e-01 -6.92868163e-03 -1.37622751e+02] [ 9.29459790e-03 -7.17023106e-06 9.99956804e-01 -7.50628514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99185806399998 meters 0.014846800147712108 Centerline is valid? [True, True] Translation: X:58.39, Y:-137.60, Z:-0.75 [[-6.66619641e-01 -7.45371375e-01 6.30619746e-03 5.83910583e+01] [ 7.45338053e-01 -6.66649468e-01 -7.04791309e-03 -1.37602875e+02] [ 9.45733585e-03 1.97164495e-06 9.99955278e-01 -7.51017975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02185806399999 meters 0.01493811235995494 Centerline is valid? [True, True] Translation: X:58.37, Y:-137.58, Z:-0.75 [[-6.66220578e-01 -7.45729760e-01 6.10466682e-03 5.83734571e+01] [ 7.45698587e-01 -6.66248546e-01 -6.81851227e-03 -1.37582239e+02] [ 9.15199291e-03 9.60823849e-06 9.99958120e-01 -7.50729936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.051858064 meters 0.015159973820923614 Centerline is valid? [True, True] Translation: X:58.35, Y:-137.56, Z:-0.75 [[-6.63909626e-01 -7.47791466e-01 5.65078314e-03 5.83533274e+01] [ 7.47764864e-01 -6.63933673e-01 -6.30763496e-03 -1.37563289e+02] [ 8.46854079e-03 3.77575142e-05 9.99964141e-01 -7.48751423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.081858064 meters 0.015308681466887013 Centerline is valid? [True, True] Translation: X:58.33, Y:-137.55, Z:-0.75 [[-6.62899616e-01 -7.48684488e-01 5.96961667e-03 5.83331120e+01] [ 7.48654873e-01 -6.62926493e-01 -6.65935887e-03 -1.37545116e+02] [ 8.94317573e-03 5.46961686e-05 9.99960008e-01 -7.49788821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.111858064 meters 0.01578153520391977 Centerline is valid? [True, True] Translation: X:58.31, Y:-137.53, Z:-0.75 [[-6.61253237e-01 -7.50129122e-01 7.10334486e-03 5.83132801e+01] [ 7.50087306e-01 -6.61291383e-01 -7.92088047e-03 -1.37527136e+02] [ 1.06390639e-02 9.04209585e-05 9.99943399e-01 -7.51336793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.141858064 meters 0.015810862489710635 Centerline is valid? [True, True] Translation: X:58.29, Y:-137.51, Z:-0.75 [[-6.61143489e-01 -7.50224203e-01 7.27548982e-03 5.82945533e+01] [ 7.50180398e-01 -6.61183511e-01 -8.10771524e-03 -1.37507149e+02] [ 1.08930381e-02 9.75667131e-05 9.99940664e-01 -7.50544578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.171858064 meters 0.015922884932168986 Centerline is valid? [True, True] Translation: X:58.28, Y:-137.49, Z:-0.75 [[-6.61121256e-01 -7.50246634e-01 6.97669319e-03 5.82760986e+01] [ 7.50206405e-01 -6.61158059e-01 -7.76984828e-03 -1.37486673e+02] [ 1.04419994e-02 9.71480690e-05 9.99945476e-01 -7.49775595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.201858064 meters 0.016250212284780078 Centerline is valid? [True, True] Translation: X:58.26, Y:-137.47, Z:-0.75 [[-6.61210823e-01 -7.50168899e-01 6.84624519e-03 5.82576023e+01] [ 7.50130208e-01 -6.61246258e-01 -7.61954271e-03 -1.37467822e+02] [ 1.02429980e-02 9.74512188e-05 9.99947534e-01 -7.49839976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.231858064 meters 0.016181225921750853 Centerline is valid? [True, True] Translation: X:58.24, Y:-137.45, Z:-0.75 [[-6.61336586e-01 -7.50059161e-01 6.72131910e-03 5.82399415e+01] [ 7.50021911e-01 -6.61370733e-01 -7.47576613e-03 -1.37447341e+02] [ 1.00525506e-02 9.71389460e-05 9.99949467e-01 -7.47466388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.261858064 meters 0.016245895508330638 Centerline is valid? [True, True] Translation: X:58.22, Y:-137.43, Z:-0.75 [[-6.61475041e-01 -7.49933890e-01 7.06613900e-03 5.82209643e+01] [ 7.49892761e-01 -6.61512773e-01 -7.85479859e-03 -1.37426533e+02] [ 1.05649209e-02 1.03093261e-04 9.99944184e-01 -7.47389095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.291858064 meters 0.01636675060319948 Centerline is valid? [True, True] Translation: X:58.20, Y:-137.41, Z:-0.75 [[-6.61898007e-01 -7.49559987e-01 7.13125087e-03 5.82020846e+01] [ 7.49518125e-01 -6.61936414e-01 -7.92240119e-03 -1.37406707e+02] [ 1.06587496e-02 1.01180222e-04 9.99943189e-01 -7.47930051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.321858064 meters 0.01636179237580313 Centerline is valid? [True, True] Translation: X:58.18, Y:-137.39, Z:-0.75 [[-6.62336923e-01 -7.49166884e-01 7.66680158e-03 5.81822421e+01] [ 7.49118528e-01 -6.62381287e-01 -8.51249741e-03 -1.37386431e+02] [ 1.14556271e-02 1.05201770e-04 9.99934377e-01 -7.48994763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.351858064 meters 0.01651791908409835 Centerline is valid? [True, True] Translation: X:58.16, Y:-137.37, Z:-0.75 [[-6.62824508e-01 -7.48737563e-01 7.46548222e-03 5.81625895e+01] [ 7.48691738e-01 -6.62866542e-01 -8.28426484e-03 -1.37365763e+02] [ 1.11513586e-02 9.83310955e-05 9.99937817e-01 -7.49429906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.381858064 meters 0.016623988250080646 Centerline is valid? [True, True] Translation: X:58.14, Y:-137.35, Z:-0.75 [[-6.63816866e-01 -7.47853966e-01 7.84945725e-03 5.81438062e+01] [ 7.47803302e-01 -6.63863267e-01 -8.70542472e-03 -1.37345101e+02] [ 1.17213527e-02 9.10422943e-05 9.99931298e-01 -7.49921978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.411858064 meters 0.01662071804502095 Centerline is valid? [True, True] Translation: X:58.13, Y:-137.33, Z:-0.75 [[-6.64131600e-01 -7.47575951e-01 7.70814734e-03 5.81256956e+01] [ 7.47527139e-01 -6.64176324e-01 -8.54328320e-03 -1.37325114e+02] [ 1.15063220e-02 8.81849874e-05 9.99933796e-01 -7.49347590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.441858064 meters 0.016682005152902957 Centerline is valid? [True, True] Translation: X:58.11, Y:-137.31, Z:-0.75 [[-6.64483885e-01 -7.47267202e-01 7.27294251e-03 5.81073199e+01] [ 7.47223782e-01 -6.64523681e-01 -8.05585607e-03 -1.37305645e+02] [ 1.08529196e-02 8.15290659e-05 9.99941102e-01 -7.48838223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.471858064 meters 0.016779133974347347 Centerline is valid? [True, True] Translation: X:58.09, Y:-137.29, Z:-0.75 [[-6.64316588e-01 -7.47417477e-01 7.11240779e-03 5.80884663e+01] [ 7.47376010e-01 -6.64354655e-01 -7.87353173e-03 -1.37285465e+02] [ 1.06099764e-02 8.51252206e-05 9.99943709e-01 -7.47483873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.501858064 meters 0.016939365201050955 Centerline is valid? [True, True] Translation: X:58.07, Y:-137.27, Z:-0.75 [[-6.64104207e-01 -7.47600506e-01 7.68672656e-03 5.80697344e+01] [ 7.47552142e-01 -6.64148684e-01 -8.50418406e-03 -1.37266052e+02] [ 1.14628616e-02 9.85644897e-05 9.99934294e-01 -7.47931126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.531858064 meters 0.01708587781205075 Centerline is valid? [True, True] Translation: X:58.05, Y:-137.25, Z:-0.75 [[-6.63743022e-01 -7.47915121e-01 8.25666222e-03 5.80499888e+01] [ 7.47859407e-01 -6.63794364e-01 -9.12957609e-03 -1.37245844e+02] [ 1.23088739e-02 1.15130092e-04 9.99924236e-01 -7.48714586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.561858064 meters 0.01723014855135216 Centerline is valid? [True, True] Translation: X:58.03, Y:-137.23, Z:-0.75 [[-6.63299617e-01 -7.48306966e-01 8.38467531e-03 5.80309476e+01] [ 7.48249616e-01 -6.63352597e-01 -9.26525246e-03 -1.37226779e+02] [ 1.24952491e-02 1.28191671e-04 9.99921923e-01 -7.49270307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.591858064 meters 0.017502801823608187 Centerline is valid? [True, True] Translation: X:58.01, Y:-137.21, Z:-0.75 [[-6.62899958e-01 -7.48651992e-01 9.15640136e-03 5.80108126e+01] [ 7.48583709e-01 -6.62963175e-01 -1.01123598e-02 -1.37207155e+02] [ 1.36409952e-02 1.50849985e-04 9.99906946e-01 -7.50029051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.621858064 meters 0.017766132521200653 Centerline is valid? [True, True] Translation: X:57.99, Y:-137.19, Z:-0.75 [[-6.62695074e-01 -7.48834058e-01 9.09907811e-03 5.79918939e+01] [ 7.48766733e-01 -6.62757519e-01 -1.00424209e-02 -1.37188651e+02] [ 1.35505892e-02 1.58024109e-04 9.99908174e-01 -7.50187709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65185806399998 meters 0.017864598177696412 Centerline is valid? [True, True] Translation: X:57.97, Y:-137.17, Z:-0.75 [[-6.62063877e-01 -7.49396952e-01 8.69667644e-03 5.79718792e+01] [ 7.49335576e-01 -6.62120972e-01 -9.59231354e-03 -1.37170346e+02] [ 1.29467024e-02 1.66004765e-04 9.99916174e-01 -7.50184410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68185806399998 meters 0.018159809893586832 Centerline is valid? [True, True] Translation: X:57.95, Y:-137.15, Z:-0.75 [[-6.61869284e-01 -7.49571086e-01 8.49930052e-03 5.79527941e+01] [ 7.49512553e-01 -6.61923832e-01 -9.36880184e-03 -1.37151016e+02] [ 1.26484725e-02 1.69410254e-04 9.99919991e-01 -7.49928158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71185806399998 meters 0.01826431310104979 Centerline is valid? [True, True] Translation: X:57.93, Y:-137.13, Z:-0.75 [[-6.62331385e-01 -7.49164223e-01 8.37273765e-03 5.79345190e+01] [ 7.49107459e-01 -6.62384284e-01 -9.22359826e-03 -1.37131310e+02] [ 1.24559597e-02 1.63001614e-04 9.99922408e-01 -7.49473083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74185806399998 meters 0.018084438133272273 Centerline is valid? [True, True] Translation: X:57.92, Y:-137.11, Z:-0.75 [[-6.63587026e-01 -7.48058626e-01 7.78144302e-03 5.79175106e+01] [ 7.48009583e-01 -6.63632635e-01 -8.56679301e-03 -1.37109408e+02] [ 1.15724829e-02 1.35781254e-04 9.99933027e-01 -7.47960630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77185806399999 meters 0.01794616565583695 Centerline is valid? [True, True] Translation: X:57.90, Y:-137.09, Z:-0.75 [[-6.64581932e-01 -7.47174421e-01 7.82563078e-03 5.78989896e+01] [ 7.47124815e-01 -6.64627994e-01 -8.61052639e-03 -1.37087879e+02] [ 1.16346983e-02 1.24322679e-04 9.99932307e-01 -7.47907317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.801858064 meters 0.018065641616955314 Centerline is valid? [True, True] Translation: X:57.88, Y:-137.07, Z:-0.75 [[-6.64830401e-01 -7.46955753e-01 7.59211959e-03 5.78798212e+01] [ 7.46909106e-01 -6.64873739e-01 -8.34857166e-03 -1.37068062e+02] [ 1.12838146e-02 1.20239014e-04 9.99936329e-01 -7.48033487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.831858064 meters 0.018215778316427834 Centerline is valid? [True, True] Translation: X:57.86, Y:-137.05, Z:-0.75 [[-6.65405300e-01 -7.46443486e-01 7.60974711e-03 5.78618823e+01] [ 7.46396649e-01 -6.65448802e-01 -8.36267811e-03 -1.37048040e+02] [ 1.13061637e-02 1.15319404e-04 9.99936077e-01 -7.49375626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.861858064 meters 0.01827019998888244 Centerline is valid? [True, True] Translation: X:57.85, Y:-137.03, Z:-0.75 [[-6.66428070e-01 -7.45529094e-01 7.74577808e-03 5.78451523e+01] [ 7.45480570e-01 -6.66473075e-01 -8.50654694e-03 -1.37028043e+02] [ 1.15042308e-02 1.05325391e-04 9.99933819e-01 -7.50342414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.891858064 meters 0.018248680823316165 Centerline is valid? [True, True] Translation: X:57.83, Y:-137.01, Z:-0.75 [[-6.68140159e-01 -7.43990326e-01 8.19290795e-03 5.78289894e+01] [ 7.43935990e-01 -6.68190383e-01 -8.99198028e-03 -1.37005638e+02] [ 1.21643686e-02 8.70959544e-05 9.99926008e-01 -7.51322130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.921858064 meters 0.018457401275391434 Centerline is valid? [True, True] Translation: X:57.81, Y:-136.99, Z:-0.75 [[-6.68662153e-01 -7.43532974e-01 7.04566260e-03 5.78112920e+01] [ 7.43492818e-01 -6.68699268e-01 -7.72779004e-03 -1.36986492e+02] [ 1.04572961e-02 7.11188098e-05 9.99945318e-01 -7.51237465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.951858064 meters 0.018199045746964543 Centerline is valid? [True, True] Translation: X:57.80, Y:-136.96, Z:-0.75 [[-6.70534270e-01 -7.41844407e-01 7.11825582e-03 5.77966118e+01] [ 7.41803361e-01 -6.70572050e-01 -7.80378580e-03 -1.36964432e+02] [ 1.05624982e-02 4.76402821e-05 9.99944214e-01 -7.51566420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.981858064 meters 0.018249777263159437 Centerline is valid? [True, True] Translation: X:57.78, Y:-136.94, Z:-0.75 [[-6.70817506e-01 -7.41597444e-01 6.09143147e-03 5.77784150e+01] [ 7.41567413e-01 -6.70845161e-01 -6.67394612e-03 -1.36944389e+02] [ 9.03578871e-03 4.02071853e-05 9.99959176e-01 -7.49845616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.011858064 meters 0.018171372434795628 Centerline is valid? [True, True] Translation: X:57.76, Y:-136.92, Z:-0.75 [[-6.72900875e-01 -7.39714639e-01 5.16379868e-03 5.77621460e+01] [ 7.39693031e-01 -6.72920688e-01 -5.65405046e-03 -1.36922654e+02] [ 7.65721086e-03 1.50103893e-05 9.99970683e-01 -7.50239994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.041858064 meters 0.018131032585860705 Centerline is valid? [True, True] Translation: X:57.74, Y:-136.90, Z:-0.75 [[-6.72428451e-01 -7.40148691e-01 4.46011341e-03 5.77437688e+01] [ 7.40132601e-01 -6.72443243e-01 -4.88034580e-03 -1.36903652e+02] [ 6.61135468e-03 1.93919741e-05 9.99978145e-01 -7.49482660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.071858064 meters 0.0183824701205269 Centerline is valid? [True, True] Translation: X:57.72, Y:-136.88, Z:-0.75 [[-6.71254638e-01 -7.41218414e-01 3.53194265e-03 5.77241691e+01] [ 7.41208351e-01 -6.71263929e-01 -3.86233902e-03 -1.36884427e+02] [ 5.23370250e-03 2.52924101e-05 9.99986304e-01 -7.49622449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.101858064 meters 0.018294864784370885 Centerline is valid? [True, True] Translation: X:57.71, Y:-136.86, Z:-0.75 [[-6.71986364e-01 -7.40556186e-01 3.29579371e-03 5.77082462e+01] [ 7.40547427e-01 -6.71994445e-01 -3.60181906e-03 -1.36861645e+02] [ 4.88210446e-03 2.03182604e-05 9.99988082e-01 -7.49193856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.131858064 meters 0.018309765022194686 Centerline is valid? [True, True] Translation: X:57.69, Y:-136.84, Z:-0.75 [[-6.72106183e-01 -7.40450990e-01 2.36867664e-03 5.76895689e+01] [ 7.40446471e-01 -6.72110357e-01 -2.58697637e-03 -1.36842226e+02] [ 3.50754132e-03 1.51554379e-05 9.99993848e-01 -7.49128633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.161858064 meters 0.01828996976161263 Centerline is valid? [True, True] Translation: X:57.67, Y:-136.82, Z:-0.75 [[-6.72226304e-01 -7.40343156e-01 1.95108198e-03 5.76714711e+01] [ 7.40340094e-01 -6.72229135e-01 -2.12948165e-03 -1.36822677e+02] [ 2.88812131e-03 1.29706354e-05 9.99995829e-01 -7.49391457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.191858064 meters 0.018248118305235816 Centerline is valid? [True, True] Translation: X:57.66, Y:-136.80, Z:-0.75 [[-6.73430590e-01 -7.39247641e-01 2.04081532e-03 5.76553265e+01] [ 7.39244290e-01 -6.73433683e-01 -2.22595683e-03 -1.36801790e+02] [ 3.01988711e-03 9.63365256e-06 9.99995440e-01 -7.49972613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.221858064 meters 0.01819985696143663 Centerline is valid? [True, True] Translation: X:57.64, Y:-136.78, Z:-0.75 [[-6.74270080e-01 -7.38483531e-01 1.39091783e-03 5.76380982e+01] [ 7.38481974e-01 -6.74271514e-01 -1.51612988e-03 -1.36781542e+02] [ 2.05749322e-03 4.88672736e-06 9.99997883e-01 -7.49432512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.251858064 meters 0.018157634312700878 Centerline is valid? [True, True] Translation: X:57.62, Y:-136.76, Z:-0.75 [[-6.74707279e-01 -7.38084315e-01 1.27709946e-03 5.76212325e+01] [ 7.38083004e-01 -6.74708488e-01 -1.39118403e-03 -1.36761274e+02] [ 1.88848096e-03 3.96341423e-06 9.99998217e-01 -7.49768489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.281858064 meters 0.01819879349638885 Centerline is valid? [True, True] Translation: X:57.60, Y:-136.74, Z:-0.75 [[-6.74590474e-01 -7.38192058e-01 4.21581767e-04 5.76015505e+01] [ 7.38191915e-01 -6.74590606e-01 -4.58960813e-04 -1.36742147e+02] [ 6.23196327e-04 1.59765961e-06 9.99999806e-01 -7.49566126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.311858064 meters 0.017967496620908126 Centerline is valid? [True, True] Translation: X:57.58, Y:-136.72, Z:-0.75 [[-6.74989619e-01 -7.37827129e-01 3.76190816e-04 5.75834512e+01] [ 7.37827016e-01 -6.74989724e-01 -4.09286130e-04 -1.36721420e+02] [ 5.55907345e-04 1.29985820e-06 9.99999846e-01 -7.50008094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.341858064 meters 0.01803747761564702 Centerline is valid? [True, True] Translation: X:57.57, Y:-136.70, Z:-0.75 [[-6.75727473e-01 -7.37150909e-01 9.58773208e-04 5.75651145e+01] [ 7.37150172e-01 -6.75728153e-01 -1.04246453e-03 -1.36700887e+02] [ 1.41632373e-03 2.33790894e-06 9.99998997e-01 -7.51336177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.371858064 meters 0.01802350079988299 Centerline is valid? [True, True] Translation: X:57.55, Y:-136.68, Z:-0.75 [[-6.77177296e-01 -7.35818331e-01 1.51477710e-03 5.75486828e+01] [ 7.35816489e-01 -6.77178990e-01 -1.64619985e-03 -1.36680723e+02] [ 2.23707926e-03 -1.71193679e-07 9.99997498e-01 -7.52393573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40185806399998 meters 0.01790804787782318 Centerline is valid? [True, True] Translation: X:57.53, Y:-136.66, Z:-0.75 [[-6.78403824e-01 -7.34687798e-01 1.44566442e-03 5.75299800e+01] [ 7.34686121e-01 -6.78405365e-01 -1.57010980e-03 -1.36660370e+02] [ 2.13428701e-03 -3.05890697e-06 9.99997722e-01 -7.53224179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43185806399998 meters 0.01790804787782318 Centerline is valid? [True, True] Translation: X:57.51, Y:-136.64, Z:-0.75 [[-6.78632190e-01 -7.34476861e-01 1.44615246e-03 5.75117678e+01] [ 7.34475184e-01 -6.78633731e-01 -1.56966030e-03 -1.36640746e+02] [ 2.13428701e-03 -3.05890752e-06 9.99997722e-01 -7.53224224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46185806399998 meters 0.017948708558428155 Centerline is valid? [True, True] Translation: X:57.50, Y:-136.62, Z:-0.75 [[-6.80700281e-01 -7.32561078e-01 1.18057487e-03 5.74959360e+01] [ 7.32559959e-01 -6.80701305e-01 -1.28056390e-03 -1.36620206e+02] [ 1.74171012e-03 -6.83832835e-06 9.99998483e-01 -7.53414749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49185806399998 meters 0.01794684954180145 Centerline is valid? [True, True] Translation: X:57.48, Y:-136.60, Z:-0.75 [[-6.82980570e-01 -7.30435944e-01 9.33573025e-04 5.74786798e+01] [ 7.30435243e-01 -6.82981208e-01 -1.01202363e-03 -1.36599271e+02] [ 1.37683127e-03 -9.27783802e-06 9.99999052e-01 -7.52423556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52185806399999 meters 0.018056258009182008 Centerline is valid? [True, True] Translation: X:57.46, Y:-136.58, Z:-0.75 [[-6.85151755e-01 -7.28399871e-01 8.36983351e-04 5.74605913e+01] [ 7.28399306e-01 -6.85152266e-01 -9.06822812e-04 -1.36577464e+02] [ 1.23399066e-03 -1.16531491e-05 9.99999239e-01 -7.52673086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.551858064 meters 0.01874986192153375 Centerline is valid? [True, True] Translation: X:57.44, Y:-136.56, Z:-0.75 [[-6.88239489e-01 -7.25483339e-01 5.75104799e-04 5.74435160e+01] [ 7.25483072e-01 -6.88239729e-01 -6.22734508e-04 -1.36555833e+02] [ 8.47593481e-04 -1.13616825e-05 9.99999641e-01 -7.52656302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.581858064 meters 0.018862335235945195 Centerline is valid? [True, True] Translation: X:57.43, Y:-136.53, Z:-0.75 [[-6.91163508e-01 -7.22698374e-01 2.56669569e-04 5.74252100e+01] [ 7.22698321e-01 -6.91163555e-01 -2.77770972e-04 -1.36534830e+02] [ 3.78145282e-04 -6.49049287e-06 9.99999929e-01 -7.52875394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.611858064 meters 0.01919997609078945 Centerline is valid? [True, True] Translation: X:57.41, Y:-136.51, Z:-0.75 [[-6.93032561e-01 -7.20906283e-01 2.68379226e-05 5.74066238e+01] [ 7.20906282e-01 -6.93032562e-01 -2.90275723e-05 -1.36513245e+02] [ 3.95257136e-05 -7.69425785e-07 9.99999999e-01 -7.52565355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.641858064 meters 0.020719048612797185 Centerline is valid? [True, True] Translation: X:57.39, Y:-136.49, Z:-0.75 [[-6.95374563e-01 -7.18647487e-01 7.49431578e-05 5.73906403e+01] [ 7.18647483e-01 -6.95374567e-01 -8.10112940e-05 -1.36490753e+02] [ 1.10332129e-04 -2.47548147e-06 9.99999994e-01 -7.53054651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.671858064 meters 0.021075762068365835 Centerline is valid? [True, True] Translation: X:57.37, Y:-136.47, Z:-0.75 [[-6.99593887e-01 -7.14540371e-01 6.71635788e-04 5.73728791e+01] [ 7.14540003e-01 -6.99594209e-01 -7.25595376e-04 -1.36469348e+02] [ 9.88339697e-04 -2.77114518e-05 9.99999511e-01 -7.54553083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.701858064 meters 0.021679325149967926 Centerline is valid? [True, True] Translation: X:57.36, Y:-136.45, Z:-0.75 [[-7.01450364e-01 -7.12718013e-01 6.48384382e-04 5.73551500e+01] [ 7.12717670e-01 -7.01450663e-01 -7.00070876e-04 -1.36448150e+02] [ 9.53762779e-04 -2.89499646e-05 9.99999545e-01 -7.54268842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.731858064 meters 0.021979274099176167 Centerline is valid? [True, True] Translation: X:57.34, Y:-136.43, Z:-0.75 [[-7.04343204e-01 -7.09859366e-01 5.75726644e-04 5.73368410e+01] [ 7.09859095e-01 -7.04343439e-01 -6.21274613e-04 -1.36427065e+02] [ 8.46526887e-04 -2.89057571e-05 9.99999641e-01 -7.54016688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.761858064 meters 0.023627422360879072 Centerline is valid? [True, True] Translation: X:57.32, Y:-136.40, Z:-0.75 [[-7.08598745e-01 -7.05611505e-01 4.71846370e-04 5.73205428e+01] [ 7.05611322e-01 -7.08598901e-01 -5.08871622e-04 -1.36404926e+02] [ 6.93415491e-04 -2.76456514e-05 9.99999759e-01 -7.54101104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.791858064 meters 0.025850595755086504 Centerline is valid? [True, True] Translation: X:57.30, Y:-136.38, Z:-0.75 [[-7.10465807e-01 -7.03731674e-01 2.59961706e-04 5.73047818e+01] [ 7.03731619e-01 -7.10465855e-01 -2.80222666e-04 -1.36383111e+02] [ 3.81895482e-04 -1.61453503e-05 9.99999927e-01 -7.54111784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.821858064 meters 0.02581545641868556 Centerline is valid? [True, True] Translation: X:57.29, Y:-136.36, Z:-0.75 [[-7.12906745e-01 -7.01258833e-01 -1.48438627e-04 5.72859605e+01] [ 7.01258815e-01 -7.12906760e-01 1.59920744e-04 -1.36362572e+02] [-2.17968735e-04 9.91468162e-06 9.99999976e-01 -7.53967587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.851858064 meters 0.0272631093611194 Centerline is valid? [True, True] Translation: X:57.27, Y:-136.34, Z:-0.75 [[-7.15452127e-01 -6.98661239e-01 -8.53279688e-04 5.72686554e+01] [ 6.98660637e-01 -7.15452633e-01 9.18745563e-04 -1.36341751e+02] [-1.25237311e-03 6.11655364e-05 9.99999214e-01 -7.52876818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.881858064 meters 0.028333670952795594 Centerline is valid? [True, True] Translation: X:57.25, Y:-136.32, Z:-0.75 [[-7.16818895e-01 -6.97258664e-01 -1.01358546e-03 5.72515011e+01] [ 6.97257815e-01 -7.16819608e-01 1.09076981e-03 -1.36319299e+02] [-1.48710663e-03 7.51540219e-05 9.99998891e-01 -7.53229973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.911858064 meters 0.029444477608867346 Centerline is valid? [True, True] Translation: X:57.23, Y:-136.30, Z:-0.75 [[-7.18698157e-01 -6.95321685e-01 -8.44772020e-04 5.72343981e+01] [ 6.95321095e-01 -7.18698650e-01 9.08582738e-04 -1.36297286e+02] [-1.23889379e-03 6.56089341e-05 9.99999230e-01 -7.53524451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.941858064 meters 0.02868408046355661 Centerline is valid? [True, True] Translation: X:57.22, Y:-136.28, Z:-0.75 [[-7.20807347e-01 -6.93134474e-01 -1.17066266e-03 5.72150444e+01] [ 6.93133338e-01 -7.20808291e-01 1.25835346e-03 -1.36277827e+02] [-1.71603152e-03 9.56051020e-05 9.99998523e-01 -7.53140027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.971858064 meters 0.029258924753215048 Centerline is valid? [True, True] Translation: X:57.20, Y:-136.26, Z:-0.75 [[-7.21297198e-01 -6.92623449e-01 -1.76362432e-03 5.71957345e+01] [ 6.92620873e-01 -7.21299339e-01 1.89471667e-03 -1.36257282e+02] [-2.58442625e-03 1.45130806e-04 9.99996650e-01 -7.53046411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.001858064 meters 0.02809771851805962 Centerline is valid? [True, True] Translation: X:57.18, Y:-136.24, Z:-0.75 [[-7.21650727e-01 -6.92255609e-01 -1.54958246e-03 5.71772188e+01] [ 6.92253621e-01 -7.21652379e-01 1.66374798e-03 -1.36237540e+02] [-2.26999873e-03 1.27940868e-04 9.99997415e-01 -7.53034395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.031858064 meters 0.028362781996273036 Centerline is valid? [True, True] Translation: X:57.16, Y:-136.22, Z:-0.75 [[-7.20387920e-01 -6.93568733e-01 -1.91275606e-03 5.71583297e+01] [ 6.93565712e-01 -7.20390443e-01 2.05251184e-03 -1.36217834e+02] [-2.80148921e-03 1.51982714e-04 9.99996064e-01 -7.52877186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.061858064 meters 0.027254490951085345 Centerline is valid? [True, True] Translation: X:57.14, Y:-136.20, Z:-0.75 [[-7.20086500e-01 -6.93881775e-01 -1.87452178e-03 5.71373878e+01] [ 6.93878879e-01 -7.20088925e-01 2.01039129e-03 -1.36198430e+02] [-2.74479625e-03 1.46964558e-04 9.99996222e-01 -7.53444480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.091858064 meters 0.02891521844706442 Centerline is valid? [True, True] Translation: X:57.12, Y:-136.18, Z:-0.75 [[-7.19737072e-01 -6.94244843e-01 -1.62645428e-03 5.71209433e+01] [ 6.94242665e-01 -7.19738899e-01 1.74340986e-03 -1.36176913e+02] [-2.38097572e-03 1.25642753e-04 9.99997158e-01 -7.54058804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.121858064 meters 0.02552945490678997 Centerline is valid? [True, True] Translation: X:57.10, Y:-136.16, Z:-0.75 [[-7.17825768e-01 -6.96221080e-01 -1.54124997e-03 5.70984914e+01] [ 6.96219131e-01 -7.17827414e-01 1.65112051e-03 -1.36159855e+02] [-2.25589639e-03 1.12169130e-04 9.99997449e-01 -7.54648103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15185806399998 meters 0.025924993977037316 Centerline is valid? [True, True] Translation: X:57.08, Y:-136.14, Z:-0.75 [[-7.17565408e-01 -6.96489832e-01 -1.34128746e-03 5.70808356e+01] [ 6.96488358e-01 -7.17566655e-01 1.43611479e-03 -1.36139366e+02] [-1.96270250e-03 9.63151997e-05 9.99998069e-01 -7.54120120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18185806399998 meters 0.02590325720520062 Centerline is valid? [True, True] Translation: X:57.06, Y:-136.12, Z:-0.75 [[-7.16129554e-01 -6.97964952e-01 -1.84069894e-03 5.70616111e+01] [ 6.97962184e-01 -7.16131908e-01 1.96973714e-03 -1.36120097e+02] [-2.69299073e-03 1.25848720e-04 9.99996366e-01 -7.53805824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21185806399998 meters 0.027091507944595666 Centerline is valid? [True, True] Translation: X:57.05, Y:-136.10, Z:-0.75 [[-7.14641636e-01 -6.99487560e-01 -2.11783146e-03 5.70465737e+01] [ 6.99483906e-01 -7.14644761e-01 2.26522583e-03 -1.36097706e+02] [-3.09799445e-03 1.37435679e-04 9.99995192e-01 -7.52822297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24185806399998 meters 0.02672740871195673 Centerline is valid? [True, True] Translation: X:57.03, Y:-136.08, Z:-0.75 [[-7.14226317e-01 -6.99909524e-01 -2.72523451e-03 5.70269016e+01] [ 6.99903482e-01 -7.14231495e-01 2.91339879e-03 -1.36077356e+02] [-3.98556388e-03 1.73424967e-04 9.99992043e-01 -7.51711490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27185806399999 meters 0.025926411493289767 Centerline is valid? [True, True] Translation: X:57.01, Y:-136.06, Z:-0.75 [[-7.14229076e-01 -6.99906859e-01 -2.68597071e-03 5.70081276e+01] [ 6.99900997e-01 -7.14234107e-01 2.86973563e-03 -1.36058166e+02] [-3.92695954e-03 1.69735048e-04 9.99992275e-01 -7.52294058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.301858064 meters 0.025530142297109475 Centerline is valid? [True, True] Translation: X:56.99, Y:-136.04, Z:-0.75 [[-7.12684989e-01 -7.01477610e-01 -3.04445368e-03 5.69888478e+01] [ 7.01470101e-01 -7.12691469e-01 3.25084386e-03 -1.36039413e+02] [-4.45015035e-03 1.81234392e-04 9.99990082e-01 -7.52687732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.331858064 meters 0.02539567724503979 Centerline is valid? [True, True] Translation: X:56.97, Y:-136.02, Z:-0.75 [[-7.12503017e-01 -7.01665626e-01 -2.19085837e-03 5.69704127e+01] [ 7.01661743e-01 -7.12506374e-01 2.33802406e-03 -1.36019622e+02] [-3.20151167e-03 1.28607692e-04 9.99994867e-01 -7.53366472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.361858064 meters 0.025055559691400664 Centerline is valid? [True, True] Translation: X:56.95, Y:-136.00, Z:-0.75 [[-7.11851552e-01 -7.02325766e-01 -2.42621891e-03 5.69508143e+01] [ 7.02321012e-01 -7.11855673e-01 2.58769731e-03 -1.36000441e+02] [-3.54452419e-03 1.38071822e-04 9.99993709e-01 -7.54182605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.391858064 meters 0.02222849210185395 Centerline is valid? [True, True] Translation: X:56.93, Y:-135.98, Z:-0.75 [[-7.10734765e-01 -7.03456651e-01 -2.19865153e-03 5.69297512e+01] [ 7.03452757e-01 -7.10738155e-01 2.34371986e-03 -1.35981401e+02] [-3.21137085e-03 1.19115704e-04 9.99994836e-01 -7.54072081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.421858064 meters 0.022372193949699738 Centerline is valid? [True, True] Translation: X:56.91, Y:-135.96, Z:-0.75 [[-7.10463841e-01 -7.03730083e-01 -2.25864312e-03 5.69119016e+01] [ 7.03725979e-01 -7.10467421e-01 2.40622733e-03 -1.35960708e+02] [-3.29802691e-03 1.20071665e-04 9.99994554e-01 -7.53252921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.451858064 meters 0.021942400462352265 Centerline is valid? [True, True] Translation: X:56.89, Y:-135.94, Z:-0.75 [[-7.09394168e-01 -7.04807059e-01 -2.63137431e-03 5.68916577e+01] [ 7.04801503e-01 -7.09399036e-01 2.80182845e-03 -1.35941276e+02] [-3.84144286e-03 1.33004192e-04 9.99992613e-01 -7.52790516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.481858064 meters 0.021733577309293237 Centerline is valid? [True, True] Translation: X:56.87, Y:-135.92, Z:-0.75 [[-7.08082839e-01 -7.06126827e-01 -1.89690770e-03 5.68737244e+01] [ 7.06123947e-01 -7.08085374e-01 2.01877395e-03 -1.35920913e+02] [-2.76868304e-03 9.00072359e-05 9.99996163e-01 -7.53504855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.511858064 meters 0.020176857694740827 Centerline is valid? [True, True] Translation: X:56.85, Y:-135.90, Z:-0.75 [[-7.07744034e-01 -7.06467571e-01 -1.39811931e-03 5.68533100e+01] [ 7.06466008e-01 -7.07745412e-01 1.48703435e-03 -1.35902769e+02] [-2.04005407e-03 6.47159220e-05 9.99997917e-01 -7.53978488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.541858064 meters 0.021033714449834685 Centerline is valid? [True, True] Translation: X:56.83, Y:-135.88, Z:-0.75 [[-7.06680508e-01 -7.07531258e-01 -1.47576600e-03 5.68347088e+01] [ 7.07529522e-01 -7.06682046e-01 1.56877681e-03 -1.35882493e+02] [-2.15285597e-03 6.44759820e-05 9.99997681e-01 -7.54212463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.571858064 meters 0.020878731937123793 Centerline is valid? [True, True] Translation: X:56.82, Y:-135.86, Z:-0.76 [[-7.06553022e-01 -7.07659624e-01 -8.26857108e-04 5.68153945e+01] [ 7.07659080e-01 -7.06553505e-01 8.78456377e-04 -1.35862802e+02] [-1.20586690e-03 3.55430674e-05 9.99999272e-01 -7.55068437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.601858064 meters 0.02128196685555253 Centerline is valid? [True, True] Translation: X:56.80, Y:-135.84, Z:-0.76 [[-7.06864795e-01 -7.07348620e-01 -3.01394185e-04 5.67983879e+01] [ 7.07348548e-01 -7.06864859e-01 3.20006335e-04 -1.35842437e+02] [-4.39400997e-04 1.30104736e-05 9.99999903e-01 -7.55944947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.631858064 meters 0.020582663259048763 Centerline is valid? [True, True] Translation: X:56.78, Y:-135.82, Z:-0.76 [[-7.07294182e-01 -7.06919168e-01 -4.78375460e-04 5.67787796e+01] [ 7.06918986e-01 -7.07294344e-01 5.07614513e-04 -1.35823772e+02] [-6.97194687e-04 2.08600966e-05 9.99999757e-01 -7.55554619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.661858064 meters 0.020494102364257635 Centerline is valid? [True, True] Translation: X:56.76, Y:-135.80, Z:-0.75 [[-7.08606835e-01 -7.05602271e-01 -1.33727421e-03 5.67595939e+01] [ 7.05600849e-01 -7.08608094e-01 1.41824586e-03 -1.35803324e+02] [-1.94832083e-03 6.13968939e-05 9.99998100e-01 -7.54191068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.691858064 meters 0.02011108305115693 Centerline is valid? [True, True] Translation: X:56.74, Y:-135.78, Z:-0.75 [[-7.09129793e-01 -7.05075134e-01 -1.99823617e-03 5.67403928e+01] [ 7.05071959e-01 -7.09132602e-01 2.11793178e-03 -1.35783994e+02] [-2.91031545e-03 9.29882305e-05 9.99995761e-01 -7.53372300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.721858064 meters 0.020587203341412928 Centerline is valid? [True, True] Translation: X:56.72, Y:-135.76, Z:-0.75 [[-7.09927117e-01 -7.04271088e-01 -2.39227342e-03 5.67222836e+01] [ 7.04266538e-01 -7.09931139e-01 2.53411479e-03 -1.35763075e+02] [-3.48305317e-03 1.14238683e-04 9.99993928e-01 -7.52326351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.751858064 meters 0.021841574192895553 Centerline is valid? [True, True] Translation: X:56.71, Y:-135.74, Z:-0.75 [[-7.11329328e-01 -7.02854132e-01 -2.58000849e-03 5.67057773e+01] [ 7.02848835e-01 -7.11333995e-01 2.73178193e-03 -1.35742211e+02] [-3.75529196e-03 1.29840639e-04 9.99992940e-01 -7.51449977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.781858064 meters 0.022665347229344532 Centerline is valid? [True, True] Translation: X:56.69, Y:-135.72, Z:-0.75 [[-7.12071041e-01 -7.02104676e-01 -1.96357043e-03 5.66882789e+01] [ 7.02101609e-01 -7.12073741e-01 2.07791759e-03 -1.35721532e+02] [-2.85712260e-03 1.00998987e-04 9.99995913e-01 -7.51728327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.811858064 meters 0.02292730460013552 Centerline is valid? [True, True] Translation: X:56.67, Y:-135.70, Z:-0.75 [[-7.12438616e-01 -7.01732724e-01 -1.55008260e-03 5.66696071e+01] [ 7.01730814e-01 -7.12440297e-01 1.63937978e-03 -1.35701694e+02] [-2.25474774e-03 8.02167332e-05 9.99997455e-01 -7.51976806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.841858064 meters 0.022680954297655653 Centerline is valid? [True, True] Translation: X:56.65, Y:-135.68, Z:-0.75 [[-7.13659088e-01 -7.00492169e-01 -1.19447905e-03 5.66487782e+01] [ 7.00491034e-01 -7.13660085e-01 1.26261738e-03 -1.35683238e+02] [-1.73690561e-03 6.43564972e-05 9.99998490e-01 -7.53657882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.871858064 meters 0.02306743721541059 Centerline is valid? [True, True] Translation: X:56.63, Y:-135.66, Z:-0.75 [[-7.14301386e-01 -6.99837609e-01 -9.23217977e-04 5.66284043e+01] [ 6.99836931e-01 -7.14301980e-01 9.75365847e-04 -1.35663349e+02] [-1.34205413e-03 5.06031409e-05 9.99999098e-01 -7.54775794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90185806399998 meters 0.02409407084413508 Centerline is valid? [True, True] Translation: X:56.61, Y:-135.64, Z:-0.76 [[-7.15508070e-01 -6.98603978e-01 -8.26875925e-04 5.66102009e+01] [ 6.98603434e-01 -7.15508546e-01 8.73093820e-04 -1.35643075e+02] [-1.20158361e-03 4.70473127e-05 9.99999277e-01 -7.55894942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93185806399998 meters 0.025019464871308666 Centerline is valid? [True, True] Translation: X:56.59, Y:-135.62, Z:-0.76 [[-7.17025036e-01 -6.97047207e-01 -5.37234646e-04 5.65921252e+01] [ 6.97046977e-01 -7.17025237e-01 5.66966682e-04 -1.35621601e+02] [-7.80413342e-04 3.20515199e-05 9.99999695e-01 -7.56600360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96185806399998 meters 0.02634918995043609 Centerline is valid? [True, True] Translation: X:56.57, Y:-135.60, Z:-0.76 [[-7.18939872e-01 -6.95072270e-01 -4.29961508e-07 5.65741366e+01] [ 6.95072270e-01 -7.18939872e-01 4.54178733e-07 -1.35600370e+02] [-6.24803427e-07 2.76728827e-08 1.00000000e+00 -7.56638332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99185806399998 meters 0.022597696986209333 Centerline is valid? [True, True] Translation: X:56.55, Y:-135.58, Z:-0.76 [[-7.20225620e-01 -6.93739836e-01 3.10514629e-04 5.65510307e+01] [ 6.93739759e-01 -7.20225687e-01 -3.27320604e-04 -1.35584116e+02] [ 4.50715954e-04 -2.03283415e-05 9.99999898e-01 -7.56623050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02185806399999 meters 0.024000108118782483 Centerline is valid? [True, True] Translation: X:56.53, Y:-135.56, Z:-0.76 [[-7.21673620e-01 -6.92233452e-01 1.84229174e-04 5.65337814e+01] [ 6.92233425e-01 -7.21673644e-01 -1.94121166e-04 -1.35562687e+02] [ 2.67330504e-04 -1.25625330e-05 9.99999964e-01 -7.56783106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.051858064 meters 0.02807801988471664 Centerline is valid? [True, True] Translation: X:56.52, Y:-135.54, Z:-0.76 [[-7.23874120e-01 -6.89932039e-01 2.00376128e-04 5.65196583e+01] [ 6.89932007e-01 -7.23874148e-01 -2.11039044e-04 -1.35539510e+02] [ 2.90649697e-04 -1.45197981e-05 9.99999958e-01 -7.56198311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.081858064 meters 0.030788910537152294 Centerline is valid? [True, True] Translation: X:56.50, Y:-135.52, Z:-0.76 [[-7.25370673e-01 -6.88358349e-01 4.12916053e-04 5.65040751e+01] [ 6.88358212e-01 -7.25370790e-01 -4.34722553e-04 -1.35517380e+02] [ 5.98762142e-04 -3.11008346e-05 9.99999820e-01 -7.56455307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.111858064 meters 0.025601226245718964 Centerline is valid? [True, True] Translation: X:56.48, Y:-135.50, Z:-0.76 [[-7.25848158e-01 -6.87854933e-01 2.05685905e-04 5.64789151e+01] [ 6.87854899e-01 -7.25848187e-01 -2.16428450e-04 -1.35502732e+02] [ 2.98168118e-04 -1.56121348e-05 9.99999955e-01 -7.55856269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.141858064 meters 0.026500542117679615 Centerline is valid? [True, True] Translation: X:56.46, Y:-135.48, Z:-0.75 [[-7.26161248e-01 -6.87524370e-01 -2.87707832e-04 5.64613818e+01] [ 6.87524304e-01 -7.26161305e-01 3.02539029e-04 -1.35483101e+02] [-4.16925249e-04 2.18859920e-05 9.99999913e-01 -7.54975933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.171858064 meters 0.027254160295775542 Centerline is valid? [True, True] Translation: X:56.44, Y:-135.46, Z:-0.75 [[-7.26790990e-01 -6.86858681e-01 -9.34111550e-05 5.64432986e+01] [ 6.86858674e-01 -7.26790996e-01 9.81738697e-05 -1.35460988e+02] [-1.35321961e-04 7.19162186e-06 9.99999991e-01 -7.54534520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.201858064 meters 0.026985784573841206 Centerline is valid? [True, True] Translation: X:56.42, Y:-135.44, Z:-0.75 [[-7.27048514e-01 -6.86585990e-01 -3.70266932e-04 5.64241092e+01] [ 6.86585880e-01 -7.27048607e-01 3.88906862e-04 -1.35441414e+02] [-5.36220060e-04 2.85341083e-05 9.99999856e-01 -7.53995844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.231858064 meters 0.028490877470980638 Centerline is valid? [True, True] Translation: X:56.41, Y:-135.42, Z:-0.75 [[-7.27144318e-01 -6.86484309e-01 -6.59768975e-04 5.64074968e+01] [ 6.86483961e-01 -7.27144615e-01 6.92656037e-04 -1.35420340e+02] [-9.55244958e-04 5.07400817e-05 9.99999542e-01 -7.52950464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.261858064 meters 0.025330988817534376 Centerline is valid? [True, True] Translation: X:56.39, Y:-135.40, Z:-0.75 [[-7.27176040e-01 -6.86450600e-01 -7.62149958e-04 5.63850185e+01] [ 6.86450137e-01 -7.27176437e-01 7.99641597e-04 -1.35403545e+02] [-1.10313194e-03 5.83022661e-05 9.99999390e-01 -7.52687082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.291858064 meters 0.023971659384025838 Centerline is valid? [True, True] Translation: X:56.36, Y:-135.38, Z:-0.75 [[-7.27076523e-01 -6.86556119e-01 -6.52713788e-04 5.63634520e+01] [ 6.86555779e-01 -7.27076814e-01 6.84435341e-04 -1.35384902e+02] [-9.44476333e-04 4.95124444e-05 9.99999553e-01 -7.52871707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.321858064 meters 0.023971659384025838 Centerline is valid? [True, True] Translation: X:56.34, Y:-135.36, Z:-0.75 [[-7.27270406e-01 -6.86350734e-01 -6.52907075e-04 5.63443328e+01] [ 6.86350395e-01 -7.27270697e-01 6.84250961e-04 -1.35364940e+02] [-9.44476333e-04 4.95124449e-05 9.99999553e-01 -7.52871753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.351858064 meters 0.028188915744119684 Centerline is valid? [True, True] Translation: X:56.33, Y:-135.34, Z:-0.75 [[-7.26539301e-01 -6.87124161e-01 -1.01572755e-03 5.63295375e+01] [ 6.87123342e-01 -7.26540007e-01 1.06391787e-03 -1.35341874e+02] [-1.46901038e-03 7.50480387e-05 9.99998918e-01 -7.53029025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.381858064 meters 0.026687545137652913 Centerline is valid? [True, True] Translation: X:56.31, Y:-135.32, Z:-0.75 [[-7.26394723e-01 -6.87276655e-01 -1.22699993e-03 5.63091084e+01] [ 6.87275461e-01 -7.26395754e-01 1.28443731e-03 -1.35323159e+02] [-1.77405132e-03 8.97215368e-05 9.99998422e-01 -7.52838565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.411858064 meters 0.02549972660239422 Centerline is valid? [True, True] Translation: X:56.29, Y:-135.30, Z:-0.75 [[-7.26269116e-01 -6.87409247e-01 -1.30296558e-03 5.62889963e+01] [ 6.87407902e-01 -7.26270279e-01 1.36312201e-03 -1.35304748e+02] [-1.88332785e-03 9.43245833e-05 9.99998222e-01 -7.52734826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.441858064 meters 0.026136354634597635 Centerline is valid? [True, True] Translation: X:56.27, Y:-135.28, Z:-0.75 [[-7.25993460e-01 -6.87700955e-01 -9.44853165e-04 5.62706702e+01] [ 6.87700249e-01 -7.25994071e-01 9.87938206e-04 -1.35284394e+02] [-1.36536384e-03 6.74609191e-05 9.99999066e-01 -7.53202599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.471858064 meters 0.02386388119771119 Centerline is valid? [True, True] Translation: X:56.25, Y:-135.27, Z:-0.75 [[-7.24914918e-01 -6.88838274e-01 -4.39712470e-04 5.62477573e+01] [ 6.88838122e-01 -7.24915051e-01 4.59504561e-04 -1.35267419e+02] [-6.35278516e-04 3.02109990e-05 9.99999798e-01 -7.54381909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.501858064 meters 0.02320499170108689 Centerline is valid? [True, True] Translation: X:56.23, Y:-135.25, Z:-0.75 [[-7.25056241e-01 -6.88689536e-01 -4.14290348e-04 5.62275623e+01] [ 6.88689400e-01 -7.25056358e-01 4.32695692e-04 -1.35247371e+02] [-5.98376846e-04 2.84113403e-05 9.99999821e-01 -7.54246727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.531858064 meters 0.022891454648164302 Centerline is valid? [True, True] Translation: X:56.21, Y:-135.23, Z:-0.75 [[-7.24878877e-01 -6.88875681e-01 -9.54358351e-04 5.62070950e+01] [ 6.88874963e-01 -7.24879502e-01 9.96196072e-04 -1.35228041e+02] [-1.37805005e-03 6.46879151e-05 9.99999048e-01 -7.54307395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.561858064 meters 0.023585430515858694 Centerline is valid? [True, True] Translation: X:56.19, Y:-135.21, Z:-0.75 [[-7.25474001e-01 -6.88249132e-01 -7.78073417e-04 5.61894535e+01] [ 6.88248656e-01 -7.25474416e-01 8.11702066e-04 -1.35207993e+02] [-1.12312560e-03 5.33607619e-05 9.99999368e-01 -7.54806970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.591858064 meters 0.023642297328394547 Centerline is valid? [True, True] Translation: X:56.17, Y:-135.19, Z:-0.76 [[-7.26543086e-01 -6.87120542e-01 -7.10616238e-04 5.61704752e+01] [ 6.87120145e-01 -7.26543432e-01 7.40915040e-04 -1.35186760e+02] [-1.02539150e-03 5.00279666e-05 9.99999473e-01 -7.55117326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.621858064 meters 0.02334170286651462 Centerline is valid? [True, True] Translation: X:56.15, Y:-135.17, Z:-0.75 [[-7.27556650e-01 -6.86047054e-01 -8.72189929e-04 5.61511562e+01] [ 6.86046455e-01 -7.27557170e-01 9.08830579e-04 -1.35167080e+02] [-1.25806858e-03 6.28629227e-05 9.99999207e-01 -7.54393886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65185806399998 meters 0.028459065693711427 Centerline is valid? [True, True] Translation: X:56.14, Y:-135.14, Z:-0.75 [[-7.28345147e-01 -6.85209891e-01 -8.67226493e-04 5.61377409e+01] [ 6.85209298e-01 -7.28345661e-01 9.03118880e-04 -1.35141811e+02] [-1.25046664e-03 6.35505973e-05 9.99999216e-01 -7.54081415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68185806399998 meters 0.02406054304726844 Centerline is valid? [True, True] Translation: X:56.11, Y:-135.13, Z:-0.75 [[-7.27704482e-01 -6.85889823e-01 -1.15673672e-03 5.61123826e+01] [ 6.85888771e-01 -7.27705397e-01 1.20393852e-03 -1.35127278e+02] [-1.66753273e-03 8.27187352e-05 9.99998606e-01 -7.54279463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71185806399998 meters 0.024518223069628742 Centerline is valid? [True, True] Translation: X:56.09, Y:-135.11, Z:-0.76 [[-7.27747865e-01 -6.85844408e-01 -7.02041748e-04 5.60948598e+01] [ 6.85844021e-01 -7.27748202e-01 7.30208854e-04 -1.35107861e+02] [-1.01171928e-03 4.99167997e-05 9.99999487e-01 -7.55000413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74185806399998 meters 0.024684697797369363 Centerline is valid? [True, True] Translation: X:56.08, Y:-135.09, Z:-0.75 [[-7.27181568e-01 -6.86444677e-01 -8.19922633e-04 5.60758505e+01] [ 6.86444150e-01 -7.27182028e-01 8.52362858e-04 -1.35088384e+02] [-1.18133295e-03 5.69914645e-05 9.99999301e-01 -7.54727357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77185806399999 meters 0.02424316650301532 Centerline is valid? [True, True] Translation: X:56.06, Y:-135.07, Z:-0.76 [[-7.26787059e-01 -6.86862628e-01 -5.48391985e-04 5.60554554e+01] [ 6.86862393e-01 -7.26787265e-01 5.69776771e-04 -1.35068836e+02] [-7.89922681e-04 3.74365536e-05 9.99999687e-01 -7.55172138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.801858064 meters 0.023723400786281258 Centerline is valid? [True, True] Translation: X:56.04, Y:-135.05, Z:-0.76 [[-7.26644721e-01 -6.87013381e-01 -2.51877770e-04 5.60360843e+01] [ 6.87013332e-01 -7.26644764e-01 2.61537734e-04 -1.35050039e+02] [-3.62705586e-04 1.70016273e-05 9.99999934e-01 -7.55556479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.831858064 meters 0.023882063523917623 Centerline is valid? [True, True] Translation: X:56.02, Y:-135.03, Z:-0.76 [[-7.26001261e-01 -6.87693355e-01 1.32009067e-04 5.60155239e+01] [ 6.87693342e-01 -7.26001273e-01 -1.36995713e-04 -1.35030786e+02] [ 1.90049792e-04 -8.67730451e-06 9.99999982e-01 -7.56902602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.861858064 meters 0.023997131856870642 Centerline is valid? [True, True] Translation: X:56.00, Y:-135.01, Z:-0.76 [[-7.26260296e-01 -6.87419691e-01 3.89011649e-04 5.59960738e+01] [ 6.87419573e-01 -7.26260400e-01 -4.03459172e-04 -1.35011085e+02] [ 5.59869536e-04 -2.56021560e-05 9.99999843e-01 -7.57072970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.891858064 meters 0.023814328642891302 Centerline is valid? [True, True] Translation: X:55.98, Y:-134.99, Z:-0.76 [[-7.26130284e-01 -6.87557058e-01 3.20204261e-04 5.59763062e+01] [ 6.87556978e-01 -7.26130355e-01 -3.31891225e-04 -1.34991947e+02] [ 4.60704187e-04 -2.08375957e-05 9.99999894e-01 -7.57406915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.921858064 meters 0.024693165298395176 Centerline is valid? [True, True] Translation: X:55.96, Y:-134.97, Z:-0.76 [[-7.27101988e-01 -6.86529459e-01 2.78217782e-05 5.59593807e+01] [ 6.86529458e-01 -7.27101989e-01 -2.88199071e-05 -1.34970714e+02] [ 4.00149856e-05 -1.85454139e-06 9.99999999e-01 -7.56243077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.951858064 meters 0.025507465191907323 Centerline is valid? [True, True] Translation: X:55.94, Y:-134.95, Z:-0.76 [[-7.27641583e-01 -6.85957515e-01 -1.19844806e-04 5.59417567e+01] [ 6.85957503e-01 -7.27641593e-01 1.24076771e-04 -1.34950427e+02] [-1.72315458e-04 8.07497426e-06 9.99999985e-01 -7.55517435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.981858064 meters 0.026326734296082642 Centerline is valid? [True, True] Translation: X:55.92, Y:-134.93, Z:-0.76 [[-7.27578936e-01 -6.86023883e-01 -3.52119110e-04 5.59241273e+01] [ 6.86023787e-01 -7.27579021e-01 3.64320386e-04 -1.34930947e+02] [-5.06126963e-04 2.35097538e-05 9.99999872e-01 -7.55602949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.011858064 meters 0.02472502087064019 Centerline is valid? [True, True] Translation: X:55.90, Y:-134.91, Z:-0.76 [[-7.26926655e-01 -6.86715107e-01 2.39882397e-05 5.59029092e+01] [ 6.86715107e-01 -7.26926655e-01 -2.48053641e-05 -1.34912074e+02] [ 3.44719092e-05 -1.55859372e-06 9.99999999e-01 -7.56062343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.041858064 meters 0.026540504376694033 Centerline is valid? [True, True] Translation: X:55.89, Y:-134.89, Z:-0.76 [[-7.26689267e-01 -6.86966308e-01 2.08091210e-05 5.58868593e+01] [ 6.86966308e-01 -7.26689268e-01 -2.15040589e-05 -1.34891413e+02] [ 2.98943289e-05 -1.33160382e-06 1.00000000e+00 -7.56077278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.071858064 meters 0.02442262156747257 Centerline is valid? [True, True] Translation: X:55.86, Y:-134.87, Z:-0.76 [[-7.26138832e-01 -6.87548104e-01 1.73606215e-05 5.58647859e+01] [ 6.87548104e-01 -7.26138832e-01 -1.79307432e-05 -1.34873987e+02] [ 2.49344700e-05 -1.08394656e-06 1.00000000e+00 -7.56333606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.101858064 meters 0.020895663437925864 Centerline is valid? [True, True] Translation: X:55.84, Y:-134.86, Z:-0.76 [[-7.24258513e-01 -6.89528539e-01 -3.00001840e-05 5.58400403e+01] [ 6.89528538e-01 -7.24258513e-01 3.09701245e-05 -1.34858203e+02] [-4.30826733e-05 1.74439328e-06 9.99999999e-01 -7.56731324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.131858064 meters 0.02332698927893947 Centerline is valid? [True, True] Translation: X:55.82, Y:-134.84, Z:-0.76 [[-7.23451136e-01 -6.90375580e-01 1.09213662e-04 5.58241235e+01] [ 6.90375571e-01 -7.23451144e-01 -1.12678271e-04 -1.34835344e+02] [ 1.56801076e-04 -6.11877861e-06 9.99999988e-01 -7.56577490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.161858064 meters 0.023837569856679827 Centerline is valid? [True, True] Translation: X:55.81, Y:-134.81, Z:-0.76 [[-7.22790627e-01 -6.91067078e-01 5.28348882e-05 5.58065187e+01] [ 6.91067076e-01 -7.22790629e-01 -5.44822646e-05 -1.34814581e+02] [ 7.58394616e-05 -2.86681848e-06 9.99999997e-01 -7.56138431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.191858064 meters 0.02072917116240451 Centerline is valid? [True, True] Translation: X:55.78, Y:-134.80, Z:-0.76 [[-7.20505160e-01 -6.93449556e-01 -1.66718318e-04 5.57838434e+01] [ 6.93449535e-01 -7.20505179e-01 1.71816103e-04 -1.34798169e+02] [-2.39267211e-04 8.18364886e-06 9.99999971e-01 -7.56016772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.221858064 meters 0.020105710507777395 Centerline is valid? [True, True] Translation: X:55.76, Y:-134.78, Z:-0.76 [[-7.19178269e-01 -6.94825602e-01 1.69474707e-05 5.57630890e+01] [ 6.94825602e-01 -7.19178269e-01 -1.74553251e-05 -1.34779026e+02] [ 2.43166595e-05 -7.77953943e-07 1.00000000e+00 -7.56102973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.251858064 meters 0.019415126069491938 Centerline is valid? [True, True] Translation: X:55.74, Y:-134.76, Z:-0.76 [[-7.18305901e-01 -6.95727413e-01 -1.57586205e-05 5.57429432e+01] [ 6.95727412e-01 -7.18305901e-01 1.62231414e-05 -1.34759816e+02] [-2.26063943e-05 6.89473935e-07 1.00000000e+00 -7.56736777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.281858064 meters 0.019036383965868018 Centerline is valid? [True, True] Translation: X:55.72, Y:-134.74, Z:-0.76 [[-7.16279274e-01 -6.97813690e-01 2.33424818e-04 5.57239470e+01] [ 6.97813649e-01 -7.16279312e-01 -2.40172531e-04 -1.34740786e+02] [ 3.34793048e-04 -9.14358217e-06 9.99999944e-01 -7.56993219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.311858064 meters 0.01850008757782063 Centerline is valid? [True, True] Translation: X:55.70, Y:-134.72, Z:-0.76 [[-7.15213250e-01 -6.98906266e-01 -1.97447133e-04 5.57029719e+01] [ 6.98906236e-01 -7.15213277e-01 2.03044480e-04 -1.34721591e+02] [-2.83125870e-04 7.22306962e-06 9.99999960e-01 -7.56720451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.341858064 meters 0.017981224317590354 Centerline is valid? [True, True] Translation: X:55.68, Y:-134.70, Z:-0.76 [[-7.14202230e-01 -6.99939215e-01 -5.19900164e-04 5.56824128e+01] [ 6.99939011e-01 -7.14202419e-01 5.34342966e-04 -1.34702556e+02] [-7.45321551e-04 1.77305312e-05 9.99999722e-01 -7.56801683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.371858064 meters 0.017895536794096025 Centerline is valid? [True, True] Translation: X:55.66, Y:-134.68, Z:-0.76 [[-7.13900581e-01 -7.00246892e-01 -5.00295836e-04 5.56640136e+01] [ 7.00246704e-01 -7.13900756e-01 5.13876923e-04 -1.34682789e+02] [-7.17002294e-04 1.65265241e-05 9.99999743e-01 -7.56623912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40185806399998 meters 0.017252992470432563 Centerline is valid? [True, True] Translation: X:55.64, Y:-134.66, Z:-0.76 [[-7.12474652e-01 -7.01697103e-01 -1.02262216e-03 5.56430875e+01] [ 7.01696318e-01 -7.12475385e-01 1.04980026e-03 -1.34663918e+02] [-1.46523492e-03 3.03858718e-05 9.99998926e-01 -7.56351395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43185806399998 meters 0.017586847392530996 Centerline is valid? [True, True] Translation: X:55.63, Y:-134.64, Z:-0.76 [[-7.12018408e-01 -7.02160300e-01 -8.36119335e-04 5.56255321e+01] [ 7.02159777e-01 -7.12018899e-01 8.57780181e-04 -1.34644811e+02] [-1.19763196e-03 2.36659137e-05 9.99999283e-01 -7.56521619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46185806399998 meters 0.017472961177354304 Centerline is valid? [True, True] Translation: X:55.61, Y:-134.63, Z:-0.76 [[-7.11821367e-01 -7.02360415e-01 -4.34372949e-04 5.56060531e+01] [ 7.02360274e-01 -7.11821500e-01 4.45372493e-04 -1.34625033e+02] [-6.22008013e-04 1.19393537e-05 9.99999807e-01 -7.57044566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49185806399998 meters 0.016933708526583085 Centerline is valid? [True, True] Translation: X:55.59, Y:-134.61, Z:-0.76 [[-7.10619407e-01 -7.03576604e-01 -1.44099075e-04 5.55852714e+01] [ 7.03576589e-01 -7.10619421e-01 1.47663978e-04 -1.34606630e+02] [-2.06292522e-04 3.54815237e-06 9.99999979e-01 -7.57706078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52185806399999 meters 0.01694258659128759 Centerline is valid? [True, True] Translation: X:55.57, Y:-134.59, Z:-0.76 [[-7.09925728e-01 -7.04276551e-01 2.11489481e-05 5.55662718e+01] [ 7.04276551e-01 -7.09925728e-01 -2.16575355e-05 -1.34587911e+02] [ 3.02670769e-05 -4.80533400e-07 1.00000000e+00 -7.58097924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.551858064 meters 0.01656978857497492 Centerline is valid? [True, True] Translation: X:55.55, Y:-134.57, Z:-0.76 [[-7.09664948e-01 -7.04539205e-01 4.12264049e-04 5.55459039e+01] [ 7.04539079e-01 -7.09665067e-01 -4.21947747e-04 -1.34568978e+02] [ 5.89848124e-04 -8.98539215e-06 9.99999826e-01 -7.58037529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.581858064 meters 0.016200000304968005 Centerline is valid? [True, True] Translation: X:55.53, Y:-134.55, Z:-0.76 [[-7.09172539e-01 -7.05034970e-01 3.85241151e-05 5.55253040e+01] [ 7.05034969e-01 -7.09172540e-01 -3.94061367e-05 -1.34550230e+02] [ 5.51029490e-05 -7.84901644e-07 9.99999999e-01 -7.57803266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.611858064 meters 0.016623478324260404 Centerline is valid? [True, True] Translation: X:55.51, Y:-134.53, Z:-0.76 [[-7.09323516e-01 -7.04882994e-01 3.38496576e-04 5.55067748e+01] [ 7.04882909e-01 -7.09323596e-01 -3.46045583e-04 -1.34530071e+02] [ 4.84025255e-04 -6.85781822e-06 9.99999883e-01 -7.57962057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.641858064 meters 0.016616582220120815 Centerline is valid? [True, True] Translation: X:55.49, Y:-134.51, Z:-0.76 [[-7.09296253e-01 -7.04910462e-01 2.55288771e-04 5.54874409e+01] [ 7.04910414e-01 -7.09296299e-01 -2.60824855e-04 -1.34511401e+02] [ 3.64933549e-04 -5.04637899e-06 9.99999933e-01 -7.58397114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.671858064 meters 0.016236355309196794 Centerline is valid? [True, True] Translation: X:55.47, Y:-134.49, Z:-0.76 [[-7.09064066e-01 -7.05143935e-01 4.25393666e-04 5.54671445e+01] [ 7.05143801e-01 -7.09064194e-01 -4.34347605e-04 -1.34493519e+02] [ 6.07908996e-04 -8.01657221e-06 9.99999815e-01 -7.59123537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.701858064 meters 0.016130943917819114 Centerline is valid? [True, True] Translation: X:55.45, Y:-134.47, Z:-0.76 [[-7.08413594e-01 -7.05796689e-01 1.10177008e-03 5.54477092e+01] [ 7.05795793e-01 -7.08414451e-01 -1.12426149e-03 -1.34473858e+02] [ 1.57400988e-03 -1.88174354e-05 9.99998761e-01 -7.59152488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.731858064 meters 0.016066446001302543 Centerline is valid? [True, True] Translation: X:55.43, Y:-134.45, Z:-0.76 [[-7.08468974e-01 -7.05741146e-01 1.07142176e-03 5.54282438e+01] [ 7.05740300e-01 -7.08469784e-01 -1.09267963e-03 -1.34454138e+02] [ 1.53021891e-03 -1.79840999e-05 9.99998829e-01 -7.59100268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.761858064 meters 0.01613039818744722 Centerline is valid? [True, True] Translation: X:55.41, Y:-134.44, Z:-0.76 [[-7.08400582e-01 -7.05809097e-01 1.46062485e-03 5.54101226e+01] [ 7.05807527e-01 -7.08402088e-01 -1.48887760e-03 -1.34435823e+02] [ 2.08557305e-03 -2.38017479e-05 9.99997825e-01 -7.59053841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.791858064 meters 0.016342827987579255 Centerline is valid? [True, True] Translation: X:55.39, Y:-134.42, Z:-0.76 [[-7.09293582e-01 -7.04910801e-01 1.83766943e-03 5.53927756e+01] [ 7.04908316e-01 -7.09295962e-01 -1.87199250e-03 -1.34416272e+02] [ 2.62303924e-03 -3.24038069e-05 9.99996559e-01 -7.59417071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.821858064 meters 0.01635865586503378 Centerline is valid? [True, True] Translation: X:55.37, Y:-134.40, Z:-0.76 [[-7.09549572e-01 -7.04653599e-01 1.64646981e-03 5.53722565e+01] [ 7.04651606e-01 -7.09551481e-01 -1.67619743e-03 -1.34398282e+02] [ 2.34939364e-03 -2.91575754e-05 9.99997240e-01 -7.59501358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.851858064 meters 0.016362873570090863 Centerline is valid? [True, True] Translation: X:55.35, Y:-134.38, Z:-0.76 [[-7.10584039e-01 -7.03609654e-01 1.94401780e-03 5.53538099e+01] [ 7.03606875e-01 -7.10586697e-01 -1.97787409e-03 -1.34378585e+02] [ 2.77304449e-03 -3.76214684e-05 9.99996154e-01 -7.59711419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.881858064 meters 0.01639658976984576 Centerline is valid? [True, True] Translation: X:55.33, Y:-134.36, Z:-0.76 [[-7.09876453e-01 -7.04324590e-01 1.51421640e-03 5.53346101e+01] [ 7.04322908e-01 -7.09878067e-01 -1.53983901e-03 -1.34360458e+02] [ 2.15945550e-03 -2.65981540e-05 9.99997668e-01 -7.59339039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.911858064 meters 0.0164475070956639 Centerline is valid? [True, True] Translation: X:55.32, Y:-134.34, Z:-0.76 [[-7.10558646e-01 -7.03636171e-01 1.59655755e-03 5.53165635e+01] [ 7.03634301e-01 -7.10560439e-01 -1.62258748e-03 -1.34340599e+02] [ 2.27616187e-03 -2.95509101e-05 9.99997409e-01 -7.58749196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.941858064 meters 0.016261120576158517 Centerline is valid? [True, True] Translation: X:55.30, Y:-134.32, Z:-0.76 [[-7.09488085e-01 -7.04716614e-01 1.07317407e-03 5.52972618e+01] [ 7.04715771e-01 -7.09488896e-01 -1.08997564e-03 -1.34323324e+02] [ 1.52952903e-03 -1.70420344e-05 9.99998830e-01 -7.58124942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.971858064 meters 0.016291221765971083 Centerline is valid? [True, True] Translation: X:55.28, Y:-134.30, Z:-0.76 [[-7.09853555e-01 -7.04347867e-01 1.41851676e-03 5.52785345e+01] [ 7.04346396e-01 -7.09854972e-01 -1.43986180e-03 -1.34303496e+02] [ 2.02110477e-03 -2.29638477e-05 9.99997957e-01 -7.58323588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.001858064 meters 0.015948063939263582 Centerline is valid? [True, True] Translation: X:55.26, Y:-134.28, Z:-0.76 [[-7.09274773e-01 -7.04928801e-01 2.16366977e-03 5.52582205e+01] [ 7.04925385e-01 -7.09278072e-01 -2.19484762e-03 -1.34284729e+02] [ 3.08185482e-03 -3.15243020e-05 9.99995251e-01 -7.58151292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.031858064 meters 0.01579611365588609 Centerline is valid? [True, True] Translation: X:55.24, Y:-134.27, Z:-0.76 [[-7.08221466e-01 -7.05986772e-01 2.24341631e-03 5.52375464e+01] [ 7.05983108e-01 -7.08225019e-01 -2.27446579e-03 -1.34266005e+02] [ 3.19458632e-03 -2.70114719e-05 9.99994897e-01 -7.58659734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.061858064 meters 0.015795907310679785 Centerline is valid? [True, True] Translation: X:55.22, Y:-134.25, Z:-0.76 [[-7.07293221e-01 -7.06915998e-01 2.46390244e-03 5.52180209e+01] [ 7.06911591e-01 -7.07297513e-01 -2.49634467e-03 -1.34248046e+02] [ 3.50741805e-03 -2.38864719e-05 9.99993849e-01 -7.58940204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.091858064 meters 0.01567781917828527 Centerline is valid? [True, True] Translation: X:55.20, Y:-134.23, Z:-0.76 [[-7.05679665e-01 -7.08526364e-01 2.56923337e-03 5.51975653e+01] [ 7.08521589e-01 -7.05684342e-01 -2.60143374e-03 -1.34230083e+02] [ 3.65625215e-03 -1.54215750e-05 9.99993316e-01 -7.58688099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.121858064 meters 0.01568800174007297 Centerline is valid? [True, True] Translation: X:55.18, Y:-134.21, Z:-0.76 [[-7.04737796e-01 -7.09463704e-01 2.42704889e-03 5.51768661e+01] [ 7.09459453e-01 -7.04741975e-01 -2.45606424e-03 -1.34210955e+02] [ 3.45293166e-03 -8.98852178e-06 9.99994039e-01 -7.58343624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15185806399998 meters 0.015605748679326998 Centerline is valid? [True, True] Translation: X:55.16, Y:-134.19, Z:-0.76 [[-7.03273056e-01 -7.10914725e-01 2.69490955e-03 5.51566875e+01] [ 7.10909499e-01 -7.03278219e-01 -2.72599279e-03 -1.34192287e+02] [ 3.83321961e-03 -1.28048529e-06 9.99992653e-01 -7.57700572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18185806399998 meters 0.015701740132707198 Centerline is valid? [True, True] Translation: X:55.14, Y:-134.17, Z:-0.76 [[-7.02525512e-01 -7.11653221e-01 2.75639105e-03 5.51365481e+01] [ 7.11647766e-01 -7.02530919e-01 -2.78646277e-03 -1.34173473e+02] [ 3.91944515e-03 4.01834504e-06 9.99992319e-01 -7.56807556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21185806399998 meters 0.01585454229317385 Centerline is valid? [True, True] Translation: X:55.12, Y:-134.15, Z:-0.76 [[-7.02007118e-01 -7.12163519e-01 3.02153171e-03 5.51158217e+01] [ 7.12156976e-01 -7.02013620e-01 -3.05277854e-03 -1.34154309e+02] [ 4.29523392e-03 8.73262328e-06 9.99990775e-01 -7.57107295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24185806399998 meters 0.01585454229317385 Centerline is valid? [True, True] Translation: X:55.10, Y:-134.13, Z:-0.76 [[-7.02207521e-01 -7.11965914e-01 3.02239077e-03 5.50963603e+01] [ 7.11959373e-01 -7.02214025e-01 -3.05192803e-03 -1.34134745e+02] [ 4.29523392e-03 8.73262362e-06 9.99990775e-01 -7.57107341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27185806399999 meters 0.015841332825364863 Centerline is valid? [True, True] Translation: X:55.08, Y:-134.12, Z:-0.76 [[-7.02548626e-01 -7.11626509e-01 3.62486956e-03 5.50761424e+01] [ 7.11617106e-01 -7.02557977e-01 -3.65822771e-03 -1.34115521e+02] [ 5.14997284e-03 9.43633436e-06 9.99986739e-01 -7.57890788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.301858064 meters 0.015874018277498254 Centerline is valid? [True, True] Translation: X:55.06, Y:-134.10, Z:-0.76 [[-7.03210935e-01 -7.10969987e-01 4.00726489e-03 5.50562819e+01] [ 7.10958498e-01 -7.03222352e-01 -4.04186492e-03 -1.34095583e+02] [ 5.69164290e-03 6.71541724e-06 9.99983802e-01 -7.57725245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.331858064 meters 0.015853291961159945 Centerline is valid? [True, True] Translation: X:55.04, Y:-134.08, Z:-0.76 [[-7.03464212e-01 -7.10718740e-01 4.11997096e-03 5.50366042e+01] [ 7.10706608e-01 -7.03476277e-01 -4.15278842e-03 -1.34077445e+02] [ 5.84976639e-03 6.75254537e-06 9.99982890e-01 -7.57276394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.361858064 meters 0.01590147190865483 Centerline is valid? [True, True] Translation: X:55.02, Y:-134.06, Z:-0.76 [[-7.04129734e-01 -7.10056144e-01 4.64643337e-03 5.50175368e+01] [ 7.10040718e-01 -7.04145065e-01 -4.68051173e-03 -1.34058360e+02] [ 6.59518924e-03 3.46940843e-06 9.99978252e-01 -7.57296016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.391858064 meters 0.01594720600808242 Centerline is valid? [True, True] Translation: X:55.00, Y:-134.04, Z:-0.76 [[-7.04190355e-01 -7.09994800e-01 4.82981805e-03 5.49976461e+01] [ 7.09978151e-01 -7.04206918e-01 -4.86221252e-03 -1.34039842e+02] [ 6.85333690e-03 5.14212543e-06 9.99976516e-01 -7.57327722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.421858064 meters 0.015998638701994174 Centerline is valid? [True, True] Translation: X:54.98, Y:-134.02, Z:-0.76 [[-7.04754158e-01 -7.09432223e-01 5.24393511e-03 5.49788675e+01] [ 7.09412605e-01 -7.04773667e-01 -5.27577663e-03 -1.34019880e+02] [ 7.43859332e-03 1.98814978e-06 9.99972333e-01 -7.56911420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.451858064 meters 0.01596235692059973 Centerline is valid? [True, True] Translation: X:54.96, Y:-134.00, Z:-0.76 [[-7.05120140e-01 -7.09063633e-01 5.86115931e-03 5.49600837e+01] [ 7.09039146e-01 -7.05144499e-01 -5.89285098e-03 -1.34001899e+02] [ 8.31137057e-03 6.23482830e-07 9.99965460e-01 -7.57231228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.481858064 meters 0.01599925725674902 Centerline is valid? [True, True] Translation: X:54.94, Y:-133.98, Z:-0.76 [[-7.05771106e-01 -7.08409109e-01 6.60909086e-03 5.49407935e+01] [ 7.08377983e-01 -7.05802051e-01 -6.64070529e-03 -1.33983004e+02] [ 9.36904600e-03 -5.08346622e-06 9.99956110e-01 -7.57813988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.511858064 meters 0.016018051160208335 Centerline is valid? [True, True] Translation: X:54.92, Y:-133.96, Z:-0.76 [[-7.05490177e-01 -7.08682342e-01 7.27649638e-03 5.49206079e+01] [ 7.08644674e-01 -7.05527702e-01 -7.30678043e-03 -1.33964993e+02] [ 1.03119560e-02 1.58858008e-06 9.99946830e-01 -7.57757369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.541858064 meters 0.01605931129457409 Centerline is valid? [True, True] Translation: X:54.90, Y:-133.95, Z:-0.76 [[-7.05872526e-01 -7.08294602e-01 7.92050925e-03 5.49014056e+01] [ 7.08250001e-01 -7.05916962e-01 -7.94857791e-03 -1.33945370e+02] [ 1.12211566e-02 -9.82081420e-07 9.99937041e-01 -7.57223396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.571858064 meters 0.01614288691376573 Centerline is valid? [True, True] Translation: X:54.88, Y:-133.93, Z:-0.76 [[-7.06010105e-01 -7.08149960e-01 8.56539785e-03 5.48820560e+01] [ 7.08097853e-01 -7.06062061e-01 -8.59046487e-03 -1.33926521e+02] [ 1.21310398e-02 1.84822826e-07 9.99926416e-01 -7.57003793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.601858064 meters 0.01627648654339205 Centerline is valid? [True, True] Translation: X:54.86, Y:-133.91, Z:-0.76 [[-7.06569460e-01 -7.07584471e-01 9.15498664e-03 5.48627484e+01] [ 7.07524969e-01 -7.06628768e-01 -9.17617129e-03 -1.33907582e+02] [ 1.29620932e-02 -6.22075347e-06 9.99915989e-01 -7.57030678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.631858064 meters 0.016493178549856394 Centerline is valid? [True, True] Translation: X:54.84, Y:-133.89, Z:-0.76 [[-7.07199295e-01 -7.06948276e-01 9.65883027e-03 5.48431884e+01] [ 7.06882069e-01 -7.07265251e-01 -9.67498906e-03 -1.33889352e+02] [ 1.36710718e-02 -1.44915163e-05 9.99906546e-01 -7.56851633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.661858064 meters 0.016597481223531125 Centerline is valid? [True, True] Translation: X:54.82, Y:-133.87, Z:-0.76 [[-7.07816490e-01 -7.06329836e-01 9.69432544e-03 5.48241810e+01] [ 7.06263163e-01 -7.07882874e-01 -9.70473333e-03 -1.33870390e+02] [ 1.37171896e-02 -2.24253356e-05 9.99905915e-01 -7.56329166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.691858064 meters 0.016575716242639062 Centerline is valid? [True, True] Translation: X:54.81, Y:-133.85, Z:-0.76 [[-7.08240286e-01 -7.05901307e-01 9.95201947e-03 5.48051625e+01] [ 7.05831088e-01 -7.08310203e-01 -9.95645905e-03 -1.33852329e+02] [ 1.40773944e-02 -2.71206767e-05 9.99900908e-01 -7.56122865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.721858064 meters 0.01686885464089431 Centerline is valid? [True, True] Translation: X:54.79, Y:-133.83, Z:-0.76 [[-7.08484767e-01 -7.05645242e-01 1.06830470e-02 5.47863567e+01] [ 7.05564373e-01 -7.08565305e-01 -1.06829075e-02 -1.33834592e+02] [ 1.51079793e-02 -3.10999252e-05 9.99885868e-01 -7.55039565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.751858064 meters 0.016938880490232972 Centerline is valid? [True, True] Translation: X:54.26, Y:-134.36, Z:0.24 [[-7.53912170e-01 6.56866550e-01 1.19488602e-02 5.42585999e+01] [ 6.56784774e-01 7.54006853e-01 -1.03646439e-02 -1.34360580e+02] [-1.58177104e-02 3.37983420e-05 -9.99874892e-01 2.44639941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.781858064 meters 0.016799387209908798 Centerline is valid? [True, True] Translation: X:54.28, Y:-134.34, Z:0.24 [[-7.98928157e-01 6.01291988e-01 1.27179244e-02 5.42813020e+01] [ 6.01216272e-01 7.99029377e-01 -9.54199287e-03 -1.34340786e+02] [-1.58995191e-02 2.28563111e-05 -9.99873594e-01 2.43047646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.811858064 meters 0.016967716412038283 Centerline is valid? [True, True] Translation: X:54.30, Y:-134.32, Z:0.24 [[-8.39403691e-01 5.43325183e-01 1.41134456e-02 5.42969703e+01] [ 5.43248911e-01 8.39522331e-01 -9.10360198e-03 -1.34317326e+02] [-1.67947689e-02 2.55168542e-05 -9.99858958e-01 2.43509286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.841858064 meters 0.017198930427744313 Centerline is valid? [True, True] Translation: X:54.32, Y:-134.30, Z:0.24 [[-8.75065524e-01 4.83708513e-01 1.69234527e-02 5.43162597e+01] [ 4.83619303e-01 8.75229154e-01 -9.28970609e-03 -1.34296960e+02] [-1.93054091e-02 5.54068840e-05 -9.99813632e-01 2.42914088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.871858064 meters 0.01728000232493622 Centerline is valid? [True, True] Translation: X:54.33, Y:-134.27, Z:0.24 [[-9.06399911e-01 4.22014174e-01 1.85266878e-02 5.43312364e+01] [ 4.21928117e-01 9.06589228e-01 -8.52262025e-03 -1.34274786e+02] [-2.03927621e-02 9.20282451e-05 -9.99792042e-01 2.42234281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90185806399998 meters 0.017827075279630112 Centerline is valid? [True, True] Translation: X:54.64, Y:-133.60, Z:-0.75 [[-8.80561345e-01 -4.73589810e-01 1.80113737e-02 5.46423015e+01] [ 4.73488766e-01 -8.80745528e-01 -9.78283707e-03 -1.33601095e+02] [ 2.04964887e-02 -8.62050921e-05 9.99789921e-01 -7.54969041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93185806399998 meters 0.017711735737910277 Centerline is valid? [True, True] Translation: X:54.29, Y:-134.26, Z:0.24 [[-9.07656883e-01 4.19337375e-01 1.77524204e-02 5.42913873e+01] [ 4.19259395e-01 9.07830466e-01 -8.08730409e-03 -1.34256488e+02] [-1.95074970e-02 1.02371812e-04 -9.99809705e-01 2.42073733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96185806399998 meters 0.017833012819383272 Centerline is valid? [True, True] Translation: X:54.31, Y:-134.23, Z:0.24 [[-9.35008048e-01 3.54194890e-01 1.74908521e-02 5.43054078e+01] [ 3.54134985e-01 9.35171626e-01 -6.51485231e-03 -1.34232321e+02] [-1.86644760e-02 1.02683290e-04 -9.99825798e-01 2.41542081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99185806399998 meters 0.017982063245695065 Centerline is valid? [True, True] Translation: X:54.57, Y:-133.54, Z:-0.75 [[-9.13663365e-01 -4.06124681e-01 1.67928296e-02 5.45681163e+01] [ 4.06053765e-01 -9.13817668e-01 -7.59011603e-03 -1.33540829e+02] [ 1.84281178e-02 -1.16019294e-04 9.99830181e-01 -7.51910110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02185806399999 meters 0.01784134327340441 Centerline is valid? [True, True] Translation: X:54.25, Y:-134.21, Z:0.24 [[-9.36068583e-01 3.51347931e-01 1.81725112e-02 5.42523577e+01] [ 3.51284237e-01 9.36244956e-01 -6.69089987e-03 -1.34214710e+02] [-1.93647558e-02 1.20575582e-04 -9.99812478e-01 2.40241267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.051858064 meters 0.01800874360714531 Centerline is valid? [True, True] Translation: X:54.27, Y:-134.19, Z:0.24 [[-9.58848348e-01 2.83363763e-01 1.77432591e-02 5.42692148e+01] [ 2.83317210e-01 9.59012496e-01 -5.13720662e-03 -1.34192059e+02] [-1.84717054e-02 1.01168593e-04 -9.99829378e-01 2.39268904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.081858064 meters 0.0180385861997868 Centerline is valid? [True, True] Translation: X:54.48, Y:-133.48, Z:-0.75 [[-9.41170192e-01 -3.37468742e-01 1.77064537e-02 5.44819213e+01] [ 3.37407438e-01 -9.41336731e-01 -6.43264358e-03 -1.33477887e+02] [ 1.88385514e-02 -7.99232079e-05 9.99822536e-01 -7.49290179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.111858064 meters 0.018079359883695825 Centerline is valid? [True, True] Translation: X:54.22, Y:-134.18, Z:0.24 [[-9.59757201e-01 2.80232078e-01 1.83329668e-02 5.42217007e+01] [ 2.80183272e-01 9.59932273e-01 -5.23118527e-03 -1.34182227e+02] [-1.90643524e-02 1.15922878e-04 -9.99818252e-01 2.38177011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.141858064 meters 0.018167080289791318 Centerline is valid? [True, True] Translation: X:54.23, Y:-134.16, Z:0.24 [[-9.77372683e-01 2.10750711e-01 1.80769609e-02 5.42325890e+01] [ 2.10716553e-01 9.77539835e-01 -3.79552560e-03 -1.34156354e+02] [-1.84708591e-02 9.94718634e-05 -9.99829394e-01 2.38786968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.171858064 meters 0.01845731338611453 Centerline is valid? [True, True] Translation: X:54.24, Y:-134.13, Z:0.24 [[-9.89870166e-01 1.40788100e-01 1.83239188e-02 5.42360573e+01] [ 1.40765828e-01 9.90039747e-01 -2.50607895e-03 -1.34129627e+02] [-1.84942341e-02 9.86888299e-05 -9.99828962e-01 2.40561891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.201858064 meters 0.018060012176060663 Centerline is valid? [True, True] Translation: X:54.34, Y:-133.39, Z:-0.75 [[-9.79736744e-01 -1.99573317e-01 1.69234694e-02 5.43401422e+01] [ 1.99540510e-01 -9.79882882e-01 -3.62259981e-03 -1.33387005e+02] [ 1.73059923e-02 -1.72276416e-04 9.99850225e-01 -7.48236142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.231858064 meters 0.01808300156420882 Centerline is valid? [True, True] Translation: X:54.17, Y:-134.12, Z:0.24 [[-9.91066788e-01 1.32183182e-01 1.77264873e-02 5.41713224e+01] [ 1.32162392e-01 9.91225305e-01 -2.34440664e-03 -1.34119463e+02] [-1.78808339e-02 1.93113953e-05 -9.99840125e-01 2.39762515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.261858064 meters 0.018273441520042746 Centerline is valid? [True, True] Translation: X:54.27, Y:-133.38, Z:-0.75 [[-9.79967446e-01 -1.98391432e-01 1.74540706e-02 5.42673135e+01] [ 1.98359541e-01 -9.80122869e-01 -3.55717505e-03 -1.33376619e+02] [ 1.78128468e-02 -2.37343187e-05 9.99841338e-01 -7.50642738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.291858064 meters 0.01820972775723213 Centerline is valid? [True, True] Translation: X:54.11, Y:-134.11, Z:0.24 [[-9.91925972e-01 1.25537725e-01 1.79762420e-02 5.41105046e+01] [ 1.25516760e-01 9.92088846e-01 -2.29430278e-03 -1.34111744e+02] [-1.81220508e-02 -1.94588568e-05 -9.99835782e-01 2.40894566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.321858064 meters 0.01860538821018637 Centerline is valid? [True, True] Translation: X:54.21, Y:-133.37, Z:-0.75 [[-9.80306407e-01 -1.96756269e-01 1.69209574e-02 5.42051080e+01] [ 1.96726283e-01 -9.80452431e-01 -3.43520137e-03 -1.33370078e+02] [ 1.72660912e-02 -3.87528620e-05 9.99850929e-01 -7.52566197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.351858064 meters 0.018651824490974113 Centerline is valid? [True, True] Translation: X:54.04, Y:-134.10, Z:0.24 [[-9.92704517e-01 1.19288216e-01 1.75517623e-02 5.40442440e+01] [ 1.19268698e-01 9.92859667e-01 -2.15839257e-03 -1.34102386e+02] [-1.76839077e-02 -4.92702179e-05 -9.99843626e-01 2.43124702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.381858064 meters 0.018675267164924278 Centerline is valid? [True, True] Translation: X:54.05, Y:-134.08, Z:0.24 [[-9.98523228e-01 5.11509232e-02 1.83015287e-02 5.40465650e+01] [ 5.11422999e-02 9.98690935e-01 -9.39206964e-04 -1.34078236e+02] [-1.83256121e-02 -1.83770002e-06 -9.99832072e-01 2.44480022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.411858064 meters 0.01853471906522288 Centerline is valid? [True, True] Translation: X:54.09, Y:-133.32, Z:-0.75 [[-9.92976157e-01 -1.17225739e-01 1.60149248e-02 5.40882305e+01] [ 1.17208252e-01 -9.93105285e-01 -2.02941980e-03 -1.33322854e+02] [ 1.61424067e-02 -1.38084133e-04 9.99869693e-01 -7.52203033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.441858064 meters 0.018554543538775888 Centerline is valid? [True, True] Translation: X:53.97, Y:-134.08, Z:0.24 [[-9.98694748e-01 4.89090208e-02 1.47210100e-02 5.39680923e+01] [ 4.89043831e-02 9.98803237e-01 -6.75069215e-04 -1.34077644e+02] [-1.47364094e-02 4.57338346e-05 -9.99891412e-01 2.41580930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.471858064 meters 0.018575059153691162 Centerline is valid? [True, True] Translation: X:53.97, Y:-134.05, Z:0.24 [[-9.99673223e-01 -2.09856672e-02 1.45962328e-02 5.39667407e+01] [-2.09825079e-02 9.99779775e-01 3.69570426e-04 -1.34051441e+02] [-1.46007740e-02 6.31840888e-05 -9.99893401e-01 2.40268822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.501858064 meters 0.018812094806230077 Centerline is valid? [True, True] Translation: X:53.97, Y:-134.03, Z:0.24 [[-9.95751925e-01 -9.09836876e-02 1.41446719e-02 5.39658238e+01] [-9.09733914e-02 9.95852380e-01 1.37098749e-03 -1.34025302e+02] [-1.42107427e-02 7.83746598e-05 -9.99899019e-01 2.40725916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.531858064 meters 0.019068039469159425 Centerline is valid? [True, True] Translation: X:53.95, Y:-134.00, Z:0.24 [[-9.87516119e-01 -1.56898181e-01 1.39598135e-02 5.39508979e+01] [-1.56880329e-01 9.87614772e-01 2.37167234e-03 -1.34003169e+02] [-1.41590291e-02 1.52044536e-04 -9.99899744e-01 2.39424908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.561858064 meters 0.019757792089485426 Centerline is valid? [True, True] Translation: X:53.92, Y:-133.98, Z:0.24 [[-9.73991054e-01 -2.26213056e-01 1.30030422e-02 5.39246340e+01] [-2.26190608e-01 9.74077833e-01 3.19112297e-03 -1.33982211e+02] [-1.33878489e-02 1.66959197e-04 -9.99910365e-01 2.40177395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.591858064 meters 0.01958913968206606 Centerline is valid? [True, True] Translation: X:53.87, Y:-133.97, Z:0.24 [[-9.55570750e-01 -2.94505984e-01 1.22786944e-02 5.38703611e+01] [-2.94479003e-01 9.55649615e-01 3.99134227e-03 -1.33969388e+02] [-1.29096037e-02 1.98192250e-04 -9.99916648e-01 2.38981889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.621858064 meters 0.01985652683700438 Centerline is valid? [True, True] Translation: X:53.81, Y:-133.96, Z:0.24 [[-9.32002989e-01 -3.62304039e-01 1.03059321e-02 5.38072974e+01] [-3.62279569e-01 9.32059947e-01 4.21529053e-03 -1.33962964e+02] [-1.11329633e-02 1.95034742e-04 -9.99938008e-01 2.37804626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65185806399998 meters 0.020369786252549444 Centerline is valid? [True, True] Translation: X:53.73, Y:-133.97, Z:0.24 [[-9.04032724e-01 -4.27337360e-01 1.03737459e-02 5.37283161e+01] [-4.27306100e-01 9.04092208e-01 5.17459051e-03 -1.33971245e+02] [-1.15901187e-02 2.45234233e-04 -9.99932802e-01 2.37984923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68185806399998 meters 0.021178633878510503 Centerline is valid? [True, True] Translation: X:53.65, Y:-133.98, Z:0.24 [[-8.70444895e-01 -4.92150108e-01 1.06750353e-02 5.36532514e+01] [-4.92108980e-01 8.70510302e-01 6.36909458e-03 -1.33983583e+02] [-1.24272788e-02 2.90665121e-04 -9.99922736e-01 2.38417464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71185806399998 meters 0.022066719436470036 Centerline is valid? [True, True] Translation: X:53.57, Y:-134.01, Z:0.24 [[-8.33172933e-01 -5.52907804e-01 1.07621651e-02 5.35678666e+01] [-5.52856009e-01 8.33242359e-01 7.57661051e-03 -1.34007074e+02] [-1.31566589e-02 3.62699157e-04 -9.99913382e-01 2.39773462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74185806399998 meters 0.0234366258699546 Centerline is valid? [True, True] Translation: X:53.48, Y:-134.04, Z:0.24 [[-7.90205033e-01 -6.12765114e-01 9.74274342e-03 5.34782370e+01] [-6.12712633e-01 7.90265003e-01 8.02830572e-03 -1.34042881e+02] [-1.26188148e-02 3.74505615e-04 -9.99920309e-01 2.40201641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77185806399999 meters 0.02208229396046587 Centerline is valid? [True, True] Translation: X:53.38, Y:-134.09, Z:0.24 [[-7.42838119e-01 -6.69416208e-01 8.57145207e-03 5.33794349e+01] [-6.69365682e-01 7.42887473e-01 8.23328008e-03 -1.34089360e+02] [-1.18791155e-02 3.78558434e-04 -9.99929369e-01 2.38491974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.801858064 meters 0.02410315789648073 Centerline is valid? [True, True] Translation: X:53.29, Y:-134.14, Z:0.24 [[-6.91355637e-01 -7.22475141e-01 7.55342512e-03 5.32949500e+01] [-7.22425752e-01 6.91396788e-01 8.45659662e-03 -1.34141509e+02] [-1.13320947e-02 3.89726914e-04 -9.99935714e-01 2.39139062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.831858064 meters 0.025467053345780637 Centerline is valid? [True, True] Translation: X:53.21, Y:-134.21, Z:0.24 [[-6.36448599e-01 -7.71290279e-01 6.66979775e-03 5.32076102e+01] [-7.71240973e-01 6.36483413e-01 8.73076131e-03 -1.34206659e+02] [-1.09791670e-02 4.12659494e-04 -9.99939642e-01 2.39504887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.861858064 meters 0.027068439925252354 Centerline is valid? [True, True] Translation: X:53.12, Y:-134.28, Z:0.24 [[-5.78893812e-01 -8.15383970e-01 5.56191097e-03 5.31226670e+01] [-8.15339003e-01 5.78920372e-01 8.57392534e-03 -1.34281798e+02] [-1.02109449e-02 4.28549383e-04 -9.99947775e-01 2.38820300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.891858064 meters 0.02791435660758841 Centerline is valid? [True, True] Translation: X:53.04, Y:-134.37, Z:0.24 [[-5.15138875e-01 -8.57093956e-01 4.67864494e-03 5.30411838e+01] [-8.57050957e-01 5.15159952e-01 8.59537609e-03 -1.34365037e+02] [-9.77729540e-03 4.17975247e-04 -9.99952114e-01 2.38570348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.921858064 meters 0.03081256995692415 Centerline is valid? [True, True] Translation: X:52.97, Y:-134.46, Z:0.24 [[-4.52437180e-01 -8.91788532e-01 3.71650216e-03 5.29693899e+01] [-8.91750075e-01 4.52452232e-01 8.29350093e-03 -1.34458255e+02] [-9.07758872e-03 4.38097088e-04 -9.99958702e-01 2.38537017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.951858064 meters 0.02595772513495333 Centerline is valid? [True, True] Translation: X:52.89, Y:-134.55, Z:0.24 [[-3.83263051e-01 -9.23634209e-01 3.04668350e-03 5.28939420e+01] [-9.23595176e-01 3.83274902e-01 8.50300192e-03 -1.34551531e+02] [-9.02138077e-03 4.44984274e-04 -9.99959208e-01 2.36714298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.981858064 meters 0.026929745042585378 Centerline is valid? [True, True] Translation: X:52.83, Y:-134.66, Z:0.24 [[-3.11484892e-01 -9.50248784e-01 2.10014441e-03 5.28301630e+01] [-9.50217792e-01 3.11491717e-01 7.68494377e-03 -1.34660985e+02] [-7.95678606e-03 3.98149295e-04 -9.99968265e-01 2.36365650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.011858064 meters 0.025748219153522416 Centerline is valid? [True, True] Translation: X:52.77, Y:-134.78, Z:0.24 [[-2.38219606e-01 -9.71210365e-01 1.35879870e-03 5.27721785e+01] [-9.71184583e-01 2.38223196e-01 7.08623243e-03 -1.34776427e+02] [-7.20591975e-03 3.68435149e-04 -9.99973969e-01 2.35765581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.041858064 meters 0.027423099508358945 Centerline is valid? [True, True] Translation: X:52.73, Y:-134.89, Z:0.24 [[-1.65731348e-01 -9.86170618e-01 7.94858813e-04 5.27304901e+01] [-9.86145363e-01 1.65732801e-01 7.06837630e-03 -1.34886235e+02] [-7.10235921e-03 3.87605200e-04 -9.99974703e-01 2.36497145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.071858064 meters 0.029095788272914563 Centerline is valid? [True, True] Translation: X:52.70, Y:-135.00, Z:0.24 [[-9.00197425e-02 -9.95939953e-01 2.34817273e-04 5.26960783e+01] [-9.95917354e-01 9.00192840e-02 6.71961087e-03 -1.35002190e+02] [-6.71346702e-03 3.71039043e-04 -9.99977396e-01 2.36658320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.101858064 meters 0.027534364442065997 Centerline is valid? [True, True] Translation: X:52.67, Y:-135.12, Z:0.24 [[-1.36951120e-02 -9.99906181e-01 -2.71116535e-04 5.26655906e+01] [-9.99886011e-01 1.36931110e-02 6.36104590e-03 -1.35122565e+02] [-6.35673668e-03 3.58200867e-04 -9.99979732e-01 2.36587488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.131858064 meters 0.027534364442065997 Centerline is valid? [True, True] Translation: X:51.85, Y:-135.27, Z:-0.75 [[ 3.05501316e-02 9.99533223e-01 1.61974972e-04 5.18489324e+01] [-9.99512744e-01 3.05484672e-02 6.40819984e-03 -1.35273760e+02] [ 6.40026055e-03 -3.57667397e-04 9.99979454e-01 -7.46676547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.161858064 meters 0.028145343665512947 Centerline is valid? [True, True] Translation: X:52.68, Y:-135.43, Z:0.24 [[-4.54550425e-03 -9.99989623e-01 -3.02727777e-04 5.26770287e+01] [-9.99973235e-01 4.54369377e-03 5.73441851e-03 -1.35425895e+02] [-5.73298350e-03 3.28785498e-04 -9.99983512e-01 2.36137192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.191858064 meters 0.02870748984113262 Centerline is valid? [True, True] Translation: X:52.66, Y:-135.55, Z:0.24 [[ 7.22874416e-02 -9.97383667e-01 -5.88110877e-04 5.26619088e+01] [-9.97373606e-01 -7.22893585e-02 4.48762939e-03 -1.35551042e+02] [-4.51840242e-03 2.62167019e-04 -9.99989758e-01 2.35435805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.221858064 meters 0.030270014127374897 Centerline is valid? [True, True] Translation: X:52.66, Y:-135.68, Z:0.24 [[ 1.49946583e-01 -9.88693664e-01 -9.27879394e-04 5.26556818e+01] [-9.88683900e-01 -1.49949233e-01 4.40154933e-03 -1.35676462e+02] [-4.49091874e-03 2.57382137e-04 -9.99989883e-01 2.36102738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.251858064 meters 0.029220042691849493 Centerline is valid? [True, True] Translation: X:52.66, Y:-135.80, Z:0.24 [[ 2.26475378e-01 -9.74016069e-01 -1.26498555e-03 5.26556978e+01] [-9.74006546e-01 -2.26478767e-01 4.31478720e-03 -1.35801400e+02] [-4.48916444e-03 2.54911145e-04 -9.99989891e-01 2.36486022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.281858064 meters 0.02862063650392973 Centerline is valid? [True, True] Translation: X:52.67, Y:-135.93, Z:0.24 [[ 3.05565956e-01 -9.52170173e-01 -1.18672125e-03 5.26685282e+01] [-9.52165051e-01 -3.05568211e-01 3.12803133e-03 -1.35933767e+02] [-3.34104242e-03 1.74134613e-04 -9.99994404e-01 2.36445452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.311858064 meters 0.028865287736489054 Centerline is valid? [True, True] Translation: X:52.69, Y:-136.05, Z:0.24 [[ 3.78502440e-01 -9.25599195e-01 -1.42603212e-03 5.26874068e+01] [-9.25594251e-01 -3.78505087e-01 3.03015946e-03 -1.36048110e+02] [-3.34447357e-03 1.73004379e-04 -9.99994392e-01 2.36561677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.341858064 meters 0.025879091564451628 Centerline is valid? [True, True] Translation: X:52.71, Y:-136.17, Z:0.24 [[ 4.50897894e-01 -8.92573814e-01 -1.75382190e-03 5.27134395e+01] [-8.92568501e-01 -4.50901271e-01 3.08467947e-03 -1.36169675e+02] [-3.54410465e-03 1.74530708e-04 -9.99993704e-01 2.36059928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.371858064 meters 0.02617961424064472 Centerline is valid? [True, True] Translation: X:52.75, Y:-136.28, Z:0.24 [[ 5.19686845e-01 -8.54354358e-01 -2.05267329e-03 5.27503435e+01] [-8.54348969e-01 -5.19690870e-01 3.03947135e-03 -1.36283873e+02] [-3.66354116e-03 1.74126031e-04 -9.99993274e-01 2.36282628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40185806399998 meters 0.024888014997356614 Centerline is valid? [True, True] Translation: X:52.79, Y:-136.39, Z:0.24 [[ 5.87251299e-01 -8.09401747e-01 -2.17353090e-03 5.27939086e+01] [-8.09397128e-01 -5.87255302e-01 2.73866370e-03 -1.36394953e+02] [-3.49309673e-03 1.50965854e-04 -9.99993888e-01 2.36565520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43185806399998 meters 0.024586734385278367 Centerline is valid? [True, True] Translation: X:52.84, Y:-136.50, Z:0.24 [[ 6.48101292e-01 -7.61551980e-01 -1.81581231e-03 5.28449797e+01] [-7.61549471e-01 -6.48103826e-01 1.95807652e-03 -1.36499567e+02] [-2.66801196e-03 1.13798984e-04 -9.99996434e-01 2.35669350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46185806399998 meters 0.02445516237508037 Centerline is valid? [True, True] Translation: X:52.90, Y:-136.59, Z:0.24 [[ 7.04778002e-01 -7.09425183e-01 -1.96915828e-03 5.28995500e+01] [-7.09422852e-01 -7.04780744e-01 1.82186330e-03 -1.36594119e+02] [-2.68030054e-03 1.12956703e-04 -9.99996402e-01 2.36126305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49185806399998 meters 0.02373856312952806 Centerline is valid? [True, True] Translation: X:52.90, Y:-136.60, Z:0.24 [[ 7.58755006e-01 -6.51372540e-01 -2.15780789e-03 5.28950379e+01] [-6.51370321e-01 -7.58758065e-01 1.70365747e-03 -1.36598477e+02] [-2.74696983e-03 1.12873388e-04 -9.99996221e-01 2.35967447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52185806399999 meters 0.024417746823493406 Centerline is valid? [True, True] Translation: X:52.89, Y:-136.60, Z:0.23 [[ 8.08071448e-01 -5.89081351e-01 -1.92266054e-03 5.28921210e+01] [-5.89079952e-01 -8.08073730e-01 1.28723244e-03 -1.36599022e+02] [-2.31193610e-03 9.24249972e-05 -9.99997323e-01 2.34400168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.551858064 meters 0.02447354463412883 Centerline is valid? [True, True] Translation: X:52.89, Y:-136.60, Z:0.23 [[ 8.52180932e-01 -5.23245448e-01 -1.36399809e-03 5.28892080e+01] [-5.23244891e-01 -8.52182022e-01 7.65478728e-04 -1.36600573e+02] [-1.56290791e-03 6.13786572e-05 -9.99998777e-01 2.34526846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.581858064 meters 0.023141857620638646 Centerline is valid? [True, True] Translation: X:52.88, Y:-136.61, Z:0.23 [[ 8.89937480e-01 -4.56078304e-01 -1.96540084e-03 5.28845423e+01] [-4.56077406e-01 -8.89939646e-01 9.09517145e-04 -1.36605293e+02] [-2.16389916e-03 8.69615195e-05 -9.99997655e-01 2.34922153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.611858064 meters 0.022610394001153424 Centerline is valid? [True, True] Translation: X:52.88, Y:-136.61, Z:0.24 [[ 9.23351571e-01 -3.83947455e-01 -2.49579335e-03 5.28801767e+01] [-3.83946352e-01 -9.23354938e-01 9.26072517e-04 -1.36611903e+02] [-2.66006630e-03 1.03160240e-04 -9.99996457e-01 2.35221776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.641858064 meters 0.022217298474676954 Centerline is valid? [True, True] Translation: X:52.88, Y:-136.62, Z:0.24 [[ 9.50624158e-01 -3.10332431e-01 -2.73713758e-03 5.28767223e+01] [-3.10331474e-01 -9.50628093e-01 7.78485161e-04 -1.36617468e+02] [-2.84358907e-03 1.09373140e-04 -9.99995951e-01 2.35035158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.671858064 meters 0.02201017882878662 Centerline is valid? [True, True] Translation: X:52.87, Y:-136.62, Z:0.24 [[ 9.71920110e-01 -2.35287991e-01 -3.29577885e-03 5.28709047e+01] [-2.35287090e-01 -9.71925689e-01 6.63962126e-04 -1.36622831e+02] [-3.35947445e-03 1.30136073e-04 -9.99994349e-01 2.35136668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.701858064 meters 0.02239501677039981 Centerline is valid? [True, True] Translation: X:52.87, Y:-136.63, Z:0.24 [[ 9.86977846e-01 -1.60806802e-01 -3.98799816e-03 5.28651882e+01] [-1.60806161e-01 -9.86985889e-01 4.82920642e-04 -1.36629386e+02] [-4.01375483e-03 1.64662700e-04 -9.99991931e-01 2.35211921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.731858064 meters 0.023559639126766327 Centerline is valid? [True, True] Translation: X:52.86, Y:-136.63, Z:0.24 [[ 9.96413380e-01 -8.45163429e-02 -4.16710391e-03 5.28587557e+01] [-8.45163449e-02 -9.96422077e-01 1.75920113e-04 -1.36633950e+02] [-4.16706246e-03 1.76899237e-04 -9.99991302e-01 2.35700733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.761858064 meters 0.023515846867583134 Centerline is valid? [True, True] Translation: X:52.85, Y:-136.64, Z:0.24 [[ 9.99959745e-01 -8.09223099e-03 -3.87606322e-03 5.28535756e+01] [-8.09283574e-03 -9.99967243e-01 -1.40362685e-04 -1.36642466e+02] [-3.87480040e-03 1.71725377e-04 -9.99992478e-01 2.35037256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.791858064 meters 0.023579585581609313 Centerline is valid? [True, True] Translation: X:52.85, Y:-136.65, Z:0.24 [[ 9.97660040e-01 6.82491494e-02 -4.06179610e-03 5.28491054e+01] [ 6.82478113e-02 -9.97668291e-01 -4.67295560e-04 -1.36651643e+02] [-4.08421770e-03 1.88993413e-04 -9.99991642e-01 2.35235779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.821858064 meters 0.025435934993603523 Centerline is valid? [True, True] Translation: X:52.85, Y:-136.66, Z:0.23 [[ 9.89939009e-01 1.41449657e-01 -3.57118152e-03 5.28450391e+01] [ 1.41448058e-01 -9.89945433e-01 -6.97724092e-04 -1.36657171e+02] [-3.63396767e-03 1.85567604e-04 -9.99993380e-01 2.34826176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.851858064 meters 0.026074341118865172 Centerline is valid? [True, True] Translation: X:52.84, Y:-136.67, Z:0.23 [[ 9.76181950e-01 2.16925722e-01 -3.46850595e-03 5.28410898e+01] [ 2.16923660e-01 -9.76188094e-01 -9.64797099e-04 -1.36665391e+02] [-3.59520352e-03 1.89416509e-04 -9.99993519e-01 2.34317723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.881858064 meters 0.02923120693364036 Centerline is valid? [True, True] Translation: X:52.84, Y:-136.67, Z:0.23 [[ 9.56587935e-01 2.91428211e-01 -3.01997625e-03 5.28360492e+01] [ 2.91426182e-01 -9.56592686e-01 -1.10143542e-03 -1.36670767e+02] [-3.20987655e-03 1.73519690e-04 -9.99994833e-01 2.33724474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.911858064 meters 0.029133727127282436 Centerline is valid? [True, True] Translation: X:52.83, Y:-136.68, Z:0.23 [[ 9.31897426e-01 3.62708050e-01 -3.17136515e-03 5.28333224e+01] [ 3.62705218e-01 -9.31902801e-01 -1.44692438e-03 -1.36679826e+02] [-3.48021518e-03 1.98114420e-04 -9.99993924e-01 2.33224022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.941858064 meters 0.030021692028509205 Centerline is valid? [True, True] Translation: X:52.83, Y:-136.69, Z:0.23 [[ 9.01407490e-01 4.32961877e-01 -2.92417723e-03 5.28303633e+01] [ 4.32958883e-01 -9.01412211e-01 -1.62208950e-03 -1.36687192e+02] [-3.33819198e-03 1.96115120e-04 -9.99994409e-01 2.33570268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.971858064 meters 0.03135438573555503 Centerline is valid? [True, True] Translation: X:52.83, Y:-136.69, Z:0.23 [[ 8.65950251e-01 5.00120937e-01 -3.03505443e-03 5.28273278e+01] [ 5.00116950e-01 -8.65955541e-01 -2.00941771e-03 -1.36693389e+02] [-3.63317406e-03 2.22173604e-04 -9.99993375e-01 2.33476964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.001858064 meters 0.03317250036387544 Centerline is valid? [True, True] Translation: X:52.82, Y:-136.70, Z:0.23 [[ 8.26174879e-01 5.63408112e-01 -2.52352454e-03 5.28248470e+01] [ 5.63404700e-01 -8.26178707e-01 -1.97177018e-03 -1.36700446e+02] [-3.19579356e-03 2.07261401e-04 -9.99994872e-01 2.33010841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.031858064 meters 0.03516486737304702 Centerline is valid? [True, True] Translation: X:52.82, Y:-136.71, Z:0.23 [[ 7.81218613e-01 6.24253205e-01 -2.32676182e-03 5.28196906e+01] [ 6.24249602e-01 -7.81222049e-01 -2.13166864e-03 -1.36706718e+02] [-3.14841862e-03 2.12819078e-04 -9.99995021e-01 2.32866589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.061858064 meters 0.03671455434966943 Centerline is valid? [True, True] Translation: X:52.82, Y:-136.71, Z:0.23 [[ 7.31004840e-01 6.82369081e-01 -2.08827118e-03 5.28151544e+01] [ 6.82365442e-01 -7.31007792e-01 -2.23842352e-03 -1.36713979e+02] [-3.05397350e-03 2.11334340e-04 -9.99995314e-01 2.32698552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.091858064 meters 0.037401042743414964 Centerline is valid? [True, True] Translation: X:52.81, Y:-136.72, Z:0.23 [[ 6.77087530e-01 7.35899529e-01 -2.08807987e-03 5.28123392e+01] [ 7.35894895e-01 -6.77090707e-01 -2.62270390e-03 -1.36721388e+02] [-3.34386604e-03 2.39192787e-04 -9.99994381e-01 2.32686262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.121858064 meters 0.040148825963518944 Centerline is valid? [True, True] Translation: X:52.81, Y:-136.73, Z:0.23 [[ 6.20549722e-01 7.84164986e-01 -1.82140459e-03 5.28068980e+01] [ 7.84160386e-01 -6.20552347e-01 -2.69696526e-03 -1.36728134e+02] [-3.24514262e-03 2.45327711e-04 -9.99994704e-01 2.32248563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15185806399998 meters 0.039981450336013524 Centerline is valid? [True, True] Translation: X:52.81, Y:-136.74, Z:0.23 [[ 5.57902889e-01 8.29905087e-01 -1.38265003e-03 5.28059496e+01] [ 8.29901528e-01 -5.57904562e-01 -2.43996870e-03 -1.36737226e+02] [-2.79632919e-03 2.13802216e-04 -9.99996067e-01 2.31812181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18185806399998 meters 0.040998860373649706 Centerline is valid? [True, True] Translation: X:52.80, Y:-136.74, Z:0.23 [[ 4.92550192e-01 8.70283248e-01 -1.17320485e-03 5.28031898e+01] [ 8.70279653e-01 -4.92551542e-01 -2.51070114e-03 -1.36744873e+02] [-2.76288500e-03 2.15630015e-04 -9.99996160e-01 2.31512786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21185806399998 meters 0.04125378015479167 Centerline is valid? [True, True] Translation: X:52.80, Y:-136.75, Z:0.23 [[ 4.22979001e-01 9.06139233e-01 -6.74050192e-04 5.28034992e+01] [ 9.06137460e-01 -4.22979512e-01 -1.79891407e-03 -1.36754154e+02] [-1.91517604e-03 1.50120747e-04 -9.99998155e-01 2.30474696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24185806399998 meters 0.040879909095449786 Centerline is valid? [True, True] Translation: X:52.80, Y:-136.76, Z:0.23 [[ 3.50575267e-01 9.36534419e-01 -5.14722498e-04 5.28038280e+01] [ 9.36532720e-01 -3.50575615e-01 -1.78948919e-03 -1.36763705e+02] [-1.85636738e-03 1.45296190e-04 -9.99998266e-01 2.30957354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27185806399999 meters 0.04340545901546213 Centerline is valid? [True, True] Translation: X:52.80, Y:-136.77, Z:0.23 [[ 2.75998434e-01 9.61157948e-01 -5.13864576e-04 5.27997848e+01] [ 9.61154689e-01 -2.75998841e-01 -2.51082797e-03 -1.36772628e+02] [-2.55512829e-03 1.99081241e-04 -9.99996716e-01 2.31351963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.301858064 meters 0.03516987508436551 Centerline is valid? [True, True] Translation: X:52.81, Y:-136.78, Z:0.23 [[ 1.99698712e-01 9.79857293e-01 -3.31557992e-04 5.28149081e+01] [ 9.79853672e-01 -1.99698879e-01 -2.67198638e-03 -1.36783167e+02] [-2.68437710e-03 2.08713924e-04 -9.99996375e-01 2.30586070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.331858064 meters 0.034105394917938715 Centerline is valid? [True, True] Translation: X:52.83, Y:-136.79, Z:0.23 [[ 1.20456858e-01 9.92718560e-01 -7.39947476e-05 5.28251572e+01] [ 9.92717188e-01 -1.20456814e-01 -1.65521572e-03 -1.36792220e+02] [-1.65207654e-03 1.25926227e-04 -9.99998627e-01 2.29680807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.361858064 meters 0.033590957663939665 Centerline is valid? [True, True] Translation: X:52.83, Y:-136.80, Z:0.23 [[ 4.12264005e-02 9.99149830e-01 3.96534653e-05 5.28342778e+01] [ 9.99149159e-01 -4.12263267e-02 -1.16091963e-03 -1.36800421e+02] [-1.15829788e-03 8.74802640e-05 -9.99999325e-01 2.29599812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.391858064 meters 0.033947394063073746 Centerline is valid? [True, True] Translation: X:52.84, Y:-136.81, Z:0.23 [[-3.81845647e-02 9.99270700e-01 8.04037182e-05 5.28409410e+01] [ 9.99270452e-01 3.81846120e-02 -7.06128803e-04 -1.36807901e+02] [-7.08684009e-04 5.33818389e-05 -9.99999747e-01 2.29311543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.421858064 meters 0.030509914354847758 Centerline is valid? [True, True] Translation: X:52.86, Y:-136.81, Z:0.23 [[-1.21160299e-01 9.92632953e-01 5.49955259e-05 5.28565642e+01] [ 9.92632914e-01 1.21160309e-01 -2.78538942e-04 -1.36813525e+02] [-2.83150208e-04 2.08425077e-05 -9.99999960e-01 2.28919466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.451858064 meters 0.03345908355701628 Centerline is valid? [True, True] Translation: X:52.86, Y:-136.82, Z:0.23 [[-2.00350026e-01 9.79724370e-01 1.58339676e-04 5.28628843e+01] [ 9.79724205e-01 2.00350085e-01 -5.70792379e-04 -1.36820589e+02] [-5.90942572e-04 4.07709453e-05 -9.99999825e-01 2.29260857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.481858064 meters 0.028772863040288178 Centerline is valid? [True, True] Translation: X:52.88, Y:-136.82, Z:0.23 [[-2.78848248e-01 9.60335170e-01 1.25688811e-04 5.28804063e+01] [ 9.60335109e-01 2.78848275e-01 -3.43695558e-04 -1.36823050e+02] [-3.65111041e-04 2.48644737e-05 -9.99999933e-01 2.29184788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.511858064 meters 0.030800295902242664 Centerline is valid? [True, True] Translation: X:52.89, Y:-136.83, Z:0.23 [[-3.57800871e-01 9.33797874e-01 2.58482995e-04 5.28897553e+01] [ 9.33797703e-01 3.57800962e-01 -5.67643644e-04 -1.36828069e+02] [-6.22549892e-04 3.82674364e-05 -9.99999806e-01 2.30144939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.541858064 meters 0.03012259714708338 Centerline is valid? [True, True] Translation: X:52.90, Y:-136.83, Z:0.23 [[-4.31952128e-01 9.01896331e-01 6.06061131e-04 5.28983455e+01] [ 9.01895666e-01 4.31952547e-01 -1.09760541e-03 -1.36831919e+02] [-1.25171595e-03 7.24909128e-05 -9.99999214e-01 2.30942761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.571858064 meters 0.029155937862543814 Centerline is valid? [True, True] Translation: X:52.91, Y:-136.84, Z:0.23 [[-5.03127904e-01 8.64211184e-01 1.15849871e-03 5.29075364e+01] [ 8.64209402e-01 5.03129224e-01 -1.75888128e-03 -1.36835636e+02] [-2.10291943e-03 1.16243222e-04 -9.99997782e-01 2.31814092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.601858064 meters 0.028940692247938743 Centerline is valid? [True, True] Translation: X:52.92, Y:-136.84, Z:0.23 [[-5.72640225e-01 8.19806020e-01 1.12346934e-03 5.29164733e+01] [ 8.19804752e-01 5.72641319e-01 -1.44468389e-03 -1.36840022e+02] [-1.82770552e-03 9.37413961e-05 -9.99998325e-01 2.31471799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.631858064 meters 0.028953484019096327 Centerline is valid? [True, True] Translation: X:52.92, Y:-136.84, Z:0.23 [[-6.35626969e-01 7.71995808e-01 9.10775815e-04 5.29227919e+01] [ 7.71995165e-01 6.35627618e-01 -9.98114753e-04 -1.36844705e+02] [-1.34945467e-03 6.86858707e-05 -9.99999087e-01 2.31224234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.661858064 meters 0.02950608880469243 Centerline is valid? [True, True] Translation: X:52.93, Y:-136.85, Z:0.23 [[-6.94396743e-01 7.19591637e-01 1.01987648e-03 5.29283365e+01] [ 7.19591006e-01 6.94397488e-01 -9.55382615e-04 -1.36850491e+02] [-1.39568501e-03 7.04793680e-05 -9.99999024e-01 2.30899244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.691858064 meters 0.02842160620975238 Centerline is valid? [True, True] Translation: X:52.95, Y:-136.83, Z:0.23 [[-7.43871689e-01 6.68321688e-01 1.01546142e-03 5.29546994e+01] [ 6.68321183e-01 7.43872379e-01 -8.24577977e-04 -1.36833717e+02] [-1.30645705e-03 6.52741641e-05 -9.99999144e-01 2.30612724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.721858064 meters 0.029649056533780586 Centerline is valid? [True, True] Translation: X:52.98, Y:-136.82, Z:0.23 [[-7.89634762e-01 6.13576354e-01 1.00035244e-03 5.29769605e+01] [ 6.13575956e-01 7.89635393e-01 -7.00874869e-04 -1.36817575e+02] [-1.21995394e-03 6.03570458e-05 -9.99999254e-01 2.31118386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.751858064 meters 0.03052651744412999 Centerline is valid? [True, True] Translation: X:52.99, Y:-136.80, Z:0.23 [[-8.31454086e-01 5.55593089e-01 6.50143216e-04 5.29930192e+01] [ 5.55592953e-01 8.31454339e-01 -3.89405142e-04 -1.36796145e+02] [-7.56915204e-04 3.74424927e-05 -9.99999713e-01 2.30857999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.781858064 meters 0.028848442286138722 Centerline is valid? [True, True] Translation: X:53.01, Y:-136.77, Z:0.23 [[-8.68985672e-01 4.94837055e-01 4.36587009e-04 5.30143238e+01] [ 4.94837007e-01 8.68985781e-01 -2.20601446e-04 -1.36772401e+02] [-4.88549673e-04 2.43399126e-05 -9.99999880e-01 2.30671235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.811858064 meters 0.02614948006680027 Centerline is valid? [True, True] Translation: X:53.03, Y:-136.75, Z:0.23 [[-9.02274862e-01 4.31161082e-01 4.40457499e-04 5.30336203e+01] [ 4.31161044e-01 9.02274969e-01 -1.84614820e-04 -1.36745232e+02] [-4.77012502e-04 2.33348037e-05 -9.99999886e-01 2.30749330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.841858064 meters 0.027219399168947524 Centerline is valid? [True, True] Translation: X:53.36, Y:-135.99, Z:-0.74 [[-9.13053842e-01 -4.07837620e-01 1.07593000e-03 5.33621957e+01] [ 4.07837320e-01 -9.13054476e-01 -4.94789097e-04 -1.35989965e+02] [ 1.18417631e-03 -1.29646786e-05 9.99999299e-01 -7.41506871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.871858064 meters 0.023100443756699198 Centerline is valid? [True, True] Translation: X:52.99, Y:-136.72, Z:0.23 [[-9.03863097e-01 4.27820030e-01 1.23458367e-03 5.29883155e+01] [ 4.27819725e-01 9.03863938e-01 -5.14810240e-04 -1.36722258e+02] [-1.33614179e-03 6.28612691e-05 -9.99999105e-01 2.32006708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90185806399998 meters 0.024478886303492597 Centerline is valid? [True, True] Translation: X:53.00, Y:-136.70, Z:0.23 [[-9.31652928e-01 3.63345862e-01 1.61457403e-03 5.30014623e+01] [ 3.63345465e-01 9.31654323e-01 -5.42828839e-04 -1.36699417e+02] [-1.70145949e-03 8.09200747e-05 -9.99998549e-01 2.33054224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93185806399998 meters 0.024391518924510205 Centerline is valid? [True, True] Translation: X:53.27, Y:-135.93, Z:-0.74 [[-9.41328084e-01 -3.37486234e-01 2.11651203e-03 5.32737809e+01] [ 3.37485207e-01 -9.41330461e-01 -8.35988447e-04 -1.35928482e+02] [ 2.27447184e-03 -7.26479035e-05 9.99997411e-01 -7.43403431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96185806399998 meters 0.024733887014263413 Centerline is valid? [True, True] Translation: X:52.96, Y:-136.69, Z:0.23 [[-9.32354070e-01 3.61536320e-01 2.71629236e-03 5.29584195e+01] [ 3.61535221e-01 9.32358016e-01 -9.02528834e-04 -1.36686575e+02] [-2.85885391e-03 1.40558928e-04 -9.99995904e-01 2.33771014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99185806399998 meters 0.024990592356227113 Centerline is valid? [True, True] Translation: X:52.97, Y:-136.66, Z:0.23 [[-9.55346606e-01 2.95473753e-01 2.85009650e-03 5.29691122e+01] [ 2.95472895e-01 9.55350846e-01 -7.27190374e-04 -1.36660342e+02] [-2.93770778e-03 1.47407409e-04 -9.99995674e-01 2.34411702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02185806399996 meters 0.02671505192549393 Centerline is valid? [True, True] Translation: X:52.98, Y:-136.64, Z:0.23 [[-9.73284820e-01 2.29581236e-01 3.01900642e-03 5.29799488e+01] [ 2.29580645e-01 9.73289489e-01 -5.45771615e-04 -1.36636850e+02] [-3.06366614e-03 1.61914213e-04 -9.99995294e-01 2.33856505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.051858064 meters 0.02671505192549393 Centerline is valid? [True, True] Translation: X:52.99, Y:-136.61, Z:0.23 [[-9.87123619e-01 1.59930166e-01 3.05015863e-03 5.29868561e+01] [ 1.59929908e-01 9.87128318e-01 -3.30148517e-04 -1.36608982e+02] [-3.06369867e-03 1.61914190e-04 -9.99995294e-01 2.33856874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08185806399996 meters 0.02741585005915606 Centerline is valid? [True, True] Translation: X:52.99, Y:-136.58, Z:0.23 [[-9.95903982e-01 9.03798620e-02 2.59618419e-03 5.29905226e+01] [ 9.03799204e-02 9.95907356e-01 -9.50557026e-05 -1.36581787e+02] [-2.59415005e-03 1.39976568e-04 -9.99996625e-01 2.33168112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.111858064 meters 0.028728728007476396 Centerline is valid? [True, True] Translation: X:52.99, Y:-136.56, Z:0.23 [[-9.99776649e-01 2.10184578e-02 2.20815744e-03 5.29865183e+01] [ 2.10186782e-02 9.99779080e-01 7.66398577e-05 -1.36555093e+02] [-2.20605876e-03 1.23035291e-04 -9.99997559e-01 2.32434547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14185806399996 meters 0.029577964384176383 Centerline is valid? [True, True] Translation: X:52.98, Y:-136.53, Z:0.23 [[-9.98789071e-01 -4.90941488e-02 3.18696331e-03 5.29817753e+01] [-4.90933155e-02 9.98794139e-01 3.39225080e-04 -1.36528238e+02] [-3.19977424e-03 1.82355708e-04 -9.99994864e-01 2.32440504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.171858064 meters 0.030308110139452858 Centerline is valid? [True, True] Translation: X:52.95, Y:-136.50, Z:0.23 [[-9.92698245e-01 -1.20567278e-01 3.70488114e-03 5.29537595e+01] [-1.20565626e-01 9.92705135e-01 6.66721296e-04 -1.36504610e+02] [-3.75823930e-03 2.15171746e-04 -9.99992915e-01 2.32555720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20185806399996 meters 0.03186682219418053 Centerline is valid? [True, True] Translation: X:52.91, Y:-136.49, Z:0.23 [[-9.81455047e-01 -1.91649928e-01 4.03670956e-03 5.29083428e+01] [-1.91647274e-01 9.81463318e-01 1.03796821e-03 -1.36487471e+02] [-4.16080889e-03 2.45094757e-04 -9.99991314e-01 2.32339340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.231858064 meters 0.032881362222310646 Centerline is valid? [True, True] Translation: X:52.85, Y:-136.48, Z:0.23 [[-9.64955830e-01 -2.62384769e-01 3.80503146e-03 5.28453891e+01] [-2.62381737e-01 9.64963302e-01 1.28418746e-03 -1.36477795e+02] [-4.00866696e-03 2.40813411e-04 -9.99991936e-01 2.32270096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26185806399997 meters 0.03391029684760368 Centerline is valid? [True, True] Translation: X:52.77, Y:-136.48, Z:0.23 [[-9.43162787e-01 -3.32314753e-01 3.29587505e-03 5.27735577e+01] [-3.32311903e-01 9.43168520e-01 1.39365443e-03 -1.36475903e+02] [-3.57169752e-03 2.19184486e-04 -9.99993597e-01 2.31843964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29185806399994 meters 0.027326228313829946 Centerline is valid? [True, True] Translation: X:52.69, Y:-136.47, Z:0.23 [[-9.15803492e-01 -4.01616144e-01 2.90479579e-03 5.26886800e+01] [-4.01613416e-01 9.15808076e-01 1.49405282e-03 -1.36472063e+02] [-3.26027117e-03 2.01653830e-04 -9.99994665e-01 2.31164902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32185806399997 meters 0.03592272116369697 Centerline is valid? [True, True] Translation: X:52.60, Y:-136.50, Z:0.23 [[-8.83177142e-01 -4.69029737e-01 3.04014812e-03 5.26035763e+01] [-4.69026078e-01 8.83182346e-01 1.86584447e-03 -1.36501278e+02] [-3.56014169e-03 2.21962436e-04 -9.99993638e-01 2.31940615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35185806399994 meters 0.02685711901635045 Centerline is valid? [True, True] Translation: X:52.51, Y:-136.52, Z:0.23 [[-8.45219469e-01 -5.34407400e-01 3.57490883e-03 5.25074639e+01] [-5.34401216e-01 8.45226985e-01 2.58557530e-03 -1.36517094e+02] [-4.40335998e-03 2.74942961e-04 -9.99990267e-01 2.31080466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38185806399997 meters 0.02737019970784167 Centerline is valid? [True, True] Translation: X:52.41, Y:-136.56, Z:0.23 [[-8.01978042e-01 -5.97342599e-01 3.61103459e-03 5.24115319e+01] [-5.97334858e-01 8.01986118e-01 3.05503687e-03 -1.36556638e+02] [-4.72090328e-03 2.93075656e-04 -9.99988814e-01 2.30943225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41185806399994 meters 0.026908564591012638 Centerline is valid? [True, True] Translation: X:52.31, Y:-136.61, Z:0.23 [[-7.52433050e-01 -6.58660634e-01 3.26717309e-03 5.23149886e+01] [-6.58652809e-01 7.52440094e-01 3.22213300e-03 -1.36605537e+02] [-4.58064419e-03 2.72506627e-04 -9.99989472e-01 2.30825695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.441858064 meters 0.02758425150879646 Centerline is valid? [True, True] Translation: X:52.22, Y:-136.67, Z:0.23 [[-6.98632465e-01 -7.15474613e-01 2.95917953e-03 5.22214550e+01] [-7.15466569e-01 6.98638683e-01 3.40267407e-03 -1.36665110e+02] [-4.50192420e-03 2.60024540e-04 -9.99989833e-01 2.30867149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47185806399995 meters 0.026771181115749082 Centerline is valid? [True, True] Translation: X:52.13, Y:-136.74, Z:0.23 [[-6.40077596e-01 -7.68305975e-01 2.56897824e-03 5.21257583e+01] [-7.68298235e-01 6.40082707e-01 3.45692277e-03 -1.36736164e+02] [-4.30033296e-03 2.38957369e-04 -9.99990725e-01 2.30582690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.501858064 meters 0.024475314545650398 Centerline is valid? [True, True] Translation: X:52.03, Y:-136.81, Z:0.23 [[-5.75031405e-01 -8.18129451e-01 1.75669716e-03 5.20337357e+01] [-8.18124716e-01 5.75034064e-01 2.78825008e-03 -1.36811412e+02] [-3.29131021e-03 1.66133994e-04 -9.99994570e-01 2.30587113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53185806399995 meters 0.024989257305793492 Centerline is valid? [True, True] Translation: X:51.95, Y:-136.91, Z:0.23 [[-5.09159007e-01 -8.60670879e-01 1.65613665e-03 5.19489670e+01] [-8.60665167e-01 5.09161671e-01 3.14062146e-03 -1.36906509e+02] [-3.54628274e-03 1.73696578e-04 -9.99993697e-01 2.30257726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.561858064 meters 0.023395138243261344 Centerline is valid? [True, True] Translation: X:51.87, Y:-137.00, Z:0.23 [[-4.39406960e-01 -8.98287367e-01 1.15304675e-03 5.18730938e+01] [-8.98283418e-01 4.39408452e-01 2.66728938e-03 -1.36995921e+02] [-2.90265085e-03 1.36262744e-04 -9.99995778e-01 2.29111743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59185806399995 meters 0.023531171751821033 Centerline is valid? [True, True] Translation: X:51.80, Y:-137.11, Z:0.23 [[-3.65783608e-01 -9.30699519e-01 8.70396829e-04 5.18011915e+01] [-9.30696075e-01 3.65784625e-01 2.53449292e-03 -1.37107134e+02] [-2.67722912e-03 1.17001054e-04 -9.99996409e-01 2.29074275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.621858064 meters 0.022715624977017318 Centerline is valid? [True, True] Translation: X:51.74, Y:-137.22, Z:0.23 [[-2.91218794e-01 -9.56656227e-01 6.91421732e-04 5.17390735e+01] [-9.56652509e-01 2.91219591e-01 2.66962130e-03 -1.37215838e+02] [-2.75526539e-03 1.15993560e-04 -9.99996198e-01 2.29004214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65185806399995 meters 0.02279753717812215 Centerline is valid? [True, True] Translation: X:51.69, Y:-137.32, Z:0.23 [[-2.14634784e-01 -9.76694238e-01 5.23518877e-04 5.16885922e+01] [-9.76689810e-01 2.14635389e-01 2.94369605e-03 -1.37318063e+02] [-2.98745665e-03 1.20504015e-04 -9.99995530e-01 2.28931017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.681858064 meters 0.021460971188962782 Centerline is valid? [True, True] Translation: X:51.64, Y:-137.44, Z:0.23 [[-1.32332432e-01 -9.91205347e-01 2.94758830e-04 5.16415155e+01] [-9.91200872e-01 1.32332721e-01 2.98044717e-03 -1.37435453e+02] [-2.99324141e-03 1.02244614e-04 -9.99995515e-01 2.29798937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71185806399995 meters 0.02042187840494612 Centerline is valid? [True, True] Translation: X:51.61, Y:-137.55, Z:0.23 [[-5.24863387e-02 -9.98621639e-01 7.47234438e-05 5.16050092e+01] [-9.98615363e-01 5.24862739e-02 3.54219032e-03 -1.37552882e+02] [-3.54122986e-03 1.11296622e-04 -9.99993724e-01 2.29767711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.741858064 meters 0.01924065569726608 Centerline is valid? [True, True] Translation: X:51.58, Y:-137.67, Z:0.23 [[ 2.82511281e-02 -9.99600834e-01 -2.15947435e-04 5.15769839e+01] [-9.99593506e-01 -2.82517482e-02 3.82907283e-03 -1.37674772e+02] [-3.83364528e-03 1.07684027e-04 -9.99992646e-01 2.30119499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77185806399996 meters 0.01731369419124596 Centerline is valid? [True, True] Translation: X:51.56, Y:-137.80, Z:0.23 [[ 1.11362920e-01 -9.93779583e-01 -6.63711318e-04 5.15578771e+01] [-9.93767342e-01 -1.11364843e-01 4.93364279e-03 -1.37803173e+02] [-4.97686758e-03 1.10149767e-04 -9.99987609e-01 2.30872537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.801858064 meters 0.016500749236572583 Centerline is valid? [True, True] Translation: X:51.55, Y:-137.93, Z:0.23 [[ 1.91242904e-01 -9.81542206e-01 -1.02443516e-03 5.15493611e+01] [-9.81530568e-01 -1.91245626e-01 4.78064697e-03 -1.37930571e+02] [-4.88832552e-03 9.12496129e-05 -9.99988048e-01 2.30986428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83185806399996 meters 0.015711626684847445 Centerline is valid? [True, True] Translation: X:51.55, Y:-138.05, Z:0.23 [[ 2.69733243e-01 -9.62933946e-01 -1.48102158e-03 5.15492075e+01] [-9.62921014e-01 -2.69737297e-01 4.99106475e-03 -1.38053746e+02] [-5.20555243e-03 7.98507231e-05 -9.99986448e-01 2.31039398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.861858064 meters 0.01540132561365205 Centerline is valid? [True, True] Translation: X:51.56, Y:-138.18, Z:0.23 [[ 3.45570748e-01 -9.38390615e-01 -1.97800059e-03 5.15610415e+01] [-9.38376403e-01 -3.45576401e-01 5.16505835e-03 -1.38177573e+02] [-5.53039260e-03 7.12159979e-05 -9.99984705e-01 2.31165998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89185806399996 meters 0.014604624487710681 Centerline is valid? [True, True] Translation: X:51.58, Y:-138.30, Z:0.23 [[ 4.22592482e-01 -9.06317334e-01 -2.11783053e-03 5.15789612e+01] [-9.06306342e-01 -4.22597787e-01 4.46376026e-03 -1.38299589e+02] [-4.94057379e-03 3.30517160e-05 -9.99987795e-01 2.30400565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.921858064 meters 0.014568054148214802 Centerline is valid? [True, True] Translation: X:51.61, Y:-138.42, Z:0.23 [[ 4.93049173e-01 -8.69998460e-01 -2.27867462e-03 5.16090126e+01] [-8.69989367e-01 -4.93054438e-01 3.97781235e-03 -1.38418152e+02] [-4.58420125e-03 2.11655967e-05 -9.99989492e-01 2.30248856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95185806399996 meters 0.014544918923551321 Centerline is valid? [True, True] Translation: X:51.66, Y:-138.54, Z:0.23 [[ 5.59887459e-01 -8.28565023e-01 -2.45698263e-03 5.16553479e+01] [-8.28557148e-01 -5.59892849e-01 3.61248047e-03 -1.38544108e+02] [-4.36882197e-03 1.31680103e-05 -9.99990457e-01 2.30175504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.981858064 meters 0.01449234046484879 Centerline is valid? [True, True] Translation: X:51.71, Y:-138.66, Z:0.23 [[ 6.25252477e-01 -7.80419672e-01 -2.11566541e-03 5.17057951e+01] [-7.80415183e-01 -6.25256056e-01 2.64702150e-03 -1.38661908e+02] [-3.38862026e-03 -3.95933755e-06 -9.99994259e-01 2.29333026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01185806399997 meters 0.014636476449629336 Centerline is valid? [True, True] Translation: X:51.74, Y:-138.74, Z:0.23 [[ 6.85026949e-01 -7.28514523e-01 -2.16068332e-03 5.17355349e+01] [-7.28510848e-01 -6.85030356e-01 2.31404025e-03 -1.38740365e+02] [-3.16594559e-03 -1.10986945e-05 -9.99994988e-01 2.28836664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04185806399994 meters 0.014790729204686099 Centerline is valid? [True, True] Translation: X:51.79, Y:-138.84, Z:0.23 [[ 7.40010652e-01 -6.72590614e-01 -2.46994449e-03 5.17940574e+01] [-6.72586786e-01 -7.40014774e-01 2.26929963e-03 -1.38839044e+02] [-3.35410504e-03 -1.80538762e-05 -9.99994375e-01 2.29431727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07185806399997 meters 0.014855313583092427 Centerline is valid? [True, True] Translation: X:51.79, Y:-138.85, Z:0.23 [[ 7.91291436e-01 -6.11432530e-01 -2.85032144e-03 5.17888973e+01] [-6.11428447e-01 -7.91296569e-01 2.23459114e-03 -1.38846587e+02] [-3.62175129e-03 -2.54452240e-05 -9.99993441e-01 2.29120339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10185806399994 meters 0.01519034352273632 Centerline is valid? [True, True] Translation: X:51.78, Y:-138.85, Z:0.23 [[ 8.38045917e-01 -5.45588753e-01 -3.45750876e-03 5.17844436e+01] [-5.45583913e-01 -8.38053048e-01 2.29839316e-03 -1.38854185e+02] [-4.15155321e-03 -3.97978460e-05 -9.99991381e-01 2.30192271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13185806399997 meters 0.015130401167519831 Centerline is valid? [True, True] Translation: X:51.78, Y:-138.86, Z:0.23 [[ 8.77742440e-01 -4.79111097e-01 -4.55695343e-03 5.17800132e+01] [-4.79104369e-01 -8.77754268e-01 2.53959420e-03 -1.38861698e+02] [-5.21663309e-03 -4.58533136e-05 -9.99986392e-01 2.31226137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16185806399994 meters 0.015352917167483647 Centerline is valid? [True, True] Translation: X:51.77, Y:-138.87, Z:0.23 [[ 9.12618062e-01 -4.08785831e-01 -4.73470075e-03 5.17741940e+01] [-4.08780061e-01 -9.12630343e-01 2.17240338e-03 -1.38869896e+02] [-5.20907929e-03 -4.71233050e-05 -9.99986432e-01 2.31251132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.191858064 meters 0.015189996821520639 Centerline is valid? [True, True] Translation: X:51.77, Y:-138.88, Z:0.23 [[ 9.41590028e-01 -3.36716671e-01 -5.48654065e-03 5.17711053e+01] [-3.36710647e-01 -9.41606012e-01 2.01465701e-03 -1.38876621e+02] [-5.84452826e-03 -4.96042909e-05 -9.99982919e-01 2.30776356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22185806399995 meters 0.015160525317385987 Centerline is valid? [True, True] Translation: X:51.77, Y:-138.88, Z:0.23 [[ 9.64632918e-01 -2.63529833e-01 -5.94649036e-03 5.17689226e+01] [-2.63524550e-01 -9.64651245e-01 1.66919521e-03 -1.38882947e+02] [-6.17617206e-03 -4.31144510e-05 -9.99980926e-01 2.31059838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.251858064 meters 0.015137200018689902 Centerline is valid? [True, True] Translation: X:51.77, Y:-138.89, Z:0.23 [[ 9.82093428e-01 -1.88296779e-01 -6.06810089e-03 5.17667326e+01] [-1.88292951e-01 -9.82112174e-01 1.20115878e-03 -1.38889337e+02] [-6.18573009e-03 -3.70695233e-05 -9.99980868e-01 2.30282205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28185806399995 meters 0.015237464327524479 Centerline is valid? [True, True] Translation: X:51.76, Y:-138.90, Z:0.23 [[ 9.93765875e-01 -1.11329486e-01 -5.92715339e-03 5.17604491e+01] [-1.11327309e-01 -9.93783550e-01 6.96998747e-04 -1.38895561e+02] [-5.96790405e-03 -3.27995353e-05 -9.99982191e-01 2.30276212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.311858064 meters 0.015116245708008179 Centerline is valid? [True, True] Translation: X:51.76, Y:-138.90, Z:0.23 [[ 9.99426649e-01 -3.33535287e-02 -5.82372604e-03 5.17557989e+01] [-3.33527803e-02 -9.99443616e-01 2.25608931e-04 -1.38902871e+02] [-5.82801067e-03 -3.12421222e-05 -9.99983017e-01 2.30227538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34185806399995 meters 0.015289303634290081 Centerline is valid? [True, True] Translation: X:51.75, Y:-138.91, Z:0.23 [[ 9.99009703e-01 4.39910809e-02 -6.66314138e-03 5.17506764e+01] [ 4.39902974e-02 -9.99031923e-01 -2.64167127e-04 -1.38908251e+02] [-6.66831195e-03 -2.92080486e-05 -9.99977766e-01 2.30642042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.371858064 meters 0.01523912355148857 Centerline is valid? [True, True] Translation: X:51.75, Y:-138.92, Z:0.23 [[ 9.92528125e-01 1.21861384e-01 -6.14194209e-03 5.17474087e+01] [ 1.21859212e-01 -9.92547129e-01 -7.28094253e-04 -1.38915072e+02] [-6.18489356e-03 -2.57982007e-05 -9.99980873e-01 2.30674475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40185806399995 meters 0.015186132449026314 Centerline is valid? [True, True] Translation: X:51.74, Y:-138.92, Z:0.23 [[ 9.80070656e-01 1.98544663e-01 -6.44412673e-03 5.17443715e+01] [ 1.98540527e-01 -9.80091841e-01 -1.28173475e-03 -1.38920372e+02] [-6.57031762e-03 -2.32296981e-05 -9.99978415e-01 2.30612602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.431858064 meters 0.015308460414547729 Centerline is valid? [True, True] Translation: X:51.74, Y:-138.93, Z:0.23 [[ 9.61555728e-01 2.74552534e-01 -5.61136302e-03 5.17415548e+01] [ 2.74547981e-01 -9.61572101e-01 -1.58138623e-03 -1.38926602e+02] [-5.82990373e-03 -1.99973956e-05 -9.99983006e-01 2.30276008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46185806399995 meters 0.015244223180242418 Centerline is valid? [True, True] Translation: X:51.74, Y:-138.93, Z:0.23 [[ 9.37361752e-01 3.48321239e-01 -5.02590581e-03 5.17378701e+01] [ 3.48316316e-01 -9.37375226e-01 -1.85201582e-03 -1.38932373e+02] [-5.35625604e-03 -1.45961969e-05 -9.99985655e-01 2.28033484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.491858064 meters 0.015232077854282813 Centerline is valid? [True, True] Translation: X:51.74, Y:-138.94, Z:0.23 [[ 9.07055626e-01 4.20985050e-01 -4.65605366e-03 5.17360512e+01] [ 4.20979594e-01 -9.07067576e-01 -2.14341949e-03 -1.38937692e+02] [-5.12570287e-03 -1.59028720e-05 -9.99986863e-01 2.27489866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52185806399996 meters 0.015288986924738818 Centerline is valid? [True, True] Translation: X:51.73, Y:-138.94, Z:0.23 [[ 8.71382263e-01 4.90583734e-01 -4.53335213e-03 5.17343890e+01] [ 4.90577186e-01 -8.71394056e-01 -2.53465465e-03 -1.38942556e+02] [-5.19379644e-03 -1.53060303e-05 -9.99986512e-01 2.27408068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.551858064 meters 0.015329266365931687 Centerline is valid? [True, True] Translation: X:51.73, Y:-138.95, Z:0.23 [[ 8.31841294e-01 5.54987430e-01 -5.38644642e-03 5.17313585e+01] [ 5.54975805e-01 -8.31858734e-01 -3.59207020e-03 -1.38948007e+02] [-6.47431631e-03 -1.31511485e-06 -9.99979041e-01 2.29393004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58185806399996 meters 0.01539637859340321 Centerline is valid? [True, True] Translation: X:51.73, Y:-138.95, Z:0.23 [[ 7.86786181e-01 6.17204390e-01 -5.12312937e-03 5.17312719e+01] [ 6.17191233e-01 -7.86802860e-01 -4.03006405e-03 -1.38954527e+02] [-6.51826607e-03 8.84817196e-06 -9.99978756e-01 2.29756311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.611858064 meters 0.015485355453191175 Centerline is valid? [True, True] Translation: X:51.73, Y:-138.96, Z:0.23 [[ 7.36720798e-01 6.76178811e-01 -4.96815077e-03 5.17298255e+01] [ 6.76163290e-01 -7.36737549e-01 -4.58144514e-03 -1.38961633e+02] [-6.75809935e-03 1.59647461e-05 -9.99977164e-01 2.30076251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64185806399996 meters 0.015746150038487894 Centerline is valid? [True, True] Translation: X:51.73, Y:-138.97, Z:0.23 [[ 6.82920424e-01 7.30476561e-01 -4.86704731e-03 5.17276703e+01] [ 7.30457692e-01 -6.82937766e-01 -5.25050054e-03 -1.38968088e+02] [-7.15925800e-03 3.05019126e-05 -9.99974372e-01 2.30287298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.671858064 meters 0.01574551251684465 Centerline is valid? [True, True] Translation: X:51.73, Y:-138.97, Z:0.23 [[ 6.23800078e-01 7.81572081e-01 -4.30625317e-03 5.17274584e+01] [ 7.81553111e-01 -6.23814941e-01 -5.44548439e-03 -1.38973860e+02] [-6.94234364e-03 3.13280315e-05 -9.99975901e-01 2.29650370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70185806399996 meters 0.015853858132960887 Centerline is valid? [True, True] Translation: X:51.73, Y:-138.98, Z:0.23 [[ 5.61383385e-01 8.27544191e-01 -4.39410321e-03 5.17310907e+01] [ 8.27518253e-01 -5.61400580e-01 -6.55216656e-03 -1.38982361e+02] [-7.88905946e-03 4.20768339e-05 -9.99968880e-01 2.29127368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.731858064 meters 0.015938836089318502 Centerline is valid? [True, True] Translation: X:51.74, Y:-138.99, Z:0.23 [[ 4.95032812e-01 8.68866116e-01 -3.76663000e-03 5.17363446e+01] [ 8.68840310e-01 -4.95047140e-01 -6.69658935e-03 -1.38991525e+02] [-7.68309899e-03 4.24314797e-05 -9.99970484e-01 2.29030283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76185806399997 meters 0.0159403034436064 Centerline is valid? [True, True] Translation: X:51.74, Y:-139.00, Z:0.23 [[ 4.25545859e-01 9.04931672e-01 -3.06435483e-03 5.17419619e+01] [ 9.04907518e-01 -4.25556890e-01 -6.61193379e-03 -1.38999718e+02] [-7.28740562e-03 4.07233203e-05 -9.99973446e-01 2.28930706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79185806399994 meters 0.016082522903640744 Centerline is valid? [True, True] Translation: X:51.75, Y:-139.01, Z:0.23 [[ 3.53611994e-01 9.35389247e-01 -2.34820633e-03 5.17471289e+01] [ 9.35367877e-01 -3.53619788e-01 -6.32303049e-03 -1.39008796e+02] [-6.74486695e-03 3.94626508e-05 -9.99977252e-01 2.28440060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82185806399997 meters 0.01607103586579067 Centerline is valid? [True, True] Translation: X:51.75, Y:-139.02, Z:0.23 [[ 2.79250915e-01 9.60216542e-01 -1.76591285e-03 5.17524093e+01] [ 9.60196478e-01 -2.79256496e-01 -6.20754363e-03 -1.39015505e+02] [-6.45372872e-03 3.78389357e-05 -9.99979174e-01 2.27210013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85185806399994 meters 0.01603742112332376 Centerline is valid? [True, True] Translation: X:51.76, Y:-139.02, Z:0.23 [[ 2.00573356e-01 9.79678182e-01 -9.94175436e-04 5.17609715e+01] [ 9.79665743e-01 -2.00575820e-01 -4.93686415e-03 -1.39023906e+02] [-5.03594565e-03 1.62437948e-05 -9.99987319e-01 2.26951928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88185806399997 meters 0.016139953940895114 Centerline is valid? [True, True] Translation: X:51.77, Y:-139.03, Z:0.23 [[ 1.22997757e-01 9.92406736e-01 -6.48981865e-04 5.17674118e+01] [ 9.92392223e-01 -1.22999468e-01 -5.36710731e-03 -1.39030106e+02] [-5.40617788e-03 1.60976054e-05 -9.99985386e-01 2.26684461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91185806399994 meters 0.016454230908523413 Centerline is valid? [True, True] Translation: X:51.77, Y:-139.04, Z:0.23 [[ 4.32042456e-02 9.99066213e-01 -3.09937295e-04 5.17731726e+01] [ 9.99038916e-01 -4.32053563e-02 -7.38521392e-03 -1.39036784e+02] [-7.39170865e-03 9.43317645e-06 -9.99972681e-01 2.27709375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.941858064 meters 0.016454230908523413 Centerline is valid? [True, True] Translation: X:51.78, Y:-139.04, Z:0.23 [[-3.51654313e-02 9.99381469e-01 2.69365498e-04 5.17764465e+01] [ 9.99354169e-01 3.51664617e-02 -7.38683783e-03 -1.39042476e+02] [-7.39174147e-03 9.43019483e-06 -9.99972681e-01 2.27709651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97185806399995 meters 0.01645476609284585 Centerline is valid? [True, True] Translation: X:51.78, Y:-139.05, Z:0.23 [[-1.13176474e-01 9.93574527e-01 8.62812521e-04 5.17844409e+01] [ 9.93546370e-01 1.13179762e-01 -7.48014729e-03 -1.39046542e+02] [-7.52973672e-03 1.06675559e-05 -9.99971651e-01 2.27640796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.001858064 meters 0.01654569848739264 Centerline is valid? [True, True] Translation: X:51.79, Y:-139.05, Z:0.23 [[-1.90669824e-01 9.81652968e-01 1.57154889e-03 5.17934772e+01] [ 9.81620110e-01 1.90676300e-01 -8.03165943e-03 -1.39049741e+02] [-8.18395944e-03 1.12689029e-05 -9.99966511e-01 2.28179363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03185806399995 meters 0.016647012903506654 Centerline is valid? [True, True] Translation: X:51.80, Y:-139.05, Z:0.23 [[-2.67522600e-01 9.63549537e-01 1.98691820e-03 5.18025865e+01] [ 9.63523128e-01 2.67529978e-01 -7.13396470e-03 -1.39052873e+02] [-7.40548857e-03 5.94485669e-06 -9.99972579e-01 2.28856203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.061858064 meters 0.016830794575368284 Centerline is valid? [True, True] Translation: X:51.81, Y:-139.06, Z:0.23 [[-3.41168558e-01 9.39998526e-01 2.60516797e-03 5.18114498e+01] [ 9.39971438e-01 3.41178504e-01 -7.13604217e-03 -1.39055552e+02] [-7.59669643e-03 1.41902652e-05 -9.99971145e-01 2.28812444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09185806399995 meters 0.017169535801565886 Centerline is valid? [True, True] Translation: X:51.82, Y:-139.06, Z:0.23 [[-4.11237196e-01 9.11522210e-01 3.35117346e-03 5.18175748e+01] [ 9.11492682e-01 4.11250848e-01 -7.33693966e-03 -1.39059272e+02] [-8.06595638e-03 3.73475953e-05 -9.99967469e-01 2.30219895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.121858064 meters 0.017476229305972736 Centerline is valid? [True, True] Translation: X:51.82, Y:-139.06, Z:0.23 [[-4.77572462e-01 8.78582127e-01 4.24150930e-03 5.18228681e+01] [ 8.78548918e-01 4.77591290e-01 -7.63929977e-03 -1.39062557e+02] [-8.73746014e-03 7.80542042e-05 -9.99961825e-01 2.29938332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15185806399995 meters 0.017823563391089942 Centerline is valid? [True, True] Translation: X:51.83, Y:-139.07, Z:0.23 [[-5.42624376e-01 8.39969334e-01 3.21017339e-03 5.18304452e+01] [ 8.39955372e-01 5.42633867e-01 -4.84346125e-03 -1.39065445e+02] [-5.81030772e-03 6.82222423e-05 -9.99983118e-01 2.29236366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.181858064 meters 0.017955640691556623 Centerline is valid? [True, True] Translation: X:51.84, Y:-139.07, Z:0.23 [[-6.06267564e-01 7.95256802e-01 2.50201941e-03 5.18389846e+01] [ 7.95250370e-01 6.06272725e-01 -3.19874811e-03 -1.39066658e+02] [-4.06073232e-03 5.04346356e-05 -9.99991754e-01 2.27953382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21185806399995 meters 0.01833816127108023 Centerline is valid? [True, True] Translation: X:51.85, Y:-139.07, Z:0.23 [[-6.66099675e-01 7.45857338e-01 2.83798245e-03 5.18462257e+01] [ 7.45850921e-01 6.66105718e-01 -3.09448814e-03 -1.39068990e+02] [-4.19844302e-03 5.54742831e-05 -9.99991185e-01 2.28338579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.241858064 meters 0.018178986173665777 Centerline is valid? [True, True] Translation: X:51.85, Y:-139.07, Z:0.23 [[-7.22011678e-01 6.91875284e-01 2.78012976e-03 5.18546413e+01] [ 6.91870436e-01 7.22017028e-01 -2.59066744e-03 -1.39068572e+02] [-3.79971980e-03 5.29974465e-05 -9.99992780e-01 2.28720329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27185806399996 meters 0.018175337147294357 Centerline is valid? [True, True] Translation: X:51.89, Y:-139.06, Z:0.23 [[-7.69736924e-01 6.38355913e-01 2.60700440e-03 5.18881818e+01] [ 6.38352443e-01 7.69741337e-01 -2.10526508e-03 -1.39060586e+02] [-3.35062746e-03 4.36873624e-05 -9.99994386e-01 2.28686206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.301858064 meters 0.018215415281264635 Centerline is valid? [True, True] Translation: X:51.91, Y:-139.04, Z:0.23 [[-8.13338319e-01 5.81783446e-01 2.96647123e-03 5.19100499e+01] [ 5.81779775e-01 8.13343728e-01 -2.06725141e-03 -1.39042511e+02] [-3.61545342e-03 4.44581799e-05 -9.99993463e-01 2.29245436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33185806399996 meters 0.018210086655341295 Centerline is valid? [True, True] Translation: X:52.38, Y:-138.39, Z:-0.74 [[-7.87667868e-01 -6.16093232e-01 2.90830796e-03 5.23751541e+01] [ 6.16088847e-01 -7.87673237e-01 -2.32480979e-03 -1.38392268e+02] [ 3.72309592e-03 -3.94018735e-05 9.99993069e-01 -7.39694050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.361858064 meters 0.01813627422125352 Centerline is valid? [True, True] Translation: X:51.87, Y:-139.02, Z:0.23 [[-8.15265730e-01 5.79080355e-01 2.78048401e-03 5.18746325e+01] [ 5.79077164e-01 8.15270471e-01 -1.92287530e-03 -1.39018591e+02] [-3.38034582e-03 4.24604612e-05 -9.99994286e-01 2.30554644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39185806399996 meters 0.01806960850976274 Centerline is valid? [True, True] Translation: X:51.89, Y:-139.00, Z:0.23 [[-8.54072509e-01 5.20148883e-01 2.29980233e-03 5.18942690e+01] [ 5.20147105e-01 8.54075605e-01 -1.36044100e-03 -1.38998018e+02] [-2.67183693e-03 3.43202702e-05 -9.99996430e-01 2.30210191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.421858064 meters 0.017957398255679952 Centerline is valid? [True, True] Translation: X:51.91, Y:-138.97, Z:0.23 [[-8.88470873e-01 4.58930922e-01 1.38417351e-03 5.19091525e+01] [ 4.58930402e-01 8.88471951e-01 -6.91204750e-04 -1.38974852e+02] [-1.54701457e-03 2.11240168e-05 -9.99998803e-01 2.29913577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45185806399996 meters 0.018537613500756774 Centerline is valid? [True, True] Translation: X:52.28, Y:-138.26, Z:-0.74 [[-8.68839610e-01 -4.95090305e-01 1.82252107e-03 5.22796334e+01] [ 4.95089228e-01 -8.68841522e-01 -1.03274458e-03 -1.38263260e+02] [ 2.09478381e-03 5.02115074e-06 9.99997806e-01 -7.40560134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.481858064 meters 0.01853438735975155 Centerline is valid? [True, True] Translation: X:51.87, Y:-138.96, Z:0.23 [[-8.90262469e-01 4.55444322e-01 1.79041756e-03 5.18693673e+01] [ 4.55443460e-01 8.90264269e-01 -8.86313523e-04 -1.38959441e+02] [-1.99761124e-03 2.63823042e-05 -9.99998004e-01 2.31352047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51185806399997 meters 0.01815491000013581 Centerline is valid? [True, True] Translation: X:51.89, Y:-138.94, Z:0.23 [[-9.20379317e-01 3.91024919e-01 1.19398070e-03 5.18877666e+01] [ 3.91024614e-01 9.20380091e-01 -4.88895358e-04 -1.38935538e+02] [-1.29008633e-03 1.69066665e-05 -9.99999168e-01 2.30902209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54185806399994 meters 0.018168783309158443 Centerline is valid? [True, True] Translation: X:52.20, Y:-138.19, Z:-0.74 [[-9.03911781e-01 -4.27717549e-01 1.09088243e-03 5.21960451e+01] [ 4.27717210e-01 -9.03912439e-01 -5.38702043e-04 -1.38191525e+02] [ 1.21647452e-03 -2.03499330e-05 9.99999260e-01 -7.41147611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57185806399997 meters 0.018231375463213618 Centerline is valid? [True, True] Translation: X:51.85, Y:-138.92, Z:0.23 [[-9.21053673e-01 3.89434716e-01 8.56618542e-04 5.18472757e+01] [ 3.89434562e-01 9.21054071e-01 -3.46815069e-04 -1.38921450e+02] [-9.24053823e-04 1.41615740e-05 -9.99999573e-01 2.31065693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60185806399994 meters 0.01843694053428555 Centerline is valid? [True, True] Translation: X:51.86, Y:-138.90, Z:0.23 [[-9.45748781e-01 3.24898354e-01 5.51000941e-04 5.18563927e+01] [ 3.24898305e-01 9.45748941e-01 -1.78588841e-04 -1.38896688e+02] [-5.79131777e-04 1.01190928e-05 -9.99999832e-01 2.30865468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63185806399997 meters 0.01824529950335111 Centerline is valid? [True, True] Translation: X:52.12, Y:-138.13, Z:-0.74 [[-9.34596805e-01 -3.55708719e-01 -3.46764076e-04 5.21195303e+01] [ 3.55708714e-01 -9.34596868e-01 7.71363220e-05 -1.38131003e+02] [-3.51522681e-04 -5.12556436e-05 9.99999937e-01 -7.40547008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66185806399994 meters 0.01888493179545621 Centerline is valid? [True, True] Translation: X:51.82, Y:-138.89, Z:0.23 [[-9.45279333e-01 3.26256233e-01 -1.96313790e-03 5.18191810e+01] [ 3.26255626e-01 9.45281370e-01 6.30986614e-04 -1.38887616e+02] [ 2.06158100e-03 -4.40261780e-05 -9.99997874e-01 2.30106453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.691858064 meters 0.019713627636835207 Centerline is valid? [True, True] Translation: X:51.83, Y:-138.86, Z:0.23 [[-9.65341543e-01 2.60976977e-01 -2.59303792e-03 5.18318436e+01] [ 2.60976214e-01 9.65345023e-01 6.34260733e-04 -1.38863866e+02] [ 2.66870370e-03 -6.44429836e-05 -9.99996437e-01 2.30486761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72185806399995 meters 0.01947481202498551 Centerline is valid? [True, True] Translation: X:51.84, Y:-138.84, Z:0.23 [[-9.81283130e-01 1.92544900e-01 -3.14336005e-03 5.18411068e+01] [ 1.92544170e-01 9.81288161e-01 5.35915274e-04 -1.38835921e+02] [ 3.18772976e-03 -7.93510352e-05 -9.99994916e-01 2.29795791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.751858064 meters 0.020170204180338873 Centerline is valid? [True, True] Translation: X:51.85, Y:-138.81, Z:0.23 [[-9.92157025e-01 1.24964045e-01 -2.90250153e-03 5.18481099e+01] [ 1.24963745e-01 9.92161268e-01 2.84980373e-04 -1.38809185e+02] [ 2.91536190e-03 -7.99621829e-05 -9.99995747e-01 2.30006436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78185806399995 meters 0.0211311682131267 Centerline is valid? [True, True] Translation: X:51.94, Y:-138.00, Z:-0.74 [[-9.91035118e-01 -1.33581728e-01 -2.30575013e-03 5.19386707e+01] [ 1.33581132e-01 -9.91037796e-01 4.11212700e-04 -1.37995116e+02] [-2.34001603e-03 9.95215153e-05 9.99997257e-01 -7.40461548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.811858064 meters 0.02106478555380569 Centerline is valid? [True, True] Translation: X:51.78, Y:-138.80, Z:0.23 [[-9.92048773e-01 1.25831562e-01 -2.37715175e-03 5.17791499e+01] [ 1.25831393e-01 9.92051617e-01 2.21389191e-04 -1.38804488e+02] [ 2.38611499e-03 -7.94914410e-05 -9.99997150e-01 2.31186197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84185806399995 meters 0.02259827041654705 Centerline is valid? [True, True] Translation: X:51.78, Y:-138.78, Z:0.23 [[-9.98252044e-01 5.90790545e-02 -1.58831863e-03 5.17808813e+01] [ 5.90790739e-02 9.98253305e-01 3.47794471e-05 -1.38779895e+02] [ 1.58759906e-03 -5.91177393e-05 -9.99998738e-01 2.31893029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.871858064 meters 0.023848680530641313 Centerline is valid? [True, True] Translation: X:51.79, Y:-138.75, Z:0.23 [[-9.99986307e-01 -4.98097422e-03 -1.60500679e-03 5.17868808e+01] [-4.98085319e-03 9.99987592e-01 -7.93989827e-05 -1.38752608e+02] [ 1.60538236e-03 -7.14035923e-05 -9.99998709e-01 2.33046238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90185806399995 meters 0.02527389410621072 Centerline is valid? [True, True] Translation: X:51.78, Y:-138.73, Z:0.23 [[-9.97313253e-01 -7.32327177e-02 -1.80119226e-03 5.17781703e+01] [-7.32324415e-02 9.97314876e-01 -2.18917165e-04 -1.38727074e+02] [ 1.81238773e-03 -8.64232834e-05 -9.99998354e-01 2.33450444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.931858064 meters 0.02959724504593882 Centerline is valid? [True, True] Translation: X:51.76, Y:-138.71, Z:0.23 [[-9.89875362e-01 -1.41914829e-01 -2.63609021e-03 5.17594509e+01] [-1.41913957e-01 9.89878863e-01 -5.15874695e-04 -1.38706936e+02] [ 2.68262025e-03 -1.36553657e-04 -9.99996392e-01 2.33440622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96185806399995 meters 0.028797402756316183 Centerline is valid? [True, True] Translation: X:51.71, Y:-138.69, Z:0.23 [[-9.78292398e-01 -2.07187249e-01 -4.17474650e-03 5.17074461e+01] [-2.07184260e-01 9.78301273e-01 -1.14086080e-03 -1.38687727e+02] [ 4.32053163e-03 -2.51153680e-04 -9.99990635e-01 2.33274793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.991858064 meters 0.032394866621763545 Centerline is valid? [True, True] Translation: X:51.65, Y:-138.68, Z:0.23 [[-9.61223417e-01 -2.75738720e-01 -4.20724248e-03 5.16489950e+01] [-2.75734818e-01 9.61232585e-01 -1.49241425e-03 -1.38682491e+02] [ 4.45565496e-03 -2.74460287e-04 -9.99990036e-01 2.33113402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02185806399996 meters 0.03144973483868505 Centerline is valid? [True, True] Translation: X:51.57, Y:-138.68, Z:0.23 [[-9.38485832e-01 -3.45279738e-01 -5.12304376e-03 5.15714840e+01] [-3.45272527e-01 9.38499749e-01 -2.25888529e-03 -1.38679997e+02] [ 5.58792261e-03 -3.51085578e-04 -9.99984326e-01 2.32154126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.051858064 meters 0.032656968378576165 Centerline is valid? [True, True] Translation: X:51.49, Y:-138.69, Z:0.23 [[-9.11344121e-01 -4.11614706e-01 -5.02276244e-03 5.14941387e+01] [-4.11606141e-01 9.11357884e-01 -2.68180899e-03 -1.38688511e+02] [ 5.68140616e-03 -3.76650990e-04 -9.99983790e-01 2.32111294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08185806399996 meters 0.03497343227576209 Centerline is valid? [True, True] Translation: X:51.40, Y:-138.71, Z:0.23 [[-8.77876207e-01 -4.78866068e-01 -4.54460279e-03 5.14021052e+01] [-4.78857504e-01 8.77887898e-01 -2.88607641e-03 -1.38712809e+02] [ 5.37169586e-03 -3.57400663e-04 -9.99985508e-01 2.33015542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.111858064 meters 0.03616278789462316 Centerline is valid? [True, True] Translation: X:51.31, Y:-138.74, Z:0.23 [[-8.39114805e-01 -5.43940865e-01 -3.83135659e-03 5.13103755e+01] [-5.43933424e-01 8.39123492e-01 -2.86285404e-03 -1.38743970e+02] [ 4.77220463e-03 -3.18260304e-04 -9.99988562e-01 2.32857212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14185806399996 meters 0.037457435293982745 Centerline is valid? [True, True] Translation: X:51.21, Y:-138.79, Z:0.23 [[-7.95921469e-01 -6.05386081e-01 -4.08751737e-03 5.12147577e+01] [-6.05375666e-01 7.95931880e-01 -3.57000452e-03 -1.38786057e+02] [ 5.41461643e-03 -3.66959688e-04 -9.99985274e-01 2.32867587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.171858064 meters 0.03705691517601566 Centerline is valid? [True, True] Translation: X:51.11, Y:-138.84, Z:0.23 [[-7.46439094e-01 -6.65439100e-01 -4.41403606e-03 5.11090970e+01] [-6.65424058e-01 7.46452028e-01 -4.49372328e-03 -1.38844176e+02] [ 6.28516534e-03 -4.17084949e-04 -9.99980161e-01 2.32223771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20185806399996 meters 0.03327499735575828 Centerline is valid? [True, True] Translation: X:51.02, Y:-138.89, Z:0.23 [[-6.93340011e-01 -7.20598503e-01 -4.17457108e-03 5.10221222e+01] [-7.20581564e-01 6.93352445e-01 -4.95956492e-03 -1.38891303e+02] [ 6.46830412e-03 -4.30545838e-04 -9.99978988e-01 2.33627319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.231858064 meters 0.03176528091400397 Centerline is valid? [True, True] Translation: X:50.93, Y:-138.96, Z:0.23 [[-6.34838692e-01 -7.72632663e-01 -4.31319688e-03 5.09285803e+01] [-7.72609467e-01 6.34853162e-01 -6.00611663e-03 -1.38960865e+02] [ 7.37876856e-03 -4.80498477e-04 -9.99972661e-01 2.32811236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26185806399997 meters 0.03184011770060732 Centerline is valid? [True, True] Translation: X:50.84, Y:-139.04, Z:0.23 [[-5.72848134e-01 -8.19651481e-01 -4.05768900e-03 5.08412297e+01] [-8.19624400e-01 5.72862285e-01 -6.68172394e-03 -1.39040308e+02] [ 7.80118192e-03 -5.01832175e-04 -9.99969444e-01 2.33052667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29185806399994 meters 0.03193015459236631 Centerline is valid? [True, True] Translation: X:50.76, Y:-139.13, Z:0.23 [[-5.07897125e-01 -8.61410559e-01 -3.51574346e-03 5.07577382e+01] [-8.61382709e-01 5.07909048e-01 -6.94463478e-03 -1.39133906e+02] [ 7.76785964e-03 -4.98759407e-04 -9.99969705e-01 2.32578079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32185806399997 meters 0.03217110929320321 Centerline is valid? [True, True] Translation: X:50.68, Y:-139.24, Z:0.23 [[-4.37087351e-01 -8.99413300e-01 -3.21911410e-03 5.06803881e+01] [-8.99379616e-01 4.37098902e-01 -7.80099744e-03 -1.39235041e+02] [ 8.42339209e-03 -5.14511696e-04 -9.99964390e-01 2.32317331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35185806399994 meters 0.031845610833631334 Centerline is valid? [True, True] Translation: X:50.61, Y:-139.33, Z:0.23 [[-3.64850152e-01 -9.31061873e-01 -2.85571989e-03 5.06133840e+01] [-9.31020503e-01 3.64860914e-01 -8.79418157e-03 -1.39332868e+02] [ 9.22986773e-03 -5.49824714e-04 -9.99957253e-01 2.32632643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38185806399997 meters 0.028392564478517304 Centerline is valid? [True, True] Translation: X:50.55, Y:-139.44, Z:0.23 [[-2.91068047e-01 -9.56700105e-01 -2.07374649e-03 5.05484088e+01] [-9.56661593e-01 2.91074971e-01 -8.59990486e-03 -1.39443129e+02] [ 8.83114558e-03 -5.19283887e-04 -9.99960870e-01 2.33391321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41185806399994 meters 0.02834995034867553 Centerline is valid? [True, True] Translation: X:50.50, Y:-139.56, Z:0.23 [[-2.13218968e-01 -9.77003286e-01 -1.50010246e-03 5.04954501e+01] [-9.76958731e-01 2.13223593e-01 -9.34546863e-03 -1.39561333e+02] [ 9.45041080e-03 -5.27092975e-04 -9.99955205e-01 2.32784566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.441858064 meters 0.026262142782447196 Centerline is valid? [True, True] Translation: X:50.45, Y:-139.67, Z:0.23 [[-1.35241440e-01 -9.90812355e-01 -7.93687331e-04 5.04495770e+01] [-9.90765093e-01 1.35242752e-01 -9.69164719e-03 -1.39674807e+02] [ 9.70994424e-03 -5.24354620e-04 -9.99952720e-01 2.32892414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47185806399995 meters 0.02682665627497733 Centerline is valid? [True, True] Translation: X:50.42, Y:-139.80, Z:0.23 [[-5.65958072e-02 -9.98397172e-01 -3.76317025e-05 5.04153246e+01] [-9.98356570e-01 5.65938454e-02 -9.01644185e-03 -1.39800769e+02] [ 9.00411977e-03 -4.72722947e-04 -9.99959350e-01 2.33772863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.501858064 meters 0.02813715459073694 Centerline is valid? [True, True] Translation: X:50.39, Y:-139.92, Z:0.23 [[ 1.97029865e-02 -9.99805699e-01 5.97279718e-04 5.03937332e+01] [-9.99772779e-01 -1.97071917e-02 -8.12502717e-03 -1.39923792e+02] [ 8.13521917e-03 -4.37056702e-04 -9.99966813e-01 2.34867401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53185806399995 meters 0.027953613571158244 Centerline is valid? [True, True] Translation: X:50.38, Y:-140.05, Z:0.24 [[ 9.68016715e-02 -9.95303045e-01 1.13326724e-03 5.03782712e+01] [-9.95275229e-01 -9.68074513e-02 -7.45220882e-03 -1.40049166e+02] [ 7.52691484e-03 -4.06526545e-04 -9.99971590e-01 2.35029365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.561858064 meters 0.028348407538138623 Centerline is valid? [True, True] Translation: X:50.37, Y:-140.18, Z:0.23 [[ 1.73858575e-01 -9.84768983e-01 1.80184398e-03 5.03731708e+01] [-9.84738559e-01 -1.73867389e-01 -7.75255898e-03 -1.40177884e+02] [ 7.94776153e-03 -4.26496382e-04 -9.99968325e-01 2.34980530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59185806399995 meters 0.03071639992397999 Centerline is valid? [True, True] Translation: X:50.38, Y:-140.30, Z:0.23 [[ 2.47404724e-01 -9.68909977e-01 2.08782505e-03 5.03819008e+01] [-9.68887496e-01 -2.47413231e-01 -6.61168505e-03 -1.40303431e+02] [ 6.92268315e-03 -3.87105468e-04 -9.99975963e-01 2.34739076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.621858064 meters 0.031219482957968434 Centerline is valid? [True, True] Translation: X:50.40, Y:-140.42, Z:0.24 [[ 3.19038552e-01 -9.47738111e-01 2.62189654e-03 5.03952954e+01] [-9.47715894e-01 -3.19049062e-01 -6.50240364e-03 -1.40423685e+02] [ 6.99908938e-03 -4.10295578e-04 -9.99975422e-01 2.35099903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65185806399995 meters 0.03370233241708748 Centerline is valid? [True, True] Translation: X:50.42, Y:-140.54, Z:0.24 [[ 3.88597775e-01 -9.21401593e-01 3.29747928e-03 5.04202018e+01] [-9.21377747e-01 -3.88611498e-01 -6.64460798e-03 -1.40543956e+02] [ 7.40379074e-03 -4.56144154e-04 -9.99972488e-01 2.35321782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.681858064 meters 0.03551668873362169 Centerline is valid? [True, True] Translation: X:50.45, Y:-140.65, Z:0.24 [[ 4.52800068e-01 -8.91605091e-01 3.52974185e-03 5.04500265e+01] [-8.91585586e-01 -4.52813584e-01 -5.91611664e-03 -1.40653068e+02] [ 6.87315478e-03 -4.68248941e-04 -9.99976270e-01 2.36250476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71185806399995 meters 0.03942162944826241 Centerline is valid? [True, True] Translation: X:50.49, Y:-140.76, Z:0.24 [[ 5.17696653e-01 -8.55554771e-01 4.02599800e-03 5.04931913e+01] [-8.55535934e-01 -5.17712072e-01 -5.69881764e-03 -1.40764297e+02] [ 6.95995839e-03 -4.94127139e-04 -9.99975657e-01 2.35768343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.741858064 meters 0.03308072869739584 Centerline is valid? [True, True] Translation: X:50.53, Y:-140.88, Z:0.24 [[ 5.77895047e-01 -8.16099673e-01 4.31725864e-03 5.05328390e+01] [-8.16083201e-01 -5.77910946e-01 -5.21029677e-03 -1.40877129e+02] [ 6.74711251e-03 -5.12237562e-04 -9.99977107e-01 2.37555180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77185806399996 meters 0.04452663733110372 Centerline is valid? [True, True] Translation: X:50.59, Y:-140.96, Z:0.24 [[ 6.34329378e-01 -7.73042641e-01 5.59598403e-03 5.05883903e+01] [-7.73021267e-01 -6.34353723e-01 -5.78584072e-03 -1.40963962e+02] [ 8.02253489e-03 -6.55685914e-04 -9.99967604e-01 2.36538073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.801858064 meters 0.03895791525381591 Centerline is valid? [True, True] Translation: X:50.64, Y:-141.06, Z:0.24 [[ 6.90527296e-01 -7.23275589e-01 6.66903092e-03 5.06386015e+01] [-7.23251779e-01 -6.90559104e-01 -5.91508908e-03 -1.41063668e+02] [ 8.88359956e-03 -7.38858006e-04 -9.99960267e-01 2.36287375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83185806399996 meters 0.03739912947622192 Centerline is valid? [True, True] Translation: X:50.63, Y:-141.07, Z:0.24 [[ 7.43140776e-01 -6.69107121e-01 6.11946392e-03 5.06306393e+01] [-6.69091447e-01 -7.43165681e-01 -4.62663922e-03 -1.41071061e+02] [ 7.64349282e-03 -6.56236712e-04 -9.99970573e-01 2.37066359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.861858064 meters 0.03739912947622192 Centerline is valid? [True, True] Translation: X:50.62, Y:-141.08, Z:0.24 [[ 7.93186224e-01 -6.08944867e-01 6.46249344e-03 5.06224186e+01] [-6.08931188e-01 -7.93212278e-01 -4.13393200e-03 -1.41076721e+02] [ 7.64346581e-03 -6.56235898e-04 -9.99970573e-01 2.37066641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89185806399996 meters 0.051603301491873296 Centerline is valid? [True, True] Translation: X:50.62, Y:-141.07, Z:0.24 [[ 8.36856745e-01 -5.47392192e-01 5.70758946e-03 5.06227143e+01] [-5.47383988e-01 -8.36876014e-01 -3.05087824e-03 -1.41066562e+02] [ 6.44657164e-03 -5.71095046e-04 -9.99979058e-01 2.36833383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.921858064 meters 0.05262791751473807 Centerline is valid? [True, True] Translation: X:50.62, Y:-141.06, Z:0.24 [[ 8.76551117e-01 -4.81277678e-01 5.47131444e-03 5.06196202e+01] [-4.81272012e-01 -8.76568030e-01 -2.39546550e-03 -1.41062764e+02] [ 5.94886339e-03 -5.33442554e-04 -9.99982163e-01 2.37191375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95185806399996 meters 0.044154573472044385 Centerline is valid? [True, True] Translation: X:50.61, Y:-141.08, Z:0.24 [[ 9.11133515e-01 -4.12073708e-01 5.56578123e-03 5.06088131e+01] [-4.12069512e-01 -9.11150359e-01 -1.93398264e-03 -1.41077251e+02] [ 5.86820697e-03 -5.31372356e-04 -9.99982641e-01 2.38316309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.981858064 meters 0.03662166921398175 Centerline is valid? [True, True] Translation: X:50.60, Y:-141.10, Z:0.24 [[ 9.39735358e-01 -3.41868971e-01 4.80246024e-03 5.05959886e+01] [-3.41866969e-01 -9.39747517e-01 -1.25725906e-03 -1.41096265e+02] [ 4.94291795e-03 -4.60311734e-04 -9.99987678e-01 2.39919048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01185806399997 meters 0.046814126080851295 Centerline is valid? [True, True] Translation: X:50.59, Y:-141.09, Z:0.24 [[ 9.63215662e-01 -2.68687048e-01 4.78102479e-03 5.05884329e+01] [-2.68686066e-01 -9.63227419e-01 -8.58428607e-04 -1.41091827e+02] [ 4.83586282e-03 -4.57742865e-04 -9.99988202e-01 2.39409692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04185806399994 meters 0.04630219273408412 Centerline is valid? [True, True] Translation: X:50.58, Y:-141.10, Z:0.24 [[ 9.81452038e-01 -1.91621147e-01 5.76478708e-03 5.05793047e+01] [-1.91621051e-01 -9.81468819e-01 -5.74270663e-04 -1.41096839e+02] [ 5.76800117e-03 -5.41035445e-04 -9.99983219e-01 2.38560076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07185806399997 meters 0.0467047999598946 Centerline is valid? [True, True] Translation: X:50.57, Y:-141.10, Z:0.24 [[ 9.93413098e-01 -1.14417468e-01 6.24977773e-03 5.05710149e+01] [-1.14418890e-01 -9.93432585e-01 -1.30701177e-04 -1.41099731e+02] [ 6.22368734e-03 -5.85252373e-04 -9.99980461e-01 2.38022120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10185806399994 meters 0.03931564541177516 Centerline is valid? [True, True] Translation: X:50.56, Y:-141.12, Z:0.24 [[ 9.99355314e-01 -3.53927736e-02 6.02558548e-03 5.05644431e+01] [-3.53955002e-02 -9.99373323e-01 3.46432397e-04 -1.41119036e+02] [ 6.00954818e-03 -5.59487670e-04 -9.99981786e-01 2.38566323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13185806399997 meters 0.03523284070593412 Centerline is valid? [True, True] Translation: X:50.56, Y:-141.14, Z:0.24 [[ 9.98975867e-01 4.47945851e-02 6.37666805e-03 5.05598915e+01] [ 4.47899282e-02 -9.98996048e-01 8.71316494e-04 -1.41138809e+02] [ 6.40929644e-03 -5.84813646e-04 -9.99979289e-01 2.39218556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16185806399994 meters 0.034805793917459346 Centerline is valid? [True, True] Translation: X:50.56, Y:-141.15, Z:0.24 [[ 9.92006981e-01 1.25995770e-01 6.87132745e-03 5.05553700e+01] [ 1.25988415e-01 -9.92030587e-01 1.49463909e-03 -1.41152223e+02] [ 7.00488521e-03 -6.16984758e-04 -9.99975275e-01 2.39053702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.191858064 meters 0.03572986115193812 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.16, Z:0.24 [[ 9.78844031e-01 2.04488766e-01 6.97907758e-03 5.05502769e+01] [ 2.04478935e-01 -9.78868708e-01 2.10190699e-03 -1.41163303e+02] [ 7.26141702e-03 -6.30364761e-04 -9.99973437e-01 2.39120621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22185806399995 meters 0.03542389835627526 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.18, Z:0.24 [[ 9.59042138e-01 2.83168940e-01 7.31639860e-03 5.05474769e+01] [ 2.83155406e-01 -9.59069820e-01 2.84536756e-03 -1.41176754e+02] [ 7.82265680e-03 -6.57149563e-04 -9.99969187e-01 2.38374679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.251858064 meters 0.033933129001054774 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.19, Z:0.24 [[ 9.32567300e-01 3.60935526e-01 6.61644167e-03 5.05461641e+01] [ 3.60921904e-01 -9.32590586e-01 3.19019373e-03 -1.41189734e+02] [ 7.32188546e-03 -5.87051626e-04 -9.99973022e-01 2.38081496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28185806399995 meters 0.03510929589498924 Centerline is valid? [True, True] Translation: X:50.54, Y:-141.20, Z:0.24 [[ 9.00441518e-01 4.34926231e-01 6.65178573e-03 5.05430750e+01] [ 4.34909365e-01 -9.00465888e-01 3.87665376e-03 -1.41201204e+02] [ 7.67576455e-03 -5.97776087e-04 -9.99970362e-01 2.38102719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.311858064 meters 0.032240508202941866 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.22, Z:0.24 [[ 8.62757772e-01 5.05579485e-01 6.19763132e-03 5.05458687e+01] [ 5.05561561e-01 -8.62779842e-01 4.29559472e-03 -1.41217669e+02] [ 7.51895594e-03 -5.72773560e-04 -9.99971568e-01 2.38427700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34185806399995 meters 0.033990600130427664 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.23, Z:0.24 [[ 8.18635369e-01 5.74286159e-01 5.61609597e-03 5.05454801e+01] [ 5.74268112e-01 -8.18654464e-01 4.58304793e-03 -1.41230496e+02] [ 7.22962302e-03 -5.26700297e-04 -9.99973727e-01 2.38780922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.371858064 meters 0.033824712016132456 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.24, Z:0.24 [[ 7.70563694e-01 6.37339274e-01 5.49936250e-03 5.05467444e+01] [ 6.37317829e-01 -7.70583125e-01 5.25671549e-03 -1.41241865e+02] [ 7.58802717e-03 -5.45792333e-04 -9.99971062e-01 2.39862608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40185806399995 meters 0.03365015005209386 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.25, Z:0.24 [[ 7.17651370e-01 6.96388465e-01 4.42914858e-03 5.05475180e+01] [ 6.96371007e-01 -7.17664884e-01 4.95339422e-03 -1.41252220e+02] [ 6.62813099e-03 -4.70479497e-04 -9.99977923e-01 2.40305895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.431858064 meters 0.036306354726974244 Centerline is valid? [True, True] Translation: X:50.54, Y:-141.26, Z:0.24 [[ 6.60313268e-01 7.50983138e-01 3.27321381e-03 5.05435431e+01] [ 7.50970951e-01 -6.60321273e-01 4.29514673e-03 -1.41260320e+02] [ 5.38695548e-03 -3.78053889e-04 -9.99985419e-01 2.41528730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46185806399995 meters 0.032984172160837016 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.27, Z:0.24 [[ 5.98670038e-01 8.00989850e-01 3.07328492e-03 5.05494218e+01] [ 8.00975769e-01 -5.98677798e-01 4.76568051e-03 -1.41273997e+02] [ 5.65716917e-03 -3.91443381e-04 -9.99983921e-01 2.41172643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.491858064 meters 0.03631498333949951 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.28, Z:0.24 [[ 5.33704218e-01 8.45666031e-01 2.96168736e-03 5.05479817e+01] [ 8.45648289e-01 -5.33712264e-01 5.49451775e-03 -1.41283039e+02] [ 6.22721589e-03 -4.27901451e-04 -9.99980519e-01 2.41094567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52185806399996 meters 0.03549145424681553 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.29, Z:0.24 [[ 4.65905247e-01 8.84831095e-01 2.49684902e-03 5.05502847e+01] [ 8.84813140e-01 -4.65911745e-01 5.65271118e-03 -1.41292802e+02] [ 6.16500591e-03 -4.24382984e-04 -9.99980906e-01 2.41029273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.551858064 meters 0.03726155959829743 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.30, Z:0.24 [[ 3.95342939e-01 9.18530760e-01 2.28101372e-03 5.05492831e+01] [ 9.18507889e-01 -3.95349235e-01 6.49929416e-03 -1.41302196e+02] [ 6.87159864e-03 -4.74320964e-04 -9.99976278e-01 2.41265603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58185806399996 meters 0.03778094900520452 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.31, Z:0.24 [[ 3.23191881e-01 9.46331676e-01 1.83510173e-03 5.05488744e+01] [ 9.46306484e-01 -3.23196703e-01 6.92310020e-03 -1.41310508e+02] [ 7.14464784e-03 -5.00921113e-04 -9.99974351e-01 2.40778773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.611858064 meters 0.029339676251661884 Centerline is valid? [True, True] Translation: X:50.57, Y:-141.32, Z:0.24 [[ 2.49417132e-01 9.68395151e-01 1.38805165e-03 5.05687808e+01] [ 9.68365503e-01 -2.49420386e-01 7.59759584e-03 -1.41322927e+02] [ 7.70368335e-03 -5.50829227e-04 -9.99970175e-01 2.41199634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64185806399996 meters 0.03402444735690416 Centerline is valid? [True, True] Translation: X:50.57, Y:-141.33, Z:0.24 [[ 1.75641908e-01 9.84453786e-01 8.13990800e-04 5.05707255e+01] [ 9.84422019e-01 -1.75642797e-01 7.93068643e-03 -1.41332352e+02] [ 7.95036591e-03 -5.91650429e-04 -9.99968220e-01 2.40161011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.671858064 meters 0.031462741190914134 Centerline is valid? [True, True] Translation: X:50.59, Y:-141.34, Z:0.24 [[ 9.76566389e-02 9.95220144e-01 2.15135349e-04 5.05865416e+01] [ 9.95179537e-01 -9.76546031e-02 9.01491077e-03 -1.41340706e+02] [ 8.99282975e-03 -6.66267589e-04 -9.99959342e-01 2.40568504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70185806399996 meters 0.031302848970475486 Centerline is valid? [True, True] Translation: X:50.60, Y:-141.35, Z:0.24 [[ 1.87537573e-02 9.99824002e-01 -5.11698224e-04 5.05992932e+01] [ 9.99780299e-01 -1.87481404e-02 9.37338719e-03 -1.41347757e+02] [ 9.36214410e-03 -6.87372032e-04 -9.99955938e-01 2.41281529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.731858064 meters 0.03192936891822839 Centerline is valid? [True, True] Translation: X:50.61, Y:-141.35, Z:0.24 [[-6.17767998e-02 9.98089239e-01 -1.22397511e-03 5.06110547e+01] [ 9.98047486e-01 6.17854398e-02 9.15284936e-03 -1.41354700e+02] [ 9.21098429e-03 -6.56151544e-04 -9.99957363e-01 2.42108109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76185806399997 meters 0.03067097040561816 Centerline is valid? [True, True] Translation: X:50.62, Y:-141.36, Z:0.24 [[-1.40349200e-01 9.90100555e-01 -1.72987669e-03 5.06242379e+01] [ 9.90067892e-01 1.40358658e-01 8.06324640e-03 -1.41360026e+02] [ 8.22622790e-03 -5.81025189e-04 -9.99965995e-01 2.42361550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79185806399994 meters 0.03128490226421625 Centerline is valid? [True, True] Translation: X:50.63, Y:-141.37, Z:0.24 [[-2.18145408e-01 9.75913794e-01 -2.20169813e-03 5.06345236e+01] [ 9.75886007e-01 2.18155856e-01 7.38407500e-03 -1.41365944e+02] [ 7.68653399e-03 -5.37804338e-04 -9.99970314e-01 2.42750290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82185806399997 meters 0.03335654345221261 Centerline is valid? [True, True] Translation: X:50.64, Y:-141.37, Z:0.24 [[-2.93564645e-01 9.55936196e-01 -2.40604194e-03 5.06425091e+01] [ 9.55915970e-01 2.93574130e-01 6.23613953e-03 -1.41372507e+02] [ 6.66770316e-03 -4.69263825e-04 -9.99977661e-01 2.43113781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85185806399994 meters 0.0328294766540358 Centerline is valid? [True, True] Translation: X:50.66, Y:-141.38, Z:0.24 [[-3.66893031e-01 9.30257507e-01 -3.23661707e-03 5.06554508e+01] [ 9.30233117e-01 3.66906921e-01 6.75717321e-03 -1.41375877e+02] [ 7.47344830e-03 -5.31648631e-04 -9.99971932e-01 2.43106942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88185806399997 meters 0.028716801327440953 Centerline is valid? [True, True] Translation: X:50.68, Y:-141.37, Z:0.24 [[-4.34992746e-01 9.00425042e-01 -4.00690577e-03 5.06771350e+01] [ 9.00398679e-01 4.35010787e-01 6.91623874e-03 -1.41371750e+02] [ 7.97060179e-03 -5.99298987e-04 -9.99968055e-01 2.44236843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91185806399994 meters 0.03158625855718795 Centerline is valid? [True, True] Translation: X:50.69, Y:-141.37, Z:0.24 [[-5.02668895e-01 8.64465456e-01 -4.84341529e-03 5.06894796e+01] [ 8.64437146e-01 5.02691802e-01 7.02660000e-03 -1.41372403e+02] [ 8.50899813e-03 -6.54774833e-04 -9.99963583e-01 2.44104357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.941858064 meters 0.028820748429390922 Centerline is valid? [True, True] Translation: X:50.71, Y:-141.37, Z:0.24 [[-5.66552003e-01 8.24006205e-01 -5.70978108e-03 5.07075661e+01] [ 8.23976506e-01 5.66580317e-01 7.03294732e-03 -1.41366816e+02] [ 9.03024180e-03 -7.20195071e-04 -9.99958967e-01 2.44575999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97185806399995 meters 0.03145814476121264 Centerline is valid? [True, True] Translation: X:50.72, Y:-141.37, Z:0.24 [[-6.28558390e-01 7.77732671e-01 -6.80017112e-03 5.07202745e+01] [ 7.77700209e-01 6.28594672e-01 7.15000914e-03 -1.41365027e+02] [ 9.83534704e-03 -7.94296271e-04 -9.99951316e-01 2.43497346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.001858064 meters 0.032373484422386724 Centerline is valid? [True, True] Translation: X:50.73, Y:-141.36, Z:0.24 [[-6.86409049e-01 7.27168020e-01 -8.32387422e-03 5.07325585e+01] [ 7.27130121e-01 6.86458905e-01 7.48060433e-03 -1.41362376e+02] [ 1.11536538e-02 -9.17785165e-04 -9.99937375e-01 2.41911477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03185806399995 meters 0.031272357508206894 Centerline is valid? [True, True] Translation: X:50.76, Y:-141.34, Z:0.24 [[-7.35893492e-01 6.77044756e-01 -8.43600431e-03 5.07590495e+01] [ 6.77013497e-01 7.35941318e-01 6.56516414e-03 -1.41344199e+02] [ 1.06533141e-02 -8.80027214e-04 -9.99942865e-01 2.41994705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.061858064 meters 0.03271816972927726 Centerline is valid? [True, True] Translation: X:50.78, Y:-141.32, Z:0.24 [[-7.82184010e-01 6.22982182e-01 -9.02078714e-03 5.07763611e+01] [ 6.22953471e-01 7.82235520e-01 6.04677412e-03 -1.41321090e+02] [ 1.08234127e-02 -8.89840630e-04 -9.99941029e-01 2.42845596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09185806399995 meters 0.03354005053443534 Centerline is valid? [True, True] Translation: X:51.25, Y:-140.64, Z:-0.75 [[-8.39083648e-01 -5.43948623e-01 -7.65032755e-03 5.12487035e+01] [ 5.43916340e-01 -8.39118079e-01 5.98873618e-03 -1.40639993e+02] [-9.67709295e-03 8.63912433e-04 9.99952803e-01 -7.54464360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.121858064 meters 0.040577997044765474 Centerline is valid? [True, True] Translation: X:50.73, Y:-141.31, Z:0.24 [[-7.84022336e-01 6.20680194e-01 -8.06682308e-03 5.07343680e+01] [ 6.20657524e-01 7.84063426e-01 5.36491765e-03 -1.41305322e+02] [ 9.65479907e-03 -8.00519170e-04 -9.99953071e-01 2.43225898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15185806399995 meters 0.0343261042584508 Centerline is valid? [True, True] Translation: X:50.76, Y:-141.28, Z:0.24 [[-8.26730273e-01 5.62516825e-01 -9.58527150e-03 5.07614939e+01] [ 5.62491260e-01 8.26785352e-01 5.43733593e-03 -1.41276202e+02] [ 1.09835550e-02 -8.96421221e-04 -9.99939277e-01 2.44000092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.181858064 meters 0.03382427527440302 Centerline is valid? [True, True] Translation: X:50.78, Y:-141.25, Z:0.24 [[-8.64323235e-01 5.02843286e-01 -9.69406314e-03 5.07770467e+01] [ 5.02822781e-01 8.64377152e-01 4.62492347e-03 -1.41251567e+02] [ 1.07049384e-02 -8.76966972e-04 -9.99942316e-01 2.44113264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21185806399995 meters 0.033433972284552776 Centerline is valid? [True, True] Translation: X:50.79, Y:-141.23, Z:0.24 [[-8.97980294e-01 4.39917035e-01 -1.02172982e-02 5.07936161e+01] [ 4.39899635e-01 8.98037977e-01 4.01285209e-03 -1.41226581e+02] [ 1.09408438e-02 -8.91123654e-04 -9.99939750e-01 2.44335138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.241858064 meters 0.034239355275943226 Centerline is valid? [True, True] Translation: X:50.80, Y:-141.20, Z:0.24 [[-9.26935865e-01 3.75063750e-01 -1.08206019e-02 5.07981419e+01] [ 3.75049583e-01 9.26998565e-01 3.38689326e-03 -1.41199215e+02] [ 1.13009834e-02 -9.18829408e-04 -9.99935720e-01 2.43659948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27185806399996 meters 0.03584667400323499 Centerline is valid? [True, True] Translation: X:50.81, Y:-141.18, Z:0.24 [[-9.50841596e-01 3.09468656e-01 -1.13758850e-02 5.08130136e+01] [ 3.09458442e-01 9.50909158e-01 2.69171324e-03 -1.41177052e+02] [ 1.16504341e-02 -9.60970738e-04 -9.99931670e-01 2.43464003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.301858064 meters 0.03574775385269859 Centerline is valid? [True, True] Translation: X:51.01, Y:-140.37, Z:-0.75 [[-9.76055608e-01 -2.17189443e-01 -1.20081690e-02 5.10149361e+01] [ 2.17160602e-01 -9.76128984e-01 3.67143227e-03 -1.40365856e+02] [-1.25189182e-02 9.75820840e-04 9.99921159e-01 -7.53113906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33185806399996 meters 0.03278343327147774 Centerline is valid? [True, True] Translation: X:50.76, Y:-141.16, Z:0.24 [[-9.52787088e-01 3.03390572e-01 -1.22851659e-02 5.07614381e+01] [ 3.03378840e-01 9.52865753e-01 2.85257257e-03 -1.41159877e+02] [ 1.25715574e-02 -1.00916505e-03 -9.99920466e-01 2.44586406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.361858064 meters 0.030954696875979973 Centerline is valid? [True, True] Translation: X:50.77, Y:-141.13, Z:0.24 [[-9.72919299e-01 2.30769275e-01 -1.31749474e-02 5.07678171e+01] [ 2.30762046e-01 9.73007976e-01 2.08711264e-03 -1.41128281e+02] [ 1.33009704e-02 -1.00968565e-03 -9.99911028e-01 2.44366177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39185806399996 meters 0.030062970727821964 Centerline is valid? [True, True] Translation: X:50.90, Y:-140.32, Z:-0.75 [[-9.88645237e-01 -1.49755035e-01 -1.24106958e-02 5.08989927e+01] [ 1.49730415e-01 -9.88722621e-01 2.89498329e-03 -1.40319385e+02] [-1.27042740e-02 1.00385280e-03 9.99918794e-01 -7.54522900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.421858064 meters 0.02976027807667424 Centerline is valid? [True, True] Translation: X:50.69, Y:-141.11, Z:0.25 [[-9.74535728e-01 2.23924173e-01 -1.17507213e-02 5.06916964e+01] [ 2.23918576e-01 9.74606180e-01 1.80677992e-03 -1.41114700e+02] [ 1.18569073e-02 -8.70433190e-04 -9.99929326e-01 2.45820528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45185806399996 meters 0.03235284073779514 Centerline is valid? [True, True] Translation: X:50.83, Y:-140.31, Z:-0.76 [[-9.89012856e-01 -1.47377053e-01 -1.15574317e-02 5.08294402e+01] [ 1.47356654e-01 -9.89080000e-01 2.60177495e-03 -1.40306423e+02] [-1.18146665e-02 8.70124404e-04 9.99929826e-01 -7.55489439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.481858064 meters 0.030088475766104808 Centerline is valid? [True, True] Translation: X:50.63, Y:-141.10, Z:0.25 [[-9.76150530e-01 2.16734428e-01 -1.25032223e-02 5.06275890e+01] [ 2.16728252e-01 9.76230195e-01 1.86311386e-03 -1.41103225e+02] [ 1.26098240e-02 -8.91121935e-04 -9.99920096e-01 2.46232081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51185806399997 meters 0.02844822637375166 Centerline is valid? [True, True] Translation: X:50.63, Y:-141.07, Z:0.25 [[-9.89133567e-01 1.46422600e-01 -1.32366733e-02 5.06308940e+01] [ 1.46422006e-01 9.89221693e-01 1.01918301e-03 -1.41071134e+02] [ 1.32432358e-02 -9.30032136e-04 -9.99911872e-01 2.47165453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54185806399994 meters 0.029491557847531238 Centerline is valid? [True, True] Translation: X:50.71, Y:-140.27, Z:-0.76 [[-9.97167843e-01 -7.39418431e-02 -1.37439513e-02 5.07050427e+01] [ 7.39218969e-02 -9.97262119e-01 1.95435983e-03 -1.40267091e+02] [-1.38508309e-02 9.32845828e-04 9.99903638e-01 -7.56349669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57185806399997 meters 0.029942758529244592 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.07, Z:0.25 [[-9.89908084e-01 1.41004839e-01 -1.41287516e-02 5.05523489e+01] [ 1.41004709e-01 9.90008410e-01 1.01036045e-03 -1.41065287e+02] [ 1.41300486e-02 -9.92056520e-04 -9.99899674e-01 2.46386330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60185806399994 meters 0.03109513584322675 Centerline is valid? [True, True] Translation: X:50.55, Y:-141.04, Z:0.25 [[-9.97459069e-01 6.98892315e-02 -1.38166644e-02 5.05450987e+01] [ 6.98958634e-02 9.97554293e-01 2.89880231e-06 -1.41037635e+02] [ 1.37830755e-02 -9.62836254e-04 -9.99904545e-01 2.46624582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63185806399997 meters 0.03158003914374986 Centerline is valid? [True, True] Translation: X:50.54, Y:-141.01, Z:0.25 [[-9.99918489e-01 -1.11405042e-03 -1.27190446e-02 5.05400312e+01] [-1.10261984e-03 9.99998982e-01 -9.05675035e-04 -1.41010631e+02] [ 1.27200406e-02 -8.91576942e-04 -9.99918700e-01 2.46531672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66185806399994 meters 0.037067041791422665 Centerline is valid? [True, True] Translation: X:50.53, Y:-140.99, Z:0.25 [[-9.97176744e-01 -7.42167572e-02 -1.14198714e-02 5.05254962e+01] [-7.42028130e-02 9.97241822e-01 -1.64052803e-03 -1.40989957e+02] [ 1.15101280e-02 -7.88509816e-04 -9.99933445e-01 2.46731596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.691858064 meters 0.029766360976885977 Centerline is valid? [True, True] Translation: X:50.49, Y:-140.96, Z:0.25 [[-9.89169647e-01 -1.46408691e-01 -1.03877075e-02 5.04948335e+01] [-1.46392872e-01 9.89223922e-01 -2.27129654e-03 -1.40956238e+02] [ 1.06083064e-02 -7.26011254e-04 -9.99943467e-01 2.48789892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72185806399995 meters 0.030882065454750553 Centerline is valid? [True, True] Translation: X:50.44, Y:-140.94, Z:0.25 [[-9.75600277e-01 -2.19270994e-01 -1.11503995e-02 5.04380779e+01] [-2.19247397e-01 9.75663678e-01 -3.31143257e-03 -1.40941086e+02] [ 1.16051409e-02 -7.85938471e-04 -9.99932349e-01 2.47440762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.751858064 meters 0.030882065454750553 Centerline is valid? [True, True] Translation: X:50.37, Y:-140.93, Z:0.25 [[-9.56734282e-01 -2.90759769e-01 -1.08752437e-02 5.03726150e+01] [-2.90731552e-01 9.56795766e-01 -4.12623768e-03 -1.40932658e+02] [ 1.16051310e-02 -7.85936568e-04 -9.99932349e-01 2.47441095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78185806399995 meters 0.0298826320185533 Centerline is valid? [True, True] Translation: X:50.30, Y:-140.93, Z:0.25 [[-9.32774517e-01 -3.60313567e-01 -1.02875556e-02 5.02966598e+01] [-3.60282331e-01 9.32830921e-01 -4.80777003e-03 -1.40932820e+02] [ 1.13288548e-02 -7.78140849e-04 -9.99935524e-01 2.48598282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.811858064 meters 0.030165182427041217 Centerline is valid? [True, True] Translation: X:50.22, Y:-140.94, Z:0.25 [[-9.03222711e-01 -4.29051777e-01 -1.01639590e-02 5.02154575e+01] [-4.29014469e-01 9.03279542e-01 -5.71440556e-03 -1.40943219e+02] [ 1.16326721e-02 -8.00895420e-04 -9.99932017e-01 2.47665293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84185806399995 meters 0.029943029570660838 Centerline is valid? [True, True] Translation: X:50.12, Y:-140.97, Z:0.25 [[-8.68226388e-01 -4.96068154e-01 -9.96621903e-03 5.01237907e+01] [-4.96024428e-01 8.68283201e-01 -6.63704064e-03 -1.40965263e+02] [ 1.19459251e-02 -8.18965727e-04 -9.99928310e-01 2.46739260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.871858064 meters 0.031235024058576484 Centerline is valid? [True, True] Translation: X:50.03, Y:-141.00, Z:0.25 [[-8.27306022e-01 -5.61679805e-01 -8.97456757e-03 5.00303582e+01] [-5.61636556e-01 8.27354349e-01 -7.01144032e-03 -1.40999927e+02] [ 1.13633319e-02 -7.60161577e-04 -9.99935146e-01 2.46644695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90185806399995 meters 0.031415867337674944 Centerline is valid? [True, True] Translation: X:49.93, Y:-141.04, Z:0.25 [[-7.80525847e-01 -6.25059492e-01 -8.94612952e-03 4.99336169e+01] [-6.25006759e-01 7.80576730e-01 -8.15592386e-03 -1.41042379e+02] [ 1.20810782e-02 -7.74517959e-04 -9.99926721e-01 2.46314353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.931858064 meters 0.026585858074899223 Centerline is valid? [True, True] Translation: X:49.84, Y:-141.09, Z:0.25 [[-7.29555133e-01 -6.83872996e-01 -8.18741709e-03 4.98361724e+01] [-6.83818144e-01 7.29600694e-01 -8.69327355e-03 -1.41087354e+02] [ 1.19186402e-02 -7.43517979e-04 -9.99928694e-01 2.48076311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96185806399995 meters 0.0280939517147795 Centerline is valid? [True, True] Translation: X:49.74, Y:-141.15, Z:0.25 [[-6.71939848e-01 -7.40570948e-01 -7.17706564e-03 4.97427812e+01] [-7.40517842e-01 6.71977852e-01 -8.89340157e-03 -1.41154902e+02] [ 1.14090240e-02 -6.61085742e-04 -9.99934696e-01 2.46977745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.991858064 meters 0.030319329964356358 Centerline is valid? [True, True] Translation: X:49.66, Y:-141.23, Z:0.25 [[-6.11418344e-01 -7.91280869e-01 -6.49580935e-03 4.96562109e+01] [-7.91224743e-01 6.11452519e-01 -9.44583745e-03 -1.41229482e+02] [ 1.14461895e-02 -6.35713212e-04 -9.99934288e-01 2.45269840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02185806399996 meters 0.029450312664868285 Centerline is valid? [True, True] Translation: X:49.57, Y:-141.31, Z:0.25 [[-5.47574748e-01 -8.36736167e-01 -5.87219953e-03 4.95685619e+01] [-8.36675149e-01 5.47605871e-01 -1.01245270e-02 -1.41312967e+02] [ 1.16872088e-02 -6.30811894e-04 -9.99931503e-01 2.45033166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.051858064 meters 0.02534429860163067 Centerline is valid? [True, True] Translation: X:49.48, Y:-141.40, Z:0.25 [[-4.80021873e-01 -8.77240829e-01 -5.24678819e-03 4.94839844e+01] [-8.77173349e-01 4.80050134e-01 -1.08988150e-02 -1.41398648e+02] [ 1.20796069e-02 -6.29326845e-04 -9.99926841e-01 2.45535126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08185806399996 meters 0.025594603619487427 Centerline is valid? [True, True] Translation: X:49.41, Y:-141.50, Z:0.24 [[-4.08988997e-01 -9.12527428e-01 -4.65759670e-03 4.94100465e+01] [-9.12449370e-01 4.09015018e-01 -1.19525118e-02 -1.41498211e+02] [ 1.28120218e-02 -6.38624638e-04 -9.99917719e-01 2.44348765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.111858064 meters 0.02457478421880235 Centerline is valid? [True, True] Translation: X:49.34, Y:-141.60, Z:0.24 [[-3.36176329e-01 -9.41790510e-01 -4.01375311e-03 4.93431652e+01] [-9.41697765e-01 3.36199624e-01 -1.32337554e-02 -1.41598198e+02] [ 1.38128475e-02 -6.69132975e-04 -9.99904374e-01 2.43081582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14185806399996 meters 0.02910229063965682 Centerline is valid? [True, True] Translation: X:49.29, Y:-141.71, Z:0.24 [[-2.61683138e-01 -9.65148623e-01 -3.17358127e-03 4.92900508e+01] [-9.65041709e-01 2.61701443e-01 -1.43824268e-02 -1.41713524e+02] [ 1.47117102e-02 -7.01000278e-04 -9.99891531e-01 2.40532593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.171858064 meters 0.025185955533896378 Centerline is valid? [True, True] Translation: X:49.24, Y:-141.82, Z:0.24 [[-1.86024424e-01 -9.82542694e-01 -2.18358921e-03 4.92359428e+01] [-9.82420765e-01 1.86035778e-01 -1.54961488e-02 -1.41823837e+02] [ 1.56318535e-02 -7.37458776e-04 -9.99877543e-01 2.41548651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20185806399996 meters 0.02527180040807236 Centerline is valid? [True, True] Translation: X:49.19, Y:-141.94, Z:0.24 [[-1.08227512e-01 -9.94125610e-01 -1.03818713e-03 4.91945599e+01] [-9.93988058e-01 1.08229825e-01 -1.65542975e-02 -1.41943929e+02] [ 1.65694140e-02 -7.59684823e-04 -9.99862429e-01 2.40701834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.231858064 meters 0.025547954647046373 Centerline is valid? [True, True] Translation: X:49.16, Y:-142.07, Z:0.24 [[-3.17473657e-02 -9.99495896e-01 2.41613901e-04 4.91635826e+01] [-9.99361290e-01 3.17391207e-02 -1.64207147e-02 -1.42066025e+02] [ 1.64047683e-02 -7.62774015e-04 -9.99865142e-01 2.41402729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26185806399997 meters 0.025614349044677864 Centerline is valid? [True, True] Translation: X:49.14, Y:-142.20, Z:0.24 [[ 4.61778306e-02 -9.98932070e-01 1.52548987e-03 4.91415830e+01] [-9.98795699e-01 -4.61967593e-02 -1.65230686e-02 -1.42199813e+02] [ 1.65758958e-02 -7.60653257e-04 -9.99862321e-01 2.41807877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29185806399994 meters 0.027394306647447134 Centerline is valid? [True, True] Translation: X:49.13, Y:-142.34, Z:0.24 [[ 1.22425181e-01 -9.92474361e-01 2.59184301e-03 4.91325651e+01] [-9.92358945e-01 -1.22450514e-01 -1.51524342e-02 -1.42338797e+02] [ 1.53557750e-02 -7.16999097e-04 -9.99881836e-01 2.43492821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32185806399997 meters 0.02639004374463854 Centerline is valid? [True, True] Translation: X:49.13, Y:-142.45, Z:0.25 [[ 1.97049197e-01 -9.80386674e-01 3.68562630e-03 4.91257437e+01] [-9.80277730e-01 -1.97082313e-01 -1.46332962e-02 -1.42452579e+02] [ 1.50726604e-02 -7.29458111e-04 -9.99886135e-01 2.45924299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35185806399994 meters 0.02567158827525889 Centerline is valid? [True, True] Translation: X:49.13, Y:-142.58, Z:0.25 [[ 2.70895795e-01 -9.62596517e-01 4.83880623e-03 4.91305544e+01] [-9.62489009e-01 -2.70937956e-01 -1.44059372e-02 -1.42576040e+02] [ 1.51781213e-02 -7.54789992e-04 -9.99884521e-01 2.46360560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38185806399997 meters 0.027598746244901606 Centerline is valid? [True, True] Translation: X:49.14, Y:-142.68, Z:0.25 [[ 3.38525999e-01 -9.40935809e-01 6.32076850e-03 4.91404533e+01] [-9.40818350e-01 -3.38583794e-01 -1.48945273e-02 -1.42677387e+02] [ 1.61549039e-02 -9.04510261e-04 -9.99869092e-01 2.47535247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41185806399994 meters 0.027151861587062745 Centerline is valid? [True, True] Translation: X:49.17, Y:-142.81, Z:0.25 [[ 4.06092417e-01 -9.13797711e-01 7.91780639e-03 4.91706278e+01] [-9.13670663e-01 -4.06168287e-01 -1.52722670e-02 -1.42812521e+02] [ 1.71717245e-02 -1.03231560e-03 -9.99852022e-01 2.48129669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.441858064 meters 0.029938077191107696 Centerline is valid? [True, True] Translation: X:49.20, Y:-142.91, Z:0.25 [[ 4.66784195e-01 -8.84319089e-01 9.60536232e-03 4.92000600e+01] [-8.84184488e-01 -4.66881295e-01 -1.54805777e-02 -1.42913198e+02] [ 1.81743344e-02 -1.26682335e-03 -9.99834031e-01 2.48695124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47185806399995 meters 0.030926572694700397 Centerline is valid? [True, True] Translation: X:49.24, Y:-143.03, Z:0.25 [[ 5.29452704e-01 -8.48261209e-01 1.15219507e-02 4.92449874e+01] [-8.48116600e-01 -5.29576090e-01 -1.57288795e-02 -1.43029969e+02] [ 1.94439479e-02 -1.44425987e-03 -9.99809905e-01 2.49155107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.501858064 meters 0.034773479809468336 Centerline is valid? [True, True] Translation: X:49.32, Y:-143.16, Z:0.25 [[ 5.88794321e-01 -8.08181824e-01 1.27822794e-02 4.93223574e+01] [-8.08045946e-01 -5.88930998e-01 -1.49006210e-02 -1.43164211e+02] [ 1.95702916e-02 -1.55526803e-03 -9.99807274e-01 2.48329353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53185806399995 meters 0.03894398181296493 Centerline is valid? [True, True] Translation: X:49.40, Y:-143.28, Z:0.25 [[ 6.42200930e-01 -7.66385068e-01 1.52280653e-02 4.93987795e+01] [-7.66236325e-01 -6.42378653e-01 -1.52171309e-02 -1.43280738e+02] [ 2.14443659e-02 -1.89584115e-03 -9.99768246e-01 2.49091630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.561858064 meters 0.04294376742981074 Centerline is valid? [True, True] Translation: X:49.40, Y:-143.28, Z:0.25 [[ 6.96787978e-01 -7.17082145e-01 1.67245623e-02 4.93986840e+01] [-7.16942721e-01 -6.96985689e-01 -1.42858475e-02 -1.43282474e+02] [ 2.19009067e-02 -2.03634644e-03 -9.99758073e-01 2.48844264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59185806399995 meters 0.04362475915160197 Centerline is valid? [True, True] Translation: X:49.40, Y:-143.29, Z:0.25 [[ 7.48819873e-01 -6.62516301e-01 1.84648017e-02 4.93955565e+01] [-6.62383811e-01 -7.49044333e-01 -1.34266224e-02 -1.43286308e+02] [ 2.27263113e-02 -2.17666402e-03 -9.99739355e-01 2.48923319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.621858064 meters 0.046921950282690736 Centerline is valid? [True, True] Translation: X:49.39, Y:-143.28, Z:0.25 [[ 7.97364255e-01 -6.03168778e-01 1.99416917e-02 4.93941694e+01] [-6.03048838e-01 -7.97610362e-01 -1.22396575e-02 -1.43284327e+02] [ 2.32882792e-02 -2.26634863e-03 -9.99726222e-01 2.48248273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65185806399995 meters 0.04608284660160472 Centerline is valid? [True, True] Translation: X:49.39, Y:-143.29, Z:0.25 [[ 8.41267287e-01 -5.40229309e-01 2.05340322e-02 4.93912777e+01] [-5.40132243e-01 -8.41514796e-01 -1.04884383e-02 -1.43286049e+02] [ 2.29458537e-02 -2.26751288e-03 -9.99734138e-01 2.50333258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.681858064 meters 0.04748146218480295 Centerline is valid? [True, True] Translation: X:49.39, Y:-143.28, Z:0.25 [[ 8.80839508e-01 -4.72962327e-01 2.06978006e-02 4.93900805e+01] [-4.72889221e-01 -8.81079881e-01 -8.60388847e-03 -1.43282692e+02] [ 2.23057308e-02 -2.20912194e-03 -9.99748756e-01 2.51180372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71185806399995 meters 0.046589626072697746 Centerline is valid? [True, True] Translation: X:49.39, Y:-143.28, Z:0.25 [[ 9.14898138e-01 -4.03121847e-01 2.13113511e-02 4.93877418e+01] [-4.03067847e-01 -9.15143620e-01 -6.96170261e-03 -1.43283916e+02] [ 2.23093614e-02 -2.22067165e-03 -9.99748649e-01 2.52906658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.741858064 meters 0.05412516023921423 Centerline is valid? [True, True] Translation: X:49.38, Y:-143.27, Z:0.26 [[ 9.43205587e-01 -3.31493419e-01 2.18021605e-02 4.93844578e+01] [-3.31459116e-01 -9.43454843e-01 -5.27385457e-03 -1.43268788e+02] [ 2.23176020e-02 -2.25219576e-03 -9.99748394e-01 2.55061988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77185806399996 meters 0.03723351087033795 Centerline is valid? [True, True] Translation: X:49.37, Y:-143.29, Z:0.26 [[ 9.66313975e-01 -2.56325758e-01 2.31172602e-02 4.93749602e+01] [-2.56309691e-01 -9.66587611e-01 -3.70572334e-03 -1.43287673e+02] [ 2.32947296e-02 -2.34428555e-03 -9.99725892e-01 2.61793023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.801858064 meters 0.03958835964156081 Centerline is valid? [True, True] Translation: X:49.37, Y:-143.30, Z:0.26 [[ 9.83549626e-01 -1.79050905e-01 2.38936440e-02 4.93681957e+01] [-1.79056353e-01 -9.83836929e-01 -1.92868250e-03 -1.43299664e+02] [ 2.38527816e-02 -2.38135380e-03 -9.99712646e-01 2.63603890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83185806399996 meters 0.04214936388105096 Centerline is valid? [True, True] Translation: X:49.36, Y:-143.31, Z:0.27 [[ 9.94575206e-01 -1.01051169e-01 2.46742762e-02 4.93618388e+01] [-1.01080633e-01 -9.94878235e-01 -5.34125859e-05 -1.43307581e+02] [ 2.45532978e-02 -2.44096862e-03 -9.99695542e-01 2.66137145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.861858064 meters 0.04239047084892895 Centerline is valid? [True, True] Translation: X:49.36, Y:-143.32, Z:0.27 [[ 9.99399302e-01 -2.23348997e-02 2.64988202e-02 4.93575365e+01] [-2.23963117e-02 -9.99747124e-01 2.02297625e-03 -1.43321891e+02] [ 2.64469363e-02 -2.61523689e-03 -9.99646798e-01 2.65904240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89185806399996 meters 0.045445235685594325 Centerline is valid? [True, True] Translation: X:49.35, Y:-143.33, Z:0.27 [[ 9.98053186e-01 5.54491790e-02 2.85521557e-02 4.93521848e+01] [ 5.53443612e-02 -9.98457414e-01 4.44897677e-03 -1.43330462e+02] [ 2.87548037e-02 -2.86011462e-03 -9.99582403e-01 2.65155591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.921858064 meters 0.04626014037643471 Centerline is valid? [True, True] Translation: X:49.35, Y:-143.34, Z:0.26 [[ 9.90874779e-01 1.31433725e-01 2.98721882e-02 4.93484480e+01] [ 1.31279122e-01 -9.91320108e-01 7.08764176e-03 -1.43341777e+02] [ 3.05444560e-02 -3.10137081e-03 -9.99528598e-01 2.64983348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95185806399996 meters 0.05264237517321739 Centerline is valid? [True, True] Translation: X:49.34, Y:-143.35, Z:0.26 [[ 9.78426083e-01 2.04127639e-01 3.18481772e-02 4.93441249e+01] [ 2.03900816e-01 -9.78937904e-01 1.02488090e-02 -1.43350904e+02] [ 3.32694531e-02 -3.53383271e-03 -9.99440171e-01 2.64984448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.981858064 meters 0.051682251717633174 Centerline is valid? [True, True] Translation: X:49.35, Y:-143.37, Z:0.27 [[ 9.59630097e-01 2.79452020e-01 3.18848841e-02 4.93457685e+01] [ 2.79169050e-01 -9.60152657e-01 1.30964220e-02 -1.43372071e+02] [ 3.42741778e-02 -3.66644787e-03 -9.99405742e-01 2.67982336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01185806399997 meters 0.05365901417575282 Centerline is valid? [True, True] Translation: X:49.35, Y:-143.39, Z:0.27 [[ 9.34889610e-01 3.53541383e-01 3.14627965e-02 4.93480284e+01] [ 3.53203330e-01 -9.35411332e-01 1.59074614e-02 -1.43389974e+02] [ 3.50546023e-02 -3.75895588e-03 -9.99378329e-01 2.69381568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04185806399994 meters 0.05658406721085017 Centerline is valid? [True, True] Translation: X:49.36, Y:-143.41, Z:0.27 [[ 9.04065150e-01 4.26233969e-01 3.14771039e-02 4.93567105e+01] [ 4.25821685e-01 -9.04604530e-01 1.91451422e-02 -1.43414515e+02] [ 3.66346407e-02 -3.90482242e-03 -9.99321097e-01 2.72774923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07185806399997 meters 0.05955793735918924 Centerline is valid? [True, True] Translation: X:49.36, Y:-143.43, Z:0.27 [[ 8.67765572e-01 4.96084310e-01 2.97198493e-02 4.93592456e+01] [ 4.95636095e-01 -8.68265727e-01 2.14356636e-02 -1.43428762e+02] [ 3.64386230e-02 -3.87090083e-03 -9.99328396e-01 2.72099653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10185806399994 meters 0.06181768061469675 Centerline is valid? [True, True] Translation: X:49.37, Y:-143.45, Z:0.27 [[ 8.26096509e-01 5.62907660e-01 2.64485279e-02 4.93666276e+01] [ 5.62472662e-01 -8.26511741e-01 2.24242280e-02 -1.43445685e+02] [ 3.44827885e-02 -3.64800254e-03 -9.99398634e-01 2.74101350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13185806399997 meters 0.06718701476399608 Centerline is valid? [True, True] Translation: X:49.37, Y:-143.46, Z:0.28 [[ 7.78798774e-01 6.26870108e-01 2.25019450e-02 4.93749022e+01] [ 6.26480787e-01 -7.79116806e-01 2.23344041e-02 -1.43461989e+02] [ 3.15324138e-02 -3.29697031e-03 -9.99497292e-01 2.77337015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16185806399994 meters 0.07335673293018719 Centerline is valid? [True, True] Translation: X:49.38, Y:-143.47, Z:0.28 [[ 7.26932897e-01 6.86437214e-01 1.93006494e-02 4.93761595e+01] [ 6.86077798e-01 -7.27182655e-01 2.24196732e-02 -1.43471447e+02] [ 2.94247955e-02 -3.05585097e-03 -9.99562326e-01 2.76975048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3986.43 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%| | 0/8773 [00:00