+ python -m lidar_slam --no-model /working/b5e78cd0-870a-49fe-a261-60ab695c9636 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/b5e78cd0-870a-49fe-a261-60ab695c9636 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 0.010888479 Adjusted end_distance from 9.223372036854776e+18 to 173.900888479 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010888479 meters 0.0712866071469888 Centerline is valid? [0, True] SLAMing on 0.040888479 meters 0.07326506799155993 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 9.99989971e-01 -4.45987623e-03 -4.10222231e-04 3.18445768e-02] [ 4.45986692e-03 9.99990054e-01 -2.35955290e-05 -1.00674846e-02] [ 4.10323384e-04 2.17657558e-05 9.99999916e-01 -1.02766147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.070888479 meters 0.07580468389276265 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:-0.01 [[ 9.99978098e-01 -6.52826773e-03 1.08840763e-03 6.32010069e-02] [ 6.52820520e-03 9.99978689e-01 6.09882361e-05 -1.17346351e-02] [-1.08878259e-03 -5.38815520e-05 9.99999406e-01 -1.08268442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.100888479 meters 0.08350103770736458 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.01, Z:-0.01 [[ 9.99972857e-01 -6.67805264e-03 3.11257998e-03 9.52170389e-02] [ 6.67753932e-03 9.99977690e-01 1.75280741e-04 -9.88460042e-03] [-3.11368107e-03 -1.54491609e-04 9.99995141e-01 -8.40272989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.130888479 meters 0.09339463335587828 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:-0.00 [[ 9.99980527e-01 -3.95822551e-03 4.82477721e-03 1.23700609e-01] [ 3.95695337e-03 9.99992134e-01 2.73186174e-04 6.60253753e-03] [-4.82582059e-03 -2.54089436e-04 9.99988323e-01 -4.28385390e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.160888479 meters 0.09582554752206138 Centerline is valid? [True, True] Translation: X:0.15, Y:0.02, Z:0.00 [[ 9.99986650e-01 -1.00283042e-03 5.06891325e-03 1.54207015e-01] [ 1.00138440e-03 9.99999457e-01 2.87803094e-04 1.51147331e-02] [-5.06919912e-03 -2.82723321e-04 9.99987112e-01 9.55125650e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.190888479 meters 0.09532307500852759 Centerline is valid? [True, True] Translation: X:0.18, Y:0.02, Z:-0.00 [[ 9.99981664e-01 2.56750428e-03 5.48444397e-03 1.84951999e-01] [-2.56925745e-03 9.99996651e-01 3.12639477e-04 2.10958198e-02] [-5.48362289e-03 -3.26724693e-04 9.99984911e-01 -9.55274863e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.220888479 meters 0.10249500349577308 Centerline is valid? [True, False] Translation: X:0.19, Y:0.02, Z:-0.00 [[ 9.99982999e-01 3.18719463e-03 4.88307269e-03 1.87875512e-01] [-3.18785286e-03 9.99994911e-01 1.27021885e-04 2.49416999e-02] [-4.88264300e-03 -1.42586243e-04 9.99988070e-01 -3.43573350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.250888479 meters 0.10732663137787433 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.01 [[ 0.99998647 0.00323858 0.00407027 0.19108661] [-0.00323219 0.99999353 -0.00157731 0.0324165 ] [-0.00407535 0.00156414 0.99999047 -0.00606948] [ 0. 0. 0. 1. ]] SLAMing on 0.280888479 meters 0.11353022951294509 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.01 [[ 0.99998714 0.00364637 0.00352536 0.19377672] [-0.00363913 0.99999126 -0.00205781 0.03650638] [-0.00353283 0.00204496 0.99999167 -0.00834802] [ 0. 0. 0. 1. ]] SLAMing on 0.310888479 meters 0.1139280276485693 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.01 [[ 9.99970260e-01 7.21994514e-03 2.71130463e-03 1.96634089e-01] [-7.21919428e-03 9.99973900e-01 -2.86620541e-04 4.49877066e-02] [-2.71330325e-03 2.67038582e-04 9.99996283e-01 -1.00677745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.34088847899999997 meters 0.11542248318843819 Centerline is valid? [False, False] Translation: X:0.20, Y:0.05, Z:-0.01 [[ 0.99997474 0.0068151 0.00202059 0.19887818] [-0.00681047 0.99997418 -0.00229067 0.05250575] [-0.00203615 0.00227685 0.99999534 -0.0111794 ] [ 0. 0. 0. 1. ]] SLAMing on 0.370888479 meters 0.11527094742342626 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.01 [[ 0.99997682 0.00667104 0.00136425 0.20142878] [-0.0066659 0.99997079 -0.0037396 0.05919721] [-0.00138916 0.00373042 0.99999208 -0.01280038] [ 0. 0. 0. 1. ]] SLAMing on 0.400888479 meters 0.12100228591514271 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.01 [[ 9.99975787e-01 6.91250422e-03 8.02082178e-04 2.04048935e-01] [-6.90898929e-03 9.99966865e-01 -4.30526383e-03 6.34123941e-02] [-8.31815755e-04 4.29961801e-03 9.99990411e-01 -1.47237794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.430888479 meters 0.11997923833093295 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.01 [[ 9.99977345e-01 6.68093501e-03 8.21726561e-04 2.04147717e-01] [-6.67686058e-03 9.99965875e-01 -4.86500581e-03 6.48378177e-02] [-8.54201308e-04 4.85940904e-03 9.99987828e-01 -1.47885482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46088847899999996 meters 0.12540703739906653 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.01 [[ 9.99977786e-01 6.62842766e-03 7.00399877e-04 2.03817875e-01] [-6.62500548e-03 9.99966628e-01 -4.78033473e-03 6.45568530e-02] [-7.32062606e-04 4.77558839e-03 9.99988329e-01 -1.39663821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.490888479 meters 0.12914931016909537 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.01 [[ 9.99979373e-01 6.39858995e-03 5.58860300e-04 2.03773271e-01] [-6.39566650e-03 9.99966619e-01 -5.08497168e-03 6.53657676e-02] [-5.91378293e-04 5.08129251e-03 9.99986915e-01 -1.34024287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.520888479 meters 0.13193465504067156 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.01 [[ 9.99981471e-01 6.08343816e-03 2.21821365e-04 2.04002380e-01] [-6.08208805e-03 9.99965545e-01 -5.64958346e-03 6.69871042e-02] [-2.56182613e-04 5.64812965e-03 9.99984016e-01 -1.27468401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.550888479 meters 0.1305429730677107 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.01 [[ 9.99983104e-01 5.80242863e-03 -3.50633139e-04 2.05713644e-01] [-5.80457122e-03 9.99962323e-01 -6.45444516e-03 7.08921064e-02] [ 3.13168471e-04 6.45637138e-03 9.99979108e-01 -1.32981605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.580888479 meters 0.12663022710650085 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.01 [[ 9.99981907e-01 5.99784949e-03 -4.59526831e-04 2.06312426e-01] [-6.00057787e-03 9.99962864e-01 -6.18584157e-03 7.05741461e-02] [ 4.22408019e-04 6.18848708e-03 9.99980762e-01 -1.38401659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.610888479 meters 0.1356910543866526 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.01 [[ 9.99978755e-01 6.50536872e-03 -4.12014314e-04 2.06897708e-01] [-6.50745425e-03 9.99964883e-01 -5.28070207e-03 6.86124882e-02] [ 3.77646931e-04 5.28327105e-03 9.99985972e-01 -1.48437278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.640888479 meters 0.14280452625421985 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.02 [[ 9.99975863e-01 6.93587182e-03 -4.09111502e-04 2.07434755e-01] [-6.93752177e-03 9.99967200e-01 -4.17976252e-03 6.56113451e-02] [ 3.80107786e-04 4.18249985e-03 9.99991181e-01 -1.57566633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6708884789999999 meters 0.14602965256210967 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.02 [[ 9.99976539e-01 6.83164417e-03 -4.99991996e-04 2.07244665e-01] [-6.83367222e-03 9.99967941e-01 -4.17354942e-03 6.53039159e-02] [ 4.71463762e-04 4.17686829e-03 9.99991166e-01 -1.52229479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.700888479 meters 0.14602965256210967 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.02 [[ 9.99976539e-01 6.83164417e-03 -4.99991996e-04 2.07244665e-01] [-6.83367222e-03 9.99967941e-01 -4.17354942e-03 6.53039159e-02] [ 4.71463762e-04 4.17686829e-03 9.99991166e-01 -1.52229479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.730888479 meters 0.14456247114014079 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 0.9999886 0.00150327 -0.00453183 0.21455902] [-0.00149596 0.99999758 0.00161506 0.06420664] [ 0.00453425 -0.00160826 0.99998843 -0.01115339] [ 0. 0. 0. 1. ]] SLAMing on 0.760888479 meters 0.14313602385250523 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 0.99998862 0.00122387 -0.00461104 0.21406261] [-0.00121705 0.99999816 0.00148349 0.06402664] [ 0.00461285 -0.00147786 0.99998827 -0.01019388] [ 0. 0. 0. 1. ]] SLAMing on 0.790888479 meters 0.15158731086464386 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 0.99998159 -0.00309139 -0.0052221 0.21545567] [ 0.00307826 0.99999209 -0.00252042 0.06427004] [ 0.00522985 0.0025043 0.99998319 -0.01047683] [ 0. 0. 0. 1. ]] SLAMing on 0.820888479 meters 0.14467965117865636 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 0.99998223 -0.00279257 -0.00526644 0.2165689 ] [ 0.00278595 0.99999532 -0.00126508 0.0607381 ] [ 0.00526994 0.00125039 0.99998533 -0.01215098] [ 0. 0. 0. 1. ]] SLAMing on 0.850888479 meters 0.15683895919849455 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.02 [[ 9.99980949e-01 -2.07461623e-03 -5.81357123e-03 2.19589113e-01] [ 2.07818131e-03 9.99997656e-01 6.07260797e-04 5.69216106e-02] [ 5.81229777e-03 -6.19330883e-04 9.99982917e-01 -1.54082212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.880888479 meters 0.15880517441520106 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.02 [[ 0.99998175 -0.00173647 -0.00578704 0.22037751] [ 0.00174561 0.99999724 0.00157543 0.05435463] [ 0.00578429 -0.00158551 0.99998201 -0.01670277] [ 0. 0. 0. 1. ]] SLAMing on 0.9108884789999999 meters 0.1450506648083418 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99980812e-01 -2.30723861e-03 -5.74910942e-03 2.18493993e-01] [ 2.31135193e-03 9.99997078e-01 7.08929736e-04 5.60310662e-02] [ 5.74745695e-03 -7.22204348e-04 9.99983222e-01 -1.40916837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9408884789999999 meters 0.14277309761335724 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99978586e-01 -2.68170899e-03 -5.96951014e-03 2.17884912e-01] [ 2.68087952e-03 9.99996396e-01 -1.46948531e-04 5.85186101e-02] [ 5.96988270e-03 1.30941847e-04 9.99982172e-01 -1.24580325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.970888479 meters 0.14086248485565628 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99976152e-01 -2.96720451e-03 -6.23627374e-03 2.17880060e-01] [ 2.96233827e-03 9.99995301e-01 -7.89404831e-04 6.06640655e-02] [ 6.23858676e-03 7.70912053e-04 9.99980243e-01 -1.15463178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0008884789999999 meters 0.1451243489968816 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99975295e-01 -2.71810977e-03 -6.48235505e-03 2.18724435e-01] [ 2.71713005e-03 9.99996296e-01 -1.59939020e-04 5.94553637e-02] [ 6.48276577e-03 1.42321667e-04 9.99978977e-01 -1.20417290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.030888479 meters 0.1412988049419376 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99976650e-01 -2.39988179e-03 -6.39849505e-03 2.19277615e-01] [ 2.40487414e-03 9.99996810e-01 7.72658192e-04 5.67662241e-02] [ 6.39662035e-03 -7.88027725e-04 9.99979231e-01 -1.31512647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.060888479 meters 0.13863156118988199 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.01 [[ 0.99997812 -0.00201937 -0.00629992 0.21996091] [ 0.00203069 0.99999633 0.0017911 0.05411174] [ 0.00629628 -0.00180386 0.99997855 -0.01446209] [ 0. 0. 0. 1. ]] SLAMing on 1.090888479 meters 0.1335172840252308 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.01 [[ 0.99997904 -0.00224973 -0.00607173 0.21969468] [ 0.00226128 0.99999565 0.00189498 0.05333879] [ 0.00606744 -0.00190867 0.99997977 -0.01462017] [ 0. 0. 0. 1. ]] SLAMing on 1.1208884789999998 meters 0.12859781049701732 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.01 [[ 0.99997852 -0.0025847 -0.00602356 0.21918039] [ 0.00259264 0.99999578 0.00131014 0.05462831] [ 0.00602015 -0.00132573 0.999981 -0.01392529] [ 0. 0. 0. 1. ]] SLAMing on 1.1508884789999998 meters 0.12785837588420157 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99977079e-01 -2.89883277e-03 -6.11862493e-03 2.19138998e-01] [ 2.90328502e-03 9.99995527e-01 7.18899037e-04 5.62516807e-02] [ 6.11651359e-03 -7.36646672e-04 9.99981023e-01 -1.34744745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1808884789999998 meters 0.1201958774206552 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99975346e-01 -3.62343383e-03 -6.01488602e-03 2.17320304e-01] [ 3.62127017e-03 9.99993375e-01 -3.70568733e-04 5.83492112e-02] [ 6.01618890e-03 3.48778069e-04 9.99981842e-01 -1.09674653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2108884789999999 meters 0.12698276492610316 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99974583e-01 -3.60603566e-03 -6.15054326e-03 2.17592242e-01] [ 3.60434331e-03 9.99993463e-01 -2.86216974e-04 5.84048231e-02] [ 6.15153517e-03 2.64041030e-04 9.99981044e-01 -1.09300260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2408884789999999 meters 0.11699127642942886 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99973478e-01 -3.70852597e-03 -6.26819353e-03 2.17628167e-01] [ 3.70590449e-03 9.99993041e-01 -4.29783054e-04 5.86447059e-02] [ 6.26974377e-03 4.06542329e-04 9.99980262e-01 -1.06817432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.270888479 meters 0.10845973847850142 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99972892e-01 -3.42358456e-03 -6.51883376e-03 2.18913210e-01] [ 3.42278937e-03 9.99994133e-01 -1.33135831e-04 5.85812118e-02] [ 6.51925131e-03 1.10819627e-04 9.99978743e-01 -1.19479574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.300888479 meters 0.1026113686653463 Centerline is valid? [False, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99977714e-01 -1.57826565e-03 -6.48699478e-03 2.20555413e-01] [ 1.58457047e-03 9.99998277e-01 9.66891965e-04 6.01846938e-02] [ 6.48545759e-03 -9.77149517e-04 9.99978492e-01 -1.41063534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3308884789999997 meters 0.09995545208176203 Centerline is valid? [False, True] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 9.99975856e-01 -1.34200910e-03 -6.81815331e-03 2.21127779e-01] [ 1.34290467e-03 9.99999090e-01 1.26774073e-04 6.34178328e-02] [ 6.81797697e-03 -1.35927142e-04 9.99976748e-01 -1.40400266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3608884789999998 meters 0.10292607468677002 Centerline is valid? [True, False] Translation: X:0.22, Y:0.06, Z:-0.01 [[ 0.99997161 0.00279106 -0.00699927 0.22143592] [-0.00276491 0.99998917 0.00374317 0.06498525] [ 0.00700964 -0.00372371 0.9999685 -0.01396369] [ 0. 0. 0. 1. ]] SLAMing on 1.3908884789999998 meters 0.09984976370020981 Centerline is valid? [False, True] Translation: X:0.22, Y:0.07, Z:-0.01 [[ 0.99996884 0.00366225 -0.00699346 0.22055196] [-0.0036439 0.99998989 0.00263569 0.06944938] [ 0.00700304 -0.00261012 0.99997207 -0.01201427] [ 0. 0. 0. 1. ]] SLAMing on 1.4208884789999998 meters 0.09593309722833984 Centerline is valid? [True, True] Translation: X:0.25, Y:0.08, Z:-0.01 [[ 9.99920681e-01 8.49536608e-03 -9.29844463e-03 2.50672037e-01] [-8.50256326e-03 9.99963583e-01 -7.34761754e-04 7.56189002e-02] [ 9.29186394e-03 8.13764087e-04 9.99956499e-01 -1.00271536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4508884789999998 meters 0.09626289551760343 Centerline is valid? [True, True] Translation: X:0.28, Y:0.08, Z:-0.01 [[ 9.99850457e-01 1.21419883e-02 -1.23140158e-02 2.80825433e-01] [-1.21548853e-02 9.99925653e-01 -9.73035852e-04 7.96026248e-02] [ 1.23012857e-02 1.12256579e-03 9.99923706e-01 -9.82574499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4808884789999999 meters 0.0956967426765529 Centerline is valid? [True, True] Translation: X:0.31, Y:0.08, Z:-0.01 [[ 0.99971299 0.01569026 -0.0181041 0.31128233] [-0.01571872 0.99987543 -0.00143089 0.08016124] [ 0.01807939 0.00171505 0.99983508 -0.01018472] [ 0. 0. 0. 1. ]] SLAMing on 1.510888479 meters 0.08920386104797912 Centerline is valid? [True, True] Translation: X:0.34, Y:0.07, Z:-0.01 [[ 0.9997009 0.01527135 -0.0191022 0.34039596] [-0.01530298 0.99988176 -0.00151111 0.07408796] [ 0.01907687 0.00180298 0.99981639 -0.01008102] [ 0. 0. 0. 1. ]] SLAMing on 1.540888479 meters 0.09081531930829433 Centerline is valid? [True, True] Translation: X:0.37, Y:0.08, Z:-0.01 [[ 0.9996823 0.01480279 -0.0204004 0.3675036 ] [-0.01483881 0.99988859 -0.00161552 0.08015458] [ 0.02037421 0.00191773 0.99979058 -0.0124998 ] [ 0. 0. 0. 1. ]] SLAMing on 1.570888479 meters 0.08417571250582107 Centerline is valid? [True, True] Translation: X:0.40, Y:0.07, Z:-0.01 [[ 0.99969692 0.01389877 -0.02031974 0.39714153] [-0.01393435 0.99990162 -0.00161049 0.07153218] [ 0.02029535 0.00189315 0.99979224 -0.01030401] [ 0. 0. 0. 1. ]] SLAMing on 1.6008884789999998 meters 0.0879399162411069 Centerline is valid? [True, True] Translation: X:0.43, Y:0.08, Z:-0.01 [[ 0.99973078 0.01267208 -0.01943692 0.42548175] [-0.01270442 0.99991811 -0.00154114 0.08206922] [ 0.0194158 0.00178766 0.9998099 -0.01145171] [ 0. 0. 0. 1. ]] SLAMing on 1.6308884789999998 meters 0.08159957392550801 Centerline is valid? [True, True] Translation: X:0.46, Y:0.07, Z:-0.01 [[ 0.99983232 0.00902391 -0.01593452 0.45703684] [-0.00904519 0.99995829 -0.00126394 0.06939202] [ 0.01592245 0.00140786 0.99987224 -0.00660641] [ 0. 0. 0. 1. ]] SLAMing on 1.6608884789999998 meters 0.08057285908176814 Centerline is valid? [True, True] Translation: X:0.49, Y:0.07, Z:-0.01 [[ 0.9998552 0.00732035 -0.01536201 0.48536257] [-0.00733994 0.99997232 -0.0012193 0.07168644] [ 0.01535266 0.00133188 0.99988125 -0.00533032] [ 0. 0. 0. 1. ]] SLAMing on 1.6908884789999998 meters 0.0789078090889194 Centerline is valid? [True, True] Translation: X:0.52, Y:0.07, Z:-0.00 [[ 0.99985259 0.00578135 -0.01616707 0.51567819] [-0.00580286 0.99998234 -0.00128371 0.06580443] [ 0.01615936 0.00137733 0.99986848 -0.00315997] [ 0. 0. 0. 1. ]] SLAMing on 1.7208884789999999 meters 0.0779284803036679 Centerline is valid? [True, True] Translation: X:0.55, Y:0.06, Z:0.00 [[ 9.99853721e-01 3.32469589e-03 -1.67774592e-02 5.46636189e-01] [-3.34751878e-03 9.99993509e-01 -1.33243013e-03 5.62692764e-02] [ 1.67729204e-02 1.38839809e-03 9.99858361e-01 1.72354336e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7508884789999999 meters 0.07562657967037595 Centerline is valid? [True, True] Translation: X:0.57, Y:0.06, Z:0.00 [[ 9.99848619e-01 2.37255738e-03 -1.72368759e-02 5.74308060e-01] [-2.39654387e-03 9.99996188e-01 -1.37105714e-03 5.92292000e-02] [ 1.72335573e-02 1.41215851e-03 9.99850494e-01 1.58309152e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.780888479 meters 0.07046593514489471 Centerline is valid? [True, True] Translation: X:0.60, Y:0.05, Z:0.00 [[ 0.99984269 0.00157453 -0.01766681 0.60409741] [-0.00159962 0.99999773 -0.00140636 0.05180631] [ 0.01766456 0.0014344 0.99984294 0.00154241] [ 0. 0. 0. 1. ]] SLAMing on 1.8108884789999997 meters 0.0702621390214688 Centerline is valid? [True, True] Translation: X:0.63, Y:0.05, Z:0.00 [[ 9.99828772e-01 1.58330481e-03 -1.84368972e-02 6.33528919e-01] [-1.61065842e-03 9.99997624e-01 -1.46887981e-03 4.66715209e-02] [ 1.84345277e-02 1.49832384e-03 9.99828947e-01 1.61216547e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8408884789999997 meters 0.07088918484029151 Centerline is valid? [True, True] Translation: X:0.66, Y:0.04, Z:-0.00 [[ 0.99976747 0.00335089 -0.02130182 0.66315493] [-0.00338782 0.99999282 -0.00169778 0.0413814 ] [ 0.02129598 0.00176955 0.99977165 -0.00379714] [ 0. 0. 0. 1. ]] SLAMing on 1.8708884789999998 meters 0.06374667517838432 Centerline is valid? [True, True] Translation: X:0.69, Y:0.03, Z:-0.00 [[ 9.99771529e-01 3.98207508e-03 -2.10007705e-02 6.92788373e-01] [-4.01821562e-03 9.99990517e-01 -1.67899809e-03 3.03826743e-02] [ 2.09938854e-02 1.76300011e-03 9.99778050e-01 -8.38246321e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9008884789999998 meters 0.07033785233191131 Centerline is valid? [True, True] Translation: X:0.72, Y:0.04, Z:-0.00 [[ 0.99977117 0.00598054 -0.02053871 0.72115884] [-0.00601554 0.99998056 -0.00164252 0.03611024] [ 0.02052849 0.00176569 0.99978771 -0.00232539] [ 0. 0. 0. 1. ]] SLAMing on 1.9308884789999998 meters 0.0643178152036912 Centerline is valid? [True, True] Translation: X:0.75, Y:0.02, Z:-0.00 [[ 0.99965229 0.01114973 -0.02389511 0.75232502] [-0.01119856 0.99993547 -0.00191091 0.02430762] [ 0.02387226 0.00217784 0.99971264 -0.00228306] [ 0. 0. 0. 1. ]] SLAMing on 1.9608884789999999 meters 0.0638867616769664 Centerline is valid? [True, True] Translation: X:0.78, Y:0.02, Z:-0.00 [[ 0.99952182 0.014807 -0.02714574 0.78293481] [-0.01487138 0.99988706 -0.00217129 0.02329969] [ 0.02711053 0.00257395 0.99962913 -0.00425521] [ 0. 0. 0. 1. ]] SLAMing on 1.9908884789999999 meters 0.0669471366359728 Centerline is valid? [True, True] Translation: X:0.81, Y:0.02, Z:-0.01 [[ 0.99942278 0.01871483 -0.02835259 0.81244907] [-0.01878663 0.99982094 -0.00226824 0.02446959] [ 0.02830506 0.00279958 0.99959541 -0.00599865] [ 0. 0. 0. 1. ]] SLAMing on 2.020888479 meters 0.06721361602471301 Centerline is valid? [True, True] Translation: X:0.84, Y:0.02, Z:-0.01 [[ 0.99937744 0.02200717 -0.02757555 0.84337832] [-0.02207633 0.99975385 -0.00220605 0.02477665] [ 0.02752021 0.00281344 0.99961729 -0.00613437] [ 0. 0. 0. 1. ]] SLAMing on 2.050888479 meters 0.07203783326180747 Centerline is valid? [True, True] Translation: X:0.87, Y:0.02, Z:-0.00 [[ 0.99938818 0.02619141 -0.02317933 0.87260377] [-0.02624136 0.99965392 -0.00185361 0.02341138] [ 0.02312276 0.00246074 0.9997296 -0.00276847] [ 0. 0. 0. 1. ]] SLAMing on 2.080888479 meters 0.07084368378508285 Centerline is valid? [True, True] Translation: X:0.90, Y:0.02, Z:-0.00 [[ 0.99938609 0.02628435 -0.02316395 0.90160151] [-0.02633439 0.99965146 -0.00185781 0.01931401] [ 0.02310704 0.00246668 0.99972995 -0.00120319] [ 0. 0. 0. 1. ]] SLAMing on 2.110888479 meters 0.07270575914414429 Centerline is valid? [True, True] Translation: X:0.93, Y:0.01, Z:-0.00 [[ 0.99940255 0.02446659 -0.02441153 0.93176725] [-0.02452164 0.99969738 -0.00195841 0.00858301] [ 0.02435623 0.00255585 0.99970008 -0.00105011] [ 0. 0. 0. 1. ]] SLAMing on 2.140888479 meters 0.07200763212938045 Centerline is valid? [True, True] Translation: X:0.96, Y:0.00, Z:-0.00 [[ 9.99423985e-01 2.28897367e-02 -2.50550980e-02 9.62372590e-01] [-2.29472675e-02 9.99734654e-01 -2.01102696e-03 3.13308283e-03] [ 2.50024179e-02 2.58481461e-03 9.99684049e-01 -9.17704589e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1708884790000003 meters 0.0712797001902176 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.00, Z:0.00 [[ 9.99512669e-01 2.11661780e-02 -2.29438082e-02 9.92931028e-01] [-2.12139725e-02 9.99773262e-01 -1.84169155e-03 -2.33012195e-03] [ 2.28996243e-02 2.32752335e-03 9.99735060e-01 4.68902294e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.200888479 meters 0.06782776062830367 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.02, Z:0.00 [[ 0.9996512 0.018752 -0.01859702 1.02438717] [-0.01878299 0.99982247 -0.00149296 -0.01502562] [ 0.01856572 0.00184174 0.99982595 0.00234745] [ 0. 0. 0. 1. ]] SLAMing on 2.230888479 meters 0.06660138197934815 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.02, Z:0.00 [[ 0.99967247 0.01798741 -0.01820475 1.05357657] [-0.018017 0.99983661 -0.00146268 -0.02078849] [ 0.01817547 0.00179019 0.99983321 0.00258602] [ 0. 0. 0. 1. ]] SLAMing on 2.260888479 meters 0.0578192145302961 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.04, Z:0.00 [[ 0.99970071 0.01681052 -0.01777373 1.08439737] [-0.01683855 0.9998572 -0.00142861 -0.03566159] [ 0.01774718 0.00172747 0.99984101 0.00405832] [ 0. 0. 0. 1. ]] SLAMing on 2.290888479 meters 0.06766773360417079 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.02, Z:-0.00 [[ 9.99707872e-01 1.60636612e-02 -1.80590349e-02 1.11144719e+00] [-1.60925009e-02 9.99869452e-01 -1.45277740e-03 -2.28229990e-02] [ 1.80333404e-02 1.74296804e-03 9.99835867e-01 -1.86748704e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.320888479 meters 0.05862222061983086 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.05, Z:0.00 [[ 9.99770700e-01 1.34882812e-02 -1.66317027e-02 1.14360736e+00] [-1.35123882e-02 9.99907808e-01 -1.33793524e-03 -4.50478047e-02] [ 1.66121229e-02 1.56236248e-03 9.99860789e-01 2.85406825e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.350888479 meters 0.05746860245431809 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.05, Z:-0.00 [[ 9.99793169e-01 1.19802803e-02 -1.64344896e-02 1.17413036e+00] [-1.20036217e-02 9.99927080e-01 -1.32235990e-03 -5.01003103e-02] [ 1.64174489e-02 1.51935979e-03 9.99864070e-01 -5.44797278e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3808884790000002 meters 0.05681118834297892 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.05, Z:-0.00 [[ 9.99805060e-01 1.01764649e-02 -1.69198407e-02 1.20427783e+00] [-1.02009618e-02 9.99947041e-01 -1.36214505e-03 -5.25290114e-02] [ 1.69050829e-02 1.53447816e-03 9.99855921e-01 -5.57816799e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.410888479 meters 0.055575240393182915 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.05, Z:0.00 [[ 9.99841730e-01 8.32280116e-03 -1.57240473e-02 1.23449950e+00] [-8.34373375e-03 9.99964389e-01 -1.26611278e-03 -5.46212223e-02] [ 1.57129497e-02 1.39710966e-03 9.99875568e-01 1.59628193e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.440888479 meters 0.053365017589102816 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.06, Z:0.00 [[ 9.99952764e-01 5.85131655e-03 -7.76095884e-03 1.26547863e+00] [-5.85634178e-03 9.99982656e-01 -6.24933791e-04 -5.61143122e-02] [ 7.75716755e-03 6.70355099e-04 9.99969688e-01 4.16441541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.470888479 meters 0.05108947199791459 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.06, Z:0.01 [[ 9.99986684e-01 4.52843187e-03 -2.47476946e-03 1.29567861e+00] [-4.52893919e-03 9.99989724e-01 -1.99428899e-04 -5.87650321e-02] [ 2.47384093e-03 2.10634323e-04 9.99996918e-01 6.53641896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.500888479 meters 0.050559458597961925 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.06, Z:0.00 [[ 9.99997298e-01 3.35772928e-05 -2.32443704e-03 1.32647744e+00] [-3.40127652e-05 9.99999982e-01 -1.87306048e-04 -6.22145786e-02] [ 2.32443071e-03 1.87384602e-04 9.99997281e-01 3.88136501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.530888479 meters 0.046545970559096955 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.07, Z:0.00 [[ 9.99987396e-01 -4.93736320e-03 9.10808285e-04 1.35739998e+00] [ 4.93729840e-03 9.99987809e-01 7.33885755e-05 -6.57788907e-02] [-9.11159528e-04 -6.88907183e-05 9.99999583e-01 1.69276549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.560888479 meters 0.048088401547006485 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.07, Z:0.00 [[ 9.99959399e-01 -9.00833557e-03 -2.25052466e-04 1.38687359e+00] [ 9.00833171e-03 9.99959424e-01 -1.81576993e-05 -6.55342617e-02] [ 2.25206905e-04 1.61296148e-05 9.99999975e-01 6.80274772e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.590888479 meters 0.04091982374426209 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.07, Z:0.00 [[ 9.99800093e-01 -1.76243215e-02 9.44234570e-03 1.41820208e+00] [ 1.76179176e-02 9.99844503e-01 7.60973690e-04 -7.09031712e-02] [-9.45428909e-03 -5.94467097e-04 9.99955131e-01 3.17454283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.620888479 meters 0.04091982374426209 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.07, Z:0.00 [[ 9.99801861e-01 -1.75236707e-02 9.44241337e-03 1.45069524e+00] [ 1.75172702e-02 9.99846272e-01 7.60133494e-04 -6.83761579e-02] [-9.45428214e-03 -5.94577575e-04 9.99955131e-01 3.13704983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.650888479 meters 0.042302740287806034 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.07, Z:0.01 [[ 9.99640348e-01 -2.53654021e-02 8.70470096e-03 1.48042462e+00] [ 2.53602594e-02 9.99678131e-01 7.00686572e-04 -6.85230517e-02] [-8.71967238e-03 -4.79681094e-04 9.99961868e-01 7.98637825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.680888479 meters 0.034632566203123695 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.07, Z:0.01 [[ 9.99316357e-01 -3.42354740e-02 1.39553130e-02 1.51076104e+00] [ 3.42231173e-02 9.99413586e-01 1.12336817e-03 -6.87287678e-02] [-1.39855884e-02 -6.45005878e-04 9.99901989e-01 8.55207660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.710888479 meters 0.031135593427701214 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.07, Z:0.01 [[ 9.98980125e-01 -4.11515038e-02 1.85812506e-02 1.54127885e+00] [ 4.11307894e-02 9.99152651e-01 1.49575718e-03 -6.81989430e-02] [-1.86270585e-02 -7.29970192e-04 9.99826235e-01 8.43057025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.740888479 meters 0.033573358257558056 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.07, Z:0.01 [[ 9.99046683e-01 -4.18815179e-02 1.23151789e-02 1.57228272e+00] [ 4.18724794e-02 9.99122472e-01 9.90975989e-04 -6.72396381e-02] [-1.23458756e-02 -4.74364201e-04 9.99923674e-01 6.17495420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.770888479 meters 0.030233782268159266 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.07, Z:0.01 [[ 9.98525413e-01 -4.93565354e-02 2.26037995e-02 1.60413517e+00] [ 4.93280192e-02 9.98780978e-01 1.81774572e-03 -6.57367095e-02] [-2.26659626e-02 -7.00064636e-04 9.99742849e-01 1.20898444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.800888479 meters 0.02967617348184118 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.06, Z:0.02 [[ 9.98285096e-01 -5.10003370e-02 2.87373219e-02 1.63588740e+00] [ 5.09549745e-02 9.98698282e-01 2.30910056e-03 -6.02507209e-02] [-2.88176789e-02 -8.40831176e-04 9.99584331e-01 1.82540007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.830888479 meters 0.029454347603548953 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.05, Z:0.02 [[ 9.98110283e-01 -5.12318661e-02 3.39287297e-02 1.66606648e+00] [ 5.11687808e-02 9.98686301e-01 2.72561387e-03 -5.34969846e-02] [-3.40237958e-02 -9.84371499e-04 9.99420538e-01 2.32660222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.860888479 meters 0.028882805103015347 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.04, Z:0.02 [[ 9.98176383e-01 -4.94908032e-02 3.45625218e-02 1.69562948e+00] [ 4.94244282e-02 9.98774018e-01 2.77269597e-03 -3.69792750e-02] [-3.46573717e-02 -1.05940676e-03 9.99398691e-01 2.39861787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.890888479 meters 0.030005102332713546 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.02, Z:0.02 [[ 9.98562708e-01 -4.51651453e-02 2.88553066e-02 1.72733484e+00] [ 4.51172680e-02 9.98979030e-01 2.30847611e-03 -2.46810478e-02] [-2.89301089e-02 -1.00328555e-03 9.99580933e-01 1.96405254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.920888479 meters 0.03143087737720017 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.01, Z:0.02 [[ 9.98826419e-01 -4.09526759e-02 2.58585093e-02 1.75743595e+00] [ 4.09129591e-02 9.99160584e-01 2.06334910e-03 -1.22923925e-02] [-2.59213029e-02 -1.00297945e-03 9.99663483e-01 1.71187062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.950888479 meters 0.03265335694441323 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.00, Z:0.02 [[ 9.98906381e-01 -3.69529257e-02 2.86447775e-02 1.78712622e+00] [ 3.69025546e-02 9.99316256e-01 2.28530540e-03 -1.16433374e-03] [-2.87096405e-02 -1.22574068e-03 9.99587042e-01 1.70173959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.980888479 meters 0.03670276987165407 Centerline is valid? [True, True] Translation: X:1.82, Y:0.02, Z:0.02 [[ 9.99097380e-01 -2.76092819e-02 3.22824067e-02 1.81653488e+00] [ 2.75404387e-02 9.99617373e-01 2.57532556e-03 1.80040421e-02] [-3.23411575e-02 -1.68392937e-03 9.99475469e-01 2.02311454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.010888479 meters 0.03839326211319719 Centerline is valid? [True, True] Translation: X:1.85, Y:0.03, Z:0.02 [[ 9.99169236e-01 -2.42099158e-02 3.27828854e-02 1.84696889e+00] [ 2.41371288e-02 9.99705239e-01 2.61426449e-03 3.07011992e-02] [-3.28365134e-02 -1.82080793e-03 9.99459078e-01 2.25289690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.040888479 meters 0.040345447956434244 Centerline is valid? [True, True] Translation: X:1.88, Y:0.04, Z:0.02 [[ 9.99328075e-01 -2.10011890e-02 3.00391097e-02 1.87831829e+00] [ 2.09386913e-02 9.99777896e-01 2.39362832e-03 4.40466186e-02] [-3.00827069e-02 -1.76304034e-03 9.99545858e-01 2.25418705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.070888479 meters 0.04048573658810559 Centerline is valid? [True, True] Translation: X:1.91, Y:0.05, Z:0.02 [[ 9.99342884e-01 -2.01462622e-02 3.01318630e-02 1.90953581e+00] [ 2.00831830e-02 9.99795445e-01 2.39464510e-03 5.39619659e-02] [-3.01739425e-02 -1.78792782e-03 9.99543064e-01 2.23653268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.100888479 meters 0.03190636517906909 Centerline is valid? [True, True] Translation: X:1.94, Y:0.05, Z:0.02 [[ 9.99391600e-01 -2.03076201e-02 2.83554436e-02 1.94244291e+00] [ 2.02518999e-02 9.99792375e-01 2.25089499e-03 5.11961377e-02] [-2.83952667e-02 -1.67527393e-03 9.99595369e-01 1.62425349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1308884790000002 meters 0.04095110805849128 Centerline is valid? [True, True] Translation: X:1.97, Y:0.07, Z:0.02 [[ 9.99408656e-01 -2.15321377e-02 2.68086790e-02 1.97175952e+00] [ 2.14827977e-02 9.99766955e-01 2.12713891e-03 6.98629057e-02] [-2.68482333e-02 -1.54995561e-03 9.99638320e-01 2.34565506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.160888479 meters 0.035913635095084086 Centerline is valid? [True, True] Translation: X:2.00, Y:0.07, Z:0.02 [[ 9.99422563e-01 -2.26567376e-02 2.53221893e-02 2.00373588e+00] [ 2.26131221e-02 9.99742275e-01 2.00748634e-03 6.76775870e-02] [-2.53611462e-02 -1.43371339e-03 9.99677326e-01 2.04761553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.190888479 meters 0.036244160372959466 Centerline is valid? [True, True] Translation: X:2.03, Y:0.08, Z:0.02 [[ 9.99498815e-01 -2.33429580e-02 2.13828209e-02 2.03403765e+00] [ 2.33120319e-02 9.99726802e-01 1.69446762e-03 7.70005956e-02] [-2.14165331e-02 -1.19514137e-03 9.99769925e-01 1.91520237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.220888479 meters 0.04217297528990701 Centerline is valid? [True, True] Translation: X:2.06, Y:0.09, Z:0.02 [[ 9.99520757e-01 -2.26271511e-02 2.11250581e-02 2.06421048e+00] [ 2.25968945e-02 9.99743263e-01 1.66990049e-03 9.08996294e-02] [-2.11574196e-02 -1.19173949e-03 9.99775446e-01 2.31725292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.250888479 meters 0.034323188334638405 Centerline is valid? [True, True] Translation: X:2.10, Y:0.08, Z:0.02 [[ 9.99523377e-01 -2.14695430e-02 2.21828120e-02 2.09696675e+00] [ 2.14359321e-02 9.99768689e-01 1.75188143e-03 8.48383662e-02] [-2.22152930e-02 -1.27553719e-03 9.99752396e-01 2.18586641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.280888479 meters 0.034082558856566754 Centerline is valid? [True, True] Translation: X:2.13, Y:0.09, Z:0.02 [[ 9.99567782e-01 -2.02481159e-02 2.13134639e-02 2.12876233e+00] [ 2.02169128e-02 9.99794208e-01 1.67848737e-03 9.01901611e-02] [-2.13430640e-02 -1.24686945e-03 9.99771433e-01 2.40814766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.310888479 meters 0.03329312003324761 Centerline is valid? [True, True] Translation: X:2.16, Y:0.10, Z:0.02 [[ 9.99747944e-01 -1.59718391e-02 1.57781390e-02 2.15927528e+00] [ 1.59542169e-02 9.99871952e-01 1.24212260e-03 9.71811165e-02] [-1.57959576e-02 -9.90081661e-04 9.99874746e-01 2.11738427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.340888479 meters 0.03434890702333757 Centerline is valid? [True, True] Translation: X:2.19, Y:0.10, Z:0.02 [[ 9.99843338e-01 -1.32011832e-02 1.17910373e-02 2.19040343e+00] [ 1.31911550e-02 9.99912562e-01 9.27867680e-04 1.02966021e-01] [-1.18022553e-02 -7.72184918e-04 9.99930053e-01 1.91680372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.370888479 meters 0.03595426534246312 Centerline is valid? [True, True] Translation: X:2.22, Y:0.11, Z:0.02 [[ 9.99901279e-01 -1.02230841e-02 9.63959519e-03 2.22121297e+00] [ 1.02162456e-02 9.99947525e-01 7.58391362e-04 1.08273621e-01] [-9.64684245e-03 -6.59836020e-04 9.99953250e-01 1.74891622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.400888479 meters 0.039153147420941364 Centerline is valid? [True, True] Translation: X:2.25, Y:0.12, Z:0.02 [[ 9.99954418e-01 -4.24362999e-03 8.55299784e-03 2.24990081e+00] [ 4.23802771e-03 9.99990793e-01 6.73026799e-04 1.17757389e-01] [-8.55577517e-03 -6.36748279e-04 9.99963196e-01 1.79753633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.430888479 meters 0.04012636004047105 Centerline is valid? [True, True] Translation: X:2.28, Y:0.12, Z:0.02 [[ 9.99966930e-01 -1.30032048e-03 8.02798362e-03 2.27982288e+00] [ 1.29529069e-03 9.99998962e-01 6.31699212e-04 1.23179242e-01] [-8.02879669e-03 -6.21279749e-04 9.99967576e-01 1.87039267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.460888479 meters 0.045097331293892345 Centerline is valid? [True, True] Translation: X:2.31, Y:0.13, Z:0.02 [[ 9.99974717e-01 3.29401000e-04 7.10335753e-03 2.30889580e+00] [-3.33379694e-04 9.99999788e-01 5.58937836e-04 1.34190075e-01] [-7.10317191e-03 -5.61291819e-04 9.99974615e-01 2.00381135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.490888479 meters 0.042614126327925474 Centerline is valid? [True, True] Translation: X:2.34, Y:0.13, Z:0.02 [[ 9.99982902e-01 3.69367147e-04 5.83598566e-03 2.34120174e+00] [-3.72051622e-04 9.99999825e-01 4.58907630e-04 1.32208061e-01] [-5.83581513e-03 -4.61071071e-04 9.99982865e-01 2.06037383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.520888479 meters 0.04254641504886409 Centerline is valid? [True, True] Translation: X:2.37, Y:0.13, Z:0.02 [[ 9.99986244e-01 -7.50514618e-04 5.19121884e-03 2.37322992e+00] [ 7.48406916e-04 9.99999637e-01 4.07943614e-04 1.30675186e-01] [-5.19152312e-03 -4.04052858e-04 9.99986442e-01 2.10614943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.550888479 meters 0.042588220167679054 Centerline is valid? [True, True] Translation: X:2.40, Y:0.13, Z:0.02 [[ 9.99983808e-01 -2.56037824e-03 5.08223687e-03 2.40389068e+00] [ 2.55838194e-03 9.99996648e-01 3.99260996e-04 1.28219433e-01] [-5.08324209e-03 -3.86252228e-04 9.99987006e-01 2.19272242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.580888479 meters 0.052697964825008034 Centerline is valid? [True, True] Translation: X:2.43, Y:0.13, Z:0.03 [[ 9.99958145e-01 -8.09178220e-03 4.26979810e-03 2.43336471e+00] [ 8.09042334e-03 9.99967216e-01 3.35424717e-04 1.33690039e-01] [-4.27237230e-03 -3.00866203e-04 9.99990828e-01 2.51083136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6108884789999998 meters 0.051654060149782265 Centerline is valid? [True, True] Translation: X:2.46, Y:0.13, Z:0.03 [[ 9.99938481e-01 -1.07049424e-02 2.90500675e-03 2.46468108e+00] [ 1.07043245e-02 9.99942681e-01 2.28176080e-04 1.30620685e-01] [-2.90728285e-03 -1.97065908e-04 9.99995754e-01 2.58307076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.640888479 meters 0.04123887828216943 Centerline is valid? [True, True] Translation: X:2.50, Y:0.12, Z:0.03 [[ 9.99923299e-01 -1.23318054e-02 1.15049402e-03 2.49695060e+00] [ 1.23317095e-02 9.99923957e-01 9.03572735e-05 1.16273612e-01] [-1.15152080e-03 -7.61627850e-05 9.99999334e-01 2.57354741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.670888479 meters 0.04172552030430113 Centerline is valid? [True, True] Translation: X:2.53, Y:0.11, Z:0.03 [[ 9.99900762e-01 -1.40706142e-02 -6.95407894e-04 2.52763031e+00] [ 1.40705797e-02 9.99901003e-01 -5.45650043e-05 1.12287556e-01] [ 6.96106814e-04 4.47747972e-05 9.99999757e-01 2.59238445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.700888479 meters 0.04192937317135533 Centerline is valid? [True, True] Translation: X:2.56, Y:0.11, Z:0.03 [[ 9.99900212e-01 -1.41032011e-02 -8.16128439e-04 2.56067987e+00] [ 1.41031536e-02 9.99900544e-01 -6.39368196e-05 1.08822506e-01] [ 8.16948983e-04 5.24204548e-05 9.99999665e-01 2.61800286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.730888479 meters 0.04245131511863018 Centerline is valid? [True, True] Translation: X:2.59, Y:0.10, Z:0.03 [[ 9.99888067e-01 -1.49446335e-02 -7.15735388e-04 2.59260162e+00] [ 1.49445973e-02 9.99888322e-01 -5.59113662e-05 1.04785707e-01] [ 7.16491031e-04 4.52087307e-05 9.99999742e-01 2.61467561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.760888479 meters 0.042169709818917975 Centerline is valid? [True, True] Translation: X:2.63, Y:0.10, Z:0.03 [[ 9.99874215e-01 -1.57204128e-02 -2.10281177e-03 2.62518613e+00] [ 1.57201015e-02 9.99876418e-01 -1.64470398e-04 1.00627393e-01] [ 2.10513744e-03 1.31393296e-04 9.99997776e-01 2.53055554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.790888479 meters 0.04421840866089258 Centerline is valid? [True, True] Translation: X:2.65, Y:0.10, Z:0.02 [[ 9.99806922e-01 -1.89270152e-02 -5.28080109e-03 2.65494614e+00] [ 1.89250952e-02 9.99820819e-01 -4.13308888e-04 9.68148737e-02] [ 5.28767757e-03 3.13289424e-04 9.99985971e-01 2.35357269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.820888479 meters 0.04092800617548538 Centerline is valid? [True, True] Translation: X:2.69, Y:0.09, Z:0.02 [[ 9.99771774e-01 -2.06118060e-02 -5.61732619e-03 2.68704234e+00] [ 2.06096613e-02 9.99787502e-01 -4.39423854e-04 9.12067575e-02] [ 5.62518984e-03 3.23552376e-04 9.99984126e-01 2.48421165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.850888479 meters 0.03998393032823289 Centerline is valid? [True, True] Translation: X:2.72, Y:0.09, Z:0.03 [[ 9.99713439e-01 -2.28856708e-02 -7.02042025e-03 2.71909950e+00] [ 2.28823790e-02 9.99738013e-01 -5.48857076e-04 8.92929099e-02] [ 7.03114195e-03 3.88055878e-04 9.99975206e-01 2.62804398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.880888479 meters 0.038157858298038895 Centerline is valid? [True, True] Translation: X:2.75, Y:0.08, Z:0.03 [[ 9.99566834e-01 -2.80079005e-02 -9.03894827e-03 2.74901374e+00] [ 2.80026505e-02 9.99607599e-01 -7.06879819e-04 8.09440410e-02] [ 9.05519960e-03 4.53459114e-04 9.99958898e-01 2.65667552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.910888479 meters 0.03747545755737899 Centerline is valid? [True, True] Translation: X:2.78, Y:0.08, Z:0.03 [[ 9.99497696e-01 -3.02085920e-02 -9.58107989e-03 2.78095805e+00] [ 3.02027974e-02 9.99543511e-01 -7.48939163e-04 7.67483466e-02] [ 9.59933063e-03 4.59187553e-04 9.99953820e-01 2.62851765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.940888479 meters 0.03555899472839662 Centerline is valid? [True, True] Translation: X:2.81, Y:0.07, Z:0.03 [[ 9.99433261e-01 -3.22699285e-02 -9.58166616e-03 2.81312226e+00] [ 3.22642321e-02 9.99479094e-01 -7.48535385e-04 7.17039989e-02] [ 9.60083020e-03 4.38966060e-04 9.99953815e-01 2.68815757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.970888479 meters 0.03527720335199853 Centerline is valid? [True, True] Translation: X:2.84, Y:0.07, Z:0.03 [[ 9.99377193e-01 -3.38969668e-02 -9.80931505e-03 2.84398748e+00] [ 3.38910774e-02 9.99425239e-01 -7.66044447e-04 7.02305658e-02] [ 9.82964362e-03 4.33119094e-04 9.99951594e-01 2.63487181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.000888478999999 meters 0.033256779444766994 Centerline is valid? [True, True] Translation: X:2.88, Y:0.07, Z:0.03 [[ 9.99306578e-01 -3.60529275e-02 -9.30321137e-03 2.87602013e+00] [ 3.60477280e-02 9.99349806e-01 -7.26032128e-04 6.66366214e-02] [ 9.32333806e-03 3.90169048e-04 9.99956461e-01 2.70157837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.030888479 meters 0.03354793906977107 Centerline is valid? [True, True] Translation: X:2.91, Y:0.07, Z:0.03 [[ 9.99308319e-01 -3.61029710e-02 -8.91393489e-03 2.90778844e+00] [ 3.60982031e-02 9.99348006e-01 -6.95253304e-04 6.90361096e-02] [ 8.93322377e-03 3.72995379e-04 9.99960028e-01 2.81919818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.060888479 meters 0.02613977323091581 Centerline is valid? [True, True] Translation: X:2.94, Y:0.06, Z:0.03 [[ 9.99319407e-01 -3.58759123e-02 -8.58151604e-03 2.94127585e+00] [ 3.58714904e-02 9.99356187e-01 -6.68701435e-04 5.90317656e-02] [ 8.59998142e-03 3.60414551e-04 9.99962955e-01 3.32234129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.090888479 meters 0.03750863547053121 Centerline is valid? [True, True] Translation: X:2.97, Y:0.08, Z:0.04 [[ 9.99412398e-01 -3.39590046e-02 -4.65242783e-03 2.97096869e+00] [ 3.39576853e-02 9.99423206e-01 -3.62277218e-04 7.61123918e-02] [ 4.66204691e-03 2.04078663e-04 9.99989112e-01 3.67968120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1208884789999995 meters 0.03721000863726461 Centerline is valid? [True, True] Translation: X:3.00, Y:0.08, Z:0.04 [[ 9.99489691e-01 -3.18047757e-02 -2.96890804e-03 3.00306294e+00] [ 3.18042296e-02 9.99494091e-01 -2.30979785e-04 7.65850447e-02] [ 2.97475230e-03 1.36438081e-04 9.99995566e-01 4.05511716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.150888479 meters 0.039943605704587354 Centerline is valid? [True, True] Translation: X:3.03, Y:0.08, Z:0.04 [[ 9.99597961e-01 -2.82556477e-02 -2.35249739e-03 3.03297475e+00] [ 2.82552953e-02 9.99600723e-01 -1.82890573e-04 8.14923959e-02] [ 2.35672578e-03 1.16346536e-04 9.99997216e-01 4.19781349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.180888479 meters 0.04184025203607257 Centerline is valid? [True, True] Translation: X:3.06, Y:0.09, Z:0.04 [[ 9.99682980e-01 -2.49120289e-02 -3.65103987e-03 3.06379274e+00] [ 2.49111579e-02 9.99689629e-01 -2.83868121e-04 8.63495136e-02] [ 3.65697842e-03 1.92826498e-04 9.99993295e-01 4.27339041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.210888479 meters 0.03313546826619683 Centerline is valid? [True, True] Translation: X:3.10, Y:0.08, Z:0.04 [[ 9.99817224e-01 -1.81896640e-02 -5.88677785e-03 3.09564951e+00] [ 1.81872845e-02 9.99834493e-01 -4.57490944e-04 7.51448814e-02] [ 5.89412515e-03 3.50342823e-04 9.99982568e-01 4.39499693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.240888479 meters 0.03126936823881779 Centerline is valid? [True, True] Translation: X:3.13, Y:0.07, Z:0.04 [[ 9.99852340e-01 -1.56347057e-02 -7.13115941e-03 3.12738217e+00] [ 1.56311509e-02 9.99877673e-01 -5.53956932e-04 7.34807649e-02] [ 7.13894803e-03 4.42406906e-04 9.99974420e-01 4.30157981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.270888479 meters 0.03396361533030899 Centerline is valid? [True, True] Translation: X:3.16, Y:0.08, Z:0.04 [[ 9.99876872e-01 -1.35852793e-02 -7.85378594e-03 3.15721852e+00] [ 1.35809042e-02 9.99907589e-01 -6.10135225e-04 7.84445379e-02] [ 7.86134902e-03 5.03398585e-04 9.99968972e-01 4.10643314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.300888479 meters 0.034259121402930526 Centerline is valid? [True, True] Translation: X:3.19, Y:0.08, Z:0.04 [[ 9.99884259e-01 -1.25869070e-02 -8.54627262e-03 3.18717459e+00] [ 1.25816889e-02 9.99920627e-01 -6.64057110e-04 7.88895866e-02] [ 8.55395270e-03 5.56453708e-04 9.99963259e-01 4.04486022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.330888479 meters 0.03358224582865768 Centerline is valid? [True, True] Translation: X:3.22, Y:0.07, Z:0.04 [[ 9.99901399e-01 -1.22165172e-02 -6.92451052e-03 3.21691725e+00] [ 1.22130800e-02 9.99925273e-01 -5.38447502e-04 7.26861004e-02] [ 6.93057102e-03 4.53824810e-04 9.99975880e-01 4.18416007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.360888479 meters 0.034781821182833864 Centerline is valid? [True, True] Translation: X:3.25, Y:0.07, Z:0.04 [[ 9.99902817e-01 -1.19069464e-02 -7.25134173e-03 3.24581234e+00] [ 1.19031674e-02 9.99928996e-01 -5.64087538e-04 7.49870596e-02] [ 7.25754342e-03 4.77718783e-04 9.99973550e-01 4.17694837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.390888479 meters 0.032548487321740746 Centerline is valid? [True, True] Translation: X:3.28, Y:0.07, Z:0.04 [[ 9.99895544e-01 -1.02013033e-02 -1.02388446e-02 3.27603141e+00] [ 1.01936783e-02 9.99947726e-01 -7.96630844e-04 7.39061639e-02] [ 1.02464361e-02 6.92176144e-04 9.99947264e-01 4.03695605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.420888479 meters 0.036278073090149125 Centerline is valid? [True, True] Translation: X:3.30, Y:0.08, Z:0.04 [[ 9.99901669e-01 -9.32788041e-03 -1.04710159e-02 3.30311111e+00] [ 9.31984762e-03 9.99956237e-01 -8.15680008e-04 7.98116374e-02] [ 1.04781662e-02 7.18011529e-04 9.99944845e-01 3.91599750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.450888479 meters 0.035779400841408744 Centerline is valid? [True, True] Translation: X:3.33, Y:0.08, Z:0.04 [[ 9.99921162e-01 -9.34609474e-03 -8.38574040e-03 3.33093574e+00] [ 9.34092252e-03 9.99956158e-01 -6.55741818e-04 7.70896516e-02] [ 8.39150137e-03 5.77359569e-04 9.99964624e-01 3.98729244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.480888479 meters 0.03473638058268181 Centerline is valid? [True, True] Translation: X:3.36, Y:0.07, Z:0.04 [[ 9.99937133e-01 -9.77407596e-03 -5.49525819e-03 3.36054003e+00] [ 9.77185370e-03 9.99952161e-01 -4.31101523e-04 7.23792238e-02] [ 5.49920893e-03 3.77375562e-04 9.99984808e-01 4.11622064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.510888479 meters 0.034073499317360756 Centerline is valid? [True, True] Translation: X:3.39, Y:0.07, Z:0.04 [[ 9.99932189e-01 -1.07828594e-02 -4.39846953e-03 3.39090200e+00] [ 1.07814455e-02 9.99941819e-01 -3.45029094e-04 6.75997288e-02] [ 4.40193402e-03 2.97583838e-04 9.99990267e-01 4.16178881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.540888479 meters 0.034073499317360756 Centerline is valid? [True, True] Translation: X:3.42, Y:0.07, Z:0.04 [[ 9.99932189e-01 -1.07828594e-02 -4.39847259e-03 3.42087884e+00] [ 1.07814457e-02 9.99941819e-01 -3.44989990e-04 6.99509165e-02] [ 4.40193666e-03 2.97544702e-04 9.99990267e-01 4.15832890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.570888479 meters 0.03571265295791452 Centerline is valid? [True, True] Translation: X:3.45, Y:0.07, Z:0.04 [[ 9.99936396e-01 -1.00324131e-02 -5.15302776e-03 3.45034562e+00] [ 1.00304628e-02 9.99949612e-01 -4.04172802e-04 7.46313884e-02] [ 5.15682293e-03 3.52459842e-04 9.99986641e-01 4.07315726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.600888479 meters 0.03640035094322682 Centerline is valid? [True, True] Translation: X:3.48, Y:0.08, Z:0.04 [[ 9.99954283e-01 -8.18623906e-03 -4.94144358e-03 3.48089183e+00] [ 8.18442324e-03 9.99966432e-01 -3.87577399e-04 7.86648601e-02] [ 4.94445050e-03 3.47116815e-04 9.99987716e-01 4.05905137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.630888479 meters 0.03679392844787869 Centerline is valid? [True, True] Translation: X:3.51, Y:0.08, Z:0.04 [[ 9.99958981e-01 -6.65974028e-03 -6.13867537e-03 3.51070881e+00] [ 6.65690859e-03 9.99977727e-01 -4.81603968e-04 8.28119874e-02] [ 6.14174600e-03 4.40719612e-04 9.99981042e-01 4.14617561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.660888479 meters 0.037381314583168936 Centerline is valid? [True, True] Translation: X:3.54, Y:0.08, Z:0.04 [[ 9.99941451e-01 -5.83920751e-03 -9.11029623e-03 3.54045719e+00] [ 5.83293382e-03 9.99982733e-01 -7.15055501e-04 8.09020325e-02] [ 9.11431428e-03 6.61873881e-04 9.99958245e-01 3.62561113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.690888479 meters 0.03492215793515234 Centerline is valid? [True, True] Translation: X:3.57, Y:0.07, Z:0.03 [[ 9.99914511e-01 -6.78445780e-03 -1.11777551e-02 3.57001907e+00] [ 6.77503926e-03 9.99976662e-01 -8.80265034e-04 7.42927724e-02] [ 1.11834663e-02 8.04460051e-04 9.99937139e-01 3.34954089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.720888479 meters 0.037022481943341096 Centerline is valid? [True, True] Translation: X:3.60, Y:0.07, Z:0.03 [[ 9.99910789e-01 -7.87401079e-03 -1.07895162e-02 3.59820805e+00] [ 7.86529010e-03 9.99968706e-01 -8.50450461e-04 7.37053310e-02] [ 1.07958750e-02 7.65511917e-04 9.99941430e-01 3.19700904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.750888479 meters 0.03476336233316867 Centerline is valid? [True, True] Translation: X:3.63, Y:0.07, Z:0.04 [[ 9.99918818e-01 -1.23778061e-02 -3.02432125e-03 3.62836551e+00] [ 1.23771412e-02 9.99923372e-01 -2.38471294e-04 6.66398262e-02] [ 3.02704125e-03 2.01019484e-04 9.99995398e-01 4.09826195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.780888479 meters 0.033945005891565454 Centerline is valid? [True, True] Translation: X:3.66, Y:0.07, Z:0.04 [[ 9.99888280e-01 -1.49427946e-02 3.74095698e-04 3.65914684e+00] [ 1.49427846e-02 9.99888350e-01 2.95069947e-05 6.67391948e-02] [-3.74494847e-04 -2.39136668e-05 9.99999930e-01 4.46439685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.810888479 meters 0.03240263671088256 Centerline is valid? [True, True] Translation: X:3.69, Y:0.06, Z:0.04 [[ 9.99778430e-01 -2.10422744e-02 -5.59377175e-04 3.69027123e+00] [ 2.10422530e-02 9.99778586e-01 -4.40762213e-05 6.33167143e-02] [ 5.60180785e-04 3.22958993e-05 9.99999843e-01 4.26303489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.840888479 meters 0.03217001790370245 Centerline is valid? [True, True] Translation: X:3.72, Y:0.06, Z:0.04 [[ 9.99740125e-01 -2.26753155e-02 -2.34798879e-03 3.72234885e+00] [ 2.26749437e-02 9.99742873e-01 -1.84878089e-04 6.12027645e-02] [ 2.35157723e-03 1.31589530e-04 9.99997226e-01 4.05489631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8708884789999995 meters 0.031043923655085643 Centerline is valid? [True, True] Translation: X:3.75, Y:0.06, Z:0.04 [[ 9.99684842e-01 -2.50545104e-02 -1.57722476e-03 3.75479736e+00] [ 2.50543457e-02 9.99686083e-01 -1.24089223e-04 5.70502650e-02] [ 1.57983864e-03 8.45337810e-05 9.99998748e-01 3.92750275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.900888479 meters 0.03121570256057324 Centerline is valid? [True, True] Translation: X:3.79, Y:0.05, Z:0.04 [[ 9.99564248e-01 -2.94375897e-02 -2.17783306e-03 3.78522969e+00] [ 2.94372859e-02 9.99566614e-01 -1.71424756e-04 5.24826982e-02] [ 2.18193555e-03 1.07240563e-04 9.99997614e-01 3.82128781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.930888479 meters 0.02944418352523661 Centerline is valid? [True, True] Translation: X:3.82, Y:0.05, Z:0.04 [[ 9.99516332e-01 -3.09448350e-02 -3.08526280e-03 3.81718750e+00] [ 3.09442329e-02 9.99521083e-01 -2.42707417e-04 4.96531088e-02] [ 3.09129576e-03 1.47118936e-04 9.99995211e-01 3.67147581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.960888479 meters 0.028892621982193955 Centerline is valid? [True, True] Translation: X:3.85, Y:0.05, Z:0.04 [[ 9.99449755e-01 -3.27797159e-02 -5.06723539e-03 3.84904499e+00] [ 3.27781166e-02 9.99462574e-01 -3.98373504e-04 5.14145538e-02] [ 5.07757070e-03 2.32059869e-04 9.99987082e-01 3.64219551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.990888479 meters 0.027740450475852736 Centerline is valid? [True, True] Translation: X:3.88, Y:0.05, Z:0.04 [[ 9.99357437e-01 -3.57029309e-02 -3.16448469e-03 3.88005066e+00] [ 3.57023217e-02 9.99362438e-01 -2.48802972e-04 5.26506768e-02] [ 3.17135013e-03 1.35663650e-04 9.99994962e-01 3.97033730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.020888479 meters 0.026006451791556348 Centerline is valid? [True, True] Translation: X:3.91, Y:0.05, Z:0.04 [[ 9.99296441e-01 -3.74720259e-02 -1.57170949e-03 3.91190789e+00] [ 3.74718780e-02 9.99297675e-01 -1.23433621e-04 5.23562179e-02] [ 1.57523095e-03 6.44518723e-05 9.99998757e-01 4.18004684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.050888479 meters 0.024963721984193797 Centerline is valid? [True, True] Translation: X:3.94, Y:0.05, Z:0.04 [[ 9.99207587e-01 -3.98019832e-02 -3.54970838e-06 3.94367600e+00] [ 3.98019832e-02 9.99207587e-01 -2.18126358e-07 5.29521144e-02] [ 3.55557741e-06 7.66680788e-08 1.00000000e+00 4.26365743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0808884789999995 meters 0.025464357981238108 Centerline is valid? [True, True] Translation: X:3.97, Y:0.06, Z:0.04 [[ 9.99136702e-01 -4.15421276e-02 3.19067385e-04 3.97454287e+00] [ 4.15421217e-02 9.99136753e-01 2.50967194e-05 5.58137995e-02] [-3.19834523e-04 -1.18203173e-05 9.99999949e-01 4.23271169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.110888479 meters 0.02325041731863658 Centerline is valid? [True, True] Translation: X:4.01, Y:0.05, Z:0.04 [[ 9.98966101e-01 -4.52073189e-02 4.79868552e-03 4.00640585e+00] [ 4.52060320e-02 9.98977614e-01 3.76347475e-04 5.39843420e-02] [-4.81079308e-03 -1.59028838e-04 9.99988415e-01 4.49824027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.140888479 meters 0.02242312578320078 Centerline is valid? [True, True] Translation: X:4.04, Y:0.06, Z:0.05 [[ 9.98836492e-01 -4.74933945e-02 8.36901314e-03 4.03827205e+00] [ 4.74895658e-02 9.98871519e-01 6.55738087e-04 5.62635135e-02] [-8.39071209e-03 -2.57534330e-04 9.99964764e-01 4.83541291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.170888479 meters 0.022715207264768004 Centerline is valid? [True, True] Translation: X:4.07, Y:0.06, Z:0.05 [[ 9.98751045e-01 -4.87845644e-02 1.07896489e-02 4.06913666e+00] [ 4.87782824e-02 9.98809274e-01 8.44783907e-04 6.24628905e-02] [-1.08180137e-02 -3.17428272e-04 9.99941433e-01 5.14902957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.200888479 meters 0.02299439081991712 Centerline is valid? [True, True] Translation: X:4.10, Y:0.07, Z:0.05 [[ 9.98766281e-01 -4.83491256e-02 1.13259443e-02 4.09940007e+00] [ 4.83421822e-02 9.98830440e-01 8.86180525e-04 7.00406154e-02] [-1.13555439e-02 -3.37566366e-04 9.99935467e-01 5.31187581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.230888479 meters 0.023832964797675427 Centerline is valid? [True, True] Translation: X:4.13, Y:0.08, Z:0.05 [[ 9.99147217e-01 -4.03083597e-02 8.94848088e-03 4.12948819e+00] [ 4.03037039e-02 9.99187230e-01 7.00083688e-04 8.11527650e-02] [-8.96942705e-03 -3.38829745e-04 9.99959716e-01 4.96180042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.260888479 meters 0.02546782122131093 Centerline is valid? [True, True] Translation: X:4.16, Y:0.09, Z:0.05 [[ 9.99399685e-01 -3.37957850e-02 7.62324270e-03 4.15809268e+00] [ 3.37922162e-02 9.99428702e-01 5.96494980e-04 8.95325837e-02] [-7.63904658e-03 -3.38530630e-04 9.99970765e-01 4.79599242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2908884789999995 meters 0.028485673039293082 Centerline is valid? [True, True] Translation: X:4.19, Y:0.10, Z:0.05 [[ 9.99616055e-01 -2.63720845e-02 8.50030602e-03 4.18718418e+00] [ 2.63673843e-02 9.99652099e-01 6.64560345e-04 9.88817166e-02] [-8.51487460e-03 -4.40174356e-04 9.99963651e-01 4.70210079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.320888479 meters 0.031288446252671645 Centerline is valid? [True, True] Translation: X:4.22, Y:0.11, Z:0.05 [[ 9.99820359e-01 -1.40812312e-02 1.26873584e-02 4.21698424e+00] [ 1.40697761e-02 9.99900524e-01 9.91686747e-04 1.08202191e-01] [-1.27000605e-02 -8.13000308e-04 9.99919020e-01 4.96484401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.350888479 meters 0.03379397271109045 Centerline is valid? [True, True] Translation: X:4.25, Y:0.12, Z:0.05 [[ 9.99876572e-01 -8.83280956e-03 1.29931249e-02 4.24605744e+00] [ 8.82035330e-03 9.99960584e-01 1.01567369e-03 1.15850372e-01] [-1.30015840e-02 -9.00944374e-04 9.99915070e-01 5.12422233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.380888479 meters 0.03620826759411891 Centerline is valid? [True, True] Translation: X:4.27, Y:0.12, Z:0.05 [[ 9.99908440e-01 -4.97411926e-03 1.25844800e-02 4.27496109e+00] [ 4.96213206e-03 9.99987205e-01 9.83583159e-04 1.23753605e-01] [-1.25892115e-02 -9.21047251e-04 9.99920329e-01 5.18870928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.410888479 meters 0.03336433318293441 Centerline is valid? [True, True] Translation: X:4.31, Y:0.12, Z:0.05 [[ 9.99923611e-01 -2.71541097e-03 1.20581458e-02 4.30639778e+00] [ 2.70424703e-03 9.99995900e-01 9.42050477e-04 1.24576572e-01] [-1.20606545e-02 -9.09370310e-04 9.99926854e-01 5.01088436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.440888479 meters 0.036378273242501445 Centerline is valid? [True, True] Translation: X:4.34, Y:0.13, Z:0.05 [[ 9.99948242e-01 -1.47894886e-03 1.00661214e-02 4.33707045e+00] [ 1.47111173e-03 9.99998609e-01 7.85925215e-04 1.31843617e-01] [-1.00672698e-02 -7.71076148e-04 9.99949026e-01 4.75635287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.470888479 meters 0.03313284994431048 Centerline is valid? [True, True] Translation: X:4.37, Y:0.13, Z:0.04 [[ 9.99962671e-01 -2.08020770e-03 8.38630351e-03 4.37026640e+00] [ 2.07479483e-03 9.99997634e-01 6.54089360e-04 1.25970820e-01] [-8.38764431e-03 -6.36665084e-04 9.99964620e-01 4.35998702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.500888479 meters 0.034142646918844215 Centerline is valid? [True, True] Translation: X:4.40, Y:0.12, Z:0.04 [[ 9.99975209e-01 -3.75585053e-03 5.95608944e-03 4.40118193e+00] [ 3.75315126e-03 9.99992849e-01 4.64306305e-04 1.24843635e-01] [-5.95779072e-03 -4.41940689e-04 9.99982155e-01 3.97366825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.530888479 meters 0.03505818964596022 Centerline is valid? [True, True] Translation: X:4.43, Y:0.12, Z:0.04 [[ 9.99951082e-01 -8.73630223e-03 4.63785306e-03 4.43098615e+00] [ 8.73471873e-03 9.99961786e-01 3.61575532e-04 1.21107092e-01] [-4.64083467e-03 -3.21047503e-04 9.99989180e-01 3.72927077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.560888479 meters 0.0320130939989555 Centerline is valid? [True, True] Translation: X:4.46, Y:0.12, Z:0.04 [[ 9.99906428e-01 -1.12843954e-02 7.73292951e-03 4.46185741e+00] [ 1.12800686e-02 9.99936196e-01 6.02908048e-04 1.18220849e-01] [-7.73923957e-03 -5.15623657e-04 9.99969919e-01 3.98462899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.590888479 meters 0.03277200792311928 Centerline is valid? [True, True] Translation: X:4.49, Y:0.12, Z:0.04 [[ 9.99831100e-01 -1.49394766e-02 1.07043980e-02 4.49184225e+00] [ 1.49313942e-02 9.99888172e-01 8.34582505e-04 1.21629181e-01] [-1.07156691e-02 -6.74609958e-04 9.99942358e-01 4.38732804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6208884789999995 meters 0.031046378679165546 Centerline is valid? [True, True] Translation: X:4.52, Y:0.12, Z:0.04 [[ 9.99770242e-01 -1.84975783e-02 1.08306739e-02 4.52309357e+00] [ 1.84895138e-02 9.99828698e-01 8.44263679e-04 1.19810143e-01] [-1.08444355e-02 -6.43815808e-04 9.99940990e-01 4.46758163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.650888479 meters 0.028379486021163348 Centerline is valid? [True, True] Translation: X:4.55, Y:0.11, Z:0.04 [[ 9.99580964e-01 -2.77158657e-02 8.35029545e-03 4.55311677e+00] [ 2.77113919e-02 9.99615754e-01 6.51008096e-04 1.09453450e-01] [-8.36513013e-03 -4.19336990e-04 9.99964924e-01 4.41866738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.680888479 meters 0.026212274024987735 Centerline is valid? [True, True] Translation: X:4.58, Y:0.10, Z:0.04 [[ 9.99478343e-01 -3.16178295e-02 6.58444029e-03 4.58412530e+00] [ 3.16151322e-02 9.99499985e-01 5.13351531e-04 1.01958180e-01] [-6.59737903e-03 -3.04915787e-04 9.99978191e-01 4.37583068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.710888479 meters 0.025244063096873087 Centerline is valid? [True, True] Translation: X:4.62, Y:0.10, Z:0.04 [[ 9.99362261e-01 -3.51036711e-02 6.54241803e-03 4.61571425e+00] [ 3.51010839e-02 9.99383637e-01 5.09893224e-04 9.81477164e-02] [-6.55628465e-03 -2.79922081e-04 9.99978468e-01 4.46354799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.740888479 meters 0.024334608611610322 Centerline is valid? [True, True] Translation: X:4.65, Y:0.09, Z:0.05 [[ 9.99169437e-01 -4.02628302e-02 6.27223950e-03 4.64546162e+00] [ 4.02605534e-02 9.99189096e-01 4.88886884e-04 9.48656583e-02] [-6.28683728e-03 -2.35957000e-04 9.99980210e-01 4.52535911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.770888479 meters 0.02401348943398924 Centerline is valid? [True, True] Translation: X:4.68, Y:0.10, Z:0.05 [[ 9.99088043e-01 -4.21533273e-02 6.79556346e-03 4.67660597e+00] [ 4.21507034e-02 9.99111124e-01 5.28942792e-04 9.74573308e-02] [-6.81181975e-03 -2.42022639e-04 9.99976770e-01 4.59568128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.800888479 meters 0.02326746315438651 Centerline is valid? [True, True] Translation: X:4.71, Y:0.10, Z:0.05 [[ 9.99049365e-01 -4.25347969e-02 9.54765156e-03 4.70968729e+00] [ 4.25296451e-02 9.99094930e-01 7.42069937e-04 9.89376282e-02] [-9.57057406e-03 -3.35306267e-04 9.99954145e-01 4.79181781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8308884789999995 meters 0.022369244081568408 Centerline is valid? [True, True] Translation: X:4.74, Y:0.10, Z:0.05 [[ 9.99077943e-01 -4.15256988e-02 1.09032190e-02 4.74235829e+00] [ 4.15189292e-02 9.99137359e-01 8.46600341e-04 9.81016419e-02] [-1.09289691e-02 -3.93129749e-04 9.99940200e-01 4.83017447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.860888479 meters 0.022597357867240417 Centerline is valid? [True, True] Translation: X:4.78, Y:0.10, Z:0.05 [[ 9.99111105e-01 -4.06518524e-02 1.11546783e-02 4.77503614e+00] [ 4.06447213e-02 9.99173287e-01 8.65332525e-04 9.75614374e-02] [-1.11806339e-02 -4.11184545e-04 9.99937410e-01 4.84237638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.890888479 meters 0.022423509970803397 Centerline is valid? [True, True] Translation: X:4.81, Y:0.10, Z:0.05 [[ 9.99179786e-01 -3.98098076e-02 7.41179640e-03 4.80862654e+00] [ 3.98066416e-02 9.99207237e-01 5.74246149e-04 9.59219472e-02] [-7.42878122e-03 -2.78736422e-04 9.99972367e-01 4.66030238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.920888479 meters 0.023872006190948123 Centerline is valid? [True, True] Translation: X:4.84, Y:0.10, Z:0.04 [[ 9.99216127e-01 -3.94558509e-02 3.21980265e-03 4.83919933e+00] [ 3.94552526e-02 9.99221307e-01 2.49152943e-04 1.02819501e-01] [-3.22712596e-03 -1.21919511e-04 9.99994785e-01 4.40608954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.950888479 meters 0.023212762139197943 Centerline is valid? [True, True] Translation: X:4.87, Y:0.11, Z:0.04 [[ 9.99266706e-01 -3.82735384e-02 1.08936511e-03 4.87122574e+00] [ 3.82734693e-02 9.99267299e-01 8.42529815e-05 1.06897148e-01] [-1.09179159e-03 -4.24974172e-05 9.99999403e-01 4.15125586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.980888479 meters 0.02585398769735231 Centerline is valid? [True, True] Translation: X:4.90, Y:0.12, Z:0.04 [[ 9.99320607e-01 -3.68230957e-02 1.54421590e-03 4.90139702e+00] [ 3.68229552e-02 9.99321798e-01 1.19295192e-04 1.17020749e-01] [-1.54756143e-03 -6.23515512e-05 9.99998801e-01 4.15996905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.010888479 meters 0.024561155706634332 Centerline is valid? [True, True] Translation: X:4.93, Y:0.12, Z:0.05 [[ 9.99376574e-01 -3.45990604e-02 7.02632877e-03 4.93308101e+00] [ 3.45961017e-02 9.99401229e-01 5.42227540e-04 1.17454586e-01] [-7.04088217e-03 -2.98805917e-04 9.99975168e-01 4.55625546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0408884789999995 meters 0.02528732916759529 Centerline is valid? [True, True] Translation: X:4.96, Y:0.12, Z:0.05 [[ 9.99380765e-01 -3.43393281e-02 7.67442451e-03 4.96451131e+00] [ 3.43357939e-02 9.99410178e-01 5.91837236e-04 1.20395525e-01] [-7.69022125e-03 -3.27963292e-04 9.99970376e-01 4.70178300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.070888479 meters 0.024572544107086057 Centerline is valid? [True, True] Translation: X:5.00, Y:0.12, Z:0.05 [[ 9.99377871e-01 -3.46661896e-02 6.49049555e-03 4.99626843e+00] [ 3.46636714e-02 9.99398909e-01 5.00112922e-04 1.21566362e-01] [-6.50393119e-03 -2.74817382e-04 9.99978811e-01 4.69663670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.100888479 meters 0.02475756340376644 Centerline is valid? [True, True] Translation: X:5.03, Y:0.13, Z:0.05 [[ 9.99346424e-01 -3.54351910e-02 7.14652208e-03 5.02813870e+00] [ 3.54321613e-02 9.99371932e-01 5.50159532e-04 1.25096976e-01] [-7.16152859e-03 -2.96583238e-04 9.99974312e-01 4.78280909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.130888479 meters 0.025375277453828882 Centerline is valid? [True, True] Translation: X:5.06, Y:0.13, Z:0.05 [[ 9.99311866e-01 -3.59035645e-02 9.31276195e-03 5.05874764e+00] [ 3.58984500e-02 9.99355187e-01 7.15824225e-04 1.28763273e-01] [-9.33245759e-03 -3.81017923e-04 9.99956379e-01 5.04840908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.160888479 meters 0.025208787534518193 Centerline is valid? [True, True] Translation: X:5.09, Y:0.13, Z:0.05 [[ 9.99316065e-01 -3.56163763e-02 9.94360909e-03 5.09086900e+00] [ 3.56105386e-02 9.99365452e-01 7.63564747e-04 1.31911809e-01] [-9.96449480e-03 -4.08945243e-04 9.99950270e-01 5.12179813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.190888479 meters 0.026205171740442835 Centerline is valid? [True, True] Translation: X:5.12, Y:0.14, Z:0.05 [[ 9.99379149e-01 -3.43717840e-02 7.73936481e-03 5.12126099e+00] [ 3.43682135e-02 9.99409062e-01 5.93905438e-04 1.39861531e-01] [-7.75520492e-03 -3.27548569e-04 9.99969874e-01 4.73973909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.220888479 meters 0.026446462874213806 Centerline is valid? [True, True] Translation: X:5.15, Y:0.15, Z:0.05 [[ 9.99419051e-01 -3.30776548e-02 8.21155242e-03 5.15263674e+00] [ 3.30735952e-02 9.99452721e-01 6.29722216e-04 1.45144711e-01] [-8.22788814e-03 -3.57770819e-04 9.99966086e-01 4.71381029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.250888479 meters 0.027611736795847133 Centerline is valid? [True, True] Translation: X:5.18, Y:0.15, Z:0.05 [[ 9.99466029e-01 -3.11118369e-02 9.98556036e-03 5.18351488e+00] [ 3.11057408e-02 9.99515806e-01 7.65254095e-04 1.51099217e-01] [-1.00045339e-02 -4.54237219e-04 9.99949850e-01 4.95532615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.280888479 meters 0.029201788536832755 Centerline is valid? [True, True] Translation: X:5.21, Y:0.16, Z:0.05 [[ 9.99530643e-01 -2.81196847e-02 1.21563410e-02 5.21317629e+00] [ 2.81104300e-02 9.99604390e-01 9.31544398e-04 1.59298306e-01] [-1.21777266e-02 -5.89387198e-04 9.99925675e-01 5.37034954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.310888479 meters 0.030061950606911365 Centerline is valid? [True, True] Translation: X:5.24, Y:0.16, Z:0.05 [[ 9.99580632e-01 -2.71845185e-02 9.97810767e-03 5.24492423e+00] [ 2.71782427e-02 9.99630311e-01 7.64048346e-04 1.63181231e-01] [-9.99518916e-03 -4.92540497e-04 9.99949926e-01 5.11569565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.340888479 meters 0.029408578659060065 Centerline is valid? [True, True] Translation: X:5.28, Y:0.16, Z:0.05 [[ 9.99635218e-01 -2.63101124e-02 6.09998093e-03 5.27678790e+00] [ 2.63077530e-02 9.99653782e-01 4.66716210e-04 1.63901590e-01] [-6.11014837e-03 -3.06069169e-04 9.99981286e-01 4.70049401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3708884789999995 meters 0.027224889791767508 Centerline is valid? [True, True] Translation: X:5.31, Y:0.16, Z:0.05 [[ 9.99709820e-01 -2.38831996e-02 3.14152299e-03 5.30919997e+00] [ 2.38825624e-02 9.99714742e-01 2.40184784e-04 1.63039793e-01] [-3.14636323e-03 -1.65087469e-04 9.99995037e-01 4.52826123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.400888479 meters 0.02867033032525728 Centerline is valid? [True, True] Translation: X:5.34, Y:0.17, Z:0.05 [[ 9.99749210e-01 -2.22221018e-02 2.77417504e-03 5.33945146e+00] [ 2.22215992e-02 9.99753047e-01 2.11833971e-04 1.69477169e-01] [-2.77819735e-03 -1.50134239e-04 9.99996130e-01 4.64360138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.430888479 meters 0.02793980162656275 Centerline is valid? [True, True] Translation: X:5.37, Y:0.17, Z:0.04 [[ 9.99799806e-01 -1.99901423e-02 8.61359590e-04 5.37087247e+00] [ 1.99900931e-02 9.99800176e-01 6.57398887e-05 1.72414606e-01] [-8.62501619e-04 -4.85080696e-05 9.99999627e-01 4.40886337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.460888479 meters 0.02793980162656275 Centerline is valid? [True, True] Translation: X:5.40, Y:0.17, Z:0.04 [[ 9.99801182e-01 -1.99211934e-02 8.61361100e-04 5.40251471e+00] [ 1.99211442e-02 9.99801552e-01 6.57201042e-05 1.74771109e-01] [-8.62499387e-04 -4.85477392e-05 9.99999627e-01 4.40521356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.490888479 meters 0.038284591624253905 Centerline is valid? [True, True] Translation: X:5.43, Y:0.19, Z:0.04 [[ 9.99883530e-01 -1.43221986e-02 -5.27261315e-03 5.43132902e+00] [ 1.43202785e-02 9.99897379e-01 -4.01744226e-04 1.90319554e-01] [ 5.27782593e-03 3.26192146e-04 9.99986019e-01 3.56392033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.520888479 meters 0.03435500157793409 Centerline is valid? [True, True] Translation: X:5.46, Y:0.18, Z:0.03 [[ 9.99911406e-01 -1.20581318e-02 -5.63752483e-03 5.46169645e+00] [ 1.20559008e-02 9.99927233e-01 -4.29559655e-04 1.84896220e-01] [ 5.64229429e-03 3.61556159e-04 9.99984017e-01 3.49702863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.550888479 meters 0.03847491296000198 Centerline is valid? [True, True] Translation: X:5.49, Y:0.19, Z:0.04 [[ 9.99940150e-01 -1.02673425e-02 -3.77864335e-03 5.49104036e+00] [ 1.02663271e-02 9.99947258e-01 -2.88006391e-04 1.91378243e-01] [ 3.78140112e-03 2.49196365e-04 9.99992819e-01 3.61299600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5808884789999995 meters 0.036188290720749056 Centerline is valid? [True, True] Translation: X:5.52, Y:0.19, Z:0.04 [[ 9.99963781e-01 -8.42774760e-03 -1.18691994e-03 5.52189092e+00] [ 8.42764614e-03 9.99964483e-01 -9.04601070e-05 1.88381989e-01] [ 1.18764016e-03 8.04538895e-05 9.99999292e-01 3.82946019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.610888479 meters 0.037365034844078035 Centerline is valid? [True, True] Translation: X:5.55, Y:0.19, Z:0.04 [[ 9.99988571e-01 -4.76201137e-03 -4.24967237e-04 5.55283279e+00] [ 4.76199803e-03 9.99988661e-01 -3.23832389e-05 1.86192623e-01] [ 4.25116628e-04 3.03591757e-05 9.99999909e-01 3.94714522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.640888479 meters 0.040094807053029834 Centerline is valid? [True, True] Translation: X:5.58, Y:0.19, Z:0.04 [[ 9.99995233e-01 -3.04839361e-03 -4.92052963e-04 5.58255316e+00] [ 3.04837559e-03 9.99995353e-01 -3.73784231e-05 1.90315236e-01] [ 4.92164620e-04 3.58782826e-05 9.99999878e-01 4.01344470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.670888479 meters 0.03895276708649188 Centerline is valid? [True, True] Translation: X:5.61, Y:0.19, Z:0.04 [[ 9.99997981e-01 -2.00366978e-03 -1.50843312e-04 5.61327223e+00] [ 2.00366807e-03 9.99997993e-01 -1.14847245e-05 1.90346416e-01] [ 1.50866021e-04 1.11824613e-05 9.99999989e-01 4.22580514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.700888479 meters 0.04103553676183276 Centerline is valid? [True, True] Translation: X:5.64, Y:0.19, Z:0.04 [[ 9.99998375e-01 -1.42223229e-03 1.10814531e-03 5.64417142e+00] [ 1.42213966e-03 9.99998985e-01 8.43712996e-05 1.89234653e-01] [-1.10826418e-03 -8.27952250e-05 9.99999382e-01 4.44740817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.730888479 meters 0.040906244073436855 Centerline is valid? [True, True] Translation: X:5.68, Y:0.18, Z:0.04 [[ 9.99995120e-01 -2.63798755e-03 1.67383191e-03 5.67602026e+00] [ 2.63777799e-03 9.99996513e-01 1.27392636e-04 1.84271343e-01] [-1.67416213e-03 -1.22976817e-04 9.99998591e-01 4.40426199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.760888479 meters 0.03890903730328167 Centerline is valid? [True, True] Translation: X:5.71, Y:0.18, Z:0.05 [[ 9.99988160e-01 -4.07829958e-03 2.65465125e-03 5.70776254e+00] [ 4.07777782e-03 9.99991665e-01 2.01925086e-04 1.76056293e-01] [-2.65545264e-03 -1.91097617e-04 9.99996456e-01 4.51586469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7908884789999995 meters 0.04065638657101914 Centerline is valid? [True, True] Translation: X:5.74, Y:0.17, Z:0.05 [[ 9.99947075e-01 -8.58150215e-03 5.67488215e-03 5.73788588e+00] [ 8.57919003e-03 9.99963105e-01 4.31649237e-04 1.72682552e-01] [-5.67837698e-03 -3.82940500e-04 9.99983805e-01 5.00324988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.820888479 meters 0.03693165263420807 Centerline is valid? [True, True] Translation: X:5.77, Y:0.17, Z:0.05 [[ 9.99924655e-01 -9.58292803e-03 7.67151917e-03 5.77058530e+00] [ 9.57873527e-03 9.99953953e-01 5.83092961e-04 1.69083181e-01] [-7.67675366e-03 -5.09565576e-04 9.99970403e-01 5.19326632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.850888479 meters 0.037615672668490585 Centerline is valid? [True, True] Translation: X:5.80, Y:0.17, Z:0.05 [[ 9.99925823e-01 -9.21810953e-03 7.96089977e-03 5.80227881e+00] [ 9.21358738e-03 9.99957371e-01 6.04534845e-04 1.71222839e-01] [-7.96613307e-03 -5.31141557e-04 9.99968129e-01 5.25608300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.880888479 meters 0.03875146348338468 Centerline is valid? [True, True] Translation: X:5.83, Y:0.17, Z:0.05 [[ 9.99949858e-01 -7.45687416e-03 6.68409256e-03 5.83376197e+00] [ 7.45364947e-03 9.99972093e-01 5.07224008e-04 1.73155122e-01] [-6.68768833e-03 -4.57377692e-04 9.99977533e-01 5.16873472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.910888479 meters 0.0428931756957689 Centerline is valid? [True, True] Translation: X:5.86, Y:0.17, Z:0.05 [[ 9.99998729e-01 -1.28607363e-03 9.42719308e-04 5.86292456e+00] [ 1.28600676e-03 9.99999171e-01 7.15357419e-05 1.73487501e-01] [-9.42810526e-04 -7.03233075e-05 9.99999553e-01 4.65906409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.940888479 meters 0.043474399803682465 Centerline is valid? [True, True] Translation: X:5.89, Y:0.17, Z:0.04 [[ 9.99996999e-01 1.80216185e-03 -1.65972051e-03 5.89360975e+00] [-1.80237322e-03 9.99998368e-01 -1.25868411e-04 1.72113808e-01] [ 1.65949097e-03 1.28859469e-04 9.99998615e-01 4.25521767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.970888479 meters 0.0471251400755346 Centerline is valid? [True, True] Translation: X:5.92, Y:0.17, Z:0.04 [[ 9.99981383e-01 4.84391937e-03 -3.71090885e-03 5.92315669e+00] [-4.84499732e-03 9.99988223e-01 -2.81548234e-04 1.74470738e-01] [ 3.70950135e-03 2.99522336e-04 9.99993075e-01 3.92576130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.000888478999999 meters 0.049594449864169395 Centerline is valid? [True, True] Translation: X:5.95, Y:0.18, Z:0.04 [[ 9.99950103e-01 9.53455197e-03 -2.98064186e-03 5.95376299e+00] [-9.53526815e-03 9.99954513e-01 -2.26159799e-04 1.75125827e-01] [ 2.97834995e-03 2.54569734e-04 9.99995532e-01 3.94499010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.030888479 meters 0.05230461663758227 Centerline is valid? [True, True] Translation: X:5.98, Y:0.18, Z:0.04 [[ 9.99937075e-01 1.11827092e-02 -8.90477518e-04 5.98239739e+00] [-1.11827738e-02 9.99937469e-01 -6.76656006e-05 1.79881966e-01] [ 8.89665150e-04 7.76193514e-05 9.99999601e-01 4.25179412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.060888479 meters 0.05203640048651575 Centerline is valid? [True, True] Translation: X:6.01, Y:0.18, Z:0.05 [[ 9.99930294e-01 1.17866733e-02 6.93686492e-04 6.01231584e+00] [-1.17867126e-02 9.99930533e-01 5.26515988e-05 1.79684083e-01] [-6.93017717e-04 -6.08242120e-05 9.99999758e-01 4.58607628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.090888479 meters 0.05396150584772978 Centerline is valid? [True, True] Translation: X:6.04, Y:0.17, Z:0.04 [[ 9.99937038e-01 1.09756794e-02 -2.33559397e-03 6.04223062e+00] [-1.09761232e-02 9.99939745e-01 -1.77285674e-04 1.71451336e-01] [ 2.33350741e-03 2.02910279e-04 9.99997257e-01 4.46036838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1208884789999995 meters 0.053789028337012136 Centerline is valid? [True, True] Translation: X:6.07, Y:0.16, Z:0.04 [[ 9.99947197e-01 9.56430618e-03 -3.75872879e-03 6.07317299e+00] [-9.56544625e-03 9.99954209e-01 -2.85453344e-04 1.64590540e-01] [ 3.75582651e-03 3.21392190e-04 9.99992895e-01 4.24054751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.150888479 meters 0.04316955594172053 Centerline is valid? [True, True] Translation: X:6.10, Y:0.15, Z:0.04 [[ 9.99958961e-01 8.15805915e-03 -3.93995068e-03 6.10490520e+00] [-8.15930125e-03 9.99966668e-01 -2.99286663e-04 1.45162097e-01] [ 3.93737775e-03 3.31421625e-04 9.99992194e-01 4.22638074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.180888479 meters 0.041902111606345244 Centerline is valid? [True, True] Translation: X:6.14, Y:0.14, Z:0.04 [[ 9.99988175e-01 4.83218187e-03 -5.47632218e-04 6.13646356e+00] [-4.83220537e-03 9.99988324e-01 -4.16014997e-05 1.35679639e-01] [ 5.47424798e-04 4.42472791e-05 9.99999849e-01 4.28700324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.210888478999999 meters 0.0405698212854983 Centerline is valid? [True, True] Translation: X:6.17, Y:0.13, Z:0.04 [[ 9.99993122e-01 3.45464250e-03 1.34990194e-03 6.16702384e+00] [-3.45478404e-03 9.99994027e-01 1.02538360e-04 1.32707507e-01] [-1.34953964e-03 -1.07201275e-04 9.99999084e-01 4.41909964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.240888479 meters 0.04607994712295312 Centerline is valid? [True, True] Translation: X:6.20, Y:0.14, Z:0.05 [[ 9.99994921e-01 1.72583636e-03 2.67942386e-03 6.19655096e+00] [-1.72638786e-03 9.99998489e-01 2.03528657e-04 1.38193532e-01] [-2.67906855e-03 -2.08153348e-04 9.99996390e-01 4.55385091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.270888479 meters 0.038020103054389555 Centerline is valid? [True, True] Translation: X:6.23, Y:0.12, Z:0.05 [[ 9.99997038e-01 -1.38959837e-03 1.99843281e-03 6.22962685e+00] [ 1.38929782e-03 9.99999023e-01 1.51777135e-04 1.15099119e-01] [-1.99864177e-03 -1.49000267e-04 9.99997992e-01 4.60144171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.300888479 meters 0.037816107301471724 Centerline is valid? [True, True] Translation: X:6.26, Y:0.11, Z:0.05 [[ 9.99997198e-01 -2.34883853e-03 2.95166879e-04 6.26142474e+00] [ 2.34883201e-03 9.99997241e-01 2.24433023e-05 1.08728166e-01] [-2.95218780e-04 -2.17499420e-05 9.99999956e-01 4.55678887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3308884789999995 meters 0.039221631583069794 Centerline is valid? [True, True] Translation: X:6.29, Y:0.11, Z:0.04 [[ 9.99996286e-01 -2.50831347e-03 -1.06628894e-03 6.29217181e+00] [ 2.50822864e-03 9.99996851e-01 -8.08878649e-05 1.06273637e-01] [ 1.06648848e-03 7.82130680e-05 9.99999428e-01 4.49805555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.360888479 meters 0.0396839483725345 Centerline is valid? [True, True] Translation: X:6.32, Y:0.11, Z:0.04 [[ 9.99995368e-01 -1.84060303e-03 -2.42394264e-03 6.32235604e+00] [ 1.84016243e-03 9.99998290e-01 -1.83988071e-04 1.05556852e-01] [ 2.42427714e-03 1.79526770e-04 9.99997045e-01 4.43605339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.390888479 meters 0.04090388553676436 Centerline is valid? [True, True] Translation: X:6.35, Y:0.11, Z:0.04 [[ 9.99995918e-01 5.47917459e-04 -2.80417915e-03 6.35305490e+00] [-5.48516406e-04 9.99999827e-01 -2.12826261e-04 1.06417731e-01] [ 2.80406205e-03 2.14363531e-04 9.99996046e-01 4.26811869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.420888479 meters 0.04301066108698282 Centerline is valid? [True, True] Translation: X:6.38, Y:0.11, Z:0.04 [[ 9.99993705e-01 2.36312813e-03 -2.64663525e-03 6.38169993e+00] [-2.36366834e-03 9.99997186e-01 -2.01002635e-04 1.09324279e-01] [ 2.64615281e-03 2.07257138e-04 9.99996477e-01 4.20886405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.450888479 meters 0.04301088592050514 Centerline is valid? [True, True] Translation: X:6.41, Y:0.11, Z:0.04 [[ 9.99986841e-01 4.51878986e-03 -2.42869779e-03 6.41241679e+00] [-4.51925099e-03 9.99989771e-01 -1.84414053e-04 1.09128895e-01] [ 2.42783962e-03 1.95387521e-04 9.99997034e-01 4.14556647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.480888479 meters 0.045569084969767804 Centerline is valid? [True, True] Translation: X:6.44, Y:0.11, Z:0.04 [[ 9.99948359e-01 1.01560937e-02 -3.64598166e-04 6.44305857e+00] [-1.01561045e-02 9.99948425e-01 -2.77190046e-05 1.07880436e-01] [ 3.64297845e-04 3.14204702e-05 9.99999933e-01 4.14193144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.510888479 meters 0.04674531726772518 Centerline is valid? [True, True] Translation: X:6.47, Y:0.11, Z:0.04 [[ 9.99916614e-01 1.29137362e-02 1.10244929e-05 6.47388851e+00] [-1.29137362e-02 9.99916614e-01 8.37039874e-07 1.08613213e-01] [-1.10127643e-05 -9.79337469e-07 1.00000000e+00 4.22811229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5408884789999995 meters 0.048061576887060496 Centerline is valid? [True, True] Translation: X:6.50, Y:0.11, Z:0.04 [[ 9.99883821e-01 1.52419730e-02 -1.61337970e-04 6.50471342e+00] [-1.52419751e-02 9.99883834e-01 -1.22395925e-05 1.10282610e-01] [ 1.61132672e-04 1.46972799e-05 9.99999987e-01 4.15331871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.570888479 meters 0.04779709536443801 Centerline is valid? [True, True] Translation: X:6.54, Y:0.11, Z:0.04 [[ 9.99846345e-01 1.75252184e-02 3.90821197e-04 6.53617568e+00] [-1.75252313e-02 9.99846421e-01 2.96931477e-05 1.07865834e-01] [-3.90240796e-04 -3.65378171e-05 9.99999923e-01 4.08081108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.600888479 meters 0.049181491289964685 Centerline is valid? [True, True] Translation: X:6.57, Y:0.11, Z:0.04 [[ 9.99849103e-01 1.73280588e-02 1.22867241e-03 6.56693574e+00] [-1.73281864e-02 9.99849851e-01 9.32867626e-05 1.08459479e-01] [-1.22687145e-03 -1.14563351e-04 9.99999241e-01 4.16741520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.630888479 meters 0.049110798584163125 Centerline is valid? [True, True] Translation: X:6.60, Y:0.11, Z:0.04 [[ 9.99869737e-01 1.60828010e-02 1.36078462e-03 6.59869419e+00] [-1.60829563e-02 9.99870656e-01 1.03287061e-04 1.05818829e-01] [-1.35894746e-03 -1.25159046e-04 9.99999069e-01 4.14045151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.660888479 meters 0.04848888857456359 Centerline is valid? [True, True] Translation: X:6.63, Y:0.10, Z:0.04 [[ 9.99912986e-01 1.31740234e-02 -6.81700243e-04 6.62969726e+00] [-1.31740617e-02 9.99913217e-01 -5.17148468e-05 9.72801329e-02] [ 6.80959791e-04 6.06911079e-05 9.99999766e-01 3.89243043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.690888479 meters 0.04782017342513012 Centerline is valid? [True, True] Translation: X:6.66, Y:0.09, Z:0.04 [[ 9.99931142e-01 1.16091702e-02 1.71438124e-03 6.66054393e+00] [-1.16094102e-02 9.99932600e-01 1.30067401e-04 9.43167721e-02] [-1.71275572e-03 -1.49961400e-04 9.99998522e-01 4.02847679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.720888479 meters 0.048306774016026566 Centerline is valid? [True, True] Translation: X:6.69, Y:0.09, Z:0.04 [[ 9.99929620e-01 1.02062884e-02 6.04877151e-03 6.69137198e+00] [-1.02092488e-02 9.99947779e-01 4.58738426e-04 9.34792010e-02] [-6.04377363e-03 -5.20459553e-04 9.99981601e-01 4.47362378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.750888478999999 meters 0.04571586819679733 Centerline is valid? [True, True] Translation: X:6.72, Y:0.08, Z:0.05 [[ 9.99878141e-01 9.10332348e-03 1.26820083e-02 6.72398947e+00] [-9.11621204e-03 9.99957987e-01 9.58848965e-04 8.39835213e-02] [-1.26727468e-02 -1.07434400e-03 9.99919120e-01 5.16521919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.780888479 meters 0.05282684147224717 Centerline is valid? [True, True] Translation: X:6.76, Y:0.09, Z:0.05 [[ 9.99893713e-01 9.32518150e-03 1.12073002e-02 6.75521747e+00] [-9.33522994e-03 9.99956069e-01 8.44618625e-04 9.06625902e-02] [-1.11989316e-02 -9.49151577e-04 9.99936840e-01 5.09317294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.810888479 meters 0.05067659969191033 Centerline is valid? [True, True] Translation: X:6.79, Y:0.08, Z:0.05 [[ 9.99936801e-01 8.74674814e-03 7.06315097e-03 6.78704439e+00] [-8.75072208e-03 9.99961570e-01 5.31921438e-04 8.48061212e-02] [-7.05822695e-03 -5.93695493e-04 9.99974914e-01 4.60163272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.840888479 meters 0.04539679839171969 Centerline is valid? [True, True] Translation: X:6.82, Y:0.07, Z:0.04 [[ 9.99966051e-01 7.90983552e-03 2.30875938e-03 6.81993514e+00] [-7.91025773e-03 9.99968698e-01 1.73796352e-04 7.22419721e-02] [-2.30731242e-03 -1.92053333e-04 9.99997320e-01 3.98268643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8708884789999995 meters 0.05073590527676178 Centerline is valid? [True, True] Translation: X:6.85, Y:0.08, Z:0.04 [[ 9.99966086e-01 7.64616139e-03 3.05999455e-03 6.85090353e+00] [-7.64690024e-03 9.99970736e-01 2.29828486e-04 8.05623498e-02] [-3.05814770e-03 -2.53220165e-04 9.99995292e-01 4.02094219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.900888479 meters 0.05097573005448773 Centerline is valid? [True, True] Translation: X:6.88, Y:0.08, Z:0.04 [[ 9.99953822e-01 7.32448026e-03 6.22140197e-03 6.88275476e+00] [-7.32751755e-03 9.99973045e-01 4.65547534e-04 8.26220238e-02] [-6.21782437e-03 -5.11113468e-04 9.99980539e-01 4.28678354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.930888479 meters 0.045230618089006726 Centerline is valid? [True, True] Translation: X:6.92, Y:0.07, Z:0.05 [[ 9.99930685e-01 7.44149088e-03 9.12409380e-03 6.91685552e+00] [-7.44800430e-03 9.99972032e-01 6.80098368e-04 7.45627962e-02] [-9.11877767e-03 -7.48007517e-04 9.99958143e-01 4.56474704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.960888478999999 meters 0.046053288372145916 Centerline is valid? [True, True] Translation: X:6.95, Y:0.07, Z:0.05 [[ 9.99910481e-01 8.35809502e-03 1.04485148e-02 6.94909265e+00] [-8.36665860e-03 9.99964698e-01 7.76154536e-04 7.07490483e-02] [-1.04416588e-02 -8.63504212e-04 9.99945112e-01 4.95131896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.990888479 meters 0.046006269092539465 Centerline is valid? [True, True] Translation: X:6.98, Y:0.07, Z:0.05 [[ 9.99919912e-01 9.36000200e-03 8.51823363e-03 6.98147031e+00] [-9.36571227e-03 9.99955942e-01 6.30713695e-04 7.01416318e-02] [-8.51195485e-03 -7.10442508e-04 9.99963520e-01 4.88076400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.020888479 meters 0.04528698958690607 Centerline is valid? [True, True] Translation: X:7.01, Y:0.07, Z:0.05 [[ 9.99912226e-01 1.07833407e-02 7.69807323e-03 7.01355653e+00] [-1.07880406e-02 9.99941645e-01 5.69261412e-04 6.99044319e-02] [-7.69148547e-03 -6.52258572e-04 9.99970207e-01 4.80737923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.050888479 meters 0.049442564310147256 Centerline is valid? [True, True] Translation: X:7.04, Y:0.08, Z:0.05 [[ 9.99880636e-01 1.25799185e-02 8.96992307e-03 7.04363951e+00] [-1.25863674e-02 9.99920569e-01 6.62860972e-04 7.74027653e-02] [-8.96087184e-03 -7.75680598e-04 9.99959550e-01 4.91742421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.080888479 meters 0.04851730867076809 Centerline is valid? [True, True] Translation: X:7.07, Y:0.08, Z:0.05 [[ 9.99784535e-01 1.63531849e-02 1.27850311e-02 7.07438622e+00] [-1.63665878e-02 9.99865612e-01 9.44395861e-04 8.02614997e-02] [-1.27678691e-02 -1.15343971e-03 9.99917822e-01 5.04291946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110888479 meters 0.05708272451104625 Centerline is valid? [True, True] Translation: X:7.10, Y:0.09, Z:0.05 [[ 9.99759911e-01 1.71437032e-02 1.36460152e-02 7.10489841e+00] [-1.71590057e-02 9.99852268e-01 1.00509202e-03 9.47571646e-02] [-1.36267682e-02 -1.23900276e-03 9.99906384e-01 5.10238580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.140888479 meters 0.04805889744222014 Centerline is valid? [True, True] Translation: X:7.14, Y:0.08, Z:0.05 [[ 9.99736934e-01 1.65764451e-02 1.58519340e-02 7.13807803e+00] [-1.65969617e-02 9.99861584e-01 1.16357854e-03 7.94605765e-02] [-1.58304519e-02 -1.42636639e-03 9.99873673e-01 5.12911045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.170888479 meters 0.048195334689143596 Centerline is valid? [True, True] Translation: X:7.17, Y:0.08, Z:0.05 [[ 9.99750855e-01 1.52514579e-02 1.62978609e-02 7.17017886e+00] [-1.52729526e-02 9.99882647e-01 1.19520548e-03 7.70270070e-02] [-1.62777197e-02 -1.44382416e-03 9.99866467e-01 5.38422043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.200888479 meters 0.04928179321040368 Centerline is valid? [True, True] Translation: X:7.20, Y:0.08, Z:0.05 [[ 9.99788021e-01 1.39308399e-02 1.51606243e-02 7.20094454e+00] [-1.39492802e-02 9.99902087e-01 1.11125279e-03 7.62060158e-02] [-1.51436592e-02 -1.32249702e-03 9.99884454e-01 5.48476964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.230888478999999 meters 0.04808637845864594 Centerline is valid? [True, True] Translation: X:7.23, Y:0.07, Z:0.05 [[ 9.99817979e-01 1.36633743e-02 1.33162005e-02 7.23342450e+00] [-1.36775363e-02 9.99905985e-01 9.73017981e-04 7.34333340e-02] [-1.33016539e-02 -1.15497369e-03 9.99910862e-01 5.29558128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.260888479 meters 0.0471847593303206 Centerline is valid? [True, True] Translation: X:7.27, Y:0.07, Z:0.05 [[ 9.99840982e-01 1.37050070e-02 1.14097825e-02 7.26604895e+00] [-1.37153748e-02 9.99905595e-01 8.30923501e-04 7.37043022e-02] [-1.13973176e-02 -9.87280813e-04 9.99934561e-01 5.14661768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.290888479 meters 0.045186030887496155 Centerline is valid? [True, True] Translation: X:7.30, Y:0.08, Z:0.05 [[ 9.99819938e-01 1.47055860e-02 1.19932322e-02 7.29842209e+00] [-1.47170998e-02 9.99891317e-01 8.72326870e-04 7.60165192e-02] [-1.19791007e-02 -1.04867539e-03 9.99927698e-01 5.04213853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.320888479 meters 0.04656587269737939 Centerline is valid? [True, True] Translation: X:7.33, Y:0.08, Z:0.05 [[ 9.99809034e-01 1.54221865e-02 1.20021484e-02 7.32941591e+00] [-1.54337504e-02 9.99880513e-01 8.71459245e-04 8.13675175e-02] [-1.19872745e-02 -1.05653099e-03 9.99927592e-01 4.94562593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350888479 meters 0.04656587269737939 Centerline is valid? [True, True] Translation: X:7.36, Y:0.08, Z:0.05 [[ 9.99804584e-01 1.57078610e-02 1.20023841e-02 7.36195162e+00] [-1.57194067e-02 9.99876066e-01 8.68207237e-04 8.36450882e-02] [-1.19872589e-02 -1.05670793e-03 9.99927592e-01 4.94187211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.380888479 meters 0.04701466193478867 Centerline is valid? [True, True] Translation: X:7.39, Y:0.09, Z:0.05 [[ 9.99807002e-01 1.66867207e-02 1.03687620e-02 7.39362209e+00] [-1.66953625e-02 9.99860343e-01 7.47441814e-04 8.69135300e-02] [-1.03548415e-02 -9.20407799e-04 9.99945964e-01 4.74486231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.410888479 meters 0.04901621115254809 Centerline is valid? [True, True] Translation: X:7.42, Y:0.09, Z:0.04 [[ 9.99816806e-01 1.76033057e-02 7.51516376e-03 7.42417532e+00] [-1.76078635e-02 9.99844823e-01 5.40735619e-04 8.87225207e-02] [-7.50447885e-03 -6.72962537e-04 9.99971615e-01 4.44188006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.440888479 meters 0.047767852292985045 Centerline is valid? [True, True] Translation: X:7.46, Y:0.09, Z:0.05 [[ 9.99821368e-01 1.72253034e-02 7.77954977e-03 7.45617813e+00] [-1.72301622e-02 9.99851394e-01 5.57962170e-04 8.74759851e-02] [-7.76878262e-03 -6.91905405e-04 9.99969583e-01 4.54219770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.470888479 meters 0.04746248347686768 Centerline is valid? [True, True] Translation: X:7.49, Y:0.09, Z:0.05 [[ 9.99823262e-01 1.65966995e-02 8.83140796e-03 7.48886842e+00] [-1.66029278e-02 9.99861962e-01 6.32395376e-04 8.85510054e-02] [-8.81969321e-03 -7.78910837e-04 9.99960802e-01 4.73666650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.500888479 meters 0.04977112898988448 Centerline is valid? [True, True] Translation: X:7.52, Y:0.10, Z:0.05 [[ 9.99826380e-01 1.52904268e-02 1.06494947e-02 7.51897222e+00] [-1.52994070e-02 9.99882667e-01 7.62293246e-04 9.67816596e-02] [-1.06365894e-02 -9.25091852e-04 9.99943002e-01 4.93615807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.530888479 meters 0.04972130722513557 Centerline is valid? [True, True] Translation: X:7.55, Y:0.10, Z:0.05 [[ 9.99828920e-01 1.49232667e-02 1.09282542e-02 7.55069597e+00] [-1.49326754e-02 9.99888197e-01 7.79855089e-04 9.99098415e-02] [-1.09153944e-02 -9.42909744e-04 9.99939981e-01 4.86923576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.560888478999999 meters 0.04720930126757802 Centerline is valid? [True, True] Translation: X:7.58, Y:0.10, Z:0.05 [[ 9.99839781e-01 1.46513763e-02 1.02834646e-02 7.58287779e+00] [-1.46596672e-02 9.99892274e-01 7.31321530e-04 9.86615960e-02] [-1.02716419e-02 -8.81956527e-04 9.99946856e-01 4.73893876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.590888479 meters 0.04505553634990351 Centerline is valid? [True, True] Translation: X:7.62, Y:0.10, Z:0.05 [[ 9.99861930e-01 1.38820284e-02 9.13290155e-03 7.61560512e+00] [-1.38885272e-02 9.99903339e-01 6.48537609e-04 9.73561418e-02] [-9.12301574e-03 -7.75290618e-04 9.99958084e-01 4.69917927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.620888479 meters 0.04488219210148585 Centerline is valid? [True, True] Translation: X:7.65, Y:0.10, Z:0.05 [[ 9.99857469e-01 1.38342282e-02 9.67760532e-03 7.64760131e+00] [-1.38415014e-02 9.99903967e-01 6.84970803e-04 9.74053132e-02] [-9.66719991e-03 -8.18825761e-04 9.99952936e-01 4.67398966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.650888479 meters 0.0444230860888052 Centerline is valid? [True, True] Translation: X:7.68, Y:0.10, Z:0.05 [[ 9.99877768e-01 1.24945979e-02 9.39857084e-03 7.67945868e+00] [-1.25013921e-02 9.99921634e-01 6.64497654e-04 9.65410772e-02] [-9.38953168e-03 -7.81911651e-04 9.99955612e-01 4.71540887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.680888479 meters 0.04376003376605961 Centerline is valid? [True, True] Translation: X:7.71, Y:0.09, Z:0.05 [[ 9.99917147e-01 9.04464125e-03 9.15933069e-03 7.71048926e+00] [-9.05094954e-03 9.99958830e-01 6.47510090e-04 9.40359474e-02] [-9.15309710e-03 -7.30357082e-04 9.99957843e-01 4.81187211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.710888479 meters 0.043985273994311715 Centerline is valid? [True, True] Translation: X:7.74, Y:0.10, Z:0.05 [[ 9.99914441e-01 8.13550193e-03 1.02432975e-02 7.74259545e+00] [-8.14332144e-03 9.99966582e-01 7.21900971e-04 9.69529409e-02] [-1.02370822e-02 -8.05253670e-04 9.99947275e-01 4.88771697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.740888479 meters 0.0402622266655787 Centerline is valid? [True, True] Translation: X:7.77, Y:0.10, Z:0.05 [[ 9.99916955e-01 7.23125598e-03 1.06673798e-02 7.77499087e+00] [-7.23965635e-03 9.99973513e-01 7.49076257e-04 9.52854794e-02] [-1.06616805e-02 -8.26242213e-04 9.99942821e-01 4.80585149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.770888479 meters 0.04177223198308286 Centerline is valid? [True, True] Translation: X:7.81, Y:0.10, Z:0.05 [[ 9.99946542e-01 6.22363831e-03 8.25713516e-03 7.80533101e+00] [-6.22863429e-03 9.99980434e-01 5.79472512e-04 1.00160043e-01] [-8.25336717e-03 -6.30872209e-04 9.99965741e-01 4.55853054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.800888479 meters 0.04292413775101991 Centerline is valid? [True, True] Translation: X:7.84, Y:0.10, Z:0.05 [[ 9.99945215e-01 7.32129899e-03 7.48106559e-03 7.83636328e+00] [-7.32541951e-03 9.99973032e-01 5.23539852e-04 1.03679885e-01] [-7.47703085e-03 -5.78313113e-04 9.99971879e-01 4.55154142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.830888479 meters 0.04668727250773473 Centerline is valid? [True, True] Translation: X:7.87, Y:0.11, Z:0.05 [[ 9.99930178e-01 9.32005193e-03 7.26473107e-03 7.86562839e+00] [-9.32398815e-03 9.99956402e-01 5.08145084e-04 1.10025814e-01] [-7.25967840e-03 -5.75845871e-04 9.99973482e-01 4.59884819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.860888479 meters 0.04582417555266865 Centerline is valid? [True, True] Translation: X:7.90, Y:0.11, Z:0.05 [[ 9.99907238e-01 1.16822184e-02 7.00298310e-03 7.89681890e+00] [-1.16859329e-02 9.99931597e-01 4.89734337e-04 1.11069547e-01] [-6.99678289e-03 -5.71525299e-04 9.99975359e-01 4.58876525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.890888479 meters 0.050109484751272325 Centerline is valid? [True, True] Translation: X:7.93, Y:0.12, Z:0.05 [[ 9.99827076e-01 1.71380045e-02 7.21850475e-03 7.92547221e+00] [-1.71420912e-02 9.99852936e-01 5.04642113e-04 1.20849743e-01] [-7.20879461e-03 -6.28295115e-04 9.99973819e-01 4.51834556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.920888479 meters 0.0472591902171076 Centerline is valid? [True, True] Translation: X:7.96, Y:0.12, Z:0.04 [[ 9.99781930e-01 1.95851168e-02 7.24674885e-03 7.95609552e+00] [-1.95892975e-02 9.99807983e-01 5.06368642e-04 1.20580001e-01] [-7.23544006e-03 -6.48216937e-04 9.99973614e-01 4.42177965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.950888479 meters 0.0481042501283579 Centerline is valid? [True, True] Translation: X:7.99, Y:0.13, Z:0.04 [[ 9.99746156e-01 2.15227907e-02 6.66275241e-03 7.98690188e+00] [-2.15263665e-02 9.99768173e-01 4.65425043e-04 1.25512159e-01] [-6.65119056e-03 -6.08731748e-04 9.99977695e-01 4.40284547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.980888478999999 meters 0.05153481968919898 Centerline is valid? [True, True] Translation: X:8.02, Y:0.13, Z:0.04 [[ 9.99705088e-01 2.38031001e-02 4.81135453e-03 8.01693898e+00] [-2.38049902e-02 9.99716565e-01 3.35943444e-04 1.30094562e-01] [-4.80199433e-03 -4.50378618e-04 9.99988369e-01 4.45145875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.010888479 meters 0.05267368160291195 Centerline is valid? [True, True] Translation: X:8.05, Y:0.13, Z:0.05 [[ 9.99708426e-01 2.37360439e-02 4.43423581e-03 8.04859521e+00] [-2.37376449e-02 9.99718175e-01 3.08770619e-04 1.31268503e-01] [-4.42565713e-03 -4.13938905e-04 9.99990121e-01 4.59972346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.040888479 meters 0.05074903894231634 Centerline is valid? [True, True] Translation: X:8.08, Y:0.13, Z:0.05 [[ 9.99722224e-01 2.32046240e-02 4.12556629e-03 8.08089097e+00] [-2.32060013e-02 9.99730664e-01 2.86284259e-04 1.29244951e-01] [-4.11781200e-03 -3.81942633e-04 9.99991449e-01 4.76498600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070888479 meters 0.04816686006673185 Centerline is valid? [True, True] Translation: X:8.11, Y:0.13, Z:0.05 [[ 9.99774151e-01 2.10848288e-02 2.66036095e-03 8.11141120e+00] [-2.10853935e-02 9.99777661e-01 1.84400845e-04 1.33902944e-01] [-2.65588139e-03 -2.40453956e-04 9.99996444e-01 4.52271561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.100888479 meters 0.05527383770409589 Centerline is valid? [True, True] Translation: X:8.14, Y:0.15, Z:0.04 [[ 9.99780258e-01 2.09286143e-02 1.19543798e-03 8.14155277e+00] [-2.09287282e-02 9.99780967e-01 8.28407575e-05 1.48905736e-01] [-1.19344240e-03 -1.07841550e-04 9.99999282e-01 4.05301503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130888479 meters 0.04844185351305918 Centerline is valid? [True, True] Translation: X:8.17, Y:0.14, Z:0.04 [[ 9.99772320e-01 2.13377681e-02 8.38803447e-05 8.17456960e+00] [-2.13377687e-02 9.99772324e-01 6.09545708e-06 1.43596156e-01] [-8.37311837e-05 -7.88388866e-06 9.99999996e-01 3.82087456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.160888479 meters 0.04879741487704365 Centerline is valid? [True, True] Translation: X:8.21, Y:0.15, Z:0.04 [[ 9.99748476e-01 2.24270796e-02 1.04653175e-04 8.20670769e+00] [-2.24270805e-02 9.99748481e-01 7.27363166e-06 1.45115083e-01] [-1.04463726e-04 -9.61886734e-06 9.99999994e-01 3.84746297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190888479 meters 0.049959404636489464 Centerline is valid? [True, True] Translation: X:8.24, Y:0.15, Z:0.04 [[ 9.99704480e-01 2.42653046e-02 1.46560664e-03 8.23725834e+00] [-2.42654781e-02 9.99705545e-01 1.00715674e-04 1.47510806e-01] [-1.46273119e-03 -1.36249557e-04 9.99998921e-01 4.34086023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.220888479 meters 0.04998035188302348 Centerline is valid? [True, True] Translation: X:8.27, Y:0.15, Z:0.04 [[ 9.99677199e-01 2.54059921e-02 1.82167149e-04 8.26945408e+00] [-2.54059948e-02 9.99677216e-01 1.25846171e-05 1.49759952e-01] [-1.81788624e-04 -1.72086924e-05 9.99999983e-01 4.30819747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.250888479 meters 0.050634628527839946 Centerline is valid? [True, True] Translation: X:8.30, Y:0.15, Z:0.04 [[ 9.99654672e-01 2.61930910e-02 -2.11135767e-03 8.30139223e+00] [-2.61934533e-02 9.99656882e-01 -1.44105873e-04 1.52993374e-01] [ 2.10685865e-03 1.99359858e-04 9.99997761e-01 4.13542668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.280888479 meters 0.05155435108822877 Centerline is valid? [True, True] Translation: X:8.33, Y:0.16, Z:0.04 [[ 9.99609393e-01 2.74907308e-02 -5.03209991e-03 8.33224793e+00] [-2.74928067e-02 9.99621942e-01 -3.43807147e-04 1.57224489e-01] [ 5.02074598e-03 4.82019403e-04 9.99987280e-01 3.84411644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.310888478999999 meters 0.05138293255851771 Centerline is valid? [True, True] Translation: X:8.36, Y:0.16, Z:0.04 [[ 9.99607192e-01 2.77780338e-02 -3.72057516e-03 8.36286716e+00] [-2.77791708e-02 9.99614052e-01 -2.54244566e-04 1.59729753e-01] [ 3.71207680e-03 3.57499190e-04 9.99993046e-01 3.90888718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.340888479 meters 0.049436153142762486 Centerline is valid? [True, True] Translation: X:8.39, Y:0.16, Z:0.04 [[ 9.99624284e-01 2.73129897e-02 -2.30023806e-03 8.39409943e+00] [-2.73134228e-02 9.99626907e-01 -1.57063036e-04 1.58671191e-01] [ 2.29509000e-03 2.19831400e-04 9.99997342e-01 4.07476713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.370888479 meters 0.048381783762839886 Centerline is valid? [True, True] Translation: X:8.43, Y:0.15, Z:0.04 [[ 9.99711541e-01 2.40093124e-02 6.22630435e-04 8.42543034e+00] [-2.40093435e-02 9.99711733e-01 4.25251083e-05 1.53457528e-01] [-6.21429953e-04 -5.74617896e-05 9.99999805e-01 4.49318404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.400888478999999 meters 0.0474143058625326 Centerline is valid? [True, True] Translation: X:8.46, Y:0.15, Z:0.05 [[ 9.99761943e-01 2.18012054e-02 8.74160798e-04 8.45633925e+00] [-2.18012659e-02 9.99762322e-01 5.97091103e-05 1.52517427e-01] [-8.72651299e-04 -7.87527081e-05 9.99999616e-01 4.52456843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.430888479 meters 0.046527252155775856 Centerline is valid? [True, True] Translation: X:8.49, Y:0.15, Z:0.04 [[ 9.99789710e-01 2.05045246e-02 3.15451159e-04 8.48757417e+00] [-2.05045324e-02 9.99789760e-01 2.15692091e-05 1.52966149e-01] [-3.14942572e-04 -2.80328518e-05 9.99999950e-01 4.48466865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.460888479 meters 0.045931150626729714 Centerline is valid? [True, True] Translation: X:8.52, Y:0.15, Z:0.04 [[ 9.99809888e-01 1.94967614e-02 2.54315263e-04 8.51952911e+00] [-1.94967665e-02 9.99809920e-01 1.74037449e-05 1.51829909e-01] [-2.53927606e-04 -2.23587616e-05 9.99999968e-01 4.40763788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490888479 meters 0.04618293114915657 Centerline is valid? [True, True] Translation: X:8.55, Y:0.15, Z:0.05 [[ 9.99791876e-01 2.04009703e-02 -7.70146943e-05 8.55155615e+00] [-2.04009707e-02 9.99791879e-01 -4.94655609e-06 1.51254690e-01] [ 7.68977514e-05 6.51670112e-06 9.99999997e-01 4.52316374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.520888479 meters 0.046797325879471975 Centerline is valid? [True, True] Translation: X:8.58, Y:0.15, Z:0.05 [[ 9.99770487e-01 2.13598309e-02 -1.65234795e-03 8.58412471e+00] [-2.13600451e-02 9.99771842e-01 -1.12065093e-04 1.50647667e-01] [ 1.64957726e-03 1.47333599e-04 9.99998629e-01 4.66951587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.550888479 meters 0.04604200246412598 Centerline is valid? [True, True] Translation: X:8.62, Y:0.15, Z:0.05 [[ 9.99756619e-01 2.18811498e-02 -2.81398135e-03 8.61635466e+00] [-2.18817706e-02 9.99760547e-01 -1.89995562e-04 1.51781112e-01] [ 2.80915021e-03 2.51524215e-04 9.99996023e-01 4.65485800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.580888479 meters 0.046655691574877325 Centerline is valid? [True, True] Translation: X:8.65, Y:0.16, Z:0.05 [[ 9.99745151e-01 2.24108787e-02 -2.71769115e-03 8.64756424e+00] [-2.24114600e-02 9.99748815e-01 -1.83634134e-04 1.55694230e-01] [ 2.71289310e-03 2.44494762e-04 9.99996290e-01 4.68586387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.610888479 meters 0.04671597635134075 Centerline is valid? [True, True] Translation: X:8.68, Y:0.16, Z:0.05 [[ 9.99739547e-01 2.27392801e-02 -1.93980554e-03 8.67903988e+00] [-2.27395768e-02 9.99741414e-01 -1.30991573e-04 1.59212939e-01] [ 1.93632528e-03 1.75067813e-04 9.99998110e-01 4.72134386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.640888479 meters 0.04702851564889678 Centerline is valid? [True, True] Translation: X:8.71, Y:0.16, Z:0.05 [[ 9.99715766e-01 2.37935464e-02 -1.50150189e-03 8.71133233e+00] [-2.37937244e-02 9.99716884e-01 -1.00762585e-04 1.61734145e-01] [ 1.49867929e-03 1.36460267e-04 9.99998868e-01 4.78696145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670888479 meters 0.04689831057409562 Centerline is valid? [True, True] Translation: X:8.74, Y:0.16, Z:0.05 [[ 9.99684876e-01 2.48629017e-02 -3.46201095e-03 8.74367698e+00] [-2.48638552e-02 9.99690819e-01 -2.32659055e-04 1.58536603e-01] [ 3.45515598e-03 3.18664677e-04 9.99993980e-01 5.00762326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.700888479 meters 0.04761104298497327 Centerline is valid? [True, True] Translation: X:8.78, Y:0.16, Z:0.05 [[ 9.99678611e-01 2.50561821e-02 -3.85520395e-03 8.77631291e+00] [-2.50573615e-02 9.99685982e-01 -2.57927141e-04 1.59391851e-01] [ 3.84753068e-03 3.54445485e-04 9.99992535e-01 5.08507580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730888478999999 meters 0.0470946532789196 Centerline is valid? [True, True] Translation: X:8.81, Y:0.16, Z:0.05 [[ 9.99691101e-01 2.46316082e-02 -3.31451218e-03 8.80779348e+00] [-2.46324780e-02 9.99696550e-01 -2.21839715e-04 1.61410804e-01] [ 3.30804213e-03 3.03415837e-04 9.99994482e-01 5.13472356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.760888479 meters 0.048302157331899874 Centerline is valid? [True, True] Translation: X:8.84, Y:0.17, Z:0.05 [[ 9.99721484e-01 2.32385842e-02 -4.11374738e-03 8.83760776e+00] [-2.32399121e-02 9.99729879e-01 -2.75288721e-04 1.70647991e-01] [ 4.10623885e-03 3.70815176e-04 9.99991501e-01 4.74186460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.790888479 meters 0.04871277320241063 Centerline is valid? [True, True] Translation: X:8.87, Y:0.17, Z:0.04 [[ 9.99735154e-01 2.23885025e-02 -5.32700866e-03 8.86814989e+00] [-2.23907162e-02 9.99749233e-01 -3.56279998e-04 1.74678344e-01] [ 5.31769625e-03 4.75461178e-04 9.99985748e-01 4.46428593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.820888479 meters 0.050207126074858124 Centerline is valid? [True, True] Translation: X:8.90, Y:0.18, Z:0.04 [[ 9.99747636e-01 2.15129029e-02 -6.46982310e-03 8.89811802e+00] [-2.15161504e-02 9.99768407e-01 -4.32762140e-04 1.76743640e-01] [ 6.45901477e-03 5.71858614e-04 9.99978977e-01 4.25815241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850888479 meters 0.04663560583217604 Centerline is valid? [True, True] Translation: X:8.93, Y:0.16, Z:0.04 [[ 9.99776004e-01 1.99497796e-02 -7.06735479e-03 8.92938808e+00] [-1.99536160e-02 9.99800795e-01 -4.72730635e-04 1.64141180e-01] [ 7.05651607e-03 6.13644029e-04 9.99974914e-01 4.46361896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.880888479 meters 0.045187269195070275 Centerline is valid? [True, True] Translation: X:8.96, Y:0.16, Z:0.05 [[ 9.99796866e-01 1.92153259e-02 -6.08256246e-03 8.95994141e+00] [-1.92181541e-02 9.99815231e-01 -4.06858535e-04 1.60246179e-01] [ 6.07362068e-03 5.23671511e-04 9.99981418e-01 4.72238104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910888479 meters 0.04456309504176736 Centerline is valid? [True, True] Translation: X:8.99, Y:0.16, Z:0.05 [[ 9.99819270e-01 1.86722104e-02 -3.57430703e-03 8.99039427e+00] [-1.86731836e-02 9.99825612e-01 -2.39083006e-04 1.60560723e-01] [ 3.56921950e-03 3.05783488e-04 9.99993584e-01 4.93317990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.940888479 meters 0.04462743744675035 Centerline is valid? [True, True] Translation: X:9.02, Y:0.17, Z:0.05 [[ 9.99833904e-01 1.81738096e-02 1.37026349e-03 9.02136875e+00] [-1.81739522e-02 9.99834836e-01 9.16481029e-05 1.67784702e-01] [-1.36837158e-03 -1.16535984e-04 9.99999057e-01 5.17304961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970888479 meters 0.045593350408936674 Centerline is valid? [True, True] Translation: X:9.05, Y:0.17, Z:0.05 [[ 9.99837751e-01 1.78671104e-02 2.28852358e-03 9.05229297e+00] [-1.78675064e-02 9.99840352e-01 1.52735023e-04 1.73015559e-01] [-2.28542929e-03 -1.93600452e-04 9.99997370e-01 5.12102621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.000888479 meters 0.04493566667602401 Centerline is valid? [True, True] Translation: X:9.08, Y:0.17, Z:0.05 [[ 9.99846514e-01 1.75194864e-02 1.30009295e-04 9.08487445e+00] [-1.75194877e-02 9.99846522e-01 8.91302739e-06 1.73453487e-01] [-1.29833189e-04 -1.11893556e-05 9.99999992e-01 4.89976069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.030888479 meters 0.044702037111403616 Centerline is valid? [True, True] Translation: X:9.12, Y:0.17, Z:0.04 [[ 9.99823587e-01 1.70505771e-02 -7.87867840e-03 9.11735678e+00] [-1.70552064e-02 9.99854414e-01 -5.20750949e-04 1.67426596e-01] [ 7.86865227e-03 6.55031568e-04 9.99968827e-01 4.36213816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.060888478999999 meters 0.047248947589608854 Centerline is valid? [True, True] Translation: X:9.15, Y:0.17, Z:0.04 [[ 9.99815837e-01 1.69548561e-02 -8.99029337e-03 9.14669700e+00] [-1.69608845e-02 9.99855977e-01 -5.94722829e-04 1.67846189e-01] [ 8.97891512e-03 7.47096631e-04 9.99959410e-01 4.37063247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.090888479 meters 0.04569936794189065 Centerline is valid? [True, True] Translation: X:9.18, Y:0.16, Z:0.05 [[ 9.99823108e-01 1.69823115e-02 -8.08416804e-03 9.17618237e+00] [-1.69871892e-02 9.99855564e-01 -5.35084214e-04 1.64925816e-01] [ 8.07391343e-03 6.72316854e-04 9.99967179e-01 4.69936586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.120888479 meters 0.04790858293933445 Centerline is valid? [True, True] Translation: X:9.20, Y:0.17, Z:0.05 [[ 9.99857246e-01 1.65217197e-02 -3.53840171e-03 9.20487413e+00] [-1.65226518e-02 9.99863464e-01 -2.34347868e-04 1.72646230e-01] [ 3.53404676e-03 2.92778193e-04 9.99993712e-01 5.11734513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150888478999999 meters 0.04907406120082801 Centerline is valid? [True, True] Translation: X:9.23, Y:0.18, Z:0.05 [[ 9.99858593e-01 1.65468698e-02 -2.99926234e-03 9.23497172e+00] [-1.65475384e-02 9.99863060e-01 -1.98258776e-04 1.79733348e-01] [ 2.99557106e-03 2.47861150e-04 9.99995483e-01 5.04647504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.180888479 meters 0.049982904964337535 Centerline is valid? [True, True] Translation: X:9.27, Y:0.19, Z:0.05 [[ 9.99857380e-01 1.66593693e-02 -2.77218659e-03 9.26504420e+00] [-1.66599411e-02 9.99861197e-01 -1.83271866e-04 1.85758877e-01] [ 2.76874860e-03 2.29430193e-04 9.99996141e-01 4.88377353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.210888479 meters 0.05065225238729043 Centerline is valid? [True, True] Translation: X:9.30, Y:0.19, Z:0.05 [[ 9.99843572e-01 1.72663778e-02 -3.83451823e-03 9.29655771e+00] [-1.72674755e-02 9.99850874e-01 -2.53363675e-04 1.89500431e-01] [ 3.82957173e-03 3.19536491e-04 9.99992616e-01 4.77232257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.240888479 meters 0.052783656331637535 Centerline is valid? [True, True] Translation: X:9.33, Y:0.19, Z:0.05 [[ 9.99830424e-01 1.75989828e-02 -5.42213887e-03 9.32663616e+00] [-1.76011824e-02 9.99845023e-01 -3.58210024e-04 1.90465993e-01] [ 5.41499444e-03 4.53585335e-04 9.99985236e-01 4.68379829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270888479 meters 0.052783656331637535 Centerline is valid? [True, True] Translation: X:9.36, Y:0.19, Z:0.05 [[ 9.99830424e-01 1.75989828e-02 -5.42213762e-03 9.35667637e+00] [-1.76011825e-02 9.99845023e-01 -3.58228999e-04 1.92450693e-01] [ 5.41499285e-03 4.53604285e-04 9.99985236e-01 4.68033458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.300888479 meters 0.05350481870814245 Centerline is valid? [True, True] Translation: X:9.39, Y:0.19, Z:0.05 [[ 9.99825061e-01 1.78885504e-02 -5.46331942e-03 9.38728908e+00] [-1.78907879e-02 9.99839882e-01 -3.60949792e-04 1.92364134e-01] [ 5.45598778e-03 4.58629736e-04 9.99985011e-01 4.79793615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.330888479 meters 0.05406945253016989 Centerline is valid? [True, True] Translation: X:9.42, Y:0.19, Z:0.05 [[ 9.99838407e-01 1.71927597e-02 -5.25055491e-03 9.41796730e+00] [-1.71948162e-02 9.99852098e-01 -3.46788644e-04 1.93484135e-01] [ 5.24381608e-03 4.37014932e-04 9.99986156e-01 4.92413708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.360888479 meters 0.05436248807952595 Centerline is valid? [True, True] Translation: X:9.45, Y:0.20, Z:0.05 [[ 9.99859194e-01 1.57853096e-02 -5.69348961e-03 9.44819458e+00] [-1.57877046e-02 9.99875296e-01 -3.75951956e-04 1.95683134e-01] [ 5.68684509e-03 4.65786151e-04 9.99983721e-01 4.75530435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.390888479 meters 0.05497199903295728 Centerline is valid? [True, True] Translation: X:9.48, Y:0.20, Z:0.05 [[ 9.99862017e-01 1.57437213e-02 -5.29930094e-03 9.47858157e+00] [-1.57457957e-02 9.99875966e-01 -3.49940407e-04 1.99149992e-01] [ 5.29313428e-03 4.33333831e-04 9.99985897e-01 4.67591047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.420888479 meters 0.043207275618564106 Centerline is valid? [True, True] Translation: X:9.51, Y:0.19, Z:0.05 [[ 9.99865624e-01 1.59630657e-02 -3.73014258e-03 9.50997737e+00] [-1.59640950e-02 9.99872535e-01 -2.46320718e-04 1.85421289e-01] [ 3.72573509e-03 3.05835969e-04 9.99993013e-01 4.91656285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.450888479 meters 0.04526763384594973 Centerline is valid? [True, True] Translation: X:9.54, Y:0.19, Z:0.05 [[ 9.99852629e-01 1.71638608e-02 -3.50668051e-04 9.54046437e+00] [-1.71638700e-02 9.99852690e-01 -2.31300812e-05 1.87029301e-01] [ 3.50219392e-04 2.91454933e-05 9.99999938e-01 5.35050937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.480888478999999 meters 0.04639070319380863 Centerline is valid? [True, True] Translation: X:9.57, Y:0.19, Z:0.05 [[ 9.99847075e-01 1.74818099e-02 -4.62346767e-04 9.57207036e+00] [-1.74818257e-02 9.99847181e-01 -3.03107763e-05 1.88302563e-01] [ 4.61746224e-04 3.83888066e-05 9.99999893e-01 5.37456974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510888479 meters 0.04308082416600527 Centerline is valid? [True, True] Translation: X:9.60, Y:0.18, Z:0.05 [[ 9.99847374e-01 1.73742188e-02 -1.83442280e-03 9.60475831e+00] [-1.73744682e-02 9.99849045e-01 -1.20119137e-04 1.83996725e-01] [ 1.83205891e-03 1.51972925e-04 9.99998310e-01 5.35066949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.540888479 meters 0.043022411613481054 Centerline is valid? [True, True] Translation: X:9.64, Y:0.18, Z:0.05 [[ 9.99832003e-01 1.80029455e-02 -3.44366869e-03 9.63644385e+00] [-1.80038263e-02 9.99837893e-01 -2.24963867e-04 1.83730175e-01] [ 3.43906043e-03 2.86925287e-04 9.99994045e-01 5.23724982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.570888478999999 meters 0.046467228996234025 Centerline is valid? [True, True] Translation: X:9.67, Y:0.19, Z:0.05 [[ 9.99820281e-01 1.85941750e-02 -3.69638858e-03 9.66681640e+00] [-1.85951914e-02 9.99827065e-01 -2.40809648e-04 1.90012321e-01] [ 3.69127169e-03 3.09501423e-04 9.99993139e-01 5.07290692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.600888479 meters 0.04560531771971575 Centerline is valid? [True, True] Translation: X:9.70, Y:0.19, Z:0.05 [[ 9.99823987e-01 1.84531497e-02 -3.38781043e-03 9.69857446e+00] [-1.84540029e-02 9.99829686e-01 -2.20754508e-04 1.90641568e-01] [ 3.38315982e-03 2.83234316e-04 9.99994237e-01 4.99817552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630888479 meters 0.04383267871255661 Centerline is valid? [True, True] Translation: X:9.73, Y:0.19, Z:0.05 [[ 9.99825477e-01 1.85717737e-02 -2.02614955e-03 9.72959985e+00] [-1.85720790e-02 9.99827515e-01 -1.31938230e-04 1.89602581e-01] [ 2.02334975e-03 1.69545014e-04 9.99997939e-01 4.95275956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.660888479 meters 0.045529655948693994 Centerline is valid? [True, True] Translation: X:9.76, Y:0.19, Z:0.05 [[ 9.99799601e-01 1.99225419e-02 -1.96200883e-03 9.76074419e+00] [-1.99228293e-02 9.99801513e-01 -1.27089749e-04 1.94679916e-01] [ 1.95908745e-03 1.66153048e-04 9.99998067e-01 4.93419239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.690888479 meters 0.047622420826545504 Centerline is valid? [True, True] Translation: X:9.79, Y:0.20, Z:0.05 [[ 9.99767553e-01 2.13442574e-02 -3.04342277e-03 9.79119735e+00] [-2.13449553e-02 9.99772151e-01 -1.97037810e-04 2.01390895e-01] [ 3.03852370e-03 2.61953732e-04 9.99995349e-01 4.80672731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.720888479 meters 0.044468042940210686 Centerline is valid? [True, True] Translation: X:9.82, Y:0.20, Z:0.04 [[ 9.99712490e-01 2.27763467e-02 -7.49504930e-03 9.82212011e+00] [-2.27806192e-02 9.99740370e-01 -4.85155153e-04 2.00367817e-01] [ 7.48205330e-03 6.55757529e-04 9.99971794e-01 4.40703634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.750888479 meters 0.04735273505410055 Centerline is valid? [True, True] Translation: X:9.85, Y:0.21, Z:0.04 [[ 9.99716612e-01 2.20813251e-02 -8.89441483e-03 9.85182050e+00] [-2.20873138e-02 9.99755880e-01 -5.75625776e-04 2.05470090e-01] [ 8.87953294e-03 7.71916382e-04 9.99960278e-01 4.27293574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.780888479 meters 0.045936699680224666 Centerline is valid? [True, True] Translation: X:9.88, Y:0.20, Z:0.04 [[ 9.99740358e-01 2.06490285e-02 -9.63508097e-03 9.88196875e+00] [-2.06559921e-02 9.99786448e-01 -6.23770919e-04 2.04627323e-01] [ 9.62014311e-03 8.22631118e-04 9.99953387e-01 4.31652061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810888478999999 meters 0.04591444463498222 Centerline is valid? [True, True] Translation: X:9.91, Y:0.21, Z:0.04 [[ 9.99787658e-01 1.87245172e-02 -8.60410578e-03 9.91151001e+00] [-1.87300023e-02 9.99824423e-01 -5.57347116e-04 2.05446128e-01] [ 8.59215904e-03 7.18383689e-04 9.99962829e-01 4.47269281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.840888479 meters 0.04353134792365316 Centerline is valid? [True, True] Translation: X:9.94, Y:0.20, Z:0.05 [[ 9.99852518e-01 1.62213372e-02 -5.64000695e-03 9.94238431e+00] [-1.62236544e-02 9.99868321e-01 -3.65332770e-04 2.01148420e-01] [ 5.63333810e-03 4.56780413e-04 9.99984028e-01 4.84298822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870888479 meters 0.042503179440528255 Centerline is valid? [True, True] Translation: X:9.97, Y:0.20, Z:0.05 [[ 9.99874073e-01 1.51985918e-02 -4.56514703e-03 9.97275715e+00] [-1.52000993e-02 9.99884428e-01 -2.95706155e-04 2.00908301e-01] [ 4.56012511e-03 3.65059607e-04 9.99989536e-01 4.83078932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.900888478999999 meters 0.0422087393017509 Centerline is valid? [True, True] Translation: X:10.00, Y:0.20, Z:0.05 [[ 9.99889956e-01 1.43122004e-02 -3.90335878e-03 1.00040494e+01] [-1.43132951e-02 9.99897528e-01 -2.52659622e-04 2.03007150e-01] [ 3.89934268e-03 3.08501744e-04 9.99992350e-01 4.75407666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.930888479 meters 0.04204124614880147 Centerline is valid? [True, True] Translation: X:10.03, Y:0.21, Z:0.05 [[ 9.99907692e-01 1.35563345e-02 -9.12991260e-04 1.00349742e+01] [-1.35563940e-02 9.99908106e-01 -5.90700641e-05 2.05638630e-01] [ 9.12106588e-04 7.14414807e-05 9.99999581e-01 4.79657508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.960888479 meters 0.04600853449520016 Centerline is valid? [True, True] Translation: X:10.07, Y:0.21, Z:0.05 [[ 9.99914734e-01 1.30149378e-02 1.06620949e-03 1.00657076e+01] [-1.30150188e-02 9.99915299e-01 6.90253995e-05 2.10964064e-01] [-1.06522082e-03 -8.28962505e-05 9.99999429e-01 4.94647378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.990888479 meters 0.0417192946517847 Centerline is valid? [True, True] Translation: X:10.10, Y:0.20, Z:0.05 [[ 9.99927941e-01 1.18783306e-02 1.73744741e-03 1.00978059e+01] [-1.18785431e-02 9.99929441e-01 1.12034652e-04 2.03463485e-01] [-1.73599403e-03 -1.32664923e-04 9.99998484e-01 5.12933079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.020888479 meters 0.04313491056048418 Centerline is valid? [True, True] Translation: X:10.13, Y:0.20, Z:0.05 [[ 9.99969021e-01 7.82818179e-03 -8.22985520e-04 1.01273245e+01] [-7.82822811e-03 9.99969358e-01 -5.30821489e-05 2.02250497e-01] [ 8.22544765e-04 5.95230228e-05 9.99999660e-01 5.20071270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.050888479 meters 0.03900977328273546 Centerline is valid? [True, True] Translation: X:10.16, Y:0.20, Z:0.05 [[ 9.99985035e-01 5.36640463e-03 -1.06368823e-03 1.01580037e+01] [-5.36648060e-03 9.99985598e-01 -6.85822574e-05 1.97208645e-01] [ 1.06330487e-03 7.42894933e-05 9.99999432e-01 5.17105127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.080888479 meters 0.03910907552654221 Centerline is valid? [True, True] Translation: X:10.19, Y:0.20, Z:0.05 [[ 9.99996132e-01 2.74060470e-03 -4.73816902e-04 1.01878077e+01] [-2.74061948e-03 9.99996244e-01 -3.05497719e-05 1.98799502e-01] [ 4.73731397e-04 3.18482056e-05 9.99999887e-01 5.21967985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110888479 meters 0.03756439430144447 Centerline is valid? [True, True] Translation: X:10.22, Y:0.20, Z:0.05 [[ 9.99999002e-01 6.44448886e-04 1.25734953e-03 1.02183783e+01] [-6.44551325e-04 9.99999789e-01 8.10687446e-05 1.98640060e-01] [-1.25729702e-03 -8.18790900e-05 9.99999206e-01 5.31387712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.140888479 meters 0.03689416023366345 Centerline is valid? [True, True] Translation: X:10.25, Y:0.20, Z:0.05 [[ 9.99996817e-01 -1.90797352e-03 1.65089591e-03 1.02487470e+01] [ 1.90780039e-03 9.99998174e-01 1.06443002e-04 2.01950625e-01] [-1.65109599e-03 -1.03293083e-04 9.99998632e-01 5.23444710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170888479 meters 0.038697498703905896 Centerline is valid? [True, True] Translation: X:10.28, Y:0.21, Z:0.05 [[ 9.99993956e-01 -3.30227155e-03 1.08728537e-03 1.02789632e+01] [ 3.30219727e-03 9.99994545e-01 7.01047413e-05 2.07060827e-01] [-1.08751094e-03 -6.65138869e-05 9.99999406e-01 5.04989635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.200888479 meters 0.03344002919263884 Centerline is valid? [True, True] Translation: X:10.31, Y:0.20, Z:0.05 [[ 9.99986181e-01 -5.18655879e-03 8.59162927e-04 1.03093617e+01] [ 5.18651312e-03 9.99986548e-01 5.53755417e-05 2.01168049e-01] [-8.59438579e-04 -5.09187166e-05 9.99999629e-01 5.03677613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230888478999999 meters 0.03238746613479967 Centerline is valid? [True, True] Translation: X:10.34, Y:0.20, Z:0.05 [[ 9.99954097e-01 -8.89196083e-03 3.56899650e-03 1.03393593e+01] [ 8.89119582e-03 9.99960446e-01 2.30158022e-04 2.02397507e-01] [-3.57090189e-03 -1.98414810e-04 9.99993605e-01 5.44999955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.260888479 meters 0.034419199639240214 Centerline is valid? [True, True] Translation: X:10.37, Y:0.21, Z:0.06 [[ 9.99941510e-01 -9.64789323e-03 4.88817661e-03 1.03686663e+01] [ 9.64646724e-03 9.99953422e-01 3.15216019e-04 2.09240032e-01] [-4.89099010e-03 -2.68043947e-04 9.99988003e-01 5.65104048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290888479 meters 0.03162824126524553 Centerline is valid? [True, True] Translation: X:10.40, Y:0.21, Z:0.06 [[ 9.99939007e-01 -9.64138044e-03 5.38753594e-03 1.03995876e+01] [ 9.63964819e-03 9.99953477e-01 3.47403690e-04 2.07903053e-01] [-5.39063474e-03 -2.95448550e-04 9.99985427e-01 5.73745518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.320888478999999 meters 0.03266179710116174 Centerline is valid? [True, True] Translation: X:10.43, Y:0.21, Z:0.06 [[ 9.99963112e-01 -8.23717730e-03 2.43395973e-03 1.04303645e+01] [ 8.23681960e-03 9.99966065e-01 1.56948668e-04 2.10403209e-01] [-2.43516994e-03 -1.36894791e-04 9.99997026e-01 5.56440943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.350888479 meters 0.032948429835509295 Centerline is valid? [True, True] Translation: X:10.46, Y:0.21, Z:0.05 [[ 9.99973573e-01 -7.26409486e-03 -2.95062793e-04 1.04595515e+01] [ 7.26408954e-03 9.99973616e-01 -1.90773993e-05 2.13243992e-01] [ 2.95193588e-04 1.69335326e-05 9.99999956e-01 5.25540467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.380888479 meters 0.03436151147805078 Centerline is valid? [True, True] Translation: X:10.49, Y:0.22, Z:0.05 [[ 9.99982764e-01 -5.28000253e-03 -2.56760472e-03 1.04889049e+01] [ 5.27959419e-03 9.99986049e-01 -1.65787033e-04 2.17826536e-01] [ 2.56844425e-03 1.52228264e-04 9.99996690e-01 4.93116616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410888479 meters 0.03654991394401964 Centerline is valid? [True, True] Translation: X:10.52, Y:0.22, Z:0.05 [[ 9.99997137e-01 -2.12039944e-03 -1.10915954e-03 1.05178710e+01] [ 2.12032128e-03 9.99997750e-01 -7.16400649e-05 2.23188303e-01] [ 1.10930895e-03 6.92880852e-05 9.99999382e-01 4.99637857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.440888479 meters 0.03568370735202055 Centerline is valid? [True, True] Translation: X:10.55, Y:0.22, Z:0.05 [[ 9.99998228e-01 -1.17658230e-03 1.46968414e-03 1.05480375e+01] [ 1.17644409e-03 9.99999303e-01 9.49017502e-05 2.22013939e-01] [-1.46979478e-03 -9.31725808e-05 9.99998916e-01 5.40619751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.470888479 meters 0.03592752982778866 Centerline is valid? [True, True] Translation: X:10.58, Y:0.22, Z:0.06 [[ 9.99992469e-01 -7.32877065e-04 3.81118085e-03 1.05789429e+01] [ 7.31944333e-04 9.99999702e-01 2.46124721e-04 2.23259919e-01] [-3.81136010e-03 -2.43333295e-04 9.99992707e-01 5.71460010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.500888479 meters 0.03982219722065565 Centerline is valid? [True, True] Translation: X:10.61, Y:0.23, Z:0.05 [[ 9.99996996e-01 8.77369862e-04 2.28859606e-03 1.06094361e+01] [-8.77710353e-04 9.99999604e-01 1.47776729e-04 2.29629092e-01] [-2.28846550e-03 -1.49785010e-04 9.99997370e-01 5.37355745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530888479 meters 0.03921015945292373 Centerline is valid? [True, True] Translation: X:10.64, Y:0.23, Z:0.05 [[ 9.99992586e-01 3.71702576e-03 1.00625410e-03 1.06393696e+01] [-3.71709301e-03 9.99993089e-01 6.49724504e-05 2.34444437e-01] [-1.00600564e-03 -6.87123088e-05 9.99999492e-01 5.34469791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.560888478999999 meters 0.040116620366361745 Centerline is valid? [True, True] Translation: X:10.67, Y:0.24, Z:0.05 [[ 9.99985076e-01 5.40434328e-03 -8.00542397e-04 1.06701858e+01] [-5.40438632e-03 9.99985395e-01 -5.16139223e-05 2.36732265e-01] [ 8.00251765e-04 5.59395924e-05 9.99999678e-01 5.27061288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.590888479 meters 0.040506788270226 Centerline is valid? [True, True] Translation: X:10.70, Y:0.24, Z:0.05 [[ 9.99974099e-01 7.12239753e-03 -1.03531818e-03 1.07013149e+01] [-7.12247042e-03 9.99974633e-01 -6.67384321e-05 2.37009519e-01] [ 1.03481658e-03 7.41107267e-05 9.99999462e-01 5.33803947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.620888479 meters 0.039467859253152104 Centerline is valid? [True, True] Translation: X:10.73, Y:0.24, Z:0.06 [[ 9.99958595e-01 9.05949172e-03 8.56442422e-04 1.07329455e+01] [-9.05954233e-03 9.99958960e-01 5.52347529e-05 2.37226337e-01] [-8.55906875e-04 -6.29914423e-05 9.99999632e-01 5.52511649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.650888478999999 meters 0.04176189612848513 Centerline is valid? [True, True] Translation: X:10.76, Y:0.24, Z:0.06 [[ 9.99948995e-01 9.83259858e-03 2.30812873e-03 1.07635291e+01] [-9.83296737e-03 9.99951644e-01 1.48481228e-04 2.44835347e-01] [-2.30655717e-03 -1.71169409e-04 9.99997325e-01 5.63929839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.680888479 meters 0.04076874562978059 Centerline is valid? [True, True] Translation: X:10.80, Y:0.25, Z:0.06 [[ 9.99948195e-01 9.62010328e-03 3.32571969e-03 1.07956288e+01] [-9.62086467e-03 9.99953696e-01 2.13017916e-04 2.45523126e-01] [-3.32351644e-03 -2.45003180e-04 9.99994447e-01 5.56224384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710888479 meters 0.0400972805359233 Centerline is valid? [True, True] Translation: X:10.83, Y:0.25, Z:0.06 [[ 9.99913681e-01 1.12124481e-02 6.84920057e-03 1.08268817e+01] [-1.12157092e-02 9.99937006e-01 4.37908524e-04 2.50118904e-01] [-6.84385909e-03 -5.14689366e-04 9.99976448e-01 5.94775255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.740888479 meters 0.040609026184952164 Centerline is valid? [True, True] Translation: X:10.86, Y:0.25, Z:0.06 [[ 9.99909921e-01 1.16696665e-02 6.63087613e-03 1.08597541e+01] [-1.16727223e-02 9.99931782e-01 4.22340024e-04 2.52919071e-01] [-6.62549522e-03 -4.99702356e-04 9.99977926e-01 5.81808401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770888479 meters 0.04017542309581795 Centerline is valid? [True, True] Translation: X:10.89, Y:0.26, Z:0.06 [[ 9.99912989e-01 1.19813671e-02 5.51914687e-03 1.08922676e+01] [-1.19834805e-02 9.99928134e-01 3.50007988e-04 2.55312399e-01] [-5.51455666e-03 -4.16116123e-04 9.99984708e-01 5.67152153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.800888479 meters 0.041387030969022826 Centerline is valid? [True, True] Translation: X:10.92, Y:0.26, Z:0.05 [[ 9.99918948e-01 1.20618038e-02 4.07569523e-03 1.09235457e+01] [-1.20629532e-02 9.99927207e-01 2.57552866e-04 2.58942498e-01] [-4.07229199e-03 -3.06696911e-04 9.99991661e-01 5.41006561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.830888479 meters 0.04108332176173458 Centerline is valid? [True, True] Translation: X:10.96, Y:0.26, Z:0.05 [[ 9.99927542e-01 1.15041709e-02 3.54460008e-03 1.09554765e+01] [-1.15050339e-02 9.99933790e-01 2.23164297e-04 2.59711691e-01] [-3.54179807e-03 -2.63928871e-04 9.99993693e-01 5.25209861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.860888479 meters 0.04089449936231498 Centerline is valid? [True, True] Translation: X:10.99, Y:0.26, Z:0.06 [[ 9.99919366e-01 1.16706325e-02 5.00581996e-03 1.09874416e+01] [-1.16723485e-02 9.99931827e-01 3.13731287e-04 2.64417001e-01] [-5.00181726e-03 -3.72135665e-04 9.99987422e-01 5.53903271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.890888479 meters 0.037431977348500664 Centerline is valid? [True, True] Translation: X:11.02, Y:0.26, Z:0.06 [[ 9.99920913e-01 1.12074795e-02 5.70620059e-03 1.10194374e+01] [-1.12096932e-02 9.99937106e-01 3.56112509e-04 2.63967485e-01] [-5.70185058e-03 -4.20049103e-04 9.99983656e-01 5.62321468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.920888479 meters 0.03985737181585207 Centerline is valid? [True, True] Translation: X:11.05, Y:0.27, Z:0.05 [[ 9.99930033e-01 1.14260206e-02 3.06188883e-03 1.10501761e+01] [-1.14266571e-02 9.99934695e-01 1.90478079e-04 2.72196441e-01] [-3.05951247e-03 -2.25451906e-04 9.99995294e-01 5.46891729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950888479 meters 0.040869678879989275 Centerline is valid? [True, True] Translation: X:11.08, Y:0.27, Z:0.05 [[ 9.99920578e-01 1.25920781e-02 5.25767038e-04 1.10819705e+01] [-1.25920971e-02 9.99920716e-01 3.27053250e-05 2.74463885e-01] [-5.25313525e-04 -3.93232371e-05 9.99999861e-01 5.37695212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.980888478999999 meters 0.04147910787872675 Centerline is valid? [True, True] Translation: X:11.11, Y:0.27, Z:0.05 [[ 9.99902191e-01 1.37103351e-02 -2.76309498e-03 1.11146402e+01] [-1.37108582e-02 9.99905987e-01 -1.70479366e-04 2.73183193e-01] [ 2.76049788e-03 2.08347095e-04 9.99996168e-01 5.20502180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010888479 meters 0.042132542220447856 Centerline is valid? [True, True] Translation: X:11.15, Y:0.27, Z:0.05 [[ 9.99915728e-01 1.23844950e-02 -3.89369959e-03 1.11459904e+01] [-1.23855247e-02 9.99923268e-01 -2.40458515e-04 2.74671248e-01] [ 3.89042286e-03 2.88663763e-04 9.99992391e-01 5.00934228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.040888479 meters 0.04193759572718753 Centerline is valid? [True, True] Translation: X:11.18, Y:0.28, Z:0.05 [[ 9.99924895e-01 1.18665037e-02 -3.06441544e-03 1.11768779e+01] [-1.18671390e-02 9.99929565e-01 -1.89203280e-04 2.78206020e-01] [ 3.06195442e-03 2.25554914e-04 9.99995287e-01 4.88785122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.070888478999999 meters 0.04041239416744601 Centerline is valid? [True, True] Translation: X:11.21, Y:0.28, Z:0.05 [[ 9.99934840e-01 1.13879242e-02 -7.94145984e-04 1.12078277e+01] [-1.13879667e-02 9.99935154e-01 -4.89685666e-05 2.81970619e-01] [ 7.93536836e-04 5.80090838e-05 9.99999683e-01 4.90367744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.100888479 meters 0.039590534585662814 Centerline is valid? [True, True] Translation: X:11.24, Y:0.29, Z:0.05 [[ 9.99932108e-01 1.12966591e-02 2.85748568e-03 1.12387656e+01] [-1.12972087e-02 9.99936169e-01 1.76283897e-04 2.85415133e-01] [-2.85531186e-03 -2.08553541e-04 9.99995902e-01 5.27785119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.130888479 meters 0.039590534585662814 Centerline is valid? [True, True] Translation: X:11.27, Y:0.29, Z:0.05 [[ 9.99928867e-01 1.15799276e-02 2.85751798e-03 1.12712678e+01] [-1.15804769e-02 9.99932929e-01 1.75759085e-04 2.87337556e-01] [-2.85529105e-03 -2.08838004e-04 9.99995902e-01 5.27410485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.160888479 meters 0.03961660424602292 Centerline is valid? [True, True] Translation: X:11.30, Y:0.29, Z:0.05 [[ 9.99925727e-01 1.20071361e-02 2.09041355e-03 1.13041698e+01] [-1.20074299e-02 9.99927900e-01 1.28069634e-04 2.87548606e-01] [-2.08872508e-03 -1.53160616e-04 9.99997807e-01 5.35383194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.190888479 meters 0.03940024161569238 Centerline is valid? [True, True] Translation: X:11.34, Y:0.29, Z:0.05 [[ 9.99919827e-01 1.26580093e-02 -3.38461726e-04 1.13363610e+01] [-1.26580169e-02 9.99919884e-01 -2.03122619e-05 2.86938424e-01] [ 3.38177497e-04 2.45948877e-05 9.99999943e-01 5.33177893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.220888479 meters 0.04065242691446222 Centerline is valid? [True, True] Translation: X:11.37, Y:0.29, Z:0.05 [[ 9.99882915e-01 1.52316479e-02 -1.46752237e-03 1.13676274e+01] [-1.52317952e-02 9.99883985e-01 -8.92199779e-05 2.89843413e-01] [ 1.46599315e-03 1.11562532e-04 9.99998919e-01 5.44662196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.250888479 meters 0.041118555608624215 Centerline is valid? [True, True] Translation: X:11.40, Y:0.29, Z:0.06 [[ 9.99853333e-01 1.70661367e-02 1.43523108e-03 1.13984905e+01] [-1.70662794e-02 9.99854357e-01 8.72815943e-05 2.94262114e-01] [-1.43353249e-03 -1.11762848e-04 9.99998966e-01 5.70619431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.280888479 meters 0.04186979103497997 Centerline is valid? [True, True] Translation: X:11.43, Y:0.30, Z:0.06 [[ 9.99824653e-01 1.82948396e-02 3.99533784e-03 1.14299319e+01] [-1.82959524e-02 9.99832586e-01 2.42141126e-04 2.99690860e-01] [-3.99023903e-03 -3.15197178e-04 9.99991989e-01 5.90646761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.310888478999999 meters 0.0446334120381806 Centerline is valid? [True, True] Translation: X:11.46, Y:0.31, Z:0.06 [[ 9.99758746e-01 2.15656168e-02 4.16813176e-03 1.14587640e+01] [-2.15668547e-02 9.99767377e-01 2.52273756e-04 3.08500739e-01] [-4.16172172e-03 -3.42106387e-04 9.99991281e-01 5.78259879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.340888479 meters 0.04357510538487337 Centerline is valid? [True, True] Translation: X:11.49, Y:0.31, Z:0.05 [[ 9.99754015e-01 2.20237449e-02 2.61981858e-03 1.14907684e+01] [-2.20242345e-02 9.99757425e-01 1.58174278e-04 3.06061998e-01] [-2.61569948e-03 -2.15834868e-04 9.99996556e-01 5.41634556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370888479 meters 0.04352907605379183 Centerline is valid? [True, True] Translation: X:11.52, Y:0.31, Z:0.06 [[ 9.99714009e-01 2.34901210e-02 4.48498957e-03 1.15219193e+01] [-2.34915648e-02 9.99723999e-01 2.69504777e-04 3.08986059e-01] [-4.47742101e-03 -3.74787124e-04 9.99989906e-01 5.74512790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.400888478999999 meters 0.045639606023959875 Centerline is valid? [True, True] Translation: X:11.55, Y:0.31, Z:0.06 [[ 9.99719805e-01 2.28062629e-02 6.33916237e-03 1.15537796e+01] [-2.28091231e-02 9.99739766e-01 3.79246401e-04 3.10153989e-01] [-6.32886351e-03 -5.23730873e-04 9.99979835e-01 5.88933361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430888479 meters 0.04445361484354184 Centerline is valid? [True, True] Translation: X:11.58, Y:0.31, Z:0.06 [[ 9.99723465e-01 2.09603248e-02 1.06610822e-02 1.15848650e+01] [-2.09683016e-02 9.99779938e-01 6.36985463e-04 3.11887083e-01] [-1.06453846e-02 -8.60354100e-04 9.99942966e-01 6.40427829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.460888479 meters 0.04196127535935285 Centerline is valid? [True, True] Translation: X:11.62, Y:0.31, Z:0.06 [[ 9.99777232e-01 1.88141787e-02 9.56622682e-03 1.16153154e+01] [-1.88205032e-02 9.99822715e-01 5.71532312e-04 3.10831087e-01] [-9.55377797e-03 -7.51446196e-04 9.99954079e-01 6.17724761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490888479 meters 0.0424431679434147 Centerline is valid? [True, True] Translation: X:11.65, Y:0.32, Z:0.06 [[ 9.99789153e-01 1.83465286e-02 9.22250173e-03 1.16462508e+01] [-1.83523762e-02 9.99831430e-01 5.49822692e-04 3.17350610e-01] [-9.21085975e-03 -7.18961585e-04 9.99957321e-01 6.17201719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.520888479 meters 0.039101074608548864 Centerline is valid? [True, True] Translation: X:11.68, Y:0.32, Z:0.06 [[ 9.99855026e-01 1.56227728e-02 6.77171459e-03 1.16771314e+01] [-1.56258616e-02 9.99877827e-01 4.03451759e-04 3.16450261e-01] [-6.76458424e-03 -5.09207143e-04 9.99976990e-01 5.72059201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550888479 meters 0.042515737281977585 Centerline is valid? [True, True] Translation: X:11.71, Y:0.32, Z:0.05 [[ 9.99876529e-01 1.49318415e-02 4.89561811e-03 1.17081551e+01] [-1.49334433e-02 9.99888448e-01 2.90782755e-04 3.20659826e-01] [-4.89073007e-03 -3.63855287e-04 9.99987974e-01 5.43879114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.580888479 meters 0.04018968842663242 Centerline is valid? [True, True] Translation: X:11.74, Y:0.32, Z:0.05 [[ 9.99851945e-01 1.65424796e-02 4.73643371e-03 1.17404877e+01] [-1.65439944e-02 9.99863099e-01 2.80813461e-04 3.21680845e-01] [-4.73113994e-03 -3.59131418e-04 9.99988744e-01 5.49822631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610888479 meters 0.04358872602310465 Centerline is valid? [True, True] Translation: X:11.77, Y:0.33, Z:0.05 [[ 9.99864967e-01 1.64313685e-02 2.40502802e-04 1.17716039e+01] [-1.64313725e-02 9.99864996e-01 1.44641086e-05 3.25074411e-01] [-2.40232668e-04 -1.84139466e-05 9.99999971e-01 5.02690750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.640888479 meters 0.04147652049057097 Centerline is valid? [True, True] Translation: X:11.80, Y:0.33, Z:0.05 [[ 9.99853574e-01 1.70917462e-02 8.38700770e-04 1.18034843e+01] [-1.70917938e-02 9.99853923e-01 4.95933365e-05 3.26196855e-01] [-8.37730619e-04 -6.39209753e-05 9.99999647e-01 5.19061235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670888479 meters 0.04123142007182289 Centerline is valid? [True, True] Translation: X:11.84, Y:0.33, Z:0.05 [[ 9.99886835e-01 1.50359405e-02 4.88136010e-04 1.18352588e+01] [-1.50359564e-02 9.99886953e-01 2.87343848e-05 3.25182752e-01] [-4.87648779e-04 -3.60707248e-05 9.99999880e-01 5.00180664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.700888479 meters 0.03607180877753929 Centerline is valid? [True, True] Translation: X:11.87, Y:0.32, Z:0.05 [[ 9.99929795e-01 1.12079762e-02 3.84530848e-03 1.18662434e+01] [-1.12089273e-02 9.99937152e-01 2.25864477e-04 3.19780303e-01] [-3.84253533e-03 -2.68950403e-04 9.99992581e-01 5.35850777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730888478999999 meters 0.03866459966904549 Centerline is valid? [True, True] Translation: X:11.90, Y:0.32, Z:0.05 [[ 9.99953186e-01 8.73978377e-03 4.15233725e-03 1.18970381e+01] [-8.74087133e-03 9.99961768e-01 2.43839664e-04 3.21931123e-01] [-4.15004739e-03 -2.80123295e-04 9.99991349e-01 5.28901431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.760888479 meters 0.035986713415022444 Centerline is valid? [True, True] Translation: X:11.93, Y:0.32, Z:0.06 [[ 9.99934369e-01 9.45004403e-03 6.47726056e-03 1.19290787e+01] [-9.45269636e-03 9.99955250e-01 3.78990762e-04 3.23546545e-01] [-6.47338923e-03 -4.40193466e-04 9.99978951e-01 5.64433846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790888479 meters 0.03767299692396172 Centerline is valid? [True, True] Translation: X:11.96, Y:0.33, Z:0.05 [[ 9.99924176e-01 1.12014068e-02 5.11567458e-03 1.19594115e+01] [-1.12030821e-02 9.99937199e-01 2.98951928e-04 3.27263804e-01] [-5.11200462e-03 -3.56240583e-04 9.99986870e-01 5.45135125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.820888478999999 meters 0.041827856430964906 Centerline is valid? [True, True] Translation: X:11.99, Y:0.33, Z:0.05 [[ 9.99908536e-01 1.30693530e-02 3.48029814e-03 1.19899152e+01] [-1.30701386e-02 9.99914561e-01 2.03067129e-04 3.33807757e-01] [-3.47734683e-03 -2.48536534e-04 9.99993923e-01 5.21837200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850888479 meters 0.03991543019580734 Centerline is valid? [True, True] Translation: X:12.02, Y:0.33, Z:0.05 [[ 9.99874033e-01 1.56843984e-02 2.43253558e-03 1.20210423e+01] [-1.56847895e-02 9.99876976e-01 1.41782914e-04 3.32601398e-01] [-2.43001254e-03 -1.79918862e-04 9.99997031e-01 5.09780212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.880888479 meters 0.040099570446535095 Centerline is valid? [True, True] Translation: X:12.05, Y:0.34, Z:0.05 [[ 9.99830733e-01 1.83512108e-02 1.31843824e-03 1.20523951e+01] [-1.83513280e-02 9.99831597e-01 7.68159596e-05 3.35748819e-01] [-1.31680654e-03 -1.00998050e-04 9.99999128e-01 4.88917150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910888479 meters 0.041937831942173494 Centerline is valid? [True, True] Translation: X:12.08, Y:0.34, Z:0.05 [[ 9.99821646e-01 1.88833488e-02 -3.08135159e-04 1.20840430e+01] [-1.88833551e-02 9.99821693e-01 -1.75804009e-05 3.38733204e-01] [ 3.07748239e-04 2.33958910e-05 9.99999952e-01 4.67646804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.940888479 meters 0.04184630214841134 Centerline is valid? [True, True] Translation: X:12.12, Y:0.34, Z:0.05 [[ 9.99794492e-01 2.02723889e-02 -6.24013204e-05 1.21161435e+01] [-2.02723892e-02 9.99794494e-01 -3.53222941e-06 3.40989541e-01] [ 6.23168899e-05 4.79652737e-06 9.99999998e-01 4.81535100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.970888479 meters 0.042345554352783824 Centerline is valid? [True, True] Translation: X:12.15, Y:0.34, Z:0.05 [[ 9.99775057e-01 2.12092594e-02 -4.95616401e-05 1.21477900e+01] [-2.12092596e-02 9.99775058e-01 -2.59473881e-06 3.42042738e-01] [ 4.94954591e-05 3.64532083e-06 9.99999999e-01 4.89725485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.000888479 meters 0.04201561212773963 Centerline is valid? [True, True] Translation: X:12.18, Y:0.34, Z:0.05 [[ 9.99767175e-01 2.15551992e-02 9.84174969e-04 1.21803223e+01] [-2.15552655e-02 9.99767657e-01 5.68156535e-05 3.42553852e-01] [-9.82721630e-04 -7.80165782e-05 9.99999514e-01 5.08595924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030888479 meters 0.04270631494919681 Centerline is valid? [True, True] Translation: X:12.21, Y:0.34, Z:0.05 [[ 9.99793860e-01 1.99012930e-02 4.02205941e-03 1.22107895e+01] [-1.99023816e-02 9.99801901e-01 2.30804392e-04 3.43372513e-01] [-4.01666934e-03 -3.10805375e-04 9.99991885e-01 5.36265560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.060888478999999 meters 0.03918650713203984 Centerline is valid? [True, True] Translation: X:12.24, Y:0.34, Z:0.05 [[ 9.99853286e-01 1.63439605e-02 5.12652618e-03 1.22412629e+01] [-1.63456823e-02 9.99866357e-01 2.94140225e-04 3.40026726e-01] [-5.12103364e-03 -3.77893639e-04 9.99986816e-01 5.20501696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090888479 meters 0.04078783872523654 Centerline is valid? [True, True] Translation: X:12.27, Y:0.34, Z:0.05 [[ 9.99876303e-01 1.48441146e-02 5.19914967e-03 1.22714649e+01] [-1.48458649e-02 9.99889750e-01 2.98229219e-04 3.43640033e-01] [-5.19414952e-03 -3.75378203e-04 9.99986440e-01 5.18272547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.120888479 meters 0.038061288549811355 Centerline is valid? [True, True] Translation: X:12.30, Y:0.34, Z:0.05 [[ 9.99895756e-01 1.31703884e-02 5.91751689e-03 1.23030497e+01] [-1.31726255e-02 9.99913180e-01 3.39240662e-04 3.40239605e-01] [-5.91253520e-03 -4.17154533e-04 9.99982434e-01 5.28019004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150888478999999 meters 0.03602614910906463 Centerline is valid? [True, True] Translation: X:12.33, Y:0.34, Z:0.06 [[ 9.99919751e-01 1.05126612e-02 7.06936756e-03 1.23344880e+01] [-1.05157869e-02 9.99944626e-01 4.05118380e-04 3.36220776e-01] [-7.06471722e-03 -4.79425832e-04 9.99974930e-01 5.61823220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.180888479 meters 0.03512652347124077 Centerline is valid? [True, True] Translation: X:12.37, Y:0.34, Z:0.05 [[ 9.99944626e-01 9.41733526e-03 4.69673754e-03 1.23663993e+01] [-9.41870190e-03 9.99955607e-01 2.68942290e-04 3.35095738e-01] [-4.69399631e-03 -3.13164568e-04 9.99988934e-01 5.39908503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210888479 meters 0.036926976571987714 Centerline is valid? [True, True] Translation: X:12.40, Y:0.34, Z:0.05 [[ 9.99949574e-01 9.58880491e-03 2.98410007e-03 1.23977081e+01] [-9.58935583e-03 9.99954007e-01 1.70366767e-04 3.41962894e-01] [-2.98232921e-03 -1.98973774e-04 9.99995533e-01 5.23619472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.240888478999999 meters 0.03779876575491218 Centerline is valid? [True, True] Translation: X:12.43, Y:0.35, Z:0.05 [[ 9.99946662e-01 1.02783935e-02 1.01383562e-03 1.24294485e+01] [-1.02784574e-02 9.99947174e-01 5.78156212e-05 3.45097033e-01] [-1.01318781e-03 -6.82332037e-05 9.99999484e-01 4.89425491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270888479 meters 0.03650569934541383 Centerline is valid? [True, True] Translation: X:12.46, Y:0.35, Z:0.05 [[ 9.99943217e-01 1.03862512e-02 2.38518215e-03 1.24618327e+01] [-1.03866027e-02 9.99946049e-01 1.35039917e-04 3.46172598e-01] [-2.38365090e-03 -1.59806188e-04 9.99997146e-01 5.07012938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.300888479 meters 0.03654012460735286 Centerline is valid? [True, True] Translation: X:12.49, Y:0.35, Z:0.05 [[ 9.99941208e-01 1.02813549e-02 3.44594844e-03 1.24942661e+01] [-1.02820846e-02 9.99947119e-01 1.94113407e-04 3.47246326e-01] [-3.44377047e-03 -2.29533528e-04 9.99994044e-01 5.11013015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330888479 meters 0.04088227012792512 Centerline is valid? [True, True] Translation: X:12.53, Y:0.35, Z:0.05 [[ 9.99953989e-01 9.24314919e-03 2.56608378e-03 1.25255277e+01] [-9.24354907e-03 9.99957267e-01 1.44013116e-04 3.51206684e-01] [-2.56464299e-03 -1.67726211e-04 9.99996697e-01 4.92168758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.360888479 meters 0.03916975434753366 Centerline is valid? [True, True] Translation: X:12.56, Y:0.36, Z:0.05 [[ 9.99918992e-01 1.20921244e-02 3.97360416e-03 1.25558631e+01] [-1.20931036e-02 9.99926851e-01 2.22494227e-04 3.55764969e-01] [-3.97062306e-03 -2.70529410e-04 9.99992080e-01 5.16941870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390888479 meters 0.036833537020868105 Centerline is valid? [True, True] Translation: X:12.59, Y:0.36, Z:0.05 [[ 9.99895053e-01 1.40966504e-02 3.34171984e-03 1.25873426e+01] [-1.40973537e-02 9.99900610e-01 1.86998689e-04 3.55572654e-01] [-3.33875165e-03 -2.34088471e-04 9.99994399e-01 5.05855906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.420888479 meters 0.038725149650333184 Centerline is valid? [True, True] Translation: X:12.62, Y:0.36, Z:0.05 [[ 9.99869528e-01 1.60255052e-02 2.02746027e-03 1.26175947e+01] [-1.60257679e-02 9.99871573e-01 1.13413653e-04 3.60626216e-01] [-2.02538238e-03 -1.45890464e-04 9.99997938e-01 4.81825693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.450888479 meters 0.03781761103942518 Centerline is valid? [True, True] Translation: X:12.65, Y:0.36, Z:0.05 [[ 9.99847196e-01 1.74808713e-02 6.63157040e-05 1.26500728e+01] [-1.74808716e-02 9.99847198e-01 3.78715148e-06 3.61128143e-01] [-6.62393682e-05 -4.94582910e-06 9.99999998e-01 4.56100866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.480888478999999 meters 0.040223982875202444 Centerline is valid? [True, True] Translation: X:12.68, Y:0.36, Z:0.04 [[ 9.99794597e-01 1.98729080e-02 -3.97887978e-03 1.26816436e+01] [-1.98739482e-02 9.99802469e-01 -2.22061721e-04 3.60872111e-01] [ 3.97368082e-03 3.01092160e-04 9.99992060e-01 4.23135824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510888479 meters 0.04285938192643466 Centerline is valid? [True, True] Translation: X:12.71, Y:0.36, Z:0.04 [[ 9.99772935e-01 2.08715544e-02 -4.29604005e-03 1.27121194e+01] [-2.08727735e-02 9.99782111e-01 -2.39125341e-04 3.63762810e-01] [ 4.29011307e-03 3.28741315e-04 9.99990743e-01 4.41012475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.540888479 meters 0.041428202352851544 Centerline is valid? [True, True] Translation: X:12.74, Y:0.36, Z:0.05 [[ 9.99759322e-01 2.18128528e-02 -2.34470874e-03 1.27440185e+01] [-2.18132166e-02 9.99762055e-01 -1.29723555e-04 3.62469791e-01] [ 2.34132118e-03 1.80837973e-04 9.99997243e-01 4.76749852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570888478999999 meters 0.039263117286487834 Centerline is valid? [True, True] Translation: X:12.78, Y:0.36, Z:0.05 [[ 9.99751264e-01 2.22981127e-02 -4.52385199e-04 1.27761935e+01] [-2.22981262e-02 9.99751366e-01 -2.46781417e-05 3.62472000e-01] [ 4.51722445e-04 3.47593456e-05 9.99999897e-01 4.98001395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.600888479 meters 0.04170527516202854 Centerline is valid? [True, True] Translation: X:12.81, Y:0.37, Z:0.05 [[ 9.99724221e-01 2.34830768e-02 1.65317508e-04 1.28072054e+01] [-2.34830787e-02 9.99724234e-01 9.35399451e-06 3.70152538e-01] [-1.65052259e-04 -1.32335789e-05 9.99999986e-01 4.88592261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630888479 meters 0.04251963757116977 Centerline is valid? [True, True] Translation: X:12.84, Y:0.37, Z:0.05 [[ 9.99700112e-01 2.44806852e-02 6.18768897e-04 1.28390671e+01] [-2.44807110e-02 9.99700302e-01 3.41401247e-05 3.73620429e-01] [-6.17747680e-04 -4.92777890e-05 9.99999808e-01 4.74550594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.660888479 meters 0.04275645549990519 Centerline is valid? [True, True] Translation: X:12.87, Y:0.37, Z:0.05 [[ 9.99628929e-01 2.71855888e-02 1.71712589e-03 1.28698386e+01] [-2.71857900e-02 9.99630394e-01 9.39369051e-05 3.73138857e-01] [-1.71393750e-03 -1.40583472e-04 9.99998521e-01 5.00282488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.690888479 meters 0.04338014188631981 Centerline is valid? [True, True] Translation: X:12.90, Y:0.37, Z:0.05 [[ 9.99598051e-01 2.83109796e-02 1.49142403e-03 1.29016774e+01] [-2.83111325e-02 9.99599156e-01 8.14926147e-05 3.73114958e-01] [-1.48851906e-03 -1.23683762e-04 9.99998885e-01 5.06588487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.720888479 meters 0.04241763589816946 Centerline is valid? [True, True] Translation: X:12.93, Y:0.37, Z:0.05 [[ 9.99569449e-01 2.93412452e-02 -9.01799916e-05 1.29342179e+01] [-2.93412457e-02 9.99569453e-01 -4.82181567e-06 3.70475828e-01] [ 8.99996868e-05 7.46573292e-06 9.99999996e-01 5.05453510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750888479 meters 0.042794775003692595 Centerline is valid? [True, True] Translation: X:12.97, Y:0.37, Z:0.05 [[ 9.99547320e-01 3.00166074e-02 -2.03944906e-03 1.29665012e+01] [-3.00168941e-02 9.99549385e-01 -1.10123118e-04 3.69856095e-01] [ 2.03522453e-03 1.71291194e-04 9.99997914e-01 5.11342205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.780888479 meters 0.04309649352718556 Centerline is valid? [True, True] Translation: X:13.00, Y:0.37, Z:0.05 [[ 9.99513692e-01 3.10329424e-02 -3.05543296e-03 1.29980778e+01] [-3.10335890e-02 9.99518329e-01 -1.64432362e-04 3.71519922e-01] [ 3.04885842e-03 2.59173448e-04 9.99995319e-01 5.15220363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810888478999999 meters 0.04530582297549565 Centerline is valid? [True, True] Translation: X:13.03, Y:0.38, Z:0.05 [[ 9.99510027e-01 3.10712510e-02 -3.77926754e-03 1.30295519e+01] [-3.10722372e-02 9.99517121e-01 -2.02482546e-04 3.78361916e-01] [ 3.77115123e-03 3.19813632e-04 9.99992838e-01 4.72275508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.840888479 meters 0.04631003958308058 Centerline is valid? [True, True] Translation: X:13.06, Y:0.39, Z:0.05 [[ 9.99460207e-01 3.28167695e-02 -1.53446232e-03 1.30597218e+01] [-3.28169343e-02 9.99461376e-01 -8.22814954e-05 3.87447799e-01] [ 1.53093561e-03 1.32593430e-04 9.99998819e-01 4.70992218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.870888479 meters 0.04573036746583615 Centerline is valid? [True, True] Translation: X:13.09, Y:0.38, Z:0.05 [[ 9.99504227e-01 3.14753778e-02 -7.75108731e-04 1.30917365e+01] [-3.14754194e-02 9.99504525e-01 -4.14700481e-05 3.81472148e-01] [ 7.73419399e-04 6.58463608e-05 9.99999699e-01 4.74305422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.900888478999999 meters 0.04362428224449698 Centerline is valid? [True, True] Translation: X:13.12, Y:0.37, Z:0.05 [[ 9.99526214e-01 3.07661995e-02 -8.88324322e-04 1.31247657e+01] [-3.07662537e-02 9.99526606e-01 -4.74139527e-05 3.73566572e-01] [ 8.86445047e-04 7.47219001e-05 9.99999604e-01 5.14443654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.930888479 meters 0.04428297855398235 Centerline is valid? [True, True] Translation: X:13.16, Y:0.37, Z:0.05 [[ 9.99574920e-01 2.91269340e-02 -1.26500404e-03 1.31556912e+01] [-2.91270427e-02 9.99575715e-01 -6.75800347e-05 3.71483913e-01] [ 1.26249892e-03 1.04397134e-04 9.99999198e-01 5.31551916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.960888479 meters 0.04318301942680891 Centerline is valid? [True, True] Translation: X:13.19, Y:0.38, Z:0.05 [[ 9.99592052e-01 2.85455434e-02 -9.38373439e-04 1.31878293e+01] [-2.85456025e-02 9.99592490e-01 -4.96414502e-05 3.76894913e-01] [ 9.36574000e-04 7.64076343e-05 9.99999558e-01 5.08373754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.990888478999999 meters 0.04421469050746771 Centerline is valid? [True, True] Translation: X:13.22, Y:0.38, Z:0.05 [[ 9.99605178e-01 2.80222020e-02 -2.06007362e-03 1.32198209e+01] [-2.80224853e-02 9.99607287e-01 -1.08807797e-04 3.82889251e-01] [ 2.05621557e-03 1.66493221e-04 9.99997872e-01 4.63709127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.020888479 meters 0.045201548416485424 Centerline is valid? [True, True] Translation: X:13.25, Y:0.39, Z:0.04 [[ 9.99590261e-01 2.84317800e-02 -3.30808612e-03 1.32515970e+01] [-2.84325108e-02 9.99595699e-01 -1.74077769e-04 3.86864152e-01] [ 3.30179932e-03 2.68063637e-04 9.99994513e-01 4.43864996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.050888479 meters 0.045201548416485424 Centerline is valid? [True, True] Translation: X:13.28, Y:0.39, Z:0.04 [[ 9.99582153e-01 2.87154379e-02 -3.30813760e-03 1.32841332e+01] [-2.87161670e-02 9.99587591e-01 -1.73097708e-04 3.88494619e-01] [ 3.30180271e-03 2.68022411e-04 9.99994513e-01 4.43489727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.080888479 meters 0.04448121850907965 Centerline is valid? [True, True] Translation: X:13.32, Y:0.38, Z:0.05 [[ 9.99544567e-01 2.96275169e-02 -5.73305549e-03 1.33165343e+01] [-2.96297151e-02 9.99560899e-01 -2.98839832e-04 3.82927010e-01] [ 5.72168422e-03 4.68572532e-04 9.99983521e-01 4.72913647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110888479 meters 0.04367506545528786 Centerline is valid? [True, True] Translation: X:13.35, Y:0.38, Z:0.05 [[ 9.99541701e-01 2.95434769e-02 -6.60084421e-03 1.33492100e+01] [-2.95463786e-02 9.99563352e-01 -3.42482561e-04 3.79107823e-01] [ 6.58784384e-03 5.37356644e-04 9.99978156e-01 4.99777176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.140888479 meters 0.04404979921257931 Centerline is valid? [True, True] Translation: X:13.38, Y:0.38, Z:0.05 [[ 9.99566381e-01 2.82351656e-02 -8.35611535e-03 1.33805243e+01] [-2.82397704e-02 9.99601084e-01 -4.33576935e-04 3.77285348e-01] [ 8.34053984e-03 6.69363707e-04 9.99964993e-01 5.01270759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170888479 meters 0.04329716799478109 Centerline is valid? [True, True] Translation: X:13.41, Y:0.38, Z:0.05 [[ 9.99525584e-01 2.95444683e-02 -8.70242337e-03 1.34126632e+01] [-2.95495064e-02 9.99563216e-01 -4.50891061e-04 3.80631320e-01] [ 8.68530096e-03 7.07829466e-04 9.99962032e-01 4.97724269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.200888479 meters 0.04462696423438544 Centerline is valid? [True, True] Translation: X:13.44, Y:0.39, Z:0.05 [[ 9.99523308e-01 2.96716545e-02 -8.52937386e-03 1.34441493e+01] [-2.96764791e-02 9.99559460e-01 -4.39617083e-04 3.85383499e-01] [ 8.51257216e-03 6.92529306e-04 9.99963528e-01 4.67124099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230888478999999 meters 0.043016725314202905 Centerline is valid? [True, True] Translation: X:13.48, Y:0.39, Z:0.05 [[ 9.99503024e-01 3.10465896e-02 -5.46033168e-03 1.34765301e+01] [-3.10485793e-02 9.99517837e-01 -2.79972393e-04 3.88408020e-01] [ 5.44900673e-03 4.49368794e-04 9.99985053e-01 4.85005100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.260888479 meters 0.04706263754529581 Centerline is valid? [True, True] Translation: X:13.51, Y:0.39, Z:0.05 [[ 9.99524170e-01 3.08315392e-02 -9.21548704e-04 1.35078624e+01] [-3.08315953e-02 9.99524592e-01 -4.67892766e-05 3.93326162e-01] [ 9.19668007e-04 7.51798296e-05 9.99999574e-01 5.13145145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.290888479 meters 0.045506636269710014 Centerline is valid? [True, True] Translation: X:13.54, Y:0.39, Z:0.06 [[ 9.99531531e-01 3.05952121e-02 8.06808231e-04 1.35404192e+01] [-3.05952553e-02 9.99531855e-01 4.12960828e-05 3.90874631e-01] [-8.05167065e-04 -6.59612407e-05 9.99999674e-01 5.53654387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.320888478999999 meters 0.0458187089874108 Centerline is valid? [True, True] Translation: X:13.57, Y:0.39, Z:0.06 [[ 9.99549279e-01 3.00180928e-02 3.90556726e-04 1.35725821e+01] [-3.00181029e-02 9.99549355e-01 2.00398365e-05 3.90134907e-01] [-3.89779166e-04 -3.17545761e-05 9.99999924e-01 5.77256069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350888479 meters 0.045087928779326485 Centerline is valid? [True, True] Translation: X:13.60, Y:0.39, Z:0.06 [[ 9.99551936e-01 2.99307985e-02 2.74072539e-04 1.36041737e+01] [-2.99308034e-02 9.99551973e-01 1.40628882e-05 3.90750991e-01] [-2.73528834e-04 -2.22597985e-05 9.99999962e-01 5.95962651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.380888479 meters 0.0471756395659655 Centerline is valid? [True, True] Translation: X:13.64, Y:0.39, Z:0.06 [[ 9.99598995e-01 2.82828556e-02 -1.38922775e-03 1.36352787e+01] [-2.82829799e-02 9.99599954e-01 -6.98719592e-05 3.92626132e-01] [ 1.38669582e-03 1.09135441e-04 9.99999033e-01 5.70983344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.410888478999999 meters 0.04631523372661973 Centerline is valid? [True, True] Translation: X:13.67, Y:0.40, Z:0.06 [[ 9.99627253e-01 2.72908777e-02 -7.50955669e-04 1.36650456e+01] [-2.72909136e-02 9.99627533e-01 -3.75988891e-05 3.98054950e-01] [ 7.49649856e-04 5.80791405e-05 9.99999717e-01 5.57878433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.440888479 meters 0.046229300795826815 Centerline is valid? [True, True] Translation: X:13.70, Y:0.40, Z:0.06 [[ 9.99643240e-01 2.67092908e-02 -7.76273487e-05 1.36974047e+01] [-2.67092911e-02 9.99643243e-01 -3.60677463e-06 4.00510308e-01] [ 7.75033202e-05 5.67885933e-06 9.99999997e-01 5.52224976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470888479 meters 0.04147494917884796 Centerline is valid? [True, True] Translation: X:13.73, Y:0.39, Z:0.05 [[ 9.99719158e-01 2.36965968e-02 -2.74888334e-04 1.37286922e+01] [-2.36966014e-02 9.99719196e-01 -1.37152964e-05 3.91643373e-01] [ 2.74486138e-04 2.02253639e-05 9.99999962e-01 5.46439096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.500888479 meters 0.04048348574227946 Centerline is valid? [True, True] Translation: X:13.76, Y:0.39, Z:0.05 [[ 9.99753273e-01 2.21980932e-02 -7.98803217e-04 1.37605577e+01] [-2.21981321e-02 9.99753590e-01 -3.98091912e-05 3.87479218e-01] [ 7.97722696e-04 5.75313085e-05 9.99999680e-01 5.47797442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.530888479 meters 0.03980313084135378 Centerline is valid? [True, True] Translation: X:13.79, Y:0.39, Z:0.06 [[ 9.99783379e-01 2.07752527e-02 -1.25861859e-03 1.37924841e+01] [-2.07753480e-02 9.99784167e-01 -6.26920818e-05 3.86025644e-01] [ 1.25704449e-03 8.88267406e-05 9.99999206e-01 5.62706673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.560888478999999 meters 0.04022484083783137 Centerline is valid? [True, True] Translation: X:13.82, Y:0.39, Z:0.06 [[ 9.99793610e-01 2.02316191e-02 -1.84925878e-03 1.38243777e+01] [-2.02318227e-02 9.99795312e-01 -9.14536398e-05 3.87041424e-01] [ 1.84703000e-03 1.28848640e-04 9.99998286e-01 5.62248461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.590888479 meters 0.04127307325952027 Centerline is valid? [True, True] Translation: X:13.86, Y:0.39, Z:0.05 [[ 9.99767372e-01 2.11864689e-02 -4.04182422e-03 1.38551962e+01] [-2.11874470e-02 9.99775501e-01 -1.99316094e-04 3.93329976e-01] [ 4.03669403e-03 2.84905663e-04 9.99991812e-01 5.20749537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.620888479 meters 0.04269526063738156 Centerline is valid? [True, True] Translation: X:13.89, Y:0.40, Z:0.05 [[ 9.99741783e-01 2.21023560e-02 -5.27766823e-03 1.38872090e+01] [-2.21040298e-02 9.99755643e-01 -2.59027367e-04 3.97898059e-01] [ 5.27065348e-03 3.75618218e-04 9.99986039e-01 4.91561662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650888478999999 meters 0.043965661333521526 Centerline is valid? [True, True] Translation: X:13.92, Y:0.40, Z:0.05 [[ 9.99698355e-01 2.39013905e-02 -5.64994148e-03 1.39171362e+01] [-2.39033391e-02 9.99714236e-01 -2.77600593e-04 3.98876582e-01] [ 5.64169189e-03 4.12569324e-04 9.99984000e-01 4.81999762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.680888479 meters 0.042340188616837894 Centerline is valid? [True, True] Translation: X:13.95, Y:0.40, Z:0.05 [[ 9.99672475e-01 2.48308065e-02 -6.19465146e-03 1.39493300e+01] [-2.48331554e-02 9.99691564e-01 -3.02546310e-04 3.95679699e-01] [ 6.18522834e-03 4.56279961e-04 9.99980767e-01 4.94720847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710888479 meters 0.04214656011710101 Centerline is valid? [True, True] Translation: X:13.98, Y:0.40, Z:0.05 [[ 9.99644490e-01 2.60176901e-02 -5.82872758e-03 1.39810762e+01] [-2.60197819e-02 9.99661388e-01 -2.83332603e-04 3.95840694e-01] [ 5.81938224e-03 4.34894096e-04 9.99982973e-01 5.05448927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.740888478999999 meters 0.04153024201174864 Centerline is valid? [True, True] Translation: X:14.01, Y:0.40, Z:0.05 [[ 9.99550997e-01 2.95897155e-02 -4.71735385e-03 1.40115389e+01] [-2.95911262e-02 9.99562060e-01 -2.29503043e-04 3.99659350e-01] [ 4.70849700e-03 3.68991809e-04 9.99988847e-01 5.30469441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770888479 meters 0.042756848529873125 Centerline is valid? [True, True] Translation: X:14.04, Y:0.40, Z:0.05 [[ 9.99503751e-01 3.08404685e-02 -6.41220486e-03 1.40436087e+01] [-3.08430970e-02 9.99524190e-01 -3.11425427e-04 4.04585025e-01] [ 6.39954936e-03 5.09043139e-04 9.99979393e-01 5.04413456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.800888479 meters 0.04634257903514734 Centerline is valid? [True, True] Translation: X:14.07, Y:0.41, Z:0.05 [[ 9.99439713e-01 3.23720984e-02 -8.50333624e-03 1.40748565e+01] [-3.23767583e-02 9.99475651e-01 -4.10890589e-04 4.10829145e-01] [ 8.48557613e-03 6.85970834e-04 9.99963762e-01 4.61813336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830888479 meters 0.044975774591492955 Centerline is valid? [True, True] Translation: X:14.11, Y:0.41, Z:0.05 [[ 9.99374300e-01 3.43820128e-02 -8.29976107e-03 1.41054638e+01] [-3.43865196e-02 9.99408528e-01 -4.00867764e-04 4.14625184e-01] [ 8.28106936e-03 6.86016838e-04 9.99965476e-01 4.52490985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.860888479 meters 0.04654119152110543 Centerline is valid? [True, True] Translation: X:14.14, Y:0.42, Z:0.05 [[ 9.99291724e-01 3.68784326e-02 -7.48548465e-03 1.41361511e+01] [-3.68821671e-02 9.99319556e-01 -3.61434975e-04 4.18300442e-01] [ 7.46706205e-03 6.37259875e-04 9.99971918e-01 4.67170438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890888479 meters 0.04613820938581716 Centerline is valid? [True, True] Translation: X:14.17, Y:0.42, Z:0.05 [[ 9.99223138e-01 3.89919561e-02 -5.72254368e-03 1.41674534e+01] [-3.89941718e-02 9.99239400e-01 -2.76084541e-04 4.18561423e-01] [ 5.70742604e-03 4.99015913e-04 9.99983588e-01 5.14466051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.920888479 meters 0.04618291624304397 Centerline is valid? [True, True] Translation: X:14.20, Y:0.42, Z:0.05 [[ 9.99214189e-01 3.92075333e-02 -5.81154772e-03 1.42005367e+01] [-3.92098108e-02 9.99230961e-01 -2.78433593e-04 4.17340598e-01] [ 5.79616171e-03 5.06084483e-04 9.99983074e-01 5.32310493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950888479 meters 0.04641209290862723 Centerline is valid? [True, True] Translation: X:14.23, Y:0.42, Z:0.05 [[ 9.99260348e-01 3.76331560e-02 -7.90582429e-03 1.42318718e+01] [-3.76373228e-02 9.99291393e-01 -3.78890235e-04 4.16014946e-01] [ 7.88596334e-03 6.76164049e-04 9.99968677e-01 5.05915139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.980888478999999 meters 0.04664156690062403 Centerline is valid? [True, True] Translation: X:14.26, Y:0.42, Z:0.05 [[ 9.99284648e-01 3.68500052e-02 -8.50114572e-03 1.42631995e+01] [-3.68547838e-02 9.99320549e-01 -4.06087607e-04 4.19721047e-01] [ 8.48040528e-03 7.19104999e-04 9.99963782e-01 4.80578836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010888479 meters 0.04600866422799906 Centerline is valid? [True, True] Translation: X:14.29, Y:0.42, Z:0.05 [[ 9.99333707e-01 3.54091036e-02 -8.85080295e-03 1.42948074e+01] [-3.54142241e-02 9.99372630e-01 -4.22428607e-04 4.21755214e-01] [ 8.83029240e-03 7.35591465e-04 9.99960742e-01 4.62804008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.040888479 meters 0.04835539137468796 Centerline is valid? [True, True] Translation: X:14.32, Y:0.43, Z:0.04 [[ 9.99385315e-01 3.38043158e-02 -9.28767727e-03 1.43246766e+01] [-3.38098843e-02 9.99428184e-01 -4.43158126e-04 4.26539293e-01] [ 9.26738577e-03 7.56901018e-04 9.99956770e-01 4.44635799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070888478999999 meters 0.04800740214132905 Centerline is valid? [True, True] Translation: X:14.36, Y:0.43, Z:0.04 [[ 9.99420933e-01 3.24515172e-02 -1.02321769e-02 1.43565905e+01] [-3.24581998e-02 9.99472975e-01 -4.87661657e-04 4.25518603e-01] [ 1.02109590e-02 8.19497311e-04 9.99947531e-01 4.39203142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.100888479 meters 0.042279716569547175 Centerline is valid? [True, True] Translation: X:14.39, Y:0.42, Z:0.05 [[ 9.99395008e-01 3.30929889e-02 -1.06991606e-02 1.43891193e+01] [-3.31003011e-02 9.99451906e-01 -5.07033573e-04 4.17534109e-01] [ 1.06765172e-02 8.60872260e-04 9.99942634e-01 4.61252749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130888479 meters 0.04931567634694249 Centerline is valid? [True, True] Translation: X:14.42, Y:0.42, Z:0.04 [[ 9.99423081e-01 3.12614617e-02 -1.32750570e-02 1.44191999e+01] [-3.12725598e-02 9.99510696e-01 -6.29202557e-04 4.23167031e-01] [ 1.32488917e-02 1.04398457e-03 9.99911685e-01 4.24366071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.160888478999999 meters 0.04431788059373286 Centerline is valid? [True, True] Translation: X:14.45, Y:0.42, Z:0.05 [[ 9.99516513e-01 2.91806547e-02 -1.07344882e-02 1.44501978e+01] [-2.91877898e-02 9.99573816e-01 -5.08595261e-04 4.16399959e-01] [ 1.07150722e-02 8.21665348e-04 9.99942254e-01 4.67638993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190888479 meters 0.042242344745630885 Centerline is valid? [True, True] Translation: X:14.48, Y:0.42, Z:0.05 [[ 9.99571587e-01 2.85713716e-02 -6.34966267e-03 1.44814733e+01] [-2.85738543e-02 9.99591639e-01 -3.00592853e-04 4.19009371e-01] [ 6.33848136e-03 4.81898411e-04 9.99979796e-01 5.11583173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.220888479 meters 0.04134213121892312 Centerline is valid? [True, True] Translation: X:14.51, Y:0.42, Z:0.05 [[ 9.99628058e-01 2.72029484e-02 -1.93544097e-03 1.45129125e+01] [-2.72031762e-02 9.99629921e-01 -9.14741774e-05 4.24633008e-01] [ 1.93223634e-03 1.44090296e-04 9.99998123e-01 5.30133207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.250888479 meters 0.044237542629437944 Centerline is valid? [True, True] Translation: X:14.54, Y:0.43, Z:0.05 [[ 9.99637091e-01 2.66537618e-02 -3.90692250e-03 1.45443883e+01] [-2.66546817e-02 9.99644684e-01 -1.83549662e-04 4.28560101e-01] [ 3.90064202e-03 2.87620826e-04 9.99992351e-01 4.94480991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.280888479 meters 0.042661773858284326 Centerline is valid? [True, True] Translation: X:14.58, Y:0.43, Z:0.05 [[ 9.99592799e-01 2.77233217e-02 -6.75677557e-03 1.45762856e+01] [-2.77260885e-02 9.99615508e-01 -3.16143545e-04 4.27049639e-01] [ 6.74541309e-03 5.03353768e-04 9.99977123e-01 4.78061744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310888478999999 meters 0.0461961298424388 Centerline is valid? [True, True] Translation: X:14.61, Y:0.43, Z:0.04 [[ 9.99469224e-01 3.01340428e-02 -1.23777917e-02 1.46056721e+01] [-3.01435204e-02 9.99545413e-01 -5.79805223e-04 4.25631803e-01] [ 1.23546930e-02 9.52607692e-04 9.99923224e-01 4.44163144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.340888479 meters 0.044662985097188024 Centerline is valid? [True, True] Translation: X:14.64, Y:0.42, Z:0.05 [[ 9.99408936e-01 3.17663605e-02 -1.31406592e-02 1.46369516e+01] [-3.17771724e-02 9.99494789e-01 -6.14755956e-04 4.22780373e-01] [ 1.31144918e-02 1.03196559e-03 9.99913469e-01 4.59088153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370888479 meters 0.04745405117088488 Centerline is valid? [True, True] Translation: X:14.67, Y:0.43, Z:0.05 [[ 9.99382325e-01 3.32459680e-02 -1.13874917e-02 1.46667489e+01] [-3.32541808e-02 9.99446785e-01 -5.32572904e-04 4.30970619e-01] [ 1.13634861e-02 9.10925654e-04 9.99935019e-01 4.75612650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.400888478999999 meters 0.0465442337559352 Centerline is valid? [True, True] Translation: X:14.70, Y:0.44, Z:0.05 [[ 9.99366687e-01 3.43037584e-02 -9.45922379e-03 1.46980863e+01] [-3.43094496e-02 9.99411161e-01 -4.39999810e-04 4.36746387e-01] [ 9.43856018e-03 7.64261914e-04 9.99955164e-01 4.54331143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430888479 meters 0.04254679569393754 Centerline is valid? [True, True] Translation: X:14.73, Y:0.44, Z:0.05 [[ 9.99328581e-01 3.58807805e-02 -7.41333006e-03 1.47303721e+01] [-3.58843162e-02 9.99355891e-01 -3.44427024e-04 4.37722262e-01] [ 7.39619675e-03 6.10218048e-04 9.99972462e-01 4.71745151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.460888479 meters 0.04902267865207846 Centerline is valid? [True, True] Translation: X:14.76, Y:0.45, Z:0.04 [[ 9.99323427e-01 3.60839321e-02 -7.11609606e-03 1.47618230e+01] [-3.60871800e-02 9.99348592e-01 -3.28501444e-04 4.46040689e-01] [ 7.09960696e-03 5.85079028e-04 9.99974626e-01 4.46073229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490888478999999 meters 0.0439545010823709 Centerline is valid? [True, True] Translation: X:14.79, Y:0.44, Z:0.05 [[ 9.99329215e-01 3.59726555e-02 -6.86201025e-03 1.47943781e+01] [-3.59756614e-02 9.99352617e-01 -3.15072711e-04 4.36642127e-01] [ 6.84623389e-03 5.61726722e-04 9.99976406e-01 4.66279524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.520888479 meters 0.0418685693784964 Centerline is valid? [True, True] Translation: X:14.83, Y:0.43, Z:0.05 [[ 9.99396897e-01 3.43869731e-02 -4.83506504e-03 1.48266064e+01] [-3.43884464e-02 9.99408518e-01 -2.21883889e-04 4.27890641e-01] [ 4.82457527e-03 3.88020445e-04 9.99988286e-01 5.28978156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550888479 meters 0.0412655801165055 Centerline is valid? [True, True] Translation: X:14.86, Y:0.43, Z:0.05 [[ 9.99434364e-01 3.32967647e-02 -4.72001186e-03 1.48582402e+01] [-3.32981560e-02 9.99445439e-01 -2.16453554e-04 4.27641363e-01] [ 4.71018712e-03 3.73498811e-04 9.99988837e-01 5.37366349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.580888479 meters 0.04138384043854055 Centerline is valid? [True, True] Translation: X:14.89, Y:0.43, Z:0.05 [[ 9.99454536e-01 3.24792542e-02 -5.97737984e-03 1.48897891e+01] [-3.24814607e-02 9.99472301e-01 -2.72400482e-04 4.30620946e-01] [ 5.96537822e-03 4.66405925e-04 9.99982098e-01 5.21854664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.610888479 meters 0.04290561243109672 Centerline is valid? [True, True] Translation: X:14.92, Y:0.44, Z:0.04 [[ 9.99494634e-01 3.00022326e-02 -1.05044139e-02 1.49195945e+01] [-3.00089142e-02 9.99549516e-01 -4.78999280e-04 4.37251820e-01] [ 1.04853108e-02 7.93983265e-04 9.99944712e-01 4.31544069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.640888479 meters 0.042705090085573286 Centerline is valid? [True, True] Translation: X:14.95, Y:0.44, Z:0.04 [[ 9.99479034e-01 3.05622459e-02 -1.03735419e-02 1.49505075e+01] [-3.05687652e-02 9.99532555e-01 -4.70451331e-04 4.41048717e-01] [ 1.03543148e-02 7.87312610e-04 9.99946083e-01 4.35834895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670888479 meters 0.04282553564983961 Centerline is valid? [True, True] Translation: X:14.98, Y:0.44, Z:0.04 [[ 9.99505495e-01 2.98328413e-02 -9.93820292e-03 1.49817729e+01] [-2.98387878e-02 9.99554623e-01 -4.50574871e-04 4.41919226e-01] [ 9.92033474e-03 7.46895987e-04 9.99950513e-01 4.41519489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.700888479 meters 0.042668590685564015 Centerline is valid? [True, True] Translation: X:15.01, Y:0.44, Z:0.05 [[ 9.99507404e-01 2.99474729e-02 -9.38602843e-03 1.50144024e+01] [-2.99527583e-02 9.99551226e-01 -4.23019453e-04 4.40652682e-01] [ 9.36914786e-03 7.03948516e-04 9.99955861e-01 4.54068647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730888478999999 meters 0.04172165008520489 Centerline is valid? [True, True] Translation: X:15.05, Y:0.44, Z:0.05 [[ 9.99521584e-01 3.01065030e-02 -7.08527706e-03 1.50464002e+01] [-3.01095059e-02 9.99546556e-01 -3.17514534e-04 4.37852296e-01] [ 7.07250503e-03 5.30696821e-04 9.99974849e-01 4.87459073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.760888479 meters 0.04302981680921462 Centerline is valid? [True, True] Translation: X:15.08, Y:0.44, Z:0.05 [[ 9.99524524e-01 3.03378260e-02 -5.50837711e-03 1.50785347e+01] [-3.03396367e-02 9.99539617e-01 -2.45420710e-04 4.38586061e-01] [ 5.49839562e-03 4.12426178e-04 9.99984799e-01 4.95797848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790888479 meters 0.04020229770887738 Centerline is valid? [True, True] Translation: X:15.11, Y:0.44, Z:0.05 [[ 9.99491484e-01 3.17969858e-02 -2.39258508e-03 1.51105880e+01] [-3.17973313e-02 9.99494331e-01 -1.06471274e-04 4.40552976e-01] [ 2.38798976e-03 1.82494952e-04 9.99997132e-01 5.37980164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.820888478999999 meters 0.038867909433773024 Centerline is valid? [True, True] Translation: X:15.14, Y:0.44, Z:0.05 [[ 9.99473875e-01 3.24293491e-02 -5.57990723e-04 1.51425911e+01] [-3.24293678e-02 9.99474029e-01 -2.44196898e-05 4.41731568e-01] [ 5.56905322e-04 4.25021284e-05 9.99999844e-01 5.39057133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850888479 meters 0.043142739518614984 Centerline is valid? [True, True] Translation: X:15.17, Y:0.45, Z:0.05 [[ 9.99442863e-01 3.33574342e-02 -1.11581454e-03 1.51732433e+01] [-3.33575094e-02 9.99443482e-01 -4.88852697e-05 4.48883288e-01] [ 1.11356288e-03 8.60788278e-05 9.99999376e-01 5.11235044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.880888479 meters 0.04060633254643928 Centerline is valid? [True, True] Translation: X:15.21, Y:0.45, Z:0.05 [[ 9.99406469e-01 3.44093441e-02 -1.64531153e-03 1.52056408e+01] [-3.44095095e-02 9.99407815e-01 -7.22769614e-05 4.46692155e-01] [ 1.64185020e-03 1.28848426e-04 9.99998644e-01 5.18623724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910888478999999 meters 0.04016264027708371 Centerline is valid? [True, True] Translation: X:15.24, Y:0.44, Z:0.05 [[ 9.99385289e-01 3.48126072e-02 -4.13830902e-03 1.52375252e+01] [-3.48136545e-02 9.99393805e-01 -1.81271319e-04 4.42145309e-01] [ 4.12948987e-03 3.25229549e-04 9.99991421e-01 4.95775953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.940888479 meters 0.04016264027708371 Centerline is valid? [True, True] Translation: X:15.27, Y:0.44, Z:0.05 [[ 9.99375161e-01 3.51021645e-02 -4.13836904e-03 1.52700559e+01] [-3.51032086e-02 9.99383676e-01 -1.79897078e-04 4.43496682e-01] [ 4.12950369e-03 3.25054703e-04 9.99991421e-01 4.95401055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970888479 meters 0.04250772857672982 Centerline is valid? [True, True] Translation: X:15.30, Y:0.45, Z:0.05 [[ 9.99402584e-01 3.42085918e-02 -4.92411147e-03 1.53007990e+01] [-3.42100541e-02 9.99414642e-01 -2.13031473e-04 4.45301347e-01] [ 4.91394160e-03 3.81358324e-04 9.99987854e-01 4.80656593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.000888479 meters 0.0415079807963493 Centerline is valid? [True, True] Translation: X:15.33, Y:0.45, Z:0.05 [[ 9.99405632e-01 3.42235160e-02 -4.13920188e-03 1.53320138e+01] [-3.42245454e-02 9.99414153e-01 -1.78089111e-04 4.45808278e-01] [ 4.13068211e-03 3.19645563e-04 9.99991418e-01 5.00182141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030888478999998 meters 0.0396584741978378 Centerline is valid? [True, True] Translation: X:15.36, Y:0.45, Z:0.05 [[ 9.99500381e-01 3.14781548e-02 -2.84844173e-03 1.53626747e+01] [-3.14786315e-02 9.99504418e-01 -1.22664394e-04 4.45369328e-01] [ 2.84316884e-03 2.12268156e-04 9.99995936e-01 4.94695993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.060888479 meters 0.039104107889444524 Centerline is valid? [True, True] Translation: X:15.39, Y:0.45, Z:0.05 [[ 9.99537800e-01 3.02611687e-02 -2.90671435e-03 1.53937797e+01] [-3.02616596e-02 9.99542003e-01 -1.25048541e-04 4.45852591e-01] [ 2.90159897e-03 2.12952744e-04 9.99995768e-01 4.78667004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.090888478999997 meters 0.03924077659366692 Centerline is valid? [True, True] Translation: X:15.43, Y:0.45, Z:0.05 [[ 9.99529514e-01 3.05667912e-02 -2.53408580e-03 1.54252456e+01] [-3.05671629e-02 9.99532709e-01 -1.08071530e-04 4.47372108e-01] [ 2.52959825e-03 1.85480497e-04 9.99996783e-01 4.86688422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.120888478999998 meters 0.03959644362836007 Centerline is valid? [True, True] Translation: X:15.46, Y:0.45, Z:0.05 [[ 9.99515020e-01 3.09554211e-02 -3.38921336e-03 1.54571209e+01] [-3.09560859e-02 9.99520735e-01 -1.43832044e-04 4.45118270e-01] [ 3.38313665e-03 2.48679068e-04 9.99994246e-01 5.05837492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.150888479 meters 0.04161011086388286 Centerline is valid? [True, True] Translation: X:15.49, Y:0.45, Z:0.05 [[ 9.99519801e-01 3.06338384e-02 -4.66206854e-03 1.54882488e+01] [-3.06350884e-02 9.99530616e-01 -1.96920562e-04 4.47633811e-01] [ 4.65384780e-03 3.39648882e-04 9.99989113e-01 4.93332162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.180888478999996 meters 0.040524801101191846 Centerline is valid? [True, True] Translation: X:15.52, Y:0.45, Z:0.05 [[ 9.99554053e-01 2.93355050e-02 -5.57890969e-03 1.55196428e+01] [-2.93372752e-02 9.99569542e-01 -2.35721285e-04 4.47329077e-01] [ 5.56959319e-03 3.99286175e-04 9.99984410e-01 4.77475931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210888478999998 meters 0.036564998128373716 Centerline is valid? [True, True] Translation: X:15.55, Y:0.44, Z:0.05 [[ 9.99572723e-01 2.88217555e-02 -4.86593321e-03 1.55517196e+01] [-2.88230889e-02 9.99584508e-01 -2.04100196e-04 4.44675839e-01] [ 4.85802893e-03 3.44264214e-04 9.99988140e-01 4.80118860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.240888479 meters 0.040780647662355944 Centerline is valid? [True, True] Translation: X:15.58, Y:0.45, Z:0.05 [[ 9.99597782e-01 2.81088173e-02 -3.76406862e-03 1.55824266e+01] [-2.81096066e-02 9.99604835e-01 -1.56956193e-04 4.54862246e-01] [ 3.75816934e-03 2.62699550e-04 9.99992904e-01 4.72852419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270888478999996 meters 0.04089162538719387 Centerline is valid? [True, True] Translation: X:15.61, Y:0.45, Z:0.05 [[ 9.99599826e-01 2.79873943e-02 -4.11020947e-03 1.56147777e+01] [-2.79883303e-02 9.99608235e-01 -1.70387945e-04 4.54643321e-01] [ 4.10383052e-03 2.85357661e-04 9.99991539e-01 4.66277713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.300888478999997 meters 0.03869461281834735 Centerline is valid? [True, True] Translation: X:15.65, Y:0.46, Z:0.05 [[ 9.99580359e-01 2.87873403e-02 -3.22404289e-03 1.56468348e+01] [-2.87879177e-02 9.99585533e-01 -1.32800236e-04 4.55319188e-01] [ 3.21888366e-03 2.25557989e-04 9.99994794e-01 4.84432530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330888479 meters 0.03666294166913239 Centerline is valid? [True, True] Translation: X:15.68, Y:0.46, Z:0.05 [[ 9.99542881e-01 3.00063331e-02 -3.69450074e-03 1.56787977e+01] [-3.00070963e-02 9.99549674e-01 -1.51286550e-04 4.55133393e-01] [ 3.68829745e-03 2.62078634e-04 9.99993164e-01 4.83147051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.360888478999996 meters 0.03764653026546872 Centerline is valid? [True, True] Translation: X:15.71, Y:0.46, Z:0.05 [[ 9.99502640e-01 3.10820126e-02 -5.32736577e-03 1.57094592e+01] [-3.10836088e-02 9.99516764e-01 -2.17066380e-04 4.59612886e-01] [ 5.31804453e-03 3.82552173e-04 9.99985786e-01 4.54326206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390888478999997 meters 0.04107017536799422 Centerline is valid? [True, True] Translation: X:15.74, Y:0.47, Z:0.04 [[ 9.99484339e-01 3.13118213e-02 -7.11523929e-03 1.57407881e+01] [-3.13146614e-02 9.99509534e-01 -2.88077965e-04 4.66980996e-01] [ 7.10272926e-03 5.10740724e-04 9.99974645e-01 4.20707062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.420888479 meters 0.04083840320019674 Centerline is valid? [True, True] Translation: X:15.77, Y:0.47, Z:0.04 [[ 9.99482984e-01 3.11705334e-02 -7.88436330e-03 1.57726140e+01] [-3.11740013e-02 9.99513922e-01 -3.17313257e-04 4.65165333e-01] [ 7.87064006e-03 5.62936353e-04 9.99968868e-01 4.10276320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.450888478999996 meters 0.03653388118150639 Centerline is valid? [True, True] Translation: X:15.80, Y:0.46, Z:0.05 [[ 9.99541484e-01 3.02136162e-02 -1.98957246e-03 1.58047407e+01] [-3.02138350e-02 9.99543455e-01 -7.99741583e-05 4.61631830e-01] [ 1.98624783e-03 1.40050103e-04 9.99998018e-01 5.06193770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.480888478999997 meters 0.03959038698816529 Centerline is valid? [True, True] Translation: X:15.83, Y:0.46, Z:0.05 [[ 9.99630884e-01 2.70644973e-02 -2.36813965e-03 1.58341232e+01] [-2.70647987e-02 9.99633677e-01 -9.53280843e-05 4.63055420e-01] [ 2.36469214e-03 1.59386120e-04 9.99997191e-01 5.13128332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510888479 meters 0.03683268807822053 Centerline is valid? [True, True] Translation: X:15.87, Y:0.46, Z:0.05 [[ 9.99762697e-01 2.14917358e-02 -3.55745094e-03 1.58650304e+01] [-2.14923808e-02 9.99769002e-01 -1.43176167e-04 4.58497447e-01] [ 3.55355207e-03 2.19600281e-04 9.99993662e-01 5.01956913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.540888479 meters 0.033927608286182416 Centerline is valid? [True, True] Translation: X:15.90, Y:0.46, Z:0.05 [[ 9.99800916e-01 1.98570265e-02 -1.95645815e-03 1.58962602e+01] [-1.98572182e-02 9.99802823e-01 -7.86301705e-05 4.59744377e-01] [ 1.95451102e-03 1.17464333e-04 9.99998083e-01 5.00016034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.570888478999997 meters 0.034160603694038234 Centerline is valid? [True, True] Translation: X:15.93, Y:0.46, Z:0.05 [[ 9.99811788e-01 1.93767218e-02 -9.64793323e-04 1.59274326e+01] [-1.93767678e-02 9.99812252e-01 -3.83124069e-05 4.64231670e-01] [ 9.63869817e-04 5.69997723e-05 9.99999534e-01 4.91109435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.600888478999998 meters 0.03498172843714852 Centerline is valid? [True, True] Translation: X:15.96, Y:0.47, Z:0.05 [[ 9.99833409e-01 1.82048173e-02 -1.31899521e-03 1.59595084e+01] [-1.82049019e-02 9.99834276e-01 -5.21260619e-05 4.65915772e-01] [ 1.31782768e-03 7.61295567e-05 9.99999129e-01 4.59820570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630888479 meters 0.03530240494891363 Centerline is valid? [True, True] Translation: X:15.99, Y:0.47, Z:0.05 [[ 9.99812026e-01 1.93879217e-02 1.43714871e-04 1.59907188e+01] [-1.93879227e-02 9.99812037e-01 5.84908403e-06 4.68899152e-01] [-1.43574457e-04 -8.63431738e-06 9.99999990e-01 4.86829593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.660888478999997 meters 0.036045971590407844 Centerline is valid? [True, True] Translation: X:16.02, Y:0.47, Z:0.05 [[ 9.99808464e-01 1.94844986e-02 -1.84099086e-03 1.60232520e+01] [-1.94846642e-02 9.99810153e-01 -7.20723239e-05 4.68241572e-01] [ 1.83923706e-03 1.07929608e-04 9.99998303e-01 5.03755999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.690888478999998 meters 0.03396248135206459 Centerline is valid? [True, True] Translation: X:16.06, Y:0.47, Z:0.05 [[ 9.99780606e-01 2.06329689e-02 -3.60830771e-03 1.60550696e+01] [-2.06336109e-02 9.99787094e-01 -1.40779214e-04 4.67404333e-01] [ 3.60463479e-03 2.15200745e-04 9.99993480e-01 4.98014380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.720888479 meters 0.031860161679355355 Centerline is valid? [True, True] Translation: X:16.09, Y:0.47, Z:0.05 [[ 9.99725134e-01 2.31005066e-02 -4.00298649e-03 1.60861828e+01] [-2.31013169e-02 9.99733117e-01 -1.56286338e-04 4.69502339e-01] [ 3.99830787e-03 2.48717639e-04 9.99991976e-01 4.96688926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.750888478999997 meters 0.04050604561323214 Centerline is valid? [True, True] Translation: X:16.12, Y:0.49, Z:0.05 [[ 9.99667969e-01 2.54452451e-02 -4.06089228e-03 1.61160614e+01] [-2.54460980e-02 9.99676183e-01 -1.58495475e-04 4.85325606e-01] [ 4.05554434e-03 2.61776713e-04 9.99991742e-01 4.84354193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.780888478999998 meters 0.036980844913269625 Centerline is valid? [True, True] Translation: X:16.15, Y:0.49, Z:0.05 [[ 9.99530097e-01 3.06236122e-02 1.33363082e-03 1.61465103e+01] [-3.06237088e-02 9.99530983e-01 5.20575348e-05 4.87921136e-01] [-1.33141114e-03 -9.28737947e-05 9.99999109e-01 5.31634420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810888479 meters 0.03774790906620934 Centerline is valid? [True, True] Translation: X:16.18, Y:0.49, Z:0.05 [[ 9.99465420e-01 3.24733723e-02 3.78866260e-03 1.61778214e+01] [-3.24741646e-02 9.99472564e-01 1.47785621e-04 4.93739464e-01] [-3.78186523e-03 -2.70740271e-04 9.99992812e-01 5.47574132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.840888478999997 meters 0.038086328421421 Centerline is valid? [True, True] Translation: X:16.21, Y:0.50, Z:0.05 [[ 9.99430629e-01 3.35615815e-02 3.46944954e-03 1.62097265e+01] [-3.35622503e-02 9.99436620e-01 1.34714797e-04 4.96920995e-01] [-3.46297368e-03 -2.51080629e-04 9.99993972e-01 5.37010417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870888478999998 meters 0.04021381875211614 Centerline is valid? [True, True] Translation: X:16.24, Y:0.50, Z:0.05 [[ 9.99381114e-01 3.50989895e-02 2.33452432e-03 1.62404208e+01] [-3.50992954e-02 9.99383826e-01 9.01787292e-05 5.02073073e-01] [-2.32992066e-03 -1.72063077e-04 9.99997271e-01 5.28697036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.900888479 meters 0.03637322694437726 Centerline is valid? [True, True] Translation: X:16.27, Y:0.50, Z:0.05 [[ 9.99377526e-01 3.52425282e-02 1.58868095e-03 1.62741301e+01] [-3.52426696e-02 9.99378782e-01 6.10981216e-05 4.96775506e-01] [-1.58554078e-03 -1.17049448e-04 9.99998736e-01 5.42064659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930888478999996 meters 0.03717430288682853 Centerline is valid? [True, True] Translation: X:16.31, Y:0.50, Z:0.06 [[ 9.99406323e-01 3.44258298e-02 1.36524833e-03 1.63053686e+01] [-3.44259332e-02 9.99407251e-01 5.22546715e-05 4.98372934e-01] [-1.36264017e-03 -9.92235968e-05 9.99999067e-01 5.56626865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.960888478999998 meters 0.03724913295854323 Centerline is valid? [True, True] Translation: X:16.34, Y:0.50, Z:0.05 [[ 9.99554637e-01 2.97636099e-02 -2.15765674e-03 1.63358500e+01] [-2.97638563e-02 9.99556955e-01 -8.21577613e-05 5.01973016e-01] [ 2.15425549e-03 1.46341356e-04 9.99997669e-01 5.19653600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990888479 meters 0.0362481932074241 Centerline is valid? [True, True] Translation: X:16.37, Y:0.51, Z:0.05 [[ 9.99567456e-01 2.93409864e-02 -2.00177684e-03 1.63670423e+01] [-2.93411962e-02 9.99569452e-01 -7.54963687e-05 5.06254991e-01] [ 1.99869985e-03 1.34198240e-04 9.99997994e-01 5.01466991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.020888478999996 meters 0.036204388745777194 Centerline is valid? [True, True] Translation: X:16.40, Y:0.51, Z:0.05 [[ 9.99579647e-01 2.89092196e-02 -2.18794497e-03 1.63994707e+01] [-2.89094680e-02 9.99582031e-01 -8.19878634e-05 5.08864801e-01] [ 2.18466027e-03 1.45205725e-04 9.99997603e-01 4.95876905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.050888478999997 meters 0.03709336796490883 Centerline is valid? [True, True] Translation: X:16.43, Y:0.51, Z:0.05 [[ 9.99567436e-01 2.93866777e-02 -1.16762497e-03 1.64321289e+01] [-2.93867482e-02 9.99568115e-01 -4.32584611e-05 5.11189153e-01] [ 1.16584947e-03 7.75524500e-05 9.99999317e-01 5.24097619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.080888479 meters 0.03750650879041918 Centerline is valid? [True, True] Translation: X:16.46, Y:0.51, Z:0.05 [[ 9.99553940e-01 2.98591931e-02 -5.90470944e-04 1.64648742e+01] [-2.98592110e-02 9.99554114e-01 -2.15548639e-05 5.13748800e-01] [ 5.89564050e-04 3.91762457e-05 9.99999825e-01 5.33632277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110888478999996 meters 0.03439434528826485 Centerline is valid? [True, True] Translation: X:16.50, Y:0.51, Z:0.05 [[ 9.99541611e-01 3.02694701e-02 5.72277855e-04 1.64977638e+01] [-3.02694873e-02 9.99541774e-01 2.13664845e-05 5.11926208e-01] [-5.71368871e-04 -3.86792476e-05 9.99999836e-01 5.38510998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.140888478999997 meters 0.03492078211406265 Centerline is valid? [True, True] Translation: X:16.53, Y:0.52, Z:0.05 [[ 9.99534855e-01 3.04558114e-02 1.58625783e-03 1.65309234e+01] [-3.04559419e-02 9.99536109e-01 5.81808088e-05 5.17253828e-01] [-1.58375003e-03 -1.06464723e-04 9.99998740e-01 5.48760882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170888479 meters 0.0369424927186642 Centerline is valid? [True, True] Translation: X:16.56, Y:0.52, Z:0.05 [[ 9.99562346e-01 2.95822601e-02 -7.76661662e-05 1.65635443e+01] [-2.95822604e-02 9.99562349e-01 -2.72263759e-06 5.19984363e-01] [ 7.75516337e-05 5.01898678e-06 9.99999997e-01 5.41631187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.200888478999996 meters 0.036620531700797175 Centerline is valid? [True, True] Translation: X:16.59, Y:0.53, Z:0.06 [[ 9.99537792e-01 3.03754999e-02 1.23726497e-03 1.65942633e+01] [-3.03755788e-02 9.99538555e-01 4.50007577e-05 5.25702597e-01] [-1.23532712e-03 -8.25625975e-05 9.99999234e-01 5.53017341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230888478999997 meters 0.03891235965689848 Centerline is valid? [True, True] Translation: X:16.63, Y:0.53, Z:0.05 [[ 9.99514417e-01 3.11590487e-02 -2.10408605e-04 1.66255299e+01] [-3.11590509e-02 9.99514439e-01 -7.31839715e-06 5.32984085e-01] [ 2.10078404e-04 1.38709759e-05 9.99999978e-01 5.36279763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.260888479 meters 0.03868768875759943 Centerline is valid? [True, True] Translation: X:16.66, Y:0.54, Z:0.05 [[ 9.99429417e-01 3.34400394e-02 -4.75438700e-03 1.66564571e+01] [-3.34412301e-02 9.99440671e-01 -1.71137408e-04 5.36751632e-01] [ 4.74600489e-03 3.30032309e-04 9.99988683e-01 4.78293613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.290888479 meters 0.03647668487464089 Centerline is valid? [True, True] Translation: X:16.69, Y:0.54, Z:0.05 [[ 9.99336561e-01 3.60221921e-02 -5.37031781e-03 1.66876208e+01] [-3.60237479e-02 9.99350915e-01 -1.93213845e-04 5.37379941e-01] [ 5.35987204e-03 3.86544634e-04 9.99985561e-01 4.73669501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.320888478999997 meters 0.03699098630250008 Centerline is valid? [True, True] Translation: X:16.72, Y:0.54, Z:0.05 [[ 9.99270678e-01 3.77761777e-02 -5.57426440e-03 1.67190888e+01] [-3.77778798e-02 9.99286141e-01 -2.00330599e-04 5.40116849e-01] [ 5.56271743e-03 4.10768384e-04 9.99984444e-01 4.71796959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.350888478999998 meters 0.03960064641944047 Centerline is valid? [True, True] Translation: X:16.75, Y:0.55, Z:0.05 [[ 9.99153009e-01 4.11110923e-02 -1.77290248e-03 1.67490764e+01] [-4.11112697e-02 9.99154572e-01 -6.36993976e-05 5.48151090e-01] [ 1.76878487e-03 1.36531717e-04 9.99998426e-01 5.01315037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.380888479 meters 0.03902265051588237 Centerline is valid? [True, True] Translation: X:16.78, Y:0.55, Z:0.05 [[ 9.99108405e-01 4.22182207e-02 1.33599847e-04 1.67810349e+01] [-4.22182218e-02 9.99108413e-01 5.05767217e-06 5.50913669e-01] [-1.33267205e-04 -1.06935107e-05 9.99999991e-01 5.19799685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410888478999997 meters 0.03992370714728423 Centerline is valid? [True, True] Translation: X:16.81, Y:0.55, Z:0.05 [[ 9.99093923e-01 4.25437538e-02 1.16706883e-03 1.68135257e+01] [-4.25438313e-02 9.99094600e-01 4.16399364e-05 5.54967951e-01] [-1.16424065e-03 -9.12537868e-05 9.99999318e-01 5.28190789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.440888478999998 meters 0.039046352025152026 Centerline is valid? [True, True] Translation: X:16.84, Y:0.55, Z:0.05 [[ 9.99183578e-01 4.03520902e-02 1.97159458e-03 1.68444787e+01] [-4.03523059e-02 9.99185512e-01 6.97726659e-05 5.54398313e-01] [-1.96717327e-03 -1.49274090e-04 9.99998054e-01 5.38196983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.470888479 meters 0.039708101199351246 Centerline is valid? [True, True] Translation: X:16.88, Y:0.55, Z:0.05 [[ 9.99254614e-01 3.85811187e-02 1.30870147e-03 1.68756371e+01] [-3.85812123e-02 9.99255467e-01 4.62941692e-05 5.53091503e-01] [-1.30594102e-03 -9.67509515e-05 9.99999143e-01 5.35412278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.500888478999997 meters 0.0384084086474345 Centerline is valid? [True, True] Translation: X:16.91, Y:0.55, Z:0.05 [[ 9.99305585e-01 3.72241676e-02 1.64577389e-03 1.69072964e+01] [-3.72243136e-02 9.99306933e-01 5.81479528e-05 5.51739070e-01] [-1.64246875e-03 -1.19370377e-04 9.99998644e-01 5.43528166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530888478999998 meters 0.037460625567039704 Centerline is valid? [True, True] Translation: X:16.94, Y:0.55, Z:0.05 [[ 9.99407412e-01 3.44167900e-02 5.56861918e-04 1.69377696e+01] [-3.44168063e-02 9.99407566e-01 1.96609458e-05 5.47873517e-01] [-5.55855347e-04 -3.88147037e-05 9.99999845e-01 5.28280925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.560888479 meters 0.036314359517924 Centerline is valid? [True, True] Translation: X:16.97, Y:0.55, Z:0.05 [[ 9.99417782e-01 3.41178606e-02 2.63335957e-04 1.69703318e+01] [-3.41178643e-02 9.99417816e-01 9.51894681e-06 5.48269543e-01] [-2.62857881e-04 -1.84978651e-05 9.99999965e-01 5.21680026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590888478999997 meters 0.035872116281548884 Centerline is valid? [True, True] Translation: X:17.00, Y:0.55, Z:0.05 [[ 9.99452608e-01 3.30825954e-02 1.63825377e-04 1.70024403e+01] [-3.30825969e-02 9.99452621e-01 5.98873425e-06 5.49682098e-01] [-1.63537579e-04 -1.14052250e-05 9.99999987e-01 4.91582495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.620888478999998 meters 0.03588998844727939 Centerline is valid? [True, True] Translation: X:17.04, Y:0.55, Z:0.05 [[ 9.99439518e-01 3.34678142e-02 7.44952324e-04 1.70354445e+01] [-3.34678428e-02 9.99439794e-01 2.60460447e-05 5.50517343e-01] [-7.43663294e-04 -5.09633937e-05 9.99999722e-01 4.93246648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650888479 meters 0.03630390435156344 Centerline is valid? [True, True] Translation: X:17.07, Y:0.55, Z:0.05 [[ 9.99408777e-01 3.43558787e-02 1.33073225e-03 1.70671485e+01] [-3.43559702e-02 9.99409658e-01 4.58969558e-05 5.51816570e-01] [-1.32836983e-03 -9.15884180e-05 9.99999114e-01 5.03594916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.680888478999996 meters 0.035145394324207324 Centerline is valid? [True, True] Translation: X:17.10, Y:0.55, Z:0.05 [[ 9.99363707e-01 3.56205454e-02 1.83233515e-03 1.70993140e+01] [-3.56207198e-02 9.99365379e-01 6.26565026e-05 5.50969463e-01] [-1.82894046e-03 -1.27885732e-04 9.99998319e-01 5.12987147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710888478999998 meters 0.04086414361434814 Centerline is valid? [True, True] Translation: X:17.13, Y:0.56, Z:0.05 [[ 9.99279211e-01 3.79307483e-02 1.52205754e-03 1.71295981e+01] [-3.79308710e-02 9.99280364e-01 5.17972483e-05 5.58098226e-01] [-1.51899751e-03 -1.09492882e-04 9.99998840e-01 4.98900288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.740888479 meters 0.040633445405709456 Centerline is valid? [True, True] Translation: X:17.16, Y:0.56, Z:0.05 [[ 9.99227179e-01 3.92531572e-02 2.05784332e-03 1.71615784e+01] [-3.92533841e-02 9.99229286e-01 6.99380794e-05 5.60177502e-01] [-2.05351202e-03 -1.50661344e-04 9.99997880e-01 5.04635336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.770888478999996 meters 0.04029306008837259 Centerline is valid? [True, True] Translation: X:17.19, Y:0.56, Z:0.05 [[ 9.99175904e-01 4.04924260e-02 2.80635114e-03 1.71931272e+01] [-4.04928513e-02 9.99179824e-01 9.48797899e-05 5.60420432e-01] [-2.80020752e-03 -2.08438759e-04 9.99996058e-01 5.02259154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.800888478999997 meters 0.03999689769243154 Centerline is valid? [True, True] Translation: X:17.22, Y:0.56, Z:0.05 [[ 9.99094727e-01 4.25248959e-02 1.16575248e-03 1.72240659e+01] [-4.25249706e-02 9.99095404e-01 3.93013859e-05 5.60353124e-01] [-1.16302666e-03 -8.88393975e-05 9.99999320e-01 4.79415405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.830888479 meters 0.04059351613980332 Centerline is valid? [True, True] Translation: X:17.26, Y:0.56, Z:0.05 [[ 9.99040136e-01 4.38040849e-02 -9.29905823e-05 1.72550287e+01] [-4.38040854e-02 9.99040140e-01 -2.84391256e-06 5.63839073e-01] [ 9.27767494e-05 6.91455020e-06 9.99999996e-01 4.53001024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.860888478999996 meters 0.04059351613980332 Centerline is valid? [True, True] Translation: X:17.29, Y:0.56, Z:0.05 [[ 9.99027542e-01 4.40903710e-02 -9.29934972e-05 1.72875820e+01] [-4.40903714e-02 9.99027547e-01 -2.75527539e-06 5.64849585e-01] [ 9.27815843e-05 6.85271384e-06 9.99999996e-01 4.52625904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890888478999997 meters 0.043008396697906966 Centerline is valid? [True, True] Translation: X:17.32, Y:0.57, Z:0.04 [[ 9.98977033e-01 4.52012939e-02 -1.31534986e-03 1.73186824e+01] [-4.52013895e-02 9.98977894e-01 -4.30683350e-05 5.70462831e-01] [ 1.31205869e-03 1.02479919e-04 9.99999134e-01 4.25700898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.920888479 meters 0.04711742852721052 Centerline is valid? [True, True] Translation: X:17.35, Y:0.58, Z:0.04 [[ 9.98846589e-01 4.80132872e-02 -4.63922911e-04 1.73488891e+01] [-4.80132995e-02 9.98846696e-01 -1.52563251e-05 5.77527080e-01] [ 4.62655361e-04 3.75131979e-05 9.99999892e-01 4.27267862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950888478999996 meters 0.04410269193446913 Centerline is valid? [True, True] Translation: X:17.38, Y:0.57, Z:0.04 [[ 9.98763983e-01 4.97009654e-02 -5.65104768e-04 1.73805592e+01] [-4.97009836e-02 9.98764142e-01 -1.82100762e-05 5.74401762e-01] [ 5.63501321e-04 4.62738311e-05 9.99999840e-01 4.41241541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.980888478999997 meters 0.04845153402071334 Centerline is valid? [True, True] Translation: X:17.41, Y:0.58, Z:0.04 [[ 9.98735839e-01 5.02354495e-02 -1.76721888e-03 1.74113220e+01] [-5.02356287e-02 9.98737392e-01 -5.71097214e-05 5.78793883e-01] [ 1.76211864e-03 1.45814877e-04 9.99998437e-01 4.41366914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010888479 meters 0.042527663918613456 Centerline is valid? [True, True] Translation: X:17.44, Y:0.56, Z:0.04 [[ 9.98821467e-01 4.83545211e-02 -4.18530848e-03 1.74430064e+01] [-4.83555114e-02 9.98830179e-01 -1.35686511e-04 5.64915386e-01] [ 4.17385136e-03 3.37909332e-04 9.99991232e-01 4.38223509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.040888478999996 meters 0.040089683402898 Centerline is valid? [True, True] Translation: X:17.47, Y:0.56, Z:0.05 [[ 9.98927215e-01 4.61906078e-02 -3.29342065e-03 1.74738364e+01] [-4.61912092e-02 9.98932611e-01 -1.06724720e-04 5.62542643e-01] [ 3.28497561e-03 2.58737309e-04 9.99994571e-01 4.50970913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070888478999997 meters 0.041003145397461575 Centerline is valid? [True, True] Translation: X:17.50, Y:0.56, Z:0.04 [[ 9.99089031e-01 4.25865010e-02 -2.73838793e-03 1.75045539e+01] [-4.25869033e-02 9.99092762e-01 -8.87461562e-05 5.62150005e-01] [ 2.73212417e-03 2.05284773e-04 9.99996247e-01 4.38864199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.100888478999998 meters 0.03807010706630229 Centerline is valid? [True, True] Translation: X:17.54, Y:0.56, Z:0.04 [[ 9.99330668e-01 3.65618011e-02 1.20476712e-03 1.75354847e+01] [-3.65618746e-02 9.99331390e-01 3.90446677e-05 5.58684999e-01] [-1.20253406e-03 -8.30670783e-05 9.99999274e-01 4.48899283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130888479 meters 0.03680565085008857 Centerline is valid? [True, True] Translation: X:17.57, Y:0.56, Z:0.05 [[ 9.99401825e-01 3.44936295e-02 2.48642482e-03 1.75667068e+01] [-3.44939361e-02 9.99404904e-01 8.04949832e-05 5.57758512e-01] [-2.48216860e-03 -1.66213412e-04 9.99996906e-01 4.55776326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.160888478999997 meters 0.037864907256477266 Centerline is valid? [True, True] Translation: X:17.60, Y:0.56, Z:0.04 [[ 9.99475849e-01 3.23459131e-02 1.33047670e-03 1.75983046e+01] [-3.23459990e-02 9.99476730e-01 4.30409196e-05 5.56779930e-01] [-1.32838830e-03 -8.60539577e-05 9.99999114e-01 4.35679818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190888478999998 meters 0.03485704251153295 Centerline is valid? [True, True] Translation: X:17.63, Y:0.55, Z:0.04 [[ 9.99541153e-01 3.00804761e-02 -3.55643556e-03 1.76300948e+01] [-3.00810736e-02 9.99547456e-01 -1.14632047e-04 5.53712541e-01] [ 3.55137793e-03 2.21560848e-04 9.99993669e-01 3.87978292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.220888479 meters 0.03650474685728801 Centerline is valid? [True, True] Translation: X:17.66, Y:0.55, Z:0.04 [[ 9.99568393e-01 2.90127893e-02 -4.61365646e-03 1.76615425e+01] [-2.90137802e-02 9.99579001e-01 -1.47967000e-04 5.54007974e-01] [ 4.60742118e-03 2.81762751e-04 9.99989346e-01 3.76867725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.250888478999997 meters 0.03514075016336274 Centerline is valid? [True, True] Translation: X:17.69, Y:0.55, Z:0.04 [[ 9.99578308e-01 2.88056065e-02 -3.66637645e-03 1.76934536e+01] [-2.88062270e-02 9.99585008e-01 -1.16525623e-04 5.51269482e-01] [ 3.66149834e-03 2.22090958e-04 9.99993272e-01 4.08546393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.280888478999998 meters 0.03824837199175185 Centerline is valid? [True, True] Translation: X:17.72, Y:0.55, Z:0.04 [[ 9.99604999e-01 2.80596712e-02 -1.58159718e-03 1.77246689e+01] [-2.80597849e-02 9.99606245e-01 -4.97669877e-05 5.53807271e-01] [ 1.57957797e-03 9.41266063e-05 9.99998748e-01 4.40676025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310888479 meters 0.040531028346703475 Centerline is valid? [True, True] Translation: X:17.76, Y:0.56, Z:0.04 [[ 9.99602789e-01 2.81487958e-02 -1.38215299e-03 1.77557727e+01] [-2.81488823e-02 9.99603741e-01 -4.31646986e-05 5.57909494e-01] [ 1.38039027e-03 8.20536150e-05 9.99999044e-01 4.49321021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.340888478999997 meters 0.035707202290718505 Centerline is valid? [True, True] Translation: X:17.79, Y:0.56, Z:0.04 [[ 9.99559221e-01 2.95732943e-02 -2.60462497e-03 1.77875287e+01] [-2.95736053e-02 9.99562602e-01 -8.09601919e-05 5.56887155e-01] [ 2.60109145e-03 1.57952657e-04 9.99996605e-01 4.37369112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370888478999998 meters 0.03360692891261903 Centerline is valid? [True, True] Translation: X:17.82, Y:0.56, Z:0.04 [[ 9.99481342e-01 3.21010995e-02 -2.56251375e-03 1.78183579e+01] [-3.21014090e-02 9.99484614e-01 -7.97296651e-05 5.58370289e-01] [ 2.55863365e-03 1.61948615e-04 9.99996714e-01 4.31483270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.400888479 meters 0.03872155163400612 Centerline is valid? [True, True] Translation: X:17.85, Y:0.56, Z:0.04 [[ 9.99360112e-01 3.57290844e-02 -1.67319266e-03 1.78482807e+01] [-3.57292212e-02 9.99361506e-01 -5.19303525e-05 5.60689548e-01] [ 1.67026891e-03 1.11678994e-04 9.99998599e-01 4.31740552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430888478999996 meters 0.038707312452242945 Centerline is valid? [True, True] Translation: X:17.88, Y:0.56, Z:0.05 [[ 9.99309594e-01 3.71528182e-02 -6.36308080e-05 1.78804132e+01] [-3.71528184e-02 9.99309596e-01 -1.89131246e-06 5.60011641e-01] [ 6.35166094e-05 4.25407055e-06 9.99999998e-01 4.52983049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.460888478999998 meters 0.03865902373344467 Centerline is valid? [True, True] Translation: X:17.91, Y:0.56, Z:0.05 [[ 9.99280557e-01 3.78292802e-02 2.70428705e-03 1.79126842e+01] [-3.78296440e-02 9.99284199e-01 8.34616887e-05 5.58810158e-01] [-2.69919403e-03 -1.85703859e-04 9.99996340e-01 4.75528808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490888479 meters 0.0417179253976194 Centerline is valid? [True, True] Translation: X:17.94, Y:0.57, Z:0.05 [[ 9.99266769e-01 3.82470935e-02 1.75640568e-03 1.79441363e+01] [-3.82472470e-02 9.99268305e-01 5.38603042e-05 5.65100261e-01] [-1.75306053e-03 -1.20998494e-04 9.99998456e-01 4.65202345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.520888478999996 meters 0.03726897402156241 Centerline is valid? [True, True] Translation: X:17.98, Y:0.56, Z:0.04 [[ 9.99213794e-01 3.96445058e-02 3.25705930e-04 1.79757924e+01] [-3.96445112e-02 9.99213847e-01 1.00333850e-05 5.61630225e-01] [-3.25052107e-04 -2.29379491e-05 9.99999947e-01 4.49330424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550888478999997 meters 0.043895496066741375 Centerline is valid? [True, True] Translation: X:18.01, Y:0.57, Z:0.04 [[ 9.99177695e-01 4.05052355e-02 -1.80553273e-03 1.80063261e+01] [-4.05053997e-02 9.99179318e-01 -5.44384640e-05 5.70830320e-01] [ 1.80184592e-03 1.27527524e-04 9.99998369e-01 4.17141276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.580888479 meters 0.0403971770288086 Centerline is valid? [True, True] Translation: X:18.04, Y:0.57, Z:0.04 [[ 9.99033187e-01 4.39203228e-02 -1.92268391e-03 1.80366653e+01] [-4.39205155e-02 9.99035027e-01 -5.81004295e-05 5.66155069e-01] [ 1.91827678e-03 1.42489525e-04 9.99998150e-01 4.21490557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610888478999996 meters 0.04278894263864947 Centerline is valid? [True, True] Translation: X:18.07, Y:0.57, Z:0.04 [[ 9.98985870e-01 4.49995527e-02 -1.50701635e-03 1.80671081e+01] [-4.49996722e-02 9.98987001e-01 -4.54543550e-05 5.70467797e-01] [ 1.50344431e-03 1.13223500e-04 9.99998863e-01 4.34481516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.640888478999997 meters 0.04181065858234978 Centerline is valid? [True, True] Translation: X:18.10, Y:0.57, Z:0.04 [[ 9.99042224e-01 4.37104267e-02 -2.00848191e-03 1.80985773e+01] [-4.37106362e-02 9.99044232e-01 -6.05211130e-05 5.66332162e-01] [ 2.00391687e-03 1.48255170e-04 9.99997981e-01 4.31869300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670888479 meters 0.041377355347136484 Centerline is valid? [True, True] Translation: X:18.13, Y:0.57, Z:0.05 [[ 9.99124041e-01 4.18369421e-02 9.06181496e-04 1.81287940e+01] [-4.18369840e-02 9.99124450e-01 2.73286660e-05 5.67280090e-01] [-9.04244741e-04 -6.52166280e-05 9.99999589e-01 4.73072690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.700888478999996 meters 0.04010158117789839 Centerline is valid? [True, True] Translation: X:18.16, Y:0.57, Z:0.05 [[ 9.99183097e-01 4.03640670e-02 1.97019471e-03 1.81603386e+01] [-4.03642621e-02 9.99185029e-01 5.93431128e-05 5.67211379e-01] [-1.96619373e-03 -1.38820091e-04 9.99998057e-01 4.80326793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730888478999997 meters 0.04003354598300279 Centerline is valid? [True, True] Translation: X:18.19, Y:0.57, Z:0.05 [[ 9.99241248e-01 3.88722934e-02 2.42329132e-03 1.81909318e+01] [-3.88725839e-02 9.99244173e-01 7.28945152e-05 5.70654689e-01] [-2.41862616e-03 -1.67038802e-04 9.99997061e-01 4.70677869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.760888479 meters 0.041376922195247905 Centerline is valid? [True, True] Translation: X:18.22, Y:0.58, Z:0.05 [[ 9.99256426e-01 3.84749890e-02 2.50406293e-03 1.82217647e+01] [-3.84752971e-02 9.99259549e-01 7.49742796e-05 5.76919676e-01] [-2.49932416e-03 -1.71263096e-04 9.99996862e-01 4.57440272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790888478999996 meters 0.03873350304766863 Centerline is valid? [True, True] Translation: X:18.25, Y:0.57, Z:0.04 [[ 9.99312575e-01 3.70721751e-02 1.77826977e-04 1.82531139e+01] [-3.70721767e-02 9.99312591e-01 5.34069063e-06 5.73680908e-01] [-1.77506746e-04 -1.19294524e-05 9.99999984e-01 4.22723768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.820888478999997 meters 0.03901615560700271 Centerline is valid? [True, True] Translation: X:18.29, Y:0.57, Z:0.04 [[ 9.99293324e-01 3.75757874e-02 -9.55131239e-04 1.82850841e+01] [-3.75758311e-02 9.99293779e-01 -2.79408559e-05 5.74566237e-01] [ 9.53406805e-04 6.38109609e-05 9.99999543e-01 4.20870454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850888478999998 meters 0.03584533935461854 Centerline is valid? [True, True] Translation: X:18.32, Y:0.57, Z:0.04 [[ 9.99225872e-01 3.93153228e-02 -1.40083904e-03 1.83167049e+01] [-3.93154185e-02 9.99226849e-01 -4.08035854e-05 5.72886508e-01] [ 1.39815177e-03 9.58465713e-05 9.99999018e-01 4.20350846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.880888479 meters 0.04024371270258843 Centerline is valid? [True, True] Translation: X:18.35, Y:0.58, Z:0.04 [[ 9.99213216e-01 3.95145938e-02 -3.39797960e-03 1.83486456e+01] [-3.95151558e-02 9.99218966e-01 -9.84097580e-05 5.77066008e-01] [ 3.39143704e-03 2.32604024e-04 9.99994222e-01 3.92473630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910888478999997 meters 0.03889090984649718 Centerline is valid? [True, True] Translation: X:18.38, Y:0.58, Z:0.04 [[ 9.99160021e-01 4.08912173e-02 -2.67603135e-03 1.83807765e+01] [-4.08915691e-02 9.99163587e-01 -7.68249668e-05 5.78596771e-01] [ 2.67065162e-03 1.86187556e-04 9.99996416e-01 4.00971001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.940888478999998 meters 0.041421760722275644 Centerline is valid? [True, True] Translation: X:18.41, Y:0.58, Z:0.04 [[ 9.99075302e-01 4.29786379e-02 1.17375681e-03 1.84111177e+01] [-4.29787071e-02 9.99075988e-01 3.38175249e-05 5.83359992e-01] [-1.17121881e-03 -8.42328041e-05 9.99999311e-01 4.35704494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970888479 meters 0.04166403576322382 Centerline is valid? [True, True] Translation: X:18.44, Y:0.58, Z:0.04 [[ 9.99020271e-01 4.41703813e-02 2.73426590e-03 1.84432084e+01] [-4.41707611e-02 9.99023993e-01 7.86179226e-05 5.82187126e-01] [-2.72812465e-03 -1.99315504e-04 9.99996259e-01 4.46308901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.000888478999997 meters 0.04201810712429084 Centerline is valid? [True, True] Translation: X:18.48, Y:0.58, Z:0.05 [[ 9.98950580e-01 4.56763896e-02 3.37735351e-03 1.84753536e+01] [-4.56769766e-02 9.98956258e-01 9.68495240e-05 5.83265627e-01] [-3.36940469e-03 -2.51015186e-04 9.99994292e-01 4.59293382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030888478999998 meters 0.0419151374867606 Centerline is valid? [True, True] Translation: X:18.51, Y:0.58, Z:0.05 [[ 9.98884748e-01 4.69929554e-02 4.57417981e-03 1.85077285e+01] [-4.69940444e-02 9.98895161e-01 1.30818541e-04 5.84413070e-01] [-4.56297852e-03 -3.45631854e-04 9.99989530e-01 4.70038371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.060888479 meters 0.043543550136360125 Centerline is valid? [True, True] Translation: X:18.54, Y:0.58, Z:0.05 [[ 9.98851231e-01 4.76888850e-02 4.68915729e-03 1.85394799e+01] [-4.76900326e-02 9.98862174e-01 1.33151540e-04 5.84917181e-01] [-4.67747200e-03 -3.56624644e-04 9.99988997e-01 4.63427962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090888478999997 meters 0.04278521565070091 Centerline is valid? [True, True] Translation: X:18.57, Y:0.59, Z:0.05 [[ 9.98864456e-01 4.73791081e-02 5.00182879e-03 1.85716114e+01] [-4.73804038e-02 9.98876908e-01 1.40785148e-04 5.86033675e-01] [-4.98954100e-03 -3.77613947e-04 9.99987481e-01 4.54937902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.120888478999998 meters 0.04360688496313212 Centerline is valid? [True, True] Translation: X:18.60, Y:0.59, Z:0.04 [[ 9.98936064e-01 4.59586800e-02 3.81312715e-03 1.86021314e+01] [-4.59594217e-02 9.98943302e-01 1.07065764e-04 5.85317108e-01] [-3.80417722e-03 -2.82200972e-04 9.99992724e-01 4.37731573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150888479 meters 0.04116803373749183 Centerline is valid? [True, True] Translation: X:18.63, Y:0.58, Z:0.04 [[ 9.98932739e-01 4.60411650e-02 3.68703519e-03 1.86345772e+01] [-4.60418566e-02 9.98939506e-01 1.02874578e-04 5.81130539e-01] [-3.67838864e-03 -2.72522729e-04 9.99993198e-01 4.30157385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.180888478999996 meters 0.04124764536506979 Centerline is valid? [True, True] Translation: X:18.67, Y:0.58, Z:0.04 [[ 9.98915282e-01 4.63902164e-02 4.02573838e-03 1.86660209e+01] [-4.63910396e-02 9.98923350e-01 1.11300880e-04 5.82834123e-01] [-4.01624080e-03 -2.97938339e-04 9.99991890e-01 4.33457063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210888478999998 meters 0.039253298847320275 Centerline is valid? [True, True] Translation: X:18.70, Y:0.58, Z:0.05 [[ 9.98857346e-01 4.74526997e-02 5.67831324e-03 1.86980952e+01] [-4.74543459e-02 9.98873396e-01 1.55460072e-04 5.81958333e-01] [-5.66453903e-03 -4.24743076e-04 9.99983866e-01 4.51689980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.240888479 meters 0.041453910427135185 Centerline is valid? [True, True] Translation: X:18.73, Y:0.58, Z:0.05 [[ 9.98784627e-01 4.88330051e-02 6.67884280e-03 1.87304083e+01] [-4.88353084e-02 9.98806828e-01 1.82117705e-04 5.81994114e-01] [-6.66198044e-03 -5.08059712e-04 9.99977680e-01 4.71778348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270888478999996 meters 0.04630900868330914 Centerline is valid? [True, True] Translation: X:18.76, Y:0.59, Z:0.05 [[ 9.98733269e-01 4.99028336e-02 6.44712558e-03 1.87614839e+01] [-4.99049936e-02 9.98753954e-01 1.74492615e-04 5.89735410e-01] [-6.43038449e-03 -4.96015341e-04 9.99979202e-01 4.82378557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.300888478999997 meters 0.0447992064078078 Centerline is valid? [True, True] Translation: X:18.79, Y:0.59, Z:0.05 [[ 9.98669029e-01 5.11298107e-02 6.77588663e-03 1.87938422e+01] [-5.11322201e-02 9.98691876e-01 1.82723473e-04 5.91955632e-01] [-6.75768031e-03 -5.28946400e-04 9.99977027e-01 4.83782284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330888479 meters 0.04831713690184301 Centerline is valid? [True, True] Translation: X:18.82, Y:0.60, Z:0.04 [[ 9.98558703e-01 5.35321121e-02 3.85094104e-03 1.88243700e+01] [-5.35329078e-02 9.98566080e-01 1.03756111e-04 5.97064830e-01] [-3.83986482e-03 -3.09758639e-04 9.99992580e-01 4.31516600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.360888478999996 meters 0.045675397316134195 Centerline is valid? [True, True] Translation: X:18.86, Y:0.59, Z:0.04 [[ 9.98487738e-01 5.48610953e-02 3.53523318e-03 1.88565219e+01] [-5.48617735e-02 9.98493954e-01 9.50644670e-05 5.94525886e-01] [-3.52469362e-03 -2.88869867e-04 9.99993747e-01 4.26519167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390888478999997 meters 0.044928150157955406 Centerline is valid? [True, True] Translation: X:18.89, Y:0.59, Z:0.04 [[ 9.98432648e-01 5.59051998e-02 2.61842227e-03 1.88882772e+01] [-5.59055744e-02 9.98436058e-01 7.00100827e-05 5.91947861e-01] [-2.61041328e-03 -2.16284753e-04 9.99996569e-01 4.16594877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.420888479 meters 0.04496437883261064 Centerline is valid? [True, True] Translation: X:18.92, Y:0.59, Z:0.04 [[ 9.98394621e-01 5.66175949e-02 1.62128337e-03 1.89204444e+01] [-5.66177390e-02 9.98395928e-01 4.30661266e-05 5.90453308e-01] [-1.61624442e-03 -1.34790388e-04 9.99998685e-01 4.21720476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450888478999996 meters 0.0449370869859449 Centerline is valid? [True, True] Translation: X:18.95, Y:0.59, Z:0.04 [[ 9.98407328e-01 5.64103625e-02 8.23363200e-04 1.89523900e+01] [-5.64103995e-02 9.98407665e-01 2.18068595e-05 5.89304236e-01] [-8.20821997e-04 -6.82183754e-05 9.99999661e-01 4.19559492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.480888478999997 meters 0.04363274107100882 Centerline is valid? [True, True] Translation: X:18.98, Y:0.59, Z:0.04 [[ 9.98428627e-01 5.60317801e-02 8.45894722e-04 1.89842981e+01] [-5.60318189e-02 9.98428983e-01 2.21844862e-05 5.88601064e-01] [-8.43322771e-04 -6.95466460e-05 9.99999642e-01 4.21359322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510888479 meters 0.04550248683990206 Centerline is valid? [True, True] Translation: X:19.01, Y:0.59, Z:0.04 [[ 9.98498366e-01 5.47592567e-02 -1.56129611e-03 1.90144693e+01] [-5.47593863e-02 9.98499578e-01 -4.03682376e-05 5.94174331e-01] [ 1.55674297e-03 1.25803236e-04 9.99998780e-01 3.88274988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.540888478999996 meters 0.04723328757430409 Centerline is valid? [True, True] Translation: X:19.05, Y:0.60, Z:0.04 [[ 9.98443432e-01 5.56925613e-02 -3.00851411e-03 1.90456943e+01] [-5.56930441e-02 9.98447935e-01 -7.68799845e-05 5.99277345e-01] [ 2.99956306e-03 2.44313625e-04 9.99995471e-01 3.65120146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570888478999997 meters 0.04664653970321879 Centerline is valid? [True, True] Translation: X:19.08, Y:0.60, Z:0.04 [[ 9.98378832e-01 5.67631437e-02 -4.20166232e-03 1.90778113e+01] [-5.67640948e-02 9.98387613e-01 -1.07358055e-04 5.96450557e-01] [ 4.18879363e-03 3.45687568e-04 9.99991167e-01 3.58145857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.600888478999998 meters 0.04663446666581991 Centerline is valid? [True, True] Translation: X:19.11, Y:0.59, Z:0.04 [[ 9.98359721e-01 5.71768695e-02 -2.94512692e-03 1.91105950e+01] [-5.71773353e-02 9.98364035e-01 -7.41608561e-05 5.90001758e-01] [ 2.93606852e-03 2.42433721e-04 9.99995660e-01 4.03990185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630888479 meters 0.04907794969802342 Centerline is valid? [True, True] Translation: X:19.14, Y:0.59, Z:0.04 [[ 9.98420216e-01 5.61570831e-02 -1.85849924e-03 1.91406726e+01] [-5.61572671e-02 9.98421934e-01 -4.69498437e-05 5.92084558e-01] [ 1.85292984e-03 1.51243911e-04 9.99998272e-01 4.23405384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.660888478999997 meters 0.04863133161261442 Centerline is valid? [True, True] Translation: X:19.17, Y:0.59, Z:0.04 [[ 9.98508520e-01 5.45581669e-02 -2.03505013e-03 1.91725191e+01] [-5.45583840e-02 9.98510581e-01 -5.12681243e-05 5.92368198e-01] [ 2.02922199e-03 1.62220705e-04 9.99997928e-01 4.18078143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690888478999998 meters 0.04756058182609725 Centerline is valid? [True, True] Translation: X:19.20, Y:0.59, Z:0.04 [[ 9.98530459e-01 5.40516845e-02 -3.91626425e-03 1.92042327e+01] [-5.40524803e-02 9.98538091e-01 -9.75552138e-05 5.94935962e-01] [ 3.90526601e-03 3.09095649e-04 9.99992327e-01 3.70288026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.720888479 meters 0.04432858173981808 Centerline is valid? [True, True] Translation: X:19.24, Y:0.59, Z:0.04 [[ 9.98442860e-01 5.57227484e-02 -2.61365107e-03 1.92356732e+01] [-5.57231086e-02 9.98446258e-01 -6.51606147e-05 5.94793553e-01] [ 2.60595920e-03 2.10699913e-04 9.99996582e-01 3.76511983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750888478999997 meters 0.04432858173981808 Centerline is valid? [True, True] Translation: X:19.27, Y:0.60, Z:0.04 [[ 9.98427291e-01 5.60010074e-02 -2.61367609e-03 1.92682375e+01] [-5.60013659e-02 9.98430690e-01 -6.41516452e-05 5.95515889e-01] [ 2.60598186e-03 2.10420184e-04 9.99996582e-01 3.76137188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.780888478999998 meters 0.049456162721185346 Centerline is valid? [True, True] Translation: X:19.30, Y:0.60, Z:0.04 [[ 9.98385965e-01 5.66066359e-02 -4.59936584e-03 1.92990689e+01] [-5.66077494e-02 9.98396489e-01 -1.12162969e-04 6.00974132e-01] [ 4.58564154e-03 3.72341682e-04 9.99989417e-01 3.59887900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810888479 meters 0.04650236424375455 Centerline is valid? [True, True] Translation: X:19.33, Y:0.60, Z:0.04 [[ 9.98338273e-01 5.73862440e-02 -5.24523334e-03 1.93308862e+01] [-5.73877000e-02 9.98351960e-01 -1.27385696e-04 5.96134859e-01] [ 5.22927880e-03 4.28185894e-04 9.99986236e-01 3.66785923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.840888478999997 meters 0.045444660437541015 Centerline is valid? [True, True] Translation: X:19.36, Y:0.59, Z:0.04 [[ 9.98276959e-01 5.85185428e-02 -4.32357523e-03 1.93633915e+01] [-5.85195374e-02 9.98286258e-01 -1.03785944e-04 5.92950788e-01] [ 4.31009233e-03 3.56620739e-04 9.99990648e-01 4.03719513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.870888478999998 meters 0.04671361449765753 Centerline is valid? [True, True] Translation: X:19.40, Y:0.59, Z:0.04 [[ 9.98278563e-01 5.84842690e-02 -4.41604531e-03 1.93957467e+01] [-5.84853016e-02 9.98288264e-01 -1.04937122e-04 5.93038413e-01] [ 4.40234904e-03 3.63030221e-04 9.99990244e-01 4.08663086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.900888479 meters 0.04896242322598456 Centerline is valid? [True, True] Translation: X:19.43, Y:0.60, Z:0.04 [[ 9.98274571e-01 5.85659654e-02 -4.23178928e-03 1.94264021e+01] [-5.85669103e-02 9.98283480e-01 -9.96178508e-05 5.96038095e-01] [ 4.21869112e-03 3.47288791e-04 9.99991041e-01 4.11509319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930888478999996 meters 0.047571758399850554 Centerline is valid? [True, True] Translation: X:19.46, Y:0.60, Z:0.04 [[ 9.98254023e-01 5.89505243e-02 -3.70680928e-03 1.94598542e+01] [-5.89512478e-02 9.98260859e-01 -8.61344426e-05 5.96355901e-01] [ 3.69528494e-03 3.04505086e-04 9.99993126e-01 4.13204209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.960888478999998 meters 0.047366739090197764 Centerline is valid? [True, True] Translation: X:19.49, Y:0.60, Z:0.04 [[ 9.98170987e-01 6.04048400e-02 -2.43646163e-03 1.94922512e+01] [-6.04051568e-02 9.98173940e-01 -5.65759919e-05 5.99214302e-01] [ 2.42859504e-03 2.03647360e-04 9.99997030e-01 4.12360192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990888479 meters 0.049973163013617844 Centerline is valid? [True, True] Translation: X:19.52, Y:0.60, Z:0.04 [[ 9.98093639e-01 6.16470149e-02 -2.95533076e-03 1.95232113e+01] [-6.16474839e-02 9.98097983e-01 -6.77988242e-05 6.02370164e-01] [ 2.94553007e-03 2.49858281e-04 9.99995631e-01 4.09469616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.020888478999996 meters 0.05012397419128346 Centerline is valid? [True, True] Translation: X:19.56, Y:0.60, Z:0.04 [[ 9.98060175e-01 6.21636355e-02 -3.40146064e-03 1.95556799e+01] [-6.21642571e-02 9.98065929e-01 -7.72390024e-05 6.01914087e-01] [ 3.39008052e-03 2.88538446e-04 9.99994212e-01 4.09450416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050888478999997 meters 0.05128205596823336 Centerline is valid? [True, True] Translation: X:19.59, Y:0.60, Z:0.04 [[ 9.98045034e-01 6.23381735e-02 -4.47900745e-03 1.95888900e+01] [-6.23392479e-02 9.98055013e-01 -1.00534735e-04 5.98946762e-01] [ 4.46402869e-03 3.79556149e-04 9.99989964e-01 4.09381908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.080888479 meters 0.05400817350806473 Centerline is valid? [True, True] Translation: X:19.62, Y:0.60, Z:0.04 [[ 9.98062413e-01 6.20639250e-02 -4.41473634e-03 1.96196635e+01] [-6.20649621e-02 9.98072107e-01 -9.81783414e-05 6.00814136e-01] [ 4.40013186e-03 3.71988556e-04 9.99990250e-01 4.05318883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110888478999996 meters 0.04614497976183489 Centerline is valid? [True, True] Translation: X:19.65, Y:0.59, Z:0.04 [[ 9.98093756e-01 6.15588214e-02 -4.40071635e-03 1.96525239e+01] [-6.15598461e-02 9.98103389e-01 -9.76269165e-05 5.90838445e-01] [ 4.38636011e-03 3.68348237e-04 9.99990312e-01 4.11871669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.140888478999997 meters 0.04546241899787844 Centerline is valid? [True, True] Translation: X:19.68, Y:0.59, Z:0.04 [[ 9.98165647e-01 6.03232896e-02 -5.14212124e-03 1.96839719e+01] [-6.03246717e-02 9.98178802e-01 -1.13968147e-04 5.90038071e-01] [ 5.12588149e-03 4.23955865e-04 9.99986773e-01 3.98982675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170888479 meters 0.044880086466866885 Centerline is valid? [True, True] Translation: X:19.71, Y:0.59, Z:0.04 [[ 9.98341958e-01 5.73339674e-02 -5.11382311e-03 1.97144902e+01] [-5.73352952e-02 9.98354972e-01 -1.13303595e-04 5.90362359e-01] [ 5.09891459e-03 4.06318291e-04 9.99986918e-01 3.82293496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.200888478999996 meters 0.04432456814978995 Centerline is valid? [True, True] Translation: X:19.75, Y:0.59, Z:0.04 [[ 9.98386923e-01 5.66034408e-02 -4.42752615e-03 1.97456847e+01] [-5.66044234e-02 9.98396680e-01 -9.68383125e-05 5.91977589e-01] [ 4.41494602e-03 3.47299670e-04 9.99990194e-01 3.88546696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230888478999997 meters 0.04314864496063348 Centerline is valid? [True, True] Translation: X:19.78, Y:0.59, Z:0.04 [[ 9.98451431e-01 5.54357640e-02 -4.64940687e-03 1.97776097e+01] [-5.54368349e-02 9.98462191e-01 -1.01659397e-04 5.89773915e-01] [ 4.63662141e-03 3.59250371e-04 9.99989186e-01 3.94798211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.260888479 meters 0.0441040613477306 Centerline is valid? [True, True] Translation: X:19.81, Y:0.59, Z:0.04 [[ 9.98512142e-01 5.42053325e-02 -5.94000548e-03 1.98090837e+01] [-5.42070577e-02 9.98529708e-01 -1.29705712e-04 5.89200510e-01] [ 5.92424120e-03 4.51502947e-04 9.99982350e-01 3.87483349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290888478999996 meters 0.04484915546654716 Centerline is valid? [True, True] Translation: X:19.84, Y:0.59, Z:0.04 [[ 9.98526578e-01 5.40200012e-02 -5.14911752e-03 1.98400434e+01] [-5.40212879e-02 9.98539778e-01 -1.11044555e-04 5.90670721e-01] [ 5.13560004e-03 3.89042900e-04 9.99986737e-01 4.09992794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.320888478999997 meters 0.04365338114590887 Centerline is valid? [True, True] Translation: X:19.87, Y:0.59, Z:0.04 [[ 9.98574993e-01 5.31521232e-02 -4.77860956e-03 1.98728226e+01] [-5.31532202e-02 9.98586363e-01 -1.02782252e-04 5.87490504e-01] [ 4.76639124e-03 3.56634273e-04 9.99988577e-01 4.14039695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350888478999998 meters 0.04083282651028827 Centerline is valid? [True, True] Translation: X:19.90, Y:0.58, Z:0.04 [[ 9.98594101e-01 5.28694770e-02 -3.82631548e-03 1.99049407e+01] [-5.28701739e-02 9.98601391e-01 -8.11427236e-05 5.84766619e-01] [ 3.81667398e-03 2.83326610e-04 9.99992676e-01 4.19120146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.380888479 meters 0.04107996820418508 Centerline is valid? [True, True] Translation: X:19.94, Y:0.59, Z:0.04 [[ 9.98587573e-01 5.30004618e-02 -3.71619490e-03 1.99365424e+01] [-5.30011166e-02 9.98594450e-01 -7.78771603e-05 5.89259760e-01] [ 3.70684407e-03 2.74729644e-04 9.99993092e-01 3.90415664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410888478999997 meters 0.042138951732705855 Centerline is valid? [True, True] Translation: X:19.97, Y:0.59, Z:0.04 [[ 9.98528331e-01 5.40228416e-02 -4.76486263e-03 1.99690309e+01] [-5.40239245e-02 9.98539637e-01 -9.87537416e-05 5.91368632e-01] [ 4.75256924e-03 3.56024987e-04 9.99988643e-01 3.73605794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.440888478999998 meters 0.04464724458691109 Centerline is valid? [True, True] Translation: X:20.00, Y:0.60, Z:0.04 [[ 9.98403565e-01 5.62831922e-02 -4.74588175e-03 1.99988756e+01] [-5.62842932e-02 9.98414778e-01 -9.86441805e-05 5.97672500e-01] [ 4.73280646e-03 3.65605301e-04 9.99988733e-01 3.78295533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470888479 meters 0.04497098517015212 Centerline is valid? [True, True] Translation: X:20.03, Y:0.59, Z:0.04 [[ 9.98219660e-01 5.91339962e-02 -7.78985041e-03 2.00294666e+01] [-5.91370485e-02 9.98249860e-01 -1.61876304e-04 5.94829461e-01] [ 7.76664469e-03 6.22256871e-04 9.99969646e-01 3.59898639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.500888478999997 meters 0.04739366411219526 Centerline is valid? [True, True] Translation: X:20.06, Y:0.60, Z:0.04 [[ 9.98100468e-01 6.10215399e-02 -8.47513093e-03 2.00595388e+01] [-6.10252205e-02 9.98136209e-01 -1.76121954e-04 5.99342505e-01] [ 8.44858783e-03 6.92984139e-04 9.99964070e-01 3.57122975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530888478999998 meters 0.04686736631899712 Centerline is valid? [True, True] Translation: X:20.09, Y:0.60, Z:0.04 [[ 9.98016806e-01 6.23528853e-02 -8.63560032e-03 2.00919563e+01] [-6.23567502e-02 9.98053908e-01 -1.78767072e-04 5.98509921e-01] [ 8.60764801e-03 7.16900514e-04 9.99962697e-01 3.59151950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.560888479 meters 0.05101792863090847 Centerline is valid? [True, True] Translation: X:20.12, Y:0.60, Z:0.04 [[ 9.97941660e-01 6.37403023e-02 -7.04395091e-03 2.01224289e+01] [-6.37429065e-02 9.97966342e-01 -1.45596629e-04 6.04367443e-01] [ 7.02034556e-03 5.94298847e-04 9.99975180e-01 3.73916892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590888478999997 meters 0.051025297313742835 Centerline is valid? [True, True] Translation: X:20.15, Y:0.60, Z:0.04 [[ 9.97904941e-01 6.45433291e-02 -4.45963174e-03 2.01549110e+01] [-6.45443750e-02 9.97914834e-01 -9.08634701e-05 6.02356073e-01] [ 4.44446804e-03 3.78517249e-04 9.99990052e-01 4.10334770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.620888478999998 meters 0.050260892380529824 Centerline is valid? [True, True] Translation: X:20.19, Y:0.60, Z:0.04 [[ 9.97874926e-01 6.50003366e-02 -4.53752647e-03 2.01867176e+01] [-6.50014191e-02 9.97885167e-01 -9.13595462e-05 6.01259288e-01] [ 4.52199196e-03 3.86111060e-04 9.99989701e-01 4.05020931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650888479 meters 0.05095327796122395 Centerline is valid? [True, True] Translation: X:20.22, Y:0.60, Z:0.04 [[ 9.97882659e-01 6.48339025e-02 -5.17342412e-03 2.02176893e+01] [-6.48353019e-02 9.97895973e-01 -1.03074075e-04 6.03625882e-01] [ 5.15585640e-03 4.38276347e-04 9.99986612e-01 3.87087421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.680888478999996 meters 0.05129064045887604 Centerline is valid? [True, True] Translation: X:20.25, Y:0.61, Z:0.04 [[ 9.97918585e-01 6.42715531e-02 -5.25985829e-03 2.02499004e+01] [-6.42729854e-02 9.97932349e-01 -1.03536996e-04 6.05349297e-01] [ 5.24232825e-03 4.41388287e-04 9.99986161e-01 3.67751076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710888478999998 meters 0.05221098684300399 Centerline is valid? [True, True] Translation: X:20.28, Y:0.61, Z:0.04 [[ 9.97948158e-01 6.37970875e-02 -5.42275492e-03 2.02807192e+01] [-6.37985966e-02 9.97962789e-01 -1.05588665e-04 6.06086626e-01] [ 5.40497137e-03 4.51336167e-04 9.99985291e-01 3.64169687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.740888479 meters 0.04556201040431022 Centerline is valid? [True, True] Translation: X:20.31, Y:0.60, Z:0.04 [[ 9.97977112e-01 6.32514822e-02 -6.39803066e-03 2.03135137e+01] [-6.32535671e-02 9.97997480e-01 -1.23837606e-04 5.95363869e-01] [ 6.37738556e-03 5.28285358e-04 9.99979525e-01 3.60287148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770888478999996 meters 0.04609211440225361 Centerline is valid? [True, True] Translation: X:20.34, Y:0.59, Z:0.03 [[ 9.98127792e-01 6.06386856e-02 -7.99131549e-03 2.03430830e+01] [-6.06418579e-02 9.98159577e-01 -1.55034751e-04 5.94455916e-01] [ 7.96720699e-03 6.39352712e-04 9.99968057e-01 3.32989586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.800888478999997 meters 0.04412936356037368 Centerline is valid? [True, True] Translation: X:20.38, Y:0.59, Z:0.03 [[ 9.98177438e-01 5.99371429e-02 -7.02434259e-03 2.03753930e+01] [-5.99395625e-02 9.98201999e-01 -1.34257893e-04 5.92660976e-01] [ 7.00366578e-03 5.55049221e-04 9.99975320e-01 3.48825854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830888479 meters 0.04627010531440307 Centerline is valid? [True, True] Translation: X:20.41, Y:0.59, Z:0.04 [[ 9.98353418e-01 5.72667325e-02 -3.31281007e-03 2.04053893e+01] [-5.72672565e-02 9.98358882e-01 -6.34532330e-05 5.94786092e-01] [ 3.30373960e-03 2.53064296e-04 9.99994511e-01 3.92727946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.860888478999996 meters 0.045825885991682795 Centerline is valid? [True, True] Translation: X:20.44, Y:0.59, Z:0.04 [[ 9.98424687e-01 5.60780535e-02 -1.84306025e-03 2.04371740e+01] [-5.60782134e-02 9.98426378e-01 -3.51478174e-05 5.94528911e-01] [ 1.83818894e-03 1.38447974e-04 9.99998301e-01 4.04626015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890888478999997 meters 0.042271545433790136 Centerline is valid? [True, True] Translation: X:20.47, Y:0.59, Z:0.04 [[ 9.98457117e-01 5.54992189e-02 -1.79478370e-03 2.04695290e+01] [-5.54993684e-02 9.98458722e-01 -3.35560651e-05 5.89213139e-01] [ 1.79015510e-03 1.33113654e-04 9.99998389e-01 4.05539758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.920888479 meters 0.046084829459034304 Centerline is valid? [True, True] Translation: X:20.50, Y:0.59, Z:0.04 [[ 9.98465896e-01 5.53145911e-02 -2.48009276e-03 2.05010299e+01] [-5.53148747e-02 9.98468959e-01 -4.58721894e-05 5.93752888e-01] [ 2.47375823e-03 1.82987837e-04 9.99996924e-01 3.92143381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950888478999996 meters 0.042238077984771444 Centerline is valid? [True, True] Translation: X:20.53, Y:0.59, Z:0.04 [[ 9.98363408e-01 5.70988835e-02 -3.19724937e-03 2.05325769e+01] [-5.70993647e-02 9.98368499e-01 -5.93471926e-05 5.88755671e-01] [ 3.18864439e-03 2.41810973e-04 9.99994887e-01 3.88428302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.980888478999997 meters 0.04339170889192594 Centerline is valid? [True, True] Translation: X:20.56, Y:0.59, Z:0.04 [[ 9.98261494e-01 5.88448980e-02 -3.35660892e-03 2.05634793e+01] [-5.88454380e-02 9.98267104e-01 -6.22687805e-05 5.91886816e-01] [ 3.34712806e-03 2.59681648e-04 9.99994365e-01 3.78098493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010888479 meters 0.04393734586567764 Centerline is valid? [True, True] Translation: X:20.60, Y:0.59, Z:0.04 [[ 9.98183549e-01 6.01560712e-02 -3.29395737e-03 2.05953479e+01] [-6.01565973e-02 9.98188950e-01 -6.08103047e-05 5.93438628e-01] [ 3.28433374e-03 2.58853113e-04 9.99994573e-01 3.61789472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.040888478999996 meters 0.044285816130007656 Centerline is valid? [True, True] Translation: X:20.63, Y:0.60, Z:0.03 [[ 9.98084171e-01 6.17462153e-02 -3.92320748e-03 2.06263862e+01] [-6.17469739e-02 9.98091832e-01 -7.24344218e-05 5.95610621e-01] [ 3.91124879e-03 3.14541840e-04 9.99992302e-01 3.47729810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070888478999997 meters 0.04662426094072345 Centerline is valid? [True, True] Translation: X:20.66, Y:0.60, Z:0.03 [[ 9.97936409e-01 6.38451971e-02 -6.83477759e-03 2.06559772e+01] [-6.38475488e-02 9.97959656e-01 -1.26226461e-04 5.97296289e-01] [ 6.81277334e-03 5.62349778e-04 9.99976635e-01 3.22617495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.100888478999998 meters 0.04874647488572574 Centerline is valid? [True, True] Translation: X:20.69, Y:0.60, Z:0.03 [[ 9.97886274e-01 6.45466963e-02 -7.53051509e-03 2.06866705e+01] [-6.45495631e-02 9.97914493e-01 -1.38018972e-04 5.98097334e-01] [ 7.50590148e-03 6.23818697e-04 9.99971636e-01 3.17168379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.130888478999996 meters 0.04949722949730872 Centerline is valid? [True, True] Translation: X:20.72, Y:0.60, Z:0.03 [[ 9.97870519e-01 6.48694208e-02 -6.81075506e-03 2.07187846e+01] [-6.48717603e-02 9.97893601e-01 -1.22914019e-04 5.98169217e-01] [ 6.78843554e-03 5.64477946e-04 9.99976799e-01 3.31047315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.160888478999997 meters 0.046757611527340655 Centerline is valid? [True, True] Translation: X:20.75, Y:0.59, Z:0.04 [[ 9.97946923e-01 6.39160005e-02 -4.08446645e-03 2.07505441e+01] [-6.39168331e-02 9.97955226e-01 -7.34988772e-05 5.89956648e-01] [ 4.07141689e-03 3.34414139e-04 9.99991656e-01 3.69905186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.190888478999998 meters 0.0485933484974436 Centerline is valid? [True, True] Translation: X:20.78, Y:0.59, Z:0.04 [[ 9.97956994e-01 6.38690211e-02 -1.60844009e-03 2.07815829e+01] [-6.38691492e-02 9.97958281e-01 -2.83595835e-05 5.93157235e-01] [ 1.60334481e-03 1.31031345e-04 9.99998706e-01 3.85268358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.220888479 meters 0.043910626880003696 Centerline is valid? [True, True] Translation: X:20.81, Y:0.59, Z:0.04 [[ 9.97969350e-01 6.36904710e-02 -8.36443576e-04 2.08138846e+01] [-6.36905053e-02 9.97969699e-01 -1.43889377e-05 5.88551294e-01] [ 8.33828906e-04 6.76332328e-05 9.99999650e-01 3.93239565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250888478999997 meters 0.047148479321245225 Centerline is valid? [True, True] Translation: X:20.85, Y:0.59, Z:0.04 [[ 9.97957317e-01 6.38815358e-02 -5.85598744e-04 2.08453853e+01] [-6.38815525e-02 9.97957488e-01 -9.81535438e-06 5.94536802e-01] [ 5.83775632e-04 4.72042616e-05 9.99999828e-01 3.93681180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.280888478999998 meters 0.047111887220055416 Centerline is valid? [True, True] Translation: X:20.88, Y:0.59, Z:0.04 [[ 9.98063459e-01 6.20649939e-02 -4.15563634e-03 2.08773562e+01] [-6.20658263e-02 9.98072056e-01 -7.15321022e-05 5.85930217e-01] [ 4.14318486e-03 3.29316581e-04 9.99991363e-01 3.54351991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310888479 meters 0.04433972694813231 Centerline is valid? [True, True] Translation: X:20.91, Y:0.58, Z:0.04 [[ 9.98060057e-01 6.20109686e-02 -5.54639710e-03 2.09094051e+01] [-6.20124420e-02 9.98075372e-01 -9.39004743e-05 5.79146959e-01] [ 5.52989949e-03 4.37663941e-04 9.99984614e-01 3.58193432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.340888478999997 meters 0.04506007546153465 Centerline is valid? [True, True] Translation: X:20.94, Y:0.58, Z:0.03 [[ 9.98023115e-01 6.25643867e-02 -5.96322628e-03 2.09419628e+01] [-6.25660911e-02 9.98040818e-01 -9.95154956e-05 5.78640614e-01] [ 5.94531711e-03 4.72414524e-04 9.99982215e-01 3.49002542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370888478999998 meters 0.044356709920066545 Centerline is valid? [True, True] Translation: X:20.97, Y:0.58, Z:0.03 [[ 9.97914412e-01 6.44269613e-02 -3.99907473e-03 2.09729490e+01] [-6.44277430e-02 9.97922372e-01 -6.68362538e-05 5.82457297e-01] [ 3.98646009e-03 3.24348220e-04 9.99992001e-01 3.40815649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.400888479 meters 0.04685397267798966 Centerline is valid? [True, True] Translation: X:21.00, Y:0.59, Z:0.03 [[ 9.97827375e-01 6.58144900e-02 -2.99718927e-03 2.10040279e+01] [-6.58149326e-02 9.97831846e-01 -4.91664369e-05 5.87224723e-01] [ 2.98745503e-03 2.46319426e-04 9.99995507e-01 3.32953250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430888478999996 meters 0.04818941966960877 Centerline is valid? [True, True] Translation: X:21.04, Y:0.59, Z:0.03 [[ 9.97715705e-01 6.75041046e-02 -2.56264711e-03 2.10357155e+01] [-6.75044321e-02 9.97718973e-01 -4.14237883e-05 5.89179015e-01] [ 2.55400537e-03 2.14319202e-04 9.99996716e-01 3.36363122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.460888478999998 meters 0.047688967096471815 Centerline is valid? [True, True] Translation: X:21.07, Y:0.59, Z:0.04 [[ 9.97527708e-01 7.02651000e-02 -1.13443092e-03 2.10668854e+01] [-7.02651660e-02 9.97528349e-01 -1.83971571e-05 5.89516808e-01] [ 1.13033432e-03 9.80626506e-05 9.99999356e-01 3.76225158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490888479 meters 0.05119245683337473 Centerline is valid? [True, True] Translation: X:21.10, Y:0.59, Z:0.04 [[ 9.97387924e-01 7.22267727e-02 -7.89110988e-04 2.10965749e+01] [-7.22268051e-02 9.97388234e-01 -1.26660015e-05 5.88582893e-01] [ 7.86135190e-04 6.96278825e-05 9.99999689e-01 4.09069155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.520888478999996 meters 0.052368043651864066 Centerline is valid? [True, True] Translation: X:21.13, Y:0.59, Z:0.04 [[ 9.97358922e-01 7.26252118e-02 -8.71568439e-04 2.11291856e+01] [-7.26252512e-02 9.97359300e-01 -1.35328340e-05 5.87356677e-01] [ 8.68284063e-04 7.67949695e-05 9.99999620e-01 4.13637229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550888478999997 meters 0.054416666399391404 Centerline is valid? [True, True] Translation: X:21.16, Y:0.59, Z:0.04 [[ 9.97289440e-01 7.35783225e-02 4.86734222e-05 2.11604420e+01] [-7.35783227e-02 9.97289442e-01 1.01671581e-06 5.90379313e-01] [-4.84666818e-05 -4.59526870e-06 9.99999999e-01 4.22845107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.580888479 meters 0.050114806134357245 Centerline is valid? [True, True] Translation: X:21.19, Y:0.59, Z:0.04 [[ 9.97238454e-01 7.42661884e-02 -6.90810042e-06 2.11921228e+01] [-7.42661884e-02 9.97238454e-01 1.54872523e-07 5.89429706e-01] [ 6.90052517e-06 3.58593453e-07 1.00000000e+00 3.87643676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610888478999996 meters 0.04743068144272541 Centerline is valid? [True, True] Translation: X:21.22, Y:0.59, Z:0.04 [[ 9.97207839e-01 7.46627050e-02 -1.41621812e-03 2.12247293e+01] [-7.46628098e-02 9.97208837e-01 -2.12272400e-05 5.87689338e-01] [ 1.41068034e-03 1.26906794e-04 9.99998997e-01 3.60650986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.640888478999997 meters 0.05023564444790299 Centerline is valid? [True, True] Translation: X:21.26, Y:0.59, Z:0.03 [[ 9.97244627e-01 7.41507944e-02 -2.19380561e-03 2.12555609e+01] [-7.41510440e-02 9.97247021e-01 -3.25593023e-05 5.91383449e-01] [ 2.18535182e-03 1.95142566e-04 9.99997593e-01 3.43971563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670888479 meters 0.05023564444790299 Centerline is valid? [True, True] Translation: X:21.29, Y:0.59, Z:0.03 [[ 9.97224048e-01 7.44270462e-02 -2.19381540e-03 2.12881438e+01] [-7.44272950e-02 9.97226442e-01 -3.18969874e-05 5.91777245e-01] [ 2.18535672e-03 1.95088189e-04 9.99997593e-01 3.43596091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.700888478999996 meters 0.04656859164935713 Centerline is valid? [True, True] Translation: X:21.32, Y:0.58, Z:0.03 [[ 9.97512079e-01 7.04403516e-02 -2.79433658e-03 2.13184859e+01] [-7.04407409e-02 9.97515965e-01 -4.10376153e-05 5.81170515e-01] [ 2.78450465e-03 2.37770656e-04 9.99996095e-01 3.45169183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.730888478999997 meters 0.04482837281648815 Centerline is valid? [True, True] Translation: X:21.35, Y:0.58, Z:0.04 [[ 9.97603181e-01 6.91477481e-02 -2.54596177e-03 2.13502918e+01] [-6.91480666e-02 9.97606407e-01 -3.71914319e-05 5.79325302e-01] [ 2.53729607e-03 2.13150625e-04 9.99996758e-01 3.58020644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.760888479 meters 0.04238119612242065 Centerline is valid? [True, True] Translation: X:21.38, Y:0.58, Z:0.04 [[ 9.97625125e-01 6.88342139e-02 -2.44158787e-03 2.13828550e+01] [-6.88345039e-02 9.97628092e-01 -3.48283268e-05 5.76892364e-01] [ 2.43339927e-03 2.02811104e-04 9.99997019e-01 3.77061983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790888478999996 meters 0.04548716123342524 Centerline is valid? [True, True] Translation: X:21.41, Y:0.58, Z:0.04 [[ 9.97909193e-01 6.45407944e-02 -3.42468945e-03 2.14123463e+01] [-6.45413415e-02 9.97915033e-01 -4.93405859e-05 5.76160630e-01] [ 3.41436461e-03 2.70271476e-04 9.99994135e-01 3.56002033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.820888478999997 meters 0.04500347855469377 Centerline is valid? [True, True] Translation: X:21.44, Y:0.58, Z:0.04 [[ 9.97943157e-01 6.40658402e-02 -2.24113453e-03 2.14443766e+01] [-6.40660714e-02 9.97945659e-01 -3.14481798e-05 5.75886047e-01] [ 2.23451572e-03 1.74964181e-04 9.99997488e-01 3.69921279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.850888478999998 meters 0.04392061818020663 Centerline is valid? [True, True] Translation: X:21.48, Y:0.58, Z:0.04 [[ 9.97950423e-01 6.39881412e-02 -6.86351069e-04 2.14765065e+01] [-6.39881627e-02 9.97950658e-01 -9.27149639e-06 5.76566451e-01] [ 6.84351235e-04 5.31708376e-05 9.99999764e-01 3.86419787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.880888478999996 meters 0.04278341421101075 Centerline is valid? [True, True] Translation: X:21.51, Y:0.57, Z:0.04 [[ 9.98033157e-01 6.26836258e-02 -7.62168959e-04 2.15077017e+01] [-6.26836521e-02 9.98033446e-01 -1.05369665e-05 5.73477746e-01] [ 7.60009617e-04 5.82917757e-05 9.99999709e-01 3.65089357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910888478999997 meters 0.04362975796017775 Centerline is valid? [True, True] Translation: X:21.54, Y:0.57, Z:0.03 [[ 9.97990907e-01 6.33287761e-02 -1.90170513e-03 2.15392714e+01] [-6.33289394e-02 9.97992708e-01 -2.56930559e-05 5.74568544e-01] [ 1.89626074e-03 1.46074405e-04 9.99998191e-01 3.47248338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.940888478999998 meters 0.042193137540360304 Centerline is valid? [True, True] Translation: X:21.57, Y:0.58, Z:0.04 [[ 9.97880340e-01 6.50576796e-02 -1.52505778e-03 2.15708361e+01] [-6.50577860e-02 9.97881498e-01 -2.02029692e-05 5.75532552e-01] [ 1.52051259e-03 1.19377028e-04 9.99998837e-01 3.63959295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970888479 meters 0.045006720734902826 Centerline is valid? [True, True] Translation: X:21.60, Y:0.58, Z:0.03 [[ 9.97865837e-01 6.52463506e-02 -2.58566799e-03 2.16025628e+01] [-6.52466557e-02 9.97869166e-01 -3.37183330e-05 5.77574292e-01] [ 2.57795837e-03 2.02352562e-04 9.99996657e-01 3.49194094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.000888478999997 meters 0.048386740773126734 Centerline is valid? [True, True] Translation: X:21.63, Y:0.58, Z:0.03 [[ 9.97758437e-01 6.68378506e-02 -3.28678447e-03 2.16336623e+01] [-6.68383501e-02 9.97763816e-01 -4.22445518e-05 5.81576164e-01] [ 3.27661109e-03 2.61833110e-04 9.99994598e-01 3.47342337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.030888478999998 meters 0.047437363628977616 Centerline is valid? [True, True] Translation: X:21.67, Y:0.58, Z:0.04 [[ 9.97689907e-01 6.78344437e-02 -3.65214686e-03 2.16656050e+01] [-6.78350669e-02 9.97696548e-01 -4.68973364e-05 5.82049783e-01] [ 3.64055306e-03 2.94532626e-04 9.99993330e-01 3.53891901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.060888479 meters 0.04510401930056257 Centerline is valid? [True, True] Translation: X:21.70, Y:0.58, Z:0.04 [[ 9.97632431e-01 6.86804898e-02 -3.53871911e-03 2.16977704e+01] [-6.86810763e-02 9.97638666e-01 -4.43539593e-05 5.79445943e-01] [ 3.52731676e-03 2.87291986e-04 9.99993738e-01 3.51064333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090888478999997 meters 0.04558640384635723 Centerline is valid? [True, True] Translation: X:21.73, Y:0.58, Z:0.04 [[ 9.97555718e-01 6.98041269e-02 -3.15810488e-03 2.17298249e+01] [-6.98045995e-02 9.97560683e-01 -3.95315916e-05 5.81209385e-01] [ 3.14764179e-03 2.59885211e-04 9.99995012e-01 3.50143905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.120888478999998 meters 0.04582632754504376 Centerline is valid? [True, True] Translation: X:21.76, Y:0.58, Z:0.03 [[ 9.97493091e-01 7.06691980e-02 -3.66030461e-03 2.17620279e+01] [-7.06698346e-02 9.97499761e-01 -4.47214773e-05 5.81236518e-01] [ 3.64799254e-03 3.03282486e-04 9.99993300e-01 3.48919140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150888479 meters 0.052505658956891625 Centerline is valid? [True, True] Translation: X:21.79, Y:0.59, Z:0.03 [[ 9.97444204e-01 7.12676133e-02 -5.09769426e-03 2.17931959e+01] [-7.12688506e-02 9.97457141e-01 -6.12552937e-05 5.88892399e-01] [ 5.08036602e-03 4.24405549e-04 9.99987005e-01 3.36184559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.180888478999996 meters 0.04729106774489071 Centerline is valid? [True, True] Translation: X:21.83, Y:0.58, Z:0.03 [[ 9.97397941e-01 7.16987183e-02 -7.52597425e-03 2.18253090e+01] [-7.17014144e-02 9.97426137e-01 -8.86921421e-05 5.80062406e-01] [ 7.50024432e-03 6.28084358e-04 9.99971676e-01 3.30248851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210888478999998 meters 0.04624755142847414 Centerline is valid? [True, True] Translation: X:21.86, Y:0.58, Z:0.03 [[ 9.97408653e-01 7.15703335e-02 -7.32571512e-03 2.18577569e+01] [-7.15728713e-02 9.97435370e-01 -8.45146161e-05 5.80283598e-01] [ 7.30087863e-03 6.08618075e-04 9.99973163e-01 3.24098097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.240888479 meters 0.04426411663377062 Centerline is valid? [True, True] Translation: X:21.89, Y:0.58, Z:0.03 [[ 9.97375138e-01 7.22243652e-02 -5.14545476e-03 2.18896806e+01] [-7.22256189e-02 9.97388318e-01 -5.80156054e-05 5.81757184e-01] [ 5.12782632e-03 4.29496977e-04 9.99986760e-01 3.45204872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.270888478999996 meters 0.04891772326740458 Centerline is valid? [True, True] Translation: X:21.92, Y:0.59, Z:0.03 [[ 9.97536086e-01 6.99217865e-02 -5.71847608e-03 2.19192605e+01] [-6.99232993e-02 9.97552369e-01 -6.47903057e-05 5.85944439e-01] [ 5.69994910e-03 4.64485382e-04 9.99983647e-01 3.13914959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.300888478999997 meters 0.04748013251814799 Centerline is valid? [True, True] Translation: X:21.95, Y:0.58, Z:0.03 [[ 9.97751449e-01 6.68263410e-02 -5.12696216e-03 2.19496338e+01] [-6.68275162e-02 9.97764541e-01 -5.80601408e-05 5.79633372e-01] [ 5.11162110e-03 4.00551737e-04 9.99986855e-01 3.35156272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330888479 meters 0.0452668101359496 Centerline is valid? [True, True] Translation: X:21.98, Y:0.58, Z:0.04 [[ 9.97806683e-01 6.60262917e-02 -4.72778833e-03 2.19822494e+01] [-6.60272785e-02 9.97817817e-01 -5.27736142e-05 5.75259916e-01] [ 4.71398698e-03 3.64820862e-04 9.99988823e-01 3.57540164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.360888478999996 meters 0.04374306181896406 Centerline is valid? [True, True] Translation: X:22.01, Y:0.57, Z:0.04 [[ 9.97836117e-01 6.54652698e-02 -6.11415392e-03 2.20141565e+01] [-6.54669001e-02 9.97854739e-01 -6.66846709e-05 5.70693785e-01] [ 6.09667193e-03 4.66815077e-04 9.99981306e-01 3.68732272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390888478999997 meters 0.04417723846744048 Centerline is valid? [True, True] Translation: X:22.05, Y:0.57, Z:0.04 [[ 9.97871778e-01 6.47821286e-02 -7.42901377e-03 2.20462307e+01] [-6.47845039e-02 9.97899274e-01 -7.92806489e-05 5.69055735e-01] [ 7.40827149e-03 5.60396894e-04 9.99972401e-01 3.58776357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.420888479 meters 0.046431645128247434 Centerline is valid? [True, True] Translation: X:22.08, Y:0.57, Z:0.04 [[ 9.97856418e-01 6.50352956e-02 -7.27866539e-03 2.20781674e+01] [-6.50375686e-02 9.97882813e-01 -7.57701403e-05 5.74787680e-01] [ 7.25832736e-03 5.48994420e-04 9.99973507e-01 3.51301789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450888478999996 meters 0.04753627418842594 Centerline is valid? [True, True] Translation: X:22.11, Y:0.58, Z:0.03 [[ 9.97819483e-01 6.56416973e-02 -6.88823709e-03 2.21092407e+01] [-6.56437373e-02 9.97843121e-01 -7.02436959e-05 5.78365140e-01] [ 6.86876909e-03 5.22260155e-04 9.99976273e-01 3.49771593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.480888478999997 meters 0.04476433254792275 Centerline is valid? [True, True] Translation: X:22.14, Y:0.57, Z:0.03 [[ 9.97804340e-01 6.58346973e-02 -7.23136920e-03 2.21417962e+01] [-6.58369358e-02 9.97830393e-01 -7.16790246e-05 5.73793188e-01] [ 7.21096100e-03 5.47612831e-04 9.99973851e-01 3.48653168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510888479 meters 0.042798862528622104 Centerline is valid? [True, True] Translation: X:22.17, Y:0.57, Z:0.04 [[ 9.97734570e-01 6.68465076e-02 -7.56789917e-03 2.21737068e+01] [-6.68489746e-02 9.97763103e-01 -7.32064417e-05 5.69800897e-01] [ 7.54607696e-03 5.78946897e-04 9.99971360e-01 3.53174022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.540888478999996 meters 0.04765664650988695 Centerline is valid? [True, True] Translation: X:22.20, Y:0.58, Z:0.04 [[ 9.97678652e-01 6.76365169e-02 -7.91261955e-03 2.22043301e+01] [-6.76392383e-02 9.97709841e-01 -7.65193697e-05 5.76630492e-01] [ 7.88932289e-03 6.11545301e-04 9.99968692e-01 3.53874586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570888478999997 meters 0.04909097231085706 Centerline is valid? [True, True] Translation: X:22.24, Y:0.58, Z:0.03 [[ 9.97752625e-01 6.61315661e-02 -1.07849273e-02 2.22358420e+01] [-6.61365309e-02 9.97810577e-01 -1.03952571e-04 5.75481013e-01] [ 1.07544400e-02 8.16996627e-04 9.99941836e-01 3.22845149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.600888478999998 meters 0.04236103063983614 Centerline is valid? [True, True] Translation: X:22.27, Y:0.57, Z:0.03 [[ 9.97841588e-01 6.45632230e-02 -1.19898282e-02 2.22673926e+01] [-6.45692416e-02 9.97913223e-01 -1.15146092e-04 5.65293992e-01] [ 1.19573739e-02 8.89071671e-04 9.99928113e-01 3.21004002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630888478999996 meters 0.04928834582367024 Centerline is valid? [True, True] Translation: X:22.30, Y:0.57, Z:0.03 [[ 9.97850100e-01 6.42232047e-02 -1.30598183e-02 2.22983617e+01] [-6.42302754e-02 9.97935096e-01 -1.22260589e-04 5.73677197e-01] [ 1.30249991e-02 9.60833468e-04 9.99914709e-01 2.91935363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.660888478999997 meters 0.042039658495126295 Centerline is valid? [True, True] Translation: X:22.33, Y:0.56, Z:0.03 [[ 9.97886426e-01 6.37127321e-02 -1.27815369e-02 2.23306401e+01] [-6.37194230e-02 9.97967846e-01 -1.16516937e-04 5.62685624e-01] [ 1.27481392e-02 9.30702823e-04 9.99918306e-01 3.17660683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690888478999998 meters 0.049242737236610615 Centerline is valid? [True, True] Translation: X:22.36, Y:0.57, Z:0.03 [[ 9.97910283e-01 6.34239909e-02 -1.23476534e-02 2.23616037e+01] [-6.34301793e-02 9.97986273e-01 -1.09808114e-04 5.70780908e-01] [ 1.23158241e-02 8.92792514e-04 9.99923759e-01 3.07464839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.720888479 meters 0.04513790617500946 Centerline is valid? [True, True] Translation: X:22.39, Y:0.56, Z:0.03 [[ 9.97912203e-01 6.35258577e-02 -1.16490653e-02 2.23940993e+01] [-6.35313400e-02 9.97979839e-01 -1.00795473e-04 5.62269793e-01] [ 1.16191292e-02 8.40665761e-04 9.99932142e-01 3.34181087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750888478999997 meters 0.043331870100348294 Centerline is valid? [True, True] Translation: X:22.43, Y:0.56, Z:0.04 [[ 9.97851462e-01 6.47018055e-02 -1.03022194e-02 2.24260776e+01] [-6.47061302e-02 9.97904359e-01 -8.66699658e-05 5.61403748e-01] [ 1.02750220e-02 7.53100504e-04 9.99946927e-01 3.52346753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.780888478999998 meters 0.045005830164174115 Centerline is valid? [True, True] Translation: X:22.46, Y:0.56, Z:0.03 [[ 9.97765350e-01 6.56141554e-02 -1.26130861e-02 2.24576519e+01] [-6.56206768e-02 9.97844635e-01 -1.03428956e-04 5.61618560e-01] [ 1.25791139e-02 9.30877075e-04 9.99920447e-01 3.36166904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810888479 meters 0.04570662344740724 Centerline is valid? [True, True] Translation: X:22.49, Y:0.56, Z:0.03 [[ 9.97679463e-01 6.66993083e-02 -1.36708155e-02 2.24896975e+01] [-6.67070609e-02 9.97772597e-01 -1.11374258e-04 5.61382147e-01] [ 1.36329365e-02 1.02305573e-03 9.99906544e-01 3.30926509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.840888478999997 meters 0.04716145351992105 Centerline is valid? [True, True] Translation: X:22.52, Y:0.56, Z:0.03 [[ 9.97564963e-01 6.82100459e-02 -1.45442220e-02 2.25203851e+01] [-6.82189706e-02 9.97670365e-01 -1.17805604e-04 5.62167812e-01] [ 1.45023038e-02 1.10971060e-03 9.99894220e-01 3.21610357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870888478999998 meters 0.047698441422268804 Centerline is valid? [True, True] Translation: X:22.55, Y:0.56, Z:0.03 [[ 9.97541721e-01 6.88616364e-02 -1.29842505e-02 2.25521327e+01] [-6.88687586e-02 9.97625723e-01 -1.01672020e-04 5.64425604e-01] [ 1.29464210e-02 9.95631292e-04 9.99915696e-01 3.24592584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.900888479 meters 0.04850298010538602 Centerline is valid? [True, True] Translation: X:22.58, Y:0.56, Z:0.03 [[ 9.97572562e-01 6.84444146e-02 -1.28197446e-02 2.25838850e+01] [-6.84512851e-02 9.97654455e-01 -9.74067407e-05 5.64089180e-01] [ 1.27830084e-02 9.74698286e-04 9.99917819e-01 3.22768886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930888478999996 meters 0.04220146437632358 Centerline is valid? [True, True] Translation: X:22.61, Y:0.55, Z:0.04 [[ 9.97735881e-01 6.62429107e-02 -1.16184155e-02 2.26143313e+01] [-6.62484081e-02 9.97803157e-01 -8.85222622e-05 5.52713100e-01] [ 1.15870277e-02 8.58023371e-04 9.99932500e-01 3.67326882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.960888478999998 meters 0.04113769829682936 Centerline is valid? [True, True] Translation: X:22.65, Y:0.55, Z:0.04 [[ 9.97846086e-01 6.45037650e-02 -1.19353967e-02 2.26460513e+01] [-6.45094347e-02 9.97917093e-01 -9.02550421e-05 5.50231788e-01] [ 1.19047145e-02 8.60006332e-04 9.99928767e-01 3.69258053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990888479 meters 0.04180884742683726 Centerline is valid? [True, True] Translation: X:22.68, Y:0.55, Z:0.04 [[ 9.97958426e-01 6.22660834e-02 -1.42096973e-02 2.26774307e+01] [-6.22738878e-02 9.98059092e-01 -1.06993077e-04 5.48931381e-01] [ 1.41754556e-02 9.91667741e-04 9.99899031e-01 3.54481372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.020888478999996 meters 0.04093122181930732 Centerline is valid? [True, True] Translation: X:22.71, Y:0.55, Z:0.03 [[ 9.98005722e-01 6.09668526e-02 -1.63591670e-02 2.27094848e+01] [-6.09769553e-02 9.98139167e-01 -1.19007653e-04 5.47724530e-01] [ 1.63214698e-02 1.11630251e-03 9.99866173e-01 3.29711209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050888478999997 meters 0.039537756527743474 Centerline is valid? [True, True] Translation: X:22.74, Y:0.55, Z:0.03 [[ 9.98065154e-01 5.96546063e-02 -1.75293124e-02 2.27405422e+01] [-5.96659377e-02 9.98218393e-01 -1.23677437e-04 5.48847102e-01] [ 1.74907041e-02 1.16934100e-03 9.99846342e-01 2.98765199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.080888479 meters 0.0404063141929457 Centerline is valid? [True, True] Translation: X:22.77, Y:0.55, Z:0.03 [[ 9.98072289e-01 5.94253255e-02 -1.78979703e-02 2.27723801e+01] [-5.94370264e-02 9.98232050e-01 -1.22049735e-04 5.48567697e-01] [ 1.78590747e-02 1.18561659e-03 9.99839811e-01 2.95075633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110888478999996 meters 0.04232003246012133 Centerline is valid? [True, True] Translation: X:22.80, Y:0.55, Z:0.03 [[ 9.98116292e-01 5.88210664e-02 -1.74341770e-02 2.28043869e+01] [-5.88320057e-02 9.98267891e-01 -1.14804921e-04 5.48821657e-01] [ 1.73972261e-02 1.14027626e-03 9.99848007e-01 3.06046267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.140888478999997 meters 0.042368902537906726 Centerline is valid? [True, True] Translation: X:22.83, Y:0.55, Z:0.04 [[ 9.98274388e-01 5.71858612e-02 -1.33425201e-02 2.28341856e+01] [-5.71921251e-02 9.98363187e-01 -8.80670151e-05 5.48108762e-01] [ 1.33156447e-02 8.51002126e-04 9.99910981e-01 3.56825314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170888479 meters 0.04246603466052398 Centerline is valid? [True, True] Translation: X:22.86, Y:0.55, Z:0.04 [[ 9.98349371e-01 5.61754594e-02 -1.19520597e-02 2.28642753e+01] [-5.61804109e-02 9.98420630e-01 -7.86744532e-05 5.49276337e-01] [ 1.19287634e-02 7.50016214e-04 9.99928568e-01 3.69150358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.200888478999996 meters 0.0405182709762896 Centerline is valid? [True, True] Translation: X:22.90, Y:0.55, Z:0.04 [[ 9.98370689e-01 5.57992087e-02 -1.19337747e-02 2.28964319e+01] [-5.58040819e-02 9.98441735e-01 -7.55026327e-05 5.46163499e-01] [ 1.19109658e-02 7.41332958e-04 9.99928787e-01 3.72757200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230888478999997 meters 0.03574843452351434 Centerline is valid? [True, True] Translation: X:22.93, Y:0.54, Z:0.04 [[ 9.98429356e-01 5.46289408e-02 -1.24298057e-02 2.29286815e+01] [-5.46340993e-02 9.98506439e-01 -7.55843842e-05 5.38606771e-01] [ 1.24071120e-02 7.54556909e-04 9.99922744e-01 3.76906325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.260888479 meters 0.03889727452990884 Centerline is valid? [True, True] Translation: X:22.96, Y:0.54, Z:0.04 [[ 9.98460525e-01 5.42014530e-02 -1.17805981e-02 2.29595113e+01] [-5.42060258e-02 9.98529770e-01 -6.89773933e-05 5.44547704e-01] [ 1.17595393e-02 7.07450610e-04 9.99930604e-01 3.71545669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290888478999996 meters 0.03941727561481403 Centerline is valid? [True, True] Translation: X:22.99, Y:0.54, Z:0.04 [[ 9.98503778e-01 5.33017990e-02 -1.22116030e-02 2.29921745e+01] [-5.33066352e-02 9.98578188e-01 -7.06587371e-05 5.43132859e-01] [ 1.21904741e-02 7.21512480e-04 9.99925433e-01 3.70154636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.320888478999997 meters 0.0376126658472983 Centerline is valid? [True, True] Translation: X:23.02, Y:0.54, Z:0.04 [[ 9.98538710e-01 5.27887468e-02 -1.15668889e-02 2.30247188e+01] [-5.27930337e-02 9.98605473e-01 -6.53827264e-05 5.42086394e-01] [ 1.15473071e-02 6.75938338e-04 9.99933099e-01 3.74808142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350888478999998 meters 0.03523120872786543 Centerline is valid? [True, True] Translation: X:23.06, Y:0.53, Z:0.04 [[ 9.98558166e-01 5.17733811e-02 -1.41812161e-02 2.30570120e+01] [-5.17796724e-02 9.98658530e-01 -7.65804783e-05 5.34807791e-01] [ 1.41582276e-02 8.10768788e-04 9.99899439e-01 3.55836352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.380888478999996 meters 0.035316777457597516 Centerline is valid? [True, True] Translation: X:23.09, Y:0.54, Z:0.03 [[ 9.98511274e-01 5.24500058e-02 -1.49744091e-02 2.30895337e+01] [-5.24570422e-02 9.98623179e-01 -7.72321447e-05 5.36086709e-01] [ 1.49497412e-02 8.62630378e-04 9.99887874e-01 3.41627682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410888478999997 meters 0.03405880288254288 Centerline is valid? [True, True] Translation: X:23.12, Y:0.54, Z:0.03 [[ 9.98462731e-01 5.36570504e-02 -1.38959160e-02 2.31212095e+01] [-5.36632027e-02 9.98559090e-01 -6.99869804e-05 5.37455080e-01] [ 1.38721379e-02 8.15578747e-04 9.99903445e-01 3.41919835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.440888478999998 meters 0.037561929246665335 Centerline is valid? [True, True] Translation: X:23.15, Y:0.54, Z:0.03 [[ 9.98352816e-01 5.59021950e-02 -1.29073016e-02 2.31529720e+01] [-5.59076508e-02 9.98435942e-01 -6.19749326e-05 5.40992056e-01] [ 1.28836493e-02 7.83489759e-04 9.99916695e-01 3.48298197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470888479 meters 0.038383759719920155 Centerline is valid? [True, True] Translation: X:23.18, Y:0.54, Z:0.03 [[ 9.98308655e-01 5.68770309e-02 -1.20346163e-02 2.31835417e+01] [-5.68818172e-02 9.98380917e-01 -5.55197545e-05 5.43663500e-01] [ 1.20119735e-02 7.39976696e-04 9.99927580e-01 3.48532618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.500888478999997 meters 0.03749911686579757 Centerline is valid? [True, True] Translation: X:23.22, Y:0.55, Z:0.04 [[ 9.98262793e-01 5.78499398e-02 -1.11705363e-02 2.32153871e+01] [-5.78540933e-02 9.98325048e-01 -4.87790682e-05 5.45761082e-01] [ 1.11490043e-02 6.94955578e-04 9.99937606e-01 3.50978161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530888478999998 meters 0.03757262427731268 Centerline is valid? [True, True] Translation: X:23.25, Y:0.55, Z:0.03 [[ 9.98150548e-01 5.97585172e-02 -1.11535995e-02 2.32470521e+01] [-5.97627489e-02 9.98212608e-01 -4.61901710e-05 5.45171546e-01] [ 1.11309034e-02 7.12674511e-04 9.99937796e-01 3.44999344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.560888479 meters 0.03757262427731268 Centerline is valid? [True, True] Translation: X:23.28, Y:0.55, Z:0.03 [[ 9.98133809e-01 6.00374536e-02 -1.11536123e-02 2.32795583e+01] [-6.00416672e-02 9.98195871e-01 -4.30128810e-05 5.45224028e-01] [ 1.11309073e-02 7.12614086e-04 9.99937796e-01 3.44624628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590888478999997 meters 0.03935050089166104 Centerline is valid? [True, True] Translation: X:23.31, Y:0.55, Z:0.04 [[ 9.98073819e-01 6.11269808e-02 -1.05898157e-02 2.33102890e+01] [-6.11308155e-02 9.98129762e-01 -3.85022245e-05 5.48640094e-01] [ 1.05676567e-02 6.85792130e-04 9.99943926e-01 3.50123745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.620888478999998 meters 0.038205388341843144 Centerline is valid? [True, True] Translation: X:23.34, Y:0.54, Z:0.04 [[ 9.98011579e-01 6.17174825e-02 -1.28000017e-02 2.33426322e+01] [-6.17230938e-02 9.98093311e-01 -4.34199299e-05 5.42538296e-01] [ 1.27729163e-02 8.33389298e-04 9.99918076e-01 3.52736012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.650888479 meters 0.03765252929717559 Centerline is valid? [True, True] Translation: X:23.37, Y:0.55, Z:0.03 [[ 9.97958515e-01 6.27560946e-02 -1.18522391e-02 2.33731983e+01] [-6.27609761e-02 9.98028586e-01 -4.00100169e-05 5.46431373e-01] [ 1.18263626e-02 7.83786435e-04 9.99929759e-01 3.47825093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.680888478999996 meters 0.039458523443135066 Centerline is valid? [True, True] Translation: X:23.41, Y:0.55, Z:0.03 [[ 9.97930888e-01 6.33825859e-02 -1.07977481e-02 2.34057752e+01] [-6.33866386e-02 9.97989045e-01 -3.31756930e-05 5.49739346e-01] [ 1.07739316e-02 7.17540007e-04 9.99941702e-01 3.38367789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710888478999998 meters 0.037653125427298845 Centerline is valid? [True, True] Translation: X:23.44, Y:0.55, Z:0.03 [[ 9.97897713e-01 6.41430689e-02 -9.26399096e-03 2.34373824e+01] [-6.41460653e-02 9.97940520e-01 -2.63747735e-05 5.50470767e-01] [ 9.24322020e-03 6.20567896e-04 9.99957088e-01 3.44739457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.740888479 meters 0.04074073698037737 Centerline is valid? [True, True] Translation: X:23.47, Y:0.55, Z:0.03 [[ 9.97846797e-01 6.48562259e-02 -9.76927236e-03 2.34685291e+01] [-6.48595709e-02 9.97894401e-01 -2.56297309e-05 5.50523086e-01] [ 9.74703994e-03 6.59205358e-04 9.99952279e-01 3.45463386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770888478999996 meters 0.03919946490188217 Centerline is valid? [True, True] Translation: X:23.50, Y:0.55, Z:0.04 [[ 9.97842259e-01 6.50993831e-02 -8.53793445e-03 2.35008718e+01] [-6.51019285e-02 9.97878619e-01 -2.02525400e-05 5.46467897e-01] [ 8.51850382e-03 5.76044838e-04 9.99963551e-01 3.61688007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.800888478999997 meters 0.03981744405901584 Centerline is valid? [True, True] Translation: X:23.53, Y:0.55, Z:0.04 [[ 9.97820634e-01 6.55796989e-02 -7.29965854e-03 2.35315640e+01] [-6.55815658e-02 9.97847212e-01 -1.64224988e-05 5.47603440e-01] [ 7.28286694e-03 4.95109745e-04 9.99973357e-01 3.78421479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830888479 meters 0.03801382400088712 Centerline is valid? [True, True] Translation: X:23.56, Y:0.55, Z:0.04 [[ 9.97790903e-01 6.60318888e-02 -7.28720078e-03 2.35644775e+01] [-6.60337453e-02 9.97817390e-01 -1.41794195e-05 5.45308327e-01] [ 7.27035938e-03 4.95349256e-04 9.99973448e-01 3.80269592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.860888478999996 meters 0.039068008950201336 Centerline is valid? [True, True] Translation: X:23.60, Y:0.55, Z:0.03 [[ 9.97762323e-01 6.63543680e-02 -8.21241395e-03 2.35952524e+01] [-6.63567223e-02 9.97795964e-01 -1.42286446e-05 5.51482947e-01] [ 8.19336936e-03 5.59145677e-04 9.99966277e-01 3.33621820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890888478999997 meters 0.04123620495579198 Centerline is valid? [True, True] Translation: X:23.63, Y:0.55, Z:0.03 [[ 9.97769459e-01 6.59734950e-02 -1.01785889e-02 2.36278788e+01] [-6.59770854e-02 9.97821138e-01 -1.69901205e-05 5.53466442e-01] [ 1.01552903e-02 6.88505852e-04 9.99948197e-01 2.94605737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.920888479 meters 0.04032528232560193 Centerline is valid? [True, True] Translation: X:23.66, Y:0.55, Z:0.03 [[ 9.97730266e-01 6.63122618e-02 -1.17047344e-02 2.36600416e+01] [-6.63169975e-02 9.97798605e-01 -1.65100662e-05 5.50263957e-01] [ 1.16778728e-02 7.92695433e-04 9.99931497e-01 2.85168899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950888478999996 meters 0.04057553105770746 Centerline is valid? [True, True] Translation: X:23.69, Y:0.55, Z:0.03 [[ 9.97597789e-01 6.78776736e-02 -1.38301578e-02 2.36913495e+01] [-6.78844327e-02 9.97693191e-01 -1.93182309e-05 5.47101920e-01] [ 1.37969430e-02 9.58124242e-04 9.99904359e-01 2.99016915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.980888478999997 meters 0.03973321729360798 Centerline is valid? [True, True] Translation: X:23.72, Y:0.55, Z:0.03 [[ 9.97540797e-01 6.86957792e-02 -1.39014042e-02 2.37235285e+01] [-6.87026371e-02 9.97637182e-01 -1.58021119e-05 5.46442556e-01] [ 1.38674722e-02 9.70826381e-04 9.99903371e-01 3.19152467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010888479 meters 0.039442100559897914 Centerline is valid? [True, True] Translation: X:23.76, Y:0.55, Z:0.03 [[ 9.97546908e-01 6.85730123e-02 -1.40680226e-02 2.37557926e+01] [-6.85799752e-02 9.97645622e-01 -1.25540325e-05 5.45596658e-01] [ 1.40340403e-02 9.77307880e-04 9.99901040e-01 3.25706102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.040888478999996 meters 0.041931003697096986 Centerline is valid? [True, True] Translation: X:23.79, Y:0.55, Z:0.03 [[ 9.97564450e-01 6.86797979e-02 -1.21759067e-02 2.37866890e+01] [-6.86849880e-02 9.97638398e-01 -8.11045316e-06 5.52419262e-01] [ 1.21465950e-02 8.44392703e-04 9.99925871e-01 3.22396733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070888478999997 meters 0.0362715759470785 Centerline is valid? [True, True] Translation: X:23.82, Y:0.54, Z:0.03 [[ 9.97698371e-01 6.67132942e-02 -1.21365697e-02 2.38183815e+01] [-6.67183005e-02 9.97771852e-01 -7.63888904e-06 5.44528768e-01] [ 1.21090180e-02 8.17352608e-04 9.99926349e-01 3.14330944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.100888478999998 meters 0.03765735816741117 Centerline is valid? [True, True] Translation: X:23.85, Y:0.54, Z:0.03 [[ 9.97765142e-01 6.54648121e-02 -1.33820444e-02 2.38501870e+01] [-6.54707402e-02 9.97854489e-01 -4.91515237e-06 5.43224372e-01] [ 1.33530113e-02 8.81036519e-04 9.99910456e-01 2.97602145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130888478999996 meters 0.039694135513142485 Centerline is valid? [True, True] Translation: X:23.88, Y:0.55, Z:0.03 [[ 9.97826688e-01 6.47887073e-02 -1.20134695e-02 2.38812458e+01] [-6.47934169e-02 9.97898699e-01 -2.82327247e-06 5.46120072e-01] [ 1.19880427e-02 7.81210876e-04 9.99927836e-01 2.94077936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.160888478999997 meters 0.032976896217176595 Centerline is valid? [True, True] Translation: X:23.91, Y:0.54, Z:0.03 [[ 9.97887891e-01 6.44794744e-02 -7.88382370e-03 2.39138425e+01] [-6.44814873e-02 9.97918903e-01 -1.14294531e-06 5.38226938e-01] [ 7.86734300e-03 5.09501209e-04 9.99968922e-01 3.44652416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190888478999998 meters 0.03566540402293335 Centerline is valid? [True, True] Translation: X:23.94, Y:0.54, Z:0.03 [[ 9.97910791e-01 6.39864624e-02 -8.93228223e-03 2.39446885e+01] [-6.39890068e-02 9.97950603e-01 9.29411312e-07 5.39441999e-01] [ 8.91403591e-03 5.70640399e-04 9.99960106e-01 3.36231389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.220888479 meters 0.03973868915188923 Centerline is valid? [True, True] Translation: X:23.98, Y:0.54, Z:0.03 [[ 9.97917811e-01 6.35056711e-02 -1.12726592e-02 2.39759262e+01] [-6.35096653e-02 9.97981223e-01 3.65705805e-06 5.41718389e-01] [ 1.12501345e-02 7.12273369e-04 9.99936462e-01 3.22508415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250888478999997 meters 0.03755514004028354 Centerline is valid? [True, True] Translation: X:24.01, Y:0.54, Z:0.03 [[ 9.97888935e-01 6.38537963e-02 -1.18476128e-02 2.40086129e+01] [-6.38581931e-02 9.97958983e-01 7.19811758e-06 5.37755242e-01] [ 1.18238913e-02 7.49384226e-04 9.99929815e-01 3.31116350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.280888478999998 meters 0.04086794152597922 Centerline is valid? [True, True] Translation: X:24.04, Y:0.54, Z:0.03 [[ 9.97734167e-01 6.64544984e-02 -1.05039206e-02 2.40385100e+01] [-6.64580908e-02 9.97789217e-01 7.05095057e-06 5.44413734e-01] [ 1.04811673e-02 6.91035538e-04 9.99944832e-01 3.34848721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310888479 meters 0.0367353108854741 Centerline is valid? [True, True] Translation: X:24.07, Y:0.54, Z:0.03 [[ 9.97648495e-01 6.78443113e-02 -9.72780193e-03 2.40709089e+01] [-6.78474331e-02 9.97695708e-01 9.11150343e-06 5.39623881e-01] [ 9.70600439e-03 6.50916313e-04 9.99952684e-01 3.44699522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.340888478999997 meters 0.04557677200632525 Centerline is valid? [True, True] Translation: X:24.10, Y:0.55, Z:0.03 [[ 9.97573615e-01 6.89000870e-02 -9.98303431e-03 2.41021266e+01] [-6.89034053e-02 9.97623336e-01 1.15759897e-05 5.50508694e-01] [ 9.96010558e-03 6.76317157e-04 9.99950168e-01 3.08091656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370888478999998 meters 0.039629942258735736 Centerline is valid? [True, True] Translation: X:24.13, Y:0.54, Z:0.03 [[ 9.97504143e-01 6.99096371e-02 -9.90593827e-03 2.41345632e+01] [-6.99129297e-02 9.97553097e-01 1.39297298e-05 5.42850736e-01] [ 9.88267323e-03 6.78658203e-04 9.99950935e-01 3.11214505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.400888479 meters 0.04061005220666157 Centerline is valid? [True, True] Translation: X:24.17, Y:0.54, Z:0.03 [[ 9.97385575e-01 7.12383672e-02 -1.21288625e-02 2.41665750e+01] [-7.12433943e-02 9.97458961e-01 1.76308802e-05 5.40655936e-01] [ 1.20992986e-02 8.46516549e-04 9.99926442e-01 2.87572210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430888478999996 meters 0.036899086699862346 Centerline is valid? [True, True] Translation: X:24.20, Y:0.54, Z:0.03 [[ 9.97299021e-01 7.25850858e-02 -1.12280016e-02 2.41988261e+01] [-7.25894452e-02 9.97361906e-01 1.93193664e-05 5.36940068e-01] [ 1.11997834e-02 7.95767222e-04 9.99936964e-01 3.16169754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.460888478999998 meters 0.03962057981924285 Centerline is valid? [True, True] Translation: X:24.23, Y:0.53, Z:0.03 [[ 9.97346593e-01 7.19977390e-02 -1.07749128e-02 2.42315436e+01] [-7.20017051e-02 9.97404509e-01 1.98774386e-05 5.34881635e-01] [ 1.07483777e-02 7.55987397e-04 9.99941949e-01 3.26803202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490888479 meters 0.03640049302242864 Centerline is valid? [True, True] Translation: X:24.26, Y:0.53, Z:0.04 [[ 9.97348627e-01 7.22794936e-02 -8.44933228e-03 2.42639053e+01] [-7.22819233e-02 9.97384241e-01 1.78550940e-05 5.32645319e-01] [ 8.42852142e-03 5.92926235e-04 9.99964304e-01 3.70067481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.520888478999996 meters 0.038242008309292815 Centerline is valid? [True, True] Translation: X:24.30, Y:0.53, Z:0.04 [[ 9.97474141e-01 7.04485940e-02 -9.07376272e-03 2.42957458e+01] [-7.04513186e-02 9.97515219e-01 1.94117704e-05 5.31123885e-01] [ 9.05258393e-03 6.19895809e-04 9.99958832e-01 3.68545599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.550888478999997 meters 0.038694828846123505 Centerline is valid? [True, True] Translation: X:24.33, Y:0.53, Z:0.04 [[ 9.97529325e-01 6.97014274e-02 -8.77254641e-03 2.43281459e+01] [-6.97039245e-02 9.97567723e-01 2.11501439e-05 5.30563741e-01] [ 8.75268334e-03 5.90383023e-04 9.99961520e-01 3.65674481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.580888479 meters 0.03781324422714433 Centerline is valid? [True, True] Translation: X:24.36, Y:0.53, Z:0.03 [[ 9.97615269e-01 6.87307653e-02 -6.31317293e-03 2.43593319e+01] [-6.87320387e-02 9.97635157e-01 1.52815288e-05 5.33715407e-01] [ 6.29929358e-03 4.18672160e-04 9.99980072e-01 3.37043375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610888478999996 meters 0.03688180290160804 Centerline is valid? [True, True] Translation: X:24.39, Y:0.53, Z:0.03 [[ 9.97608573e-01 6.89485331e-02 -4.82023193e-03 2.43914244e+01] [-6.89492710e-02 9.97620167e-01 1.31331252e-05 5.33616022e-01] [ 4.80966610e-03 3.19249760e-04 9.99988383e-01 3.27551607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.640888478999997 meters 0.03741342789847326 Centerline is valid? [True, True] Translation: X:24.42, Y:0.53, Z:0.03 [[ 9.97512750e-01 7.02206087e-02 -6.11383356e-03 2.44222791e+01] [-7.02218115e-02 9.97531401e-01 1.79697676e-05 5.33352675e-01] [ 6.10000281e-03 4.11399395e-04 9.99981310e-01 3.31709345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670888479 meters 0.03772387030563612 Centerline is valid? [True, True] Translation: X:24.45, Y:0.53, Z:0.03 [[ 9.97475233e-01 7.05077010e-02 -8.47490314e-03 2.44547459e+01] [-7.05100056e-02 9.97511072e-01 2.69130660e-05 5.29969350e-01] [ 8.45570730e-03 5.70720351e-04 9.99964087e-01 3.29059184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.700888478999996 meters 0.0378911830650302 Centerline is valid? [True, True] Translation: X:24.49, Y:0.53, Z:0.03 [[ 9.97445189e-01 7.05634752e-02 -1.11306194e-02 2.44866715e+01] [-7.05674247e-02 9.97507011e-01 3.80007069e-05 5.26897559e-01] [ 1.11055523e-02 7.47555521e-04 9.99938052e-01 3.20061122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730888478999997 meters 0.03732697094150334 Centerline is valid? [True, True] Translation: X:24.52, Y:0.53, Z:0.03 [[ 9.97406447e-01 7.09712235e-02 -1.19776937e-02 2.45172685e+01] [-7.09757996e-02 9.97478037e-01 4.31236708e-05 5.26636993e-01] [ 1.19505470e-02 8.07114563e-04 9.99928264e-01 3.23415857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.760888479 meters 0.04121299420697658 Centerline is valid? [True, True] Translation: X:24.55, Y:0.54, Z:0.03 [[ 9.97364803e-01 7.20546355e-02 -8.46042622e-03 2.45480817e+01] [-7.20569480e-02 9.97400519e-01 3.15703491e-05 5.35411333e-01] [ 8.44070829e-03 5.78145337e-04 9.99964209e-01 3.28727963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790888478999996 meters 0.042380046193704037 Centerline is valid? [True, True] Translation: X:24.58, Y:0.54, Z:0.03 [[ 9.97336010e-01 7.27306015e-02 -5.58063035e-03 2.45798770e+01] [-7.27316094e-02 9.97351549e-01 2.23960640e-05 5.39125310e-01] [ 5.56747920e-03 3.83551825e-04 9.99984428e-01 3.39078630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.820888478999997 meters 0.041053418877304404 Centerline is valid? [True, True] Translation: X:24.61, Y:0.54, Z:0.03 [[ 9.97320820e-01 7.29879923e-02 -4.89236684e-03 2.46131142e+01] [-7.29887631e-02 9.97332763e-01 2.10480361e-05 5.35522449e-01] [ 4.88085400e-03 3.36096160e-04 9.99988032e-01 3.28705701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850888478999998 meters 0.046912846901524426 Centerline is valid? [True, True] Translation: X:24.64, Y:0.54, Z:0.03 [[ 9.97295748e-01 7.33222735e-02 -5.00355886e-03 2.46438123e+01] [-7.33230819e-02 9.97308240e-01 2.19393401e-05 5.41913607e-01] [ 4.99169913e-03 3.44996346e-04 9.99987482e-01 3.19903060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.880888478999996 meters 0.04204950401099547 Centerline is valid? [True, True] Translation: X:24.68, Y:0.53, Z:0.03 [[ 9.97265201e-01 7.37224652e-02 -5.20744248e-03 2.46761350e+01] [-7.37233392e-02 9.97278732e-01 2.41859651e-05 5.34799237e-01] [ 5.19505468e-03 3.59790227e-04 9.99986441e-01 3.31569056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910888478999997 meters 0.037209315584337904 Centerline is valid? [True, True] Translation: X:24.71, Y:0.53, Z:0.03 [[ 9.97274504e-01 7.34630947e-02 -6.83651399e-03 2.47087544e+01] [-7.34645926e-02 9.97297825e-01 3.21032707e-05 5.25144515e-01] [ 6.82039895e-03 4.70225942e-04 9.99976630e-01 3.32617719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.940888478999998 meters 0.04062270653520654 Centerline is valid? [True, True] Translation: X:24.74, Y:0.53, Z:0.03 [[ 9.97325821e-01 7.23200762e-02 -1.05362430e-02 2.47401011e+01] [-7.23235443e-02 9.97381222e-01 5.19865860e-05 5.25814569e-01] [ 1.05124106e-02 7.10170874e-04 9.99944491e-01 3.02785086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970888479 meters 0.03994542458864417 Centerline is valid? [True, True] Translation: X:24.77, Y:0.52, Z:0.03 [[ 9.97346011e-01 7.19845393e-02 -1.09160181e-02 2.47721306e+01] [-7.19882133e-02 9.97405481e-01 5.64898712e-05 5.24981709e-01] [ 1.08917627e-02 7.29484692e-04 9.99940417e-01 2.91224522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.000888478999997 meters 0.03728592226497611 Centerline is valid? [True, True] Translation: X:24.80, Y:0.52, Z:0.03 [[ 9.97371626e-01 7.17122823e-02 -1.03531680e-02 2.48045770e+01] [-7.17155458e-02 9.97425124e-01 5.61669579e-05 5.22838914e-01] [ 1.03305377e-02 6.86463765e-04 9.99946403e-01 2.85099887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030888478999998 meters 0.04096442297742963 Centerline is valid? [True, True] Translation: X:24.84, Y:0.53, Z:0.03 [[ 9.97420986e-01 7.11412249e-02 -9.50275747e-03 2.48354481e+01] [-7.11439279e-02 9.97466059e-01 5.37197996e-05 5.29899493e-01] [ 9.48249973e-03 6.22482236e-04 9.99954846e-01 2.69517044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.060888479 meters 0.03427218014198465 Centerline is valid? [True, True] Translation: X:24.87, Y:0.52, Z:0.03 [[ 9.97550621e-01 6.94839367e-02 -8.04616122e-03 2.48668088e+01] [-6.94858201e-02 9.97582938e-01 4.55886340e-05 5.19724026e-01] [ 8.02988083e-03 5.13617141e-04 9.99967628e-01 3.12724348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090888478999997 meters 0.03348234220386291 Centerline is valid? [True, True] Translation: X:24.90, Y:0.51, Z:0.03 [[ 9.97624698e-01 6.84422924e-02 -7.78550501e-03 2.48986543e+01] [-6.84440070e-02 9.97654958e-01 4.63071289e-05 5.13598339e-01] [ 7.77041704e-03 4.86674024e-04 9.99969691e-01 3.20660813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.120888478999998 meters 0.0387150867608485 Centerline is valid? [True, True] Translation: X:24.93, Y:0.52, Z:0.03 [[ 9.97693875e-01 6.74232051e-02 -7.81300457e-03 2.49294342e+01] [-6.74248868e-02 9.97724352e-01 4.82467433e-05 5.16116210e-01] [ 7.79847787e-03 4.78655469e-04 9.99969477e-01 3.23838588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150888479 meters 0.033852937884163596 Centerline is valid? [True, True] Translation: X:24.96, Y:0.51, Z:0.03 [[ 9.97738981e-01 6.68176565e-02 -7.23370722e-03 2.49619771e+01] [-6.68190787e-02 9.97765107e-01 4.51650435e-05 5.06933098e-01] [ 7.22055848e-03 4.38286728e-04 9.99973835e-01 3.46013332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.180888478999996 meters 0.03443440237927776 Centerline is valid? [True, True] Translation: X:24.99, Y:0.51, Z:0.03 [[ 9.97739168e-01 6.68337062e-02 -7.05748859e-03 2.49935320e+01] [-6.68350479e-02 9.97764037e-01 4.58339567e-05 5.09920128e-01] [ 7.04477156e-03 4.25957254e-04 9.99975095e-01 3.32162520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210888478999998 meters 0.03589415518487747 Centerline is valid? [True, True] Translation: X:25.03, Y:0.51, Z:0.03 [[ 9.97756065e-01 6.66853454e-02 -5.99160375e-03 2.50256251e+01] [-6.66863006e-02 9.97773990e-01 4.04349885e-05 5.10571203e-01] [ 5.98096280e-03 3.59213634e-04 9.99982049e-01 3.08471257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.240888479 meters 0.036520625872054284 Centerline is valid? [True, True] Translation: X:25.06, Y:0.51, Z:0.03 [[ 9.97741491e-01 6.69341067e-02 -5.63400262e-03 2.50574679e+01] [-6.69349468e-02 9.97757341e-01 3.95240245e-05 5.11478121e-01] [ 5.62401298e-03 3.37676906e-04 9.99984128e-01 3.13567117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270888478999996 meters 0.036631223562091426 Centerline is valid? [True, True] Translation: X:25.09, Y:0.51, Z:0.03 [[ 9.97744791e-01 6.67353363e-02 -7.19214138e-03 2.50892401e+01] [-6.67366885e-02 9.97770621e-01 5.20854347e-05 5.05445566e-01] [ 7.17958330e-03 4.28011727e-04 9.99974135e-01 3.31924537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.300888478999997 meters 0.03746005126822713 Centerline is valid? [True, True] Translation: X:25.12, Y:0.50, Z:0.03 [[ 9.97691526e-01 6.73720630e-02 -8.52193290e-03 2.51201433e+01] [-6.73739770e-02 9.97727790e-01 6.26184166e-05 5.04222322e-01] [ 8.50678801e-03 5.11682647e-04 9.99963686e-01 3.30345789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330888479 meters 0.03523611982503097 Centerline is valid? [True, True] Translation: X:25.15, Y:0.50, Z:0.03 [[ 9.97574633e-01 6.89519771e-02 -9.51187067e-03 2.51520640e+01] [-6.89544276e-02 9.97619808e-01 7.04716908e-05 5.01221277e-01] [ 9.49408976e-03 5.85584827e-04 9.99954759e-01 3.38463814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.360888478999996 meters 0.040588760942001784 Centerline is valid? [True, True] Translation: X:25.18, Y:0.51, Z:0.03 [[ 9.97328238e-01 7.25981950e-02 -8.11718309e-03 2.51825042e+01] [-7.26000991e-02 9.97361129e-01 6.02266446e-05 5.09276183e-01] [ 8.10013524e-03 5.29242564e-04 9.99967053e-01 3.17094685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390888478999997 meters 0.04293547807560513 Centerline is valid? [True, True] Translation: X:25.21, Y:0.51, Z:0.03 [[ 9.97190507e-01 7.46686720e-02 -5.97343345e-03 2.52134102e+01] [-7.46697353e-02 9.97208318e-01 4.51381341e-05 5.13023707e-01] [ 5.96012792e-03 4.01023376e-04 9.99982158e-01 3.27649191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.420888479 meters 0.04426299585798411 Centerline is valid? [True, True] Translation: X:25.25, Y:0.51, Z:0.03 [[ 9.97099218e-01 7.59898966e-02 -4.32269752e-03 2.52452804e+01] [-7.59904646e-02 9.97108544e-01 3.29303084e-05 5.14128089e-01] [ 4.31270100e-03 2.95649008e-04 9.99990657e-01 3.41954447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.450888478999996 meters 0.036333160250451746 Centerline is valid? [True, True] Translation: X:25.28, Y:0.50, Z:0.04 [[ 9.97006727e-01 7.72332830e-02 -3.55059914e-03 2.52776319e+01] [-7.72336731e-02 9.97013018e-01 2.73196240e-05 5.01269295e-01] [ 3.54210355e-03 2.46987964e-04 9.99993696e-01 4.00114230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.480888478999997 meters 0.036333160250451746 Centerline is valid? [True, True] Translation: X:25.31, Y:0.50, Z:0.04 [[ 9.96984770e-01 7.75162058e-02 -3.55058934e-03 2.53101354e+01] [-7.75165932e-02 9.96991062e-01 2.85719445e-05 5.00941194e-01] [ 3.54212063e-03 2.46743796e-04 9.99993696e-01 3.99740016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510888479 meters 0.03866916002055908 Centerline is valid? [True, True] Translation: X:25.34, Y:0.50, Z:0.04 [[ 9.97117627e-01 7.57897390e-02 -3.51466640e-03 2.53414690e+01] [-7.57901085e-02 9.97123793e-01 2.81248591e-05 5.00287715e-01] [ 3.50668907e-03 2.38333155e-04 9.99993823e-01 3.66104305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.540888478999996 meters 0.03628406901097208 Centerline is valid? [True, True] Translation: X:25.37, Y:0.50, Z:0.04 [[ 9.97134474e-01 7.55992894e-02 -2.75450337e-03 2.53737349e+01] [-7.55995131e-02 9.97138262e-01 2.29734297e-05 4.99336894e-01] [ 2.74835747e-03 1.85331515e-04 9.99996206e-01 3.80889908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.570888478999997 meters 0.03917345138382647 Centerline is valid? [True, True] Translation: X:25.40, Y:0.50, Z:0.03 [[ 9.97273138e-01 7.37170691e-02 -3.47591949e-03 2.54045307e+01] [-7.37174146e-02 9.97279170e-01 2.87950786e-05 4.98105751e-01] [ 3.46858479e-03 2.27519240e-04 9.99993959e-01 3.48660084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.600888478999998 meters 0.03812861573556301 Centerline is valid? [True, True] Translation: X:25.44, Y:0.50, Z:0.04 [[ 9.97289511e-01 7.34280705e-02 -4.68510558e-03 2.54356977e+01] [-7.34286915e-02 9.97300469e-01 3.95665094e-05 4.95645359e-01] [ 4.67536329e-03 3.04561908e-04 9.99989024e-01 3.62066066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630888478999996 meters 0.03540312712941969 Centerline is valid? [True, True] Translation: X:25.47, Y:0.49, Z:0.04 [[ 9.97267723e-01 7.36316083e-02 -5.95605936e-03 2.54685343e+01] [-7.36326047e-02 9.97285434e-01 5.21104998e-05 4.89930795e-01] [ 5.94372823e-03 3.86592045e-04 9.99982261e-01 3.70081399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.660888478999997 meters 0.03884697856237779 Centerline is valid? [True, True] Translation: X:25.50, Y:0.49, Z:0.03 [[ 9.97214995e-01 7.40970438e-02 -8.47828491e-03 2.54997765e+01] [-7.40990650e-02 9.97250883e-01 7.59082525e-05 4.91559294e-01] [ 8.46060168e-03 5.52536137e-04 9.99964056e-01 3.26366172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690888478999998 meters 0.04196793716068859 Centerline is valid? [True, True] Translation: X:25.53, Y:0.50, Z:0.03 [[ 9.97144641e-01 7.50416665e-02 -8.44466718e-03 2.55311404e+01] [-7.50436895e-02 9.97180244e-01 7.74938849e-05 4.95517073e-01] [ 8.42667054e-03 5.56446370e-04 9.99964340e-01 3.17871131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.720888478999996 meters 0.04021172662682569 Centerline is valid? [True, True] Translation: X:25.56, Y:0.49, Z:0.03 [[ 9.97113074e-01 7.54700864e-02 -8.35364046e-03 2.55644492e+01] [-7.54720615e-02 9.97147914e-01 7.90003197e-05 4.91296459e-01] [ 8.33577731e-03 5.51694215e-04 9.99965105e-01 3.23016549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750888478999997 meters 0.037623288054499236 Centerline is valid? [True, True] Translation: X:25.60, Y:0.49, Z:0.03 [[ 9.97107112e-01 7.56514619e-02 -7.36642228e-03 2.55969228e+01] [-7.56529894e-02 9.97134204e-01 7.14637039e-05 4.86951622e-01] [ 7.35071795e-03 4.86034900e-04 9.99972865e-01 3.42420045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.780888478999998 meters 0.03761034051007607 Centerline is valid? [True, True] Translation: X:25.63, Y:0.48, Z:0.03 [[ 9.97298181e-01 7.31191948e-02 -7.06550674e-03 2.56280162e+01] [-7.31205377e-02 9.97323108e-01 6.84184817e-05 4.84518697e-01] [ 7.05159584e-03 4.48400024e-04 9.99975037e-01 3.30196721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810888479 meters 0.037583869399839445 Centerline is valid? [True, True] Translation: X:25.66, Y:0.48, Z:0.03 [[ 9.97429126e-01 7.13283438e-02 -6.88519436e-03 2.56585580e+01] [-7.13295756e-02 9.97452799e-01 6.67939357e-05 4.83756021e-01] [ 6.87242069e-03 4.24495775e-04 9.99976295e-01 3.34846945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.840888478999997 meters 0.035644574805543755 Centerline is valid? [True, True] Translation: X:25.69, Y:0.48, Z:0.03 [[ 9.97593720e-01 6.90895502e-02 -5.77960278e-03 2.56900696e+01] [-6.90903779e-02 9.97610403e-01 5.65734694e-05 4.80134701e-01] [ 5.76970049e-03 3.42877602e-04 9.99983296e-01 3.49504445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870888478999998 meters 0.031232984981736562 Centerline is valid? [True, True] Translation: X:25.72, Y:0.47, Z:0.04 [[ 9.97946250e-01 6.39016407e-02 -4.45667815e-03 2.57209536e+01] [-6.39020811e-02 9.97956172e-01 4.36619376e-05 4.69686593e-01] [ 4.45035954e-03 2.41218742e-04 9.99990068e-01 3.77370687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.900888479 meters 0.033551914580314764 Centerline is valid? [True, True] Translation: X:25.75, Y:0.47, Z:0.04 [[ 9.98100900e-01 6.13880375e-02 -5.10895084e-03 2.57514986e+01] [-6.13885823e-02 9.98113941e-01 5.02496972e-05 4.69050245e-01] [ 5.10239979e-03 2.63476982e-04 9.99986948e-01 3.70978116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930888478999996 meters 0.033245135988514675 Centerline is valid? [True, True] Translation: X:25.78, Y:0.47, Z:0.04 [[ 9.98166749e-01 6.02682127e-02 -5.55733585e-03 2.57827959e+01] [-6.02688321e-02 9.98182180e-01 5.61026122e-05 4.69223661e-01] [ 5.55061482e-03 2.78934379e-04 9.99984556e-01 3.89948005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.960888478999998 meters 0.029995470742335734 Centerline is valid? [True, True] Translation: X:25.81, Y:0.46, Z:0.04 [[ 9.98217866e-01 5.92684783e-02 -6.95272823e-03 2.58144880e+01] [-5.92694121e-02 9.98242021e-01 7.18434984e-05 4.61941696e-01] [ 6.94476353e-03 3.40368651e-04 9.99975827e-01 3.91198050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990888479 meters 0.030434571425572484 Centerline is valid? [True, True] Translation: X:25.85, Y:0.46, Z:0.04 [[ 9.98251540e-01 5.86446580e-02 -7.39374156e-03 2.58463782e+01] [-5.86456839e-02 9.98278858e-01 7.81667670e-05 4.61991378e-01] [ 7.38559994e-03 3.55580935e-04 9.99972663e-01 3.70482856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.020888478999996 meters 0.032457700171462475 Centerline is valid? [True, True] Translation: X:25.88, Y:0.47, Z:0.04 [[ 9.98219189e-01 5.93303901e-02 -6.19316982e-03 2.58786965e+01] [-5.93311128e-02 9.98238356e-01 6.71332836e-05 4.66284663e-01] [ 6.18624270e-03 3.00433925e-04 9.99980820e-01 3.61154535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.050888478999997 meters 0.030955808195053724 Centerline is valid? [True, True] Translation: X:25.91, Y:0.46, Z:0.04 [[ 9.98172241e-01 6.01672207e-02 -5.66412621e-03 2.59110405e+01] [-6.01678308e-02 9.98188273e-01 6.27909383e-05 4.62452258e-01] [ 5.65764231e-03 2.78122015e-04 9.99983957e-01 3.59601973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.080888479 meters 0.0335423901053509 Centerline is valid? [True, True] Translation: X:25.94, Y:0.47, Z:0.04 [[ 9.98129273e-01 6.06951550e-02 -7.35210274e-03 2.59423314e+01] [-6.06961916e-02 9.98156283e-01 8.22549042e-05 4.65385054e-01] [ 7.34354001e-03 3.64143608e-04 9.99972970e-01 3.60709137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110888478999996 meters 0.03234564874633817 Centerline is valid? [True, True] Translation: X:25.97, Y:0.46, Z:0.04 [[ 9.98073813e-01 6.12935386e-02 -9.57945088e-03 2.59740563e+01] [-6.12953030e-02 9.98119669e-01 1.09576638e-04 4.58958249e-01] [ 9.56815469e-03 4.77809771e-04 9.99954110e-01 3.59191972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.140888478999997 meters 0.029725323297506098 Centerline is valid? [True, True] Translation: X:26.01, Y:0.45, Z:0.04 [[ 9.97941087e-01 6.32187809e-02 -1.08153574e-02 2.60059031e+01] [-6.32211370e-02 9.97999535e-01 1.24246867e-04 4.54935363e-01] [ 1.08015764e-02 5.59768138e-04 9.99941505e-01 3.86954565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170888479 meters 0.031081309654148806 Centerline is valid? [True, True] Translation: X:26.04, Y:0.45, Z:0.04 [[ 9.97957813e-01 6.29223216e-02 -1.09993321e-02 2.60381315e+01] [-6.29247085e-02 9.98018269e-01 1.29282031e-04 4.54851646e-01] [ 1.09856691e-02 5.63111755e-04 9.99939497e-01 3.70272983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.200888478999996 meters 0.031233087514653566 Centerline is valid? [True, True] Translation: X:26.07, Y:0.45, Z:0.04 [[ 9.97968752e-01 6.29411047e-02 -9.83805390e-03 2.60699473e+01] [-6.29429908e-02 9.98017117e-01 1.18101862e-04 4.54807226e-01] [ 9.82597966e-03 5.01374568e-04 9.99951598e-01 3.73613147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230888478999997 meters 0.03216147773048469 Centerline is valid? [True, True] Translation: X:26.10, Y:0.46, Z:0.04 [[ 9.98015546e-01 6.24366977e-02 -8.16259929e-03 2.61007513e+01] [-6.24379638e-02 9.98048842e-01 9.98746762e-05 4.57079057e-01] [ 8.15290861e-03 4.09979600e-04 9.99966680e-01 3.71983384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.260888479 meters 0.029425074268073524 Centerline is valid? [True, True] Translation: X:26.13, Y:0.45, Z:0.04 [[ 9.98157396e-01 6.03367491e-02 -6.42564266e-03 2.61324979e+01] [-6.03374890e-02 9.98178031e-01 7.88262386e-05 4.51402388e-01] [ 6.41869146e-03 3.09026150e-04 9.99979352e-01 3.87542007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290888478999996 meters 0.027351221347642524 Centerline is valid? [True, True] Translation: X:26.16, Y:0.45, Z:0.04 [[ 9.98208428e-01 5.96096153e-02 -5.16026536e-03 2.61643727e+01] [-5.96100750e-02 9.98221736e-01 6.48269000e-05 4.49176738e-01] [ 5.15495335e-03 2.42893047e-04 9.99986684e-01 4.24621779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.320888478999997 meters 0.02919890724651785 Centerline is valid? [True, True] Translation: X:26.20, Y:0.45, Z:0.04 [[ 9.98274816e-01 5.83506486e-02 -6.52632108e-03 2.61963092e+01] [-5.83513469e-02 9.98296105e-01 8.35264600e-05 4.45251344e-01] [ 6.52007474e-03 2.97437264e-04 9.99978700e-01 4.28466941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350888478999998 meters 0.029640096279236163 Centerline is valid? [True, True] Translation: X:26.23, Y:0.45, Z:0.04 [[ 9.98267061e-01 5.84734504e-02 -6.61290181e-03 2.62290010e+01] [-5.84741574e-02 9.98288919e-01 8.65522693e-05 4.45156730e-01] [ 6.60664761e-03 3.00281582e-04 9.99978131e-01 4.30844593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.380888478999996 meters 0.027198499637386464 Centerline is valid? [True, True] Translation: X:26.26, Y:0.45, Z:0.05 [[ 9.98211145e-01 5.95879909e-02 -4.87653682e-03 2.62613617e+01] [-5.95883825e-02 9.98223031e-01 6.50784392e-05 4.47209270e-01] [ 4.87174926e-03 2.25622918e-04 9.99988108e-01 4.58726917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.410888478999997 meters 0.0296132741313103 Centerline is valid? [True, True] Translation: X:26.29, Y:0.45, Z:0.04 [[ 9.98193066e-01 5.98830353e-02 -4.96239661e-03 2.62930968e+01] [-5.98834379e-02 9.98205374e-01 6.75486473e-05 4.50035288e-01] [ 4.95753598e-03 2.29738778e-04 9.99987685e-01 4.24973701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.440888478999998 meters 0.030038240093978496 Centerline is valid? [True, True] Translation: X:26.32, Y:0.46, Z:0.04 [[ 9.97998616e-01 6.30357036e-02 -5.02621221e-03 2.63230902e+01] [-6.30361580e-02 9.98011241e-01 6.81095927e-05 4.56810350e-01] [ 5.02050963e-03 2.48859828e-04 9.99987366e-01 4.31481111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470888478999996 meters 0.029837297700597017 Centerline is valid? [True, True] Translation: X:26.35, Y:0.45, Z:0.04 [[ 9.97869028e-01 6.49180815e-02 -6.56093139e-03 2.63546525e+01] [-6.49188847e-02 9.97890540e-01 9.06861208e-05 4.54520249e-01] [ 6.55297854e-03 3.35435477e-04 9.99978473e-01 4.11631094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.500888478999997 meters 0.03604793174451044 Centerline is valid? [True, True] Translation: X:26.39, Y:0.46, Z:0.04 [[ 9.97705288e-01 6.72666128e-02 -7.70458827e-03 2.63858847e+01] [-6.72677772e-02 9.97734952e-01 1.08202932e-04 4.62060982e-01] [ 7.69441546e-03 4.10315890e-04 9.99970313e-01 3.83236892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.530888478999998 meters 0.03304518773658418 Centerline is valid? [True, True] Translation: X:26.42, Y:0.46, Z:0.04 [[ 9.97552877e-01 6.94216877e-02 -8.29984373e-03 2.64171901e+01] [-6.94231129e-02 9.97587298e-01 1.16612756e-04 4.57109533e-01] [ 8.28791414e-03 4.59873599e-04 9.99965549e-01 3.97461037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.560888479 meters 0.0329588667852256 Centerline is valid? [True, True] Translation: X:26.45, Y:0.46, Z:0.04 [[ 9.97310445e-01 7.28332930e-02 -8.19679995e-03 2.64485757e+01] [-7.28347955e-02 9.97344012e-01 1.15453466e-04 4.60008587e-01] [ 8.18343821e-03 4.81869300e-04 9.99966399e-01 4.10325475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590888478999997 meters 0.03400581036139334 Centerline is valid? [True, True] Translation: X:26.48, Y:0.46, Z:0.04 [[ 9.97258705e-01 7.35663001e-02 -7.94190820e-03 2.64799030e+01] [-7.35677245e-02 9.97290217e-01 1.13025115e-04 4.62299916e-01] [ 7.92870219e-03 4.71552835e-04 9.99968456e-01 3.97336269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.620888478999998 meters 0.03377696182670096 Centerline is valid? [True, True] Translation: X:26.51, Y:0.46, Z:0.04 [[ 9.97213414e-01 7.41475901e-02 -8.21842962e-03 2.65115332e+01] [-7.41491172e-02 9.97247158e-01 1.19149729e-04 4.60571256e-01] [ 8.20464024e-03 4.90571593e-04 9.99966221e-01 3.76094229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650888479 meters 0.033776492663515394 Centerline is valid? [True, True] Translation: X:26.54, Y:0.46, Z:0.04 [[ 9.97182155e-01 7.47631091e-02 -6.18278540e-03 2.65447676e+01] [-7.47639736e-02 9.97201253e-01 9.15108725e-05 4.60914586e-01] [ 6.17232299e-03 3.70996596e-04 9.99980882e-01 3.88236130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.680888478999996 meters 0.034411742205914204 Centerline is valid? [True, True] Translation: X:26.58, Y:0.46, Z:0.04 [[ 9.97160199e-01 7.50866549e-02 -5.79060802e-03 2.65763485e+01] [-7.50874098e-02 9.97176952e-01 8.72411913e-05 4.59986787e-01] [ 5.78081150e-03 3.47808313e-04 9.99983230e-01 4.01659295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.710888478999998 meters 0.0353351999022923 Centerline is valid? [True, True] Translation: X:26.61, Y:0.46, Z:0.04 [[ 9.97109943e-01 7.57216338e-02 -6.16399684e-03 2.66072067e+01] [-7.57224930e-02 9.97128926e-01 9.42021823e-05 4.59318705e-01] [ 6.15343269e-03 3.72823275e-04 9.99980998e-01 4.10386209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.740888479 meters 0.03826999056964254 Centerline is valid? [True, True] Translation: X:26.64, Y:0.46, Z:0.04 [[ 9.97042699e-01 7.65452071e-02 -6.83278363e-03 2.66384516e+01] [-7.65462719e-02 9.97066024e-01 1.05929829e-04 4.61889348e-01] [ 6.82084484e-03 4.17407552e-04 9.99976651e-01 4.00205911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.770888478999996 meters 0.03567890802972848 Centerline is valid? [True, True] Translation: X:26.67, Y:0.46, Z:0.04 [[ 9.96866441e-01 7.87267526e-02 -7.70692288e-03 2.66695315e+01] [-7.87281733e-02 9.96896113e-01 1.19347269e-04 4.59481623e-01] [ 7.69239728e-03 4.87778673e-04 9.99970294e-01 4.01405159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.800888478999997 meters 0.03483771540602695 Centerline is valid? [True, True] Translation: X:26.70, Y:0.46, Z:0.04 [[ 9.96776913e-01 7.99055804e-02 -7.13322851e-03 2.67018935e+01] [-7.99068130e-02 9.96802332e-01 1.12502669e-04 4.60629239e-01] [ 7.11940840e-03 4.57853494e-04 9.99974552e-01 4.07020330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830888479 meters 0.03651059827664558 Centerline is valid? [True, True] Translation: X:26.73, Y:0.46, Z:0.04 [[ 9.96706022e-01 8.06747041e-02 -8.28841851e-03 2.67338124e+01] [-8.06763780e-02 9.96740340e-01 1.32732077e-04 4.60420627e-01] [ 8.27210920e-03 5.36384724e-04 9.99965642e-01 3.90322656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.860888478999996 meters 0.036205911438057924 Centerline is valid? [True, True] Translation: X:26.77, Y:0.46, Z:0.04 [[ 9.96659155e-01 8.08159345e-02 -1.18031151e-02 2.67658959e+01] [-8.08193063e-02 9.96728751e-01 1.91807715e-04 4.57108024e-01] [ 1.17800053e-02 7.62752661e-04 9.99930322e-01 3.82723908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890888478999997 meters 0.03649259724960329 Centerline is valid? [True, True] Translation: X:26.80, Y:0.45, Z:0.04 [[ 9.96688242e-01 8.02620232e-02 -1.30597022e-02 2.67977826e+01] [-8.02660622e-02 9.96773451e-01 2.15425214e-04 4.54720442e-01] [ 1.30348549e-02 8.33539088e-04 9.99914695e-01 3.76073774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.920888479 meters 0.03507137428942079 Centerline is valid? [True, True] Translation: X:26.83, Y:0.45, Z:0.04 [[ 9.96750898e-01 7.93773334e-02 -1.36706084e-02 2.68295177e+01] [-7.93816304e-02 9.96844273e-01 2.28872934e-04 4.53492084e-01] [ 1.36456351e-02 8.57065885e-04 9.99906527e-01 3.67343125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950888478999996 meters 0.04141330824027986 Centerline is valid? [True, True] Translation: X:26.86, Y:0.47, Z:0.03 [[ 9.96886889e-01 7.77597495e-02 -1.30365600e-02 2.68604860e+01] [-7.77635163e-02 9.96971809e-01 2.18485909e-04 4.65926759e-01] [ 1.30140722e-02 7.95963004e-04 9.99914997e-01 3.08101786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.980888478999997 meters 0.03444401790255726 Centerline is valid? [True, True] Translation: X:26.89, Y:0.46, Z:0.03 [[ 9.96925937e-01 7.75869940e-02 -1.09056670e-02 2.68929331e+01] [-7.75896084e-02 9.96985365e-01 1.83795914e-04 4.56976750e-01] [ 1.08870506e-02 6.62935519e-04 9.99940515e-01 3.39241969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010888479 meters 0.0338018960094645 Centerline is valid? [True, True] Translation: X:26.92, Y:0.45, Z:0.04 [[ 9.96984875e-01 7.70013197e-02 -9.58936322e-03 2.69248961e+01] [-7.70032895e-02 9.97030825e-01 1.64178323e-04 4.53629953e-01] [ 9.57353267e-03 5.74729208e-04 9.99954008e-01 3.57915745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.040888478999996 meters 0.03260129544353664 Centerline is valid? [True, True] Translation: X:26.96, Y:0.44, Z:0.04 [[ 9.97251778e-01 7.36700482e-02 -7.84953443e-03 2.69554302e+01] [-7.36712657e-02 9.97282571e-01 1.34316667e-04 4.44563206e-01] [ 7.83809899e-03 4.44337601e-04 9.99969183e-01 4.14437329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070888478999997 meters 0.03245733139213559 Centerline is valid? [True, True] Translation: X:26.99, Y:0.44, Z:0.04 [[ 9.97330489e-01 7.25630418e-02 -8.15477753e-03 2.69862688e+01] [-7.25643020e-02 9.97363726e-01 1.41626990e-04 4.41429618e-01] [ 8.14355619e-03 4.50496824e-04 9.99966739e-01 4.25099611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.100888478999998 meters 0.03140378729284539 Centerline is valid? [True, True] Translation: X:27.02, Y:0.44, Z:0.04 [[ 9.97416857e-01 7.12631580e-02 -9.00977599e-03 2.70180905e+01] [-7.12646232e-02 9.97457432e-01 1.58723295e-04 4.36770334e-01] [ 8.99817914e-03 4.83765002e-04 9.99959399e-01 4.14605204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130888478999996 meters 0.03197670493147275 Centerline is valid? [True, True] Translation: X:27.05, Y:0.44, Z:0.04 [[ 9.97426077e-01 7.11099003e-02 -9.19794464e-03 2.70491556e+01] [-7.11114017e-02 9.97468366e-01 1.64123186e-04 4.39547712e-01] [ 9.18632959e-03 4.90377991e-04 9.99957685e-01 3.84540303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.160888478999997 meters 0.03317108878956717 Centerline is valid? [True, True] Translation: X:27.08, Y:0.44, Z:0.04 [[ 9.97380117e-01 7.17488885e-02 -9.21953403e-03 2.70806981e+01] [-7.17504050e-02 9.97422604e-01 1.66588435e-04 4.41065690e-01] [ 9.20772417e-03 4.95353307e-04 9.99957485e-01 3.70562138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.190888478999998 meters 0.03382217911629857 Centerline is valid? [True, True] Translation: X:27.11, Y:0.44, Z:0.04 [[ 9.97287499e-01 7.29537296e-02 -9.76719599e-03 2.71123848e+01] [-7.29554789e-02 9.97335183e-01 1.77545347e-04 4.40809725e-01] [ 9.75412079e-03 5.35506706e-04 9.99952284e-01 3.67329111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.220888478999996 meters 0.03435674410519351 Centerline is valid? [True, True] Translation: X:27.14, Y:0.44, Z:0.04 [[ 9.97164792e-01 7.45507011e-02 -1.02259707e-02 2.71447044e+01] [-7.45526958e-02 9.97217058e-01 1.86524483e-04 4.37919033e-01] [ 1.02114180e-02 5.76378037e-04 9.99947696e-01 3.87556716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250888478999997 meters 0.032134010732443555 Centerline is valid? [True, True] Translation: X:27.18, Y:0.43, Z:0.04 [[ 9.97114443e-01 7.53089708e-02 -9.55757062e-03 2.71770620e+01] [-7.53107233e-02 9.97160099e-01 1.76921780e-04 4.33883796e-01] [ 9.54375186e-03 5.43376294e-04 9.99954310e-01 4.09419598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.280888478999998 meters 0.03136894325945085 Centerline is valid? [True, True] Translation: X:27.21, Y:0.43, Z:0.04 [[ 9.97064962e-01 7.61289563e-02 -8.11446158e-03 2.72084280e+01] [-7.61302313e-02 9.97097871e-01 1.52080901e-04 4.34293989e-01] [ 8.10249013e-03 4.66121300e-04 9.99967066e-01 4.36356620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.310888479 meters 0.03195154495367487 Centerline is valid? [True, True] Translation: X:27.24, Y:0.43, Z:0.04 [[ 9.97063148e-01 7.61134817e-02 -8.47445360e-03 2.72404172e+01] [-7.61148543e-02 9.97099044e-01 1.60898325e-04 4.34052585e-01] [ 8.46211612e-03 4.84606011e-04 9.99964078e-01 4.25188365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.340888478999997 meters 0.03318539496177073 Centerline is valid? [True, True] Translation: X:27.27, Y:0.43, Z:0.04 [[ 9.97227074e-01 7.36541695e-02 -1.06407821e-02 2.72716497e+01] [-7.36561935e-02 9.97283673e-01 2.02088767e-04 4.34006763e-01] [ 1.06267629e-02 5.82231112e-04 9.99943365e-01 3.79667874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370888478999998 meters 0.03318539496177073 Centerline is valid? [True, True] Translation: X:27.30, Y:0.43, Z:0.04 [[ 9.97206458e-01 7.39327774e-02 -1.06407198e-02 2.73041096e+01] [-7.39347826e-02 9.97263057e-01 2.05342635e-04 4.33304014e-01] [ 1.06267783e-02 5.81950304e-04 9.99943365e-01 3.79294216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.400888479 meters 0.03208667395770808 Centerline is valid? [True, True] Translation: X:27.34, Y:0.43, Z:0.04 [[ 9.97336117e-01 7.22581459e-02 -9.97149149e-03 2.73356894e+01] [-7.22598205e-02 9.97385824e-01 1.92712329e-04 4.31918162e-01] [ 9.95934929e-03 5.28339219e-04 9.99950265e-01 3.75928488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.430888478999996 meters 0.02933402263044013 Centerline is valid? [True, True] Translation: X:27.37, Y:0.43, Z:0.04 [[ 9.97458572e-01 7.09011842e-02 -7.02981777e-03 2.73668498e+01] [-7.09019811e-02 9.97483278e-01 1.36104581e-04 4.29906765e-01] [ 7.02177565e-03 3.62669326e-04 9.99975281e-01 4.06673542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.460888478999998 meters 0.031010217707001995 Centerline is valid? [True, True] Translation: X:27.40, Y:0.43, Z:0.04 [[ 9.97654562e-01 6.81671931e-02 -6.21362824e-03 2.73974398e+01] [-6.81677614e-02 9.97673865e-01 1.20522340e-04 4.29723844e-01] [ 6.20739017e-03 3.03329466e-04 9.99980688e-01 4.06120183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490888479 meters 0.027799745905098042 Centerline is valid? [True, True] Translation: X:27.43, Y:0.42, Z:0.05 [[ 9.97950043e-01 6.38660582e-02 -4.10353146e-03 2.74285845e+01] [-6.38662695e-02 9.97958463e-01 7.96561005e-05 4.21390768e-01] [ 4.10024126e-03 1.82584437e-04 9.99991577e-01 4.68525219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.520888478999996 meters 0.025179640299848097 Centerline is valid? [True, True] Translation: X:27.46, Y:0.42, Z:0.05 [[ 9.98034991e-01 6.25211694e-02 -4.15455326e-03 2.74601904e+01] [-6.25213690e-02 9.98043622e-01 8.19267740e-05 4.16130887e-01] [ 4.15154754e-03 1.77982570e-04 9.99991366e-01 4.78601864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550888478999997 meters 0.026756906404208552 Centerline is valid? [True, True] Translation: X:27.49, Y:0.42, Z:0.04 [[ 9.98072697e-01 6.17388415e-02 -6.26148472e-03 2.74923331e+01] [-6.17392710e-02 9.98092304e-01 1.24866750e-04 4.19949869e-01] [ 6.25724883e-03 2.61953407e-04 9.99980389e-01 4.06917609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.580888479 meters 0.02574060099779644 Centerline is valid? [True, True] Translation: X:27.52, Y:0.42, Z:0.04 [[ 9.97945801e-01 6.37068600e-02 -6.75382252e-03 2.75248107e+01] [-6.37074029e-02 9.97968611e-01 1.34937127e-04 4.21831346e-01] [ 6.74869930e-03 2.95608554e-04 9.99977184e-01 3.91400606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610888478999996 meters 0.026055876190447837 Centerline is valid? [True, True] Translation: X:27.56, Y:0.42, Z:0.04 [[ 9.97819523e-01 6.55846336e-02 -7.40642983e-03 2.75563670e+01] [-6.55853244e-02 9.97846954e-01 1.49830690e-04 4.22936059e-01] [ 7.40031003e-03 3.36249115e-04 9.99972561e-01 3.76635944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.640888478999997 meters 0.028840827140700177 Centerline is valid? [True, True] Translation: X:27.59, Y:0.42, Z:0.04 [[ 9.97679196e-01 6.74135336e-02 -9.57278571e-03 2.75869343e+01] [-6.74147714e-02 9.97725018e-01 1.93692256e-04 4.22764050e-01] [ 9.56406527e-03 4.52104425e-04 9.99954161e-01 3.55679994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670888479 meters 0.029465644776887512 Centerline is valid? [True, True] Translation: X:27.62, Y:0.42, Z:0.04 [[ 9.97624523e-01 6.82068227e-02 -9.65090356e-03 2.76178812e+01] [-6.82080949e-02 9.97671096e-01 1.97637743e-04 4.21597847e-01] [ 9.64190778e-03 4.61101487e-04 9.99953409e-01 3.71057153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.700888478999996 meters 0.028250019726643583 Centerline is valid? [True, True] Translation: X:27.65, Y:0.42, Z:0.04 [[ 9.97584551e-01 6.88927453e-02 -8.87996868e-03 2.76500977e+01] [-6.88938302e-02 9.97623980e-01 1.84027610e-04 4.19548454e-01] [ 8.87154787e-03 4.28191954e-04 9.99960555e-01 4.06142808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730888478999997 meters 0.02903996342780364 Centerline is valid? [True, True] Translation: X:27.68, Y:0.42, Z:0.04 [[ 9.97760971e-01 6.62852127e-02 -8.90594299e-03 2.76816311e+01] [-6.62861980e-02 9.97800634e-01 1.84819272e-04 4.18388412e-01] [ 8.89860635e-03 4.05935645e-04 9.99960324e-01 3.78616394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.760888479 meters 0.026436448211222475 Centerline is valid? [True, True] Translation: X:27.71, Y:0.42, Z:0.04 [[ 9.97761900e-01 6.65003390e-02 -6.99252902e-03 2.77137289e+01] [-6.65009382e-02 9.97786352e-01 1.47039339e-04 4.19159753e-01] [ 6.98682818e-03 3.18299490e-04 9.99975541e-01 3.92382681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790888478999996 meters 0.02540758216724125 Centerline is valid? [True, True] Translation: X:27.75, Y:0.42, Z:0.04 [[ 9.97810891e-01 6.56995165e-02 -7.54985179e-03 2.77455141e+01] [-6.57001783e-02 9.97839396e-01 1.60591350e-04 4.17151301e-01] [ 7.54409033e-03 3.35786811e-04 9.99971487e-01 3.81701808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.820888478999997 meters 0.02631437745722861 Centerline is valid? [True, True] Translation: X:27.78, Y:0.41, Z:0.03 [[ 9.97983548e-01 6.24937351e-02 -1.11072177e-02 2.77772946e+01] [-6.24949668e-02 9.98045251e-01 2.36494087e-04 4.10508801e-01] [ 1.11002853e-02 4.58127994e-04 9.99938285e-01 3.44278055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850888478999998 meters 0.024676479604939634 Centerline is valid? [True, True] Translation: X:27.81, Y:0.41, Z:0.04 [[ 9.97971385e-01 6.27467664e-02 -1.07683975e-02 2.78093682e+01] [-6.27479170e-02 9.98029381e-01 2.31305427e-04 4.08035700e-01] [ 1.07616908e-02 4.44858316e-04 9.99941992e-01 3.61666621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.880888478999996 meters 0.025343316181601655 Centerline is valid? [True, True] Translation: X:27.84, Y:0.41, Z:0.04 [[ 9.98027042e-01 6.16676114e-02 -1.17953188e-02 2.78402856e+01] [-6.16688853e-02 9.98096630e-01 2.56030200e-04 4.07093686e-01] [ 1.17886567e-02 4.71879096e-04 9.99930400e-01 3.51998505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910888478999997 meters 0.02316833501937227 Centerline is valid? [True, True] Translation: X:27.87, Y:0.40, Z:0.03 [[ 9.98089281e-01 6.05277792e-02 -1.24167216e-02 2.78725207e+01] [-6.05290650e-02 9.98166398e-01 2.72566514e-04 4.03065217e-01] [ 1.24104521e-02 4.79526834e-04 9.99922872e-01 3.49509669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.940888478999998 meters 0.023821107161773908 Centerline is valid? [True, True] Translation: X:27.90, Y:0.40, Z:0.03 [[ 9.98266787e-01 5.74602444e-02 -1.27177914e-02 2.79029032e+01] [-5.74613453e-02 9.98347693e-01 2.79131144e-04 4.03956948e-01] [ 1.27128167e-02 4.52134053e-04 9.99919087e-01 3.13248870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970888478999996 meters 0.023006199463048053 Centerline is valid? [True, True] Translation: X:27.93, Y:0.40, Z:0.03 [[ 9.98346797e-01 5.64330201e-02 -1.09081016e-02 2.79344393e+01] [-5.64337372e-02 9.98406317e-01 2.42292814e-04 4.03167193e-01] [ 1.09043909e-02 3.73692684e-04 9.99940476e-01 3.28549574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.000888478999997 meters 0.02188089369711909 Centerline is valid? [True, True] Translation: X:27.97, Y:0.40, Z:0.04 [[ 9.98388786e-01 5.57508839e-02 -1.05674566e-02 2.79663543e+01] [-5.57514917e-02 9.98444648e-01 2.37288548e-04 3.98503646e-01] [ 1.05642495e-02 3.52245242e-04 9.99944135e-01 3.50853969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030888478999998 meters 0.021720472599702608 Centerline is valid? [True, True] Translation: X:28.00, Y:0.39, Z:0.04 [[ 9.98485865e-01 5.39019535e-02 -1.09797928e-02 2.79971260e+01] [-5.39024829e-02 9.98546174e-01 2.47922536e-04 3.94589174e-01] [ 1.09771936e-02 3.44290946e-04 9.99939690e-01 3.67276532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.060888479 meters 0.020663689872704956 Centerline is valid? [True, True] Translation: X:28.03, Y:0.39, Z:0.04 [[ 9.98531032e-01 5.31025531e-02 -1.07655480e-02 2.80296967e+01] [-5.31030060e-02 9.98589010e-01 2.43969708e-04 3.91645786e-01] [ 1.07633134e-02 3.28071637e-04 9.99942020e-01 3.68174392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090888478999997 meters 0.022465128626993524 Centerline is valid? [True, True] Translation: X:28.06, Y:0.39, Z:0.03 [[ 9.98591778e-01 5.18636195e-02 -1.11636030e-02 2.80610968e+01] [-5.18639994e-02 9.98654124e-01 2.55662162e-04 3.92752971e-01] [ 1.11618377e-02 3.23686964e-04 9.99937652e-01 3.43639171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.120888478999998 meters 0.021695381060385186 Centerline is valid? [True, True] Translation: X:28.09, Y:0.39, Z:0.03 [[ 9.98626784e-01 5.13678658e-02 -1.02902645e-02 2.80932361e+01] [-5.13681364e-02 9.98679757e-01 2.38185658e-04 3.90973206e-01] [ 1.02889139e-02 2.90733132e-04 9.99947025e-01 3.46836212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150888479 meters 0.021374250057024247 Centerline is valid? [True, True] Translation: X:28.13, Y:0.39, Z:0.03 [[ 9.98652831e-01 5.11537645e-02 -8.70720436e-03 2.81251346e+01] [-5.11539312e-02 9.98690760e-01 2.03715771e-04 3.91641159e-01] [ 8.70622536e-03 2.41966401e-04 9.99962071e-01 3.42261724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.180888478999996 meters 0.020630163557531167 Centerline is valid? [True, True] Translation: X:28.16, Y:0.39, Z:0.03 [[ 9.98610633e-01 5.19809983e-02 -8.64750615e-03 2.81560912e+01] [-5.19811769e-02 9.98648044e-01 2.04251175e-04 3.92100478e-01] [ 8.64643228e-03 2.45540151e-04 9.99962589e-01 3.43408925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210888478999998 meters 0.022278533225319558 Centerline is valid? [True, True] Translation: X:28.19, Y:0.39, Z:0.03 [[ 9.98577737e-01 5.21488097e-02 -1.10907597e-02 2.81876317e+01] [-5.21490876e-02 9.98639276e-01 2.64328766e-04 3.90852612e-01] [ 1.10894527e-02 3.14420179e-04 9.99938461e-01 3.18356292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.240888479 meters 0.021697428801186115 Centerline is valid? [True, True] Translation: X:28.22, Y:0.39, Z:0.03 [[ 9.98360240e-01 5.58563887e-02 -1.25257753e-02 2.82188685e+01] [-5.58570325e-02 9.98438733e-01 2.98706788e-04 3.91037682e-01] [ 1.25229039e-02 4.01435656e-04 9.99921505e-01 3.20532092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270888478999996 meters 0.022614136577061354 Centerline is valid? [True, True] Translation: X:28.25, Y:0.39, Z:0.03 [[ 9.98219874e-01 5.84119497e-02 -1.20469004e-02 2.82505830e+01] [-5.84126966e-02 9.98292479e-01 2.90154554e-04 3.92077130e-01] [ 1.20432785e-02 4.14053893e-04 9.99927391e-01 3.30356325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.300888478999997 meters 0.025371126326695297 Centerline is valid? [True, True] Translation: X:28.28, Y:0.39, Z:0.03 [[ 9.98151594e-01 5.96252165e-02 -1.17570393e-02 2.82824578e+01] [-5.96259790e-02 9.98220748e-01 2.85972057e-04 3.93118790e-01] [ 1.17531717e-02 4.15581512e-04 9.99930843e-01 3.25378313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330888479 meters 0.026273480846259727 Centerline is valid? [True, True] Translation: X:28.32, Y:0.39, Z:0.04 [[ 9.98096297e-01 6.12834682e-02 -6.93674071e-03 2.83155557e+01] [-6.12837594e-02 9.98120369e-01 1.70758260e-04 3.94047983e-01] [ 6.93416685e-03 2.54676362e-04 9.99975926e-01 3.70400719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.360888478999996 meters 0.02602143205028378 Centerline is valid? [True, True] Translation: X:28.35, Y:0.39, Z:0.04 [[ 9.98104846e-01 6.13579704e-02 -4.68140908e-03 2.83478099e+01] [-6.13580984e-02 9.98115810e-01 1.16407450e-04 3.94685446e-01] [ 4.67973094e-03 1.71055519e-04 9.99989035e-01 3.89304430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390888478999997 meters 0.02443860142527107 Centerline is valid? [True, True] Translation: X:28.38, Y:0.39, Z:0.04 [[ 9.98120771e-01 6.11994108e-02 -3.09172629e-03 2.83795138e+01] [-6.11994633e-02 9.98125553e-01 7.77096897e-05 3.94337518e-01] [ 3.09068680e-03 1.11648334e-04 9.99995218e-01 3.91714159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.420888479 meters 0.02371539522660012 Centerline is valid? [True, True] Translation: X:28.41, Y:0.39, Z:0.04 [[ 9.98127759e-01 6.09246656e-02 -5.40025437e-03 2.84112422e+01] [-6.09248154e-02 9.98142349e-01 1.36919005e-04 3.94371262e-01] [ 5.39856433e-03 1.92346842e-04 9.99985409e-01 3.55614721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450888478999996 meters 0.02417193647173359 Centerline is valid? [True, True] Translation: X:28.44, Y:0.39, Z:0.03 [[ 9.98116087e-01 6.08325198e-02 -7.98009998e-03 2.84435825e+01] [-6.08328292e-02 9.98147948e-01 2.04172584e-04 3.93174645e-01] [ 7.97774075e-03 2.81664119e-04 9.99968138e-01 3.29790312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.480888478999997 meters 0.02404767774106697 Centerline is valid? [True, True] Translation: X:28.48, Y:0.39, Z:0.03 [[ 9.98103271e-01 6.02355394e-02 -1.27098267e-02 2.84754227e+01] [-6.02362398e-02 9.98184095e-01 3.28044540e-04 3.88106652e-01] [ 1.27065068e-02 4.38169841e-04 9.99919173e-01 3.01461688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510888479 meters 0.022596505343294562 Centerline is valid? [True, True] Translation: X:28.51, Y:0.39, Z:0.03 [[ 9.98058036e-01 6.08608963e-02 -1.32705741e-02 2.85075595e+01] [-6.08616733e-02 9.98146150e-01 3.45666844e-04 3.88330938e-01] [ 1.32670100e-02 4.62673772e-04 9.99911882e-01 3.04676394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.540888478999996 meters 0.022678497217647538 Centerline is valid? [True, True] Translation: X:28.54, Y:0.39, Z:0.03 [[ 9.98048335e-01 6.10134368e-02 -1.32996463e-02 2.85403494e+01] [-6.10141823e-02 9.98136838e-01 3.50071965e-04 3.90390585e-01] [ 1.32962260e-02 4.62078302e-04 9.99911495e-01 2.88261850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570888478999997 meters 0.023023046965475746 Centerline is valid? [True, True] Translation: X:28.57, Y:0.39, Z:0.03 [[ 9.98045827e-01 6.13606513e-02 -1.18066641e-02 2.85714803e+01] [-6.13612459e-02 9.98115574e-01 3.12229722e-04 3.93503300e-01] [ 1.18035739e-02 4.12852045e-04 9.99930250e-01 2.81278101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.600888478999998 meters 0.023333852093138995 Centerline is valid? [True, True] Translation: X:28.60, Y:0.39, Z:0.03 [[ 9.98086332e-01 6.11856048e-02 -8.94406294e-03 2.86032677e+01] [-6.11859183e-02 9.98126358e-01 2.38828279e-04 3.92380124e-01] [ 8.94191782e-03 3.08879463e-04 9.99959973e-01 2.96059963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630888478999996 meters 0.024342004600822715 Centerline is valid? [True, True] Translation: X:28.63, Y:0.39, Z:0.03 [[ 9.98096778e-01 6.09008192e-02 -9.69076864e-03 2.86343051e+01] [-6.09011536e-02 9.98143768e-01 2.60861783e-04 3.89808886e-01] [ 9.68866702e-03 3.29813683e-04 9.99953009e-01 3.09191051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.660888478999997 meters 0.021839017482126084 Centerline is valid? [True, True] Translation: X:28.67, Y:0.39, Z:0.03 [[ 9.98105890e-01 6.06882849e-02 -1.00778994e-02 2.86662183e+01] [-6.06886112e-02 9.98156710e-01 2.73716952e-04 3.85329592e-01] [ 1.00759343e-02 3.38415215e-04 9.99949179e-01 3.39572942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690888478999998 meters 0.025908109240682455 Centerline is valid? [True, True] Translation: X:28.70, Y:0.38, Z:0.03 [[ 9.98164124e-01 5.93167077e-02 -1.22437228e-02 2.86974660e+01] [-5.93170542e-02 9.98239137e-01 3.35165108e-04 3.83751053e-01] [ 1.22420441e-02 3.91711781e-04 9.99924987e-01 3.05020374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.720888478999996 meters 0.023648676570712446 Centerline is valid? [True, True] Translation: X:28.73, Y:0.39, Z:0.03 [[ 9.98129654e-01 5.98028108e-02 -1.26813640e-02 2.87290639e+01] [-5.98031868e-02 9.98210126e-01 3.49903413e-04 3.88433234e-01] [ 1.26795912e-02 4.09137008e-04 9.99919527e-01 2.78073879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750888478999997 meters 0.024540204814019383 Centerline is valid? [True, True] Translation: X:28.76, Y:0.39, Z:0.03 [[ 9.98056231e-01 6.11398959e-02 -1.20695298e-02 2.87614244e+01] [-6.11402994e-02 9.98129125e-01 3.35888276e-04 3.91176140e-01] [ 1.20674853e-02 4.02699276e-04 9.99927104e-01 2.58272815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.780888478999998 meters 0.022836507493386934 Centerline is valid? [True, True] Translation: X:28.79, Y:0.39, Z:0.03 [[ 9.97934289e-01 6.32858347e-02 -1.10480197e-02 2.87930919e+01] [-6.32862770e-02 9.97995366e-01 3.09913254e-04 3.91658000e-01] [ 1.10454856e-02 3.89914973e-04 9.99938921e-01 2.81838408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810888478999995 meters 0.02726045836760445 Centerline is valid? [True, True] Translation: X:28.82, Y:0.39, Z:0.03 [[ 9.97759535e-01 6.60236418e-02 -1.08069279e-02 2.88249862e+01] [-6.60242192e-02 9.97817974e-01 3.03728252e-04 3.90326303e-01] [ 1.08034001e-02 4.10471215e-04 9.99941557e-01 2.87057005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.840888478999997 meters 0.026962263399520018 Centerline is valid? [True, True] Translation: X:28.86, Y:0.39, Z:0.03 [[ 9.97659574e-01 6.76240819e-02 -1.01172071e-02 2.88572037e+01] [-6.76246434e-02 9.97710792e-01 2.86978746e-04 3.89723512e-01] [ 1.01134534e-02 3.97865429e-04 9.99948779e-01 3.04753457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870888478999998 meters 0.026066429145256302 Centerline is valid? [True, True] Translation: X:28.89, Y:0.39, Z:0.03 [[ 9.97542347e-01 6.94736884e-02 -9.09240612e-03 2.88879602e+01] [-6.94742097e-02 9.97583714e-01 2.58884434e-04 3.91768163e-01] [ 9.08842193e-03 3.73439544e-04 9.99958630e-01 3.34202024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.900888479 meters 0.030116088859002375 Centerline is valid? [True, True] Translation: X:28.92, Y:0.40, Z:0.03 [[ 9.97463320e-01 7.06622296e-02 -8.58921469e-03 2.89190377e+01] [-7.06627295e-02 9.97500235e-01 2.45635601e-04 3.97089938e-01] [ 8.58510083e-03 3.61924852e-04 9.99963082e-01 3.01341128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930888478999996 meters 0.02928200760867283 Centerline is valid? [True, True] Translation: X:28.95, Y:0.40, Z:0.03 [[ 9.97368605e-01 7.20511929e-02 -8.03065657e-03 2.89511932e+01] [-7.20516587e-02 9.97400875e-01 2.31681742e-04 3.97715398e-01] [ 8.02647683e-03 3.47550030e-04 9.99967727e-01 2.99254752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.960888478999998 meters 0.03026002460864657 Centerline is valid? [True, True] Translation: X:28.98, Y:0.40, Z:0.03 [[ 9.97335942e-01 7.25044367e-02 -8.00778152e-03 2.89822211e+01] [-7.25049071e-02 9.97368029e-01 2.31930260e-04 3.99128191e-01] [ 8.00352124e-03 3.49291071e-04 9.99967910e-01 2.90628428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990888479 meters 0.02687521590814867 Centerline is valid? [True, True] Translation: X:29.01, Y:0.39, Z:0.03 [[ 9.97368657e-01 7.20352571e-02 -8.16598507e-03 2.90145449e+01] [-7.20357137e-02 9.97402025e-01 2.38582065e-04 3.94616941e-01] [ 8.16195637e-03 3.50288289e-04 9.99966629e-01 3.17340046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.020888478999996 meters 0.027859547383489985 Centerline is valid? [True, True] Translation: X:29.05, Y:0.39, Z:0.03 [[ 9.97445296e-01 7.09616798e-02 -8.20497565e-03 2.90460593e+01] [-7.09620886e-02 9.97478984e-01 2.41655562e-04 3.93172375e-01] [ 8.20143906e-03 3.41204006e-04 9.99966309e-01 3.23870544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050888478999997 meters 0.02680699520513643 Centerline is valid? [True, True] Translation: X:29.08, Y:0.39, Z:0.03 [[ 9.97541904e-01 6.95634733e-02 -8.43043733e-03 2.90783769e+01] [-6.95638382e-02 9.97577471e-01 2.50293057e-04 3.88663186e-01] [ 8.42742560e-03 3.36775765e-04 9.99964432e-01 3.38280401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.080888479 meters 0.02674746901340104 Centerline is valid? [True, True] Translation: X:29.11, Y:0.39, Z:0.03 [[ 9.97752448e-01 6.66107122e-02 -7.28460611e-03 2.91088553e+01] [-6.66109068e-02 9.97779004e-01 2.16181982e-04 3.89923708e-01] [ 7.28282706e-03 2.69538116e-04 9.99973444e-01 3.29992680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110888478999996 meters 0.025004219710362003 Centerline is valid? [True, True] Translation: X:29.14, Y:0.39, Z:0.03 [[ 9.97753172e-01 6.65461321e-02 -7.76012867e-03 2.91420183e+01] [-6.65463325e-02 9.97783309e-01 2.32671006e-04 3.90113670e-01] [ 7.75841021e-03 2.84259868e-04 9.99969863e-01 3.25009325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.140888478999997 meters 0.024733143108630614 Centerline is valid? [True, True] Translation: X:29.17, Y:0.39, Z:0.03 [[ 9.97730309e-01 6.67812877e-02 -8.63072001e-03 2.91738924e+01] [-6.67815261e-02 9.97767588e-01 2.60881260e-04 3.91563166e-01] [ 8.62887467e-03 3.16083514e-04 9.99962721e-01 3.11943159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170888479 meters 0.025402115152182034 Centerline is valid? [True, True] Translation: X:29.21, Y:0.39, Z:0.03 [[ 9.97689121e-01 6.71142795e-02 -1.05873432e-02 2.92061087e+01] [-6.71146312e-02 9.97745219e-01 3.22464258e-04 3.89990830e-01] [ 1.05851130e-02 3.88846554e-04 9.99943901e-01 2.80189819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.200888478999996 meters 0.02498119611189452 Centerline is valid? [True, True] Translation: X:29.24, Y:0.39, Z:0.03 [[ 9.97648585e-01 6.77168014e-02 -1.05705191e-02 2.92376824e+01] [-6.77171610e-02 9.97704506e-01 3.24307759e-04 3.88343244e-01] [ 1.05682156e-02 3.92260363e-04 9.99944078e-01 2.88506551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230888478999997 meters 0.027055854879070126 Centerline is valid? [True, True] Translation: X:29.27, Y:0.39, Z:0.03 [[ 9.97612422e-01 6.82713488e-02 -1.04152889e-02 2.92694384e+01] [-6.82716997e-02 9.97666713e-01 3.22267887e-04 3.90334402e-01] [ 1.04129887e-02 3.89571026e-04 9.99945707e-01 2.81406626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.260888479 meters 0.02711991095992113 Centerline is valid? [True, True] Translation: X:29.30, Y:0.39, Z:0.03 [[ 9.97570966e-01 6.88827107e-02 -1.03605473e-02 2.93017922e+01] [-6.88830655e-02 9.97624688e-01 3.23011159e-04 3.89736593e-01] [ 1.03581876e-02 3.91439704e-04 9.99946276e-01 2.86872285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290888478999996 meters 0.02711991095992113 Centerline is valid? [True, True] Translation: X:29.33, Y:0.39, Z:0.03 [[ 9.97552253e-01 6.91531820e-02 -1.03604581e-02 2.93342208e+01] [-6.91535219e-02 9.97605976e-01 3.25859217e-04 3.88638681e-01] [ 1.03581892e-02 3.91400573e-04 9.99946276e-01 2.86498036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.320888478999997 meters 0.024704270444304458 Centerline is valid? [True, True] Translation: X:29.37, Y:0.39, Z:0.03 [[ 9.97510734e-01 6.98894895e-02 -9.36984951e-03 2.93674192e+01] [-6.98897753e-02 9.97554676e-01 2.97332340e-04 3.86401192e-01] [ 9.36771760e-03 3.58264476e-04 9.99956058e-01 3.04299440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350888478999998 meters 0.024754734600832592 Centerline is valid? [True, True] Translation: X:29.40, Y:0.38, Z:0.03 [[ 9.97415805e-01 7.13723460e-02 -8.22796199e-03 2.93993085e+01] [-7.13726002e-02 9.97449689e-01 2.63099044e-04 3.84088196e-01] [ 8.22575613e-03 3.24831897e-04 9.99966115e-01 3.29082790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.380888478999996 meters 0.02567792426989322 Centerline is valid? [True, True] Translation: X:29.43, Y:0.39, Z:0.03 [[ 9.97358108e-01 7.22764756e-02 -7.27436582e-03 2.94300713e+01] [-7.22766928e-02 9.97384592e-01 2.33377472e-04 3.86056287e-01] [ 7.27220809e-03 2.93006189e-04 9.99973514e-01 3.43642245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410888478999997 meters 0.029797900825684325 Centerline is valid? [True, True] Translation: X:29.46, Y:0.39, Z:0.03 [[ 9.97244992e-01 7.39854365e-02 -5.34611853e-03 2.94613794e+01] [-7.39855713e-02 9.97259297e-01 1.72821237e-04 3.89934987e-01] [ 5.34425266e-03 2.23190520e-04 9.99985694e-01 3.12756089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.440888478999998 meters 0.02699065205571216 Centerline is valid? [True, True] Translation: X:29.49, Y:0.39, Z:0.03 [[ 9.97057711e-01 7.65002004e-02 -4.86204141e-03 2.94933191e+01] [-7.65003409e-02 9.97069543e-01 1.57358129e-04 3.89064976e-01] [ 4.85983133e-03 2.15052689e-04 9.99988168e-01 3.33684345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470888478999996 meters 0.028933699041149768 Centerline is valid? [True, True] Translation: X:29.53, Y:0.39, Z:0.03 [[ 9.96920135e-01 7.82235227e-02 -5.59690188e-03 2.95253461e+01] [-7.82237275e-02 9.96935813e-01 1.82634609e-04 3.88715848e-01] [ 5.59403825e-03 2.55738408e-04 9.99984321e-01 3.09315867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.500888478999997 meters 0.03234130426056267 Centerline is valid? [True, True] Translation: X:29.55, Y:0.39, Z:0.03 [[ 9.96571755e-01 8.20828437e-02 -1.03510690e-02 2.95548719e+01] [-8.20837529e-02 9.96625378e-01 3.37685270e-04 3.89285168e-01] [ 1.03438562e-02 5.13126989e-04 9.99946369e-01 2.80187058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530888478999998 meters 0.02836024310597388 Centerline is valid? [True, True] Translation: X:29.59, Y:0.38, Z:0.03 [[ 9.96336583e-01 8.48111697e-02 -1.09762846e-02 2.95855040e+01] [-8.48123514e-02 9.96396877e-01 3.58607654e-04 3.83771142e-01] [ 1.09671496e-02 5.73630582e-04 9.99939694e-01 3.13251270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.560888478999995 meters 0.0301741243652082 Centerline is valid? [True, True] Translation: X:29.62, Y:0.39, Z:0.03 [[ 9.96211340e-01 8.63241760e-02 -1.05405422e-02 2.96162238e+01] [-8.63253464e-02 9.96266940e-01 3.44731165e-04 3.85131474e-01] [ 1.05309523e-02 5.66490857e-04 9.99944388e-01 3.15044131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590888478999997 meters 0.034016660816990195 Centerline is valid? [True, True] Translation: X:29.65, Y:0.39, Z:0.03 [[ 9.96060184e-01 8.82457098e-02 -8.76382157e-03 2.96470409e+01] [-8.82465903e-02 9.96098618e-01 2.86933496e-04 3.91156000e-01] [ 8.75495121e-03 4.87574341e-04 9.99961556e-01 3.02756895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.620888478999998 meters 0.031332017187667115 Centerline is valid? [True, True] Translation: X:29.68, Y:0.39, Z:0.03 [[ 9.95972578e-01 8.93455168e-02 -7.48350868e-03 2.96791262e+01] [-8.93461743e-02 9.96000602e-01 2.47072919e-04 3.88685727e-01] [ 7.47565401e-03 4.22545019e-04 9.99971968e-01 3.23096643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650888479 meters 0.03276536477305721 Centerline is valid? [True, True] Translation: X:29.71, Y:0.39, Z:0.03 [[ 9.96058691e-01 8.84356003e-02 -6.79918398e-03 2.97113962e+01] [-8.84361103e-02 9.96081826e-01 2.26185184e-04 3.86158435e-01] [ 6.79254641e-03 3.75999666e-04 9.99976860e-01 3.00655863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.680888478999996 meters 0.03495786676879545 Centerline is valid? [True, True] Translation: X:29.74, Y:0.39, Z:0.03 [[ 9.96215369e-01 8.67215082e-02 -5.85816698e-03 2.97420214e+01] [-8.67218573e-02 9.96232544e-01 1.94882737e-04 3.86270248e-01] [ 5.85299712e-03 3.13885943e-04 9.99982822e-01 3.07114045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710888478999998 meters 0.030012399657173387 Centerline is valid? [True, True] Translation: X:29.77, Y:0.38, Z:0.03 [[ 9.96254457e-01 8.62262710e-02 -6.48751197e-03 2.97741061e+01] [-8.62266767e-02 9.96275521e-01 2.17656390e-04 3.79092933e-01] [ 6.48211706e-03 3.42555449e-04 9.99978932e-01 3.16026053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.740888479 meters 0.030283399146148797 Centerline is valid? [True, True] Translation: X:29.81, Y:0.38, Z:0.03 [[ 9.96221967e-01 8.64696437e-02 -8.04945410e-03 2.98057085e+01] [-8.64702623e-02 9.96254395e-01 2.71799218e-04 3.79636554e-01] [ 8.04280641e-03 4.25266055e-04 9.99967566e-01 3.14233426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.770888478999996 meters 0.029696032556743898 Centerline is valid? [True, True] Translation: X:29.84, Y:0.38, Z:0.03 [[ 9.96230598e-01 8.62336576e-02 -9.39951666e-03 2.98379679e+01] [-8.62344693e-02 9.96274819e-01 3.19664559e-04 3.76894637e-01] [ 9.39206760e-03 4.92102715e-04 9.99955772e-01 2.82216764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.800888478999997 meters 0.02887312302838438 Centerline is valid? [True, True] Translation: X:29.87, Y:0.38, Z:0.03 [[ 9.96104229e-01 8.75477014e-02 -1.05718781e-02 2.98697761e+01] [-8.75487747e-02 9.96160168e-01 3.62112046e-04 3.76803722e-01] [ 1.05629859e-02 5.64853630e-04 9.99944051e-01 2.75211551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.830888479 meters 0.031018591731122223 Centerline is valid? [True, True] Translation: X:29.90, Y:0.38, Z:0.03 [[ 9.96076125e-01 8.78944795e-02 -1.03399155e-02 2.99006348e+01] [-8.78955116e-02 9.96129636e-01 3.55442390e-04 3.79336525e-01] [ 1.03311377e-02 5.54784487e-04 9.99946478e-01 2.72296914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.860888478999996 meters 0.033594070426864284 Centerline is valid? [True, True] Translation: X:29.93, Y:0.38, Z:0.03 [[ 9.96087535e-01 8.77093940e-02 -1.08020979e-02 2.99322590e+01] [-8.77104808e-02 9.96145939e-01 3.74005973e-04 3.76045410e-01] [ 1.07932698e-02 5.74914511e-04 9.99941586e-01 2.67489809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890888478999997 meters 0.030555205171188253 Centerline is valid? [True, True] Translation: X:29.96, Y:0.37, Z:0.03 [[ 9.96017169e-01 8.84402569e-02 -1.13190153e-02 2.99645256e+01] [-8.84414663e-02 9.96081298e-01 3.94640864e-04 3.70305114e-01] [ 1.13095616e-02 6.08001233e-04 9.99935860e-01 2.96085192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.920888479 meters 0.030282877858026917 Centerline is valid? [True, True] Translation: X:30.00, Y:0.37, Z:0.03 [[ 9.96076741e-01 8.76445980e-02 -1.22290948e-02 2.99965737e+01] [-8.76459136e-02 9.96151600e-01 4.29349488e-04 3.65903946e-01] [ 1.22196625e-02 6.44165149e-04 9.99925130e-01 2.86068767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950888478999996 meters 0.03032535750136472 Centerline is valid? [True, True] Translation: X:30.03, Y:0.36, Z:0.03 [[ 9.96046390e-01 8.78476325e-02 -1.32053615e-02 3.00293668e+01] [-8.78491351e-02 9.96133681e-01 4.67359624e-04 3.62911505e-01] [ 1.31953618e-02 6.94567719e-04 9.99912696e-01 2.74165654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.980888478999997 meters 0.02908574541628886 Centerline is valid? [True, True] Translation: X:30.06, Y:0.36, Z:0.03 [[ 9.95992805e-01 8.85554093e-02 -1.25008631e-02 3.00613758e+01] [-8.85567734e-02 9.96071031e-01 4.45467931e-04 3.61496149e-01] [ 1.24911962e-02 6.63353249e-04 9.99921762e-01 2.75268779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.010888479 meters 0.02963880915129621 Centerline is valid? [True, True] Translation: X:30.09, Y:0.36, Z:0.03 [[ 9.96005790e-01 8.85030578e-02 -1.18184495e-02 3.00935900e+01] [-8.85042391e-02 9.96075710e-01 4.24047917e-04 3.61287885e-01] [ 1.18096000e-02 6.23628699e-04 9.99930070e-01 2.60604588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.040888478999996 meters 0.03199844127756667 Centerline is valid? [True, True] Translation: X:30.13, Y:0.36, Z:0.02 [[ 9.96100564e-01 8.74222704e-02 -1.18748704e-02 3.01259384e+01] [-8.74233521e-02 9.96171157e-01 4.28958066e-04 3.60295875e-01] [ 1.18669039e-02 6.10855606e-04 9.99929399e-01 2.24961456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070888478999997 meters 0.03153841589700293 Centerline is valid? [True, True] Translation: X:30.16, Y:0.36, Z:0.02 [[ 9.96121831e-01 8.72443125e-02 -1.13898321e-02 3.01574657e+01] [-8.72452672e-02 9.96186776e-01 4.13974777e-04 3.59375782e-01] [ 1.13825170e-02 5.81339630e-04 9.99935048e-01 2.27055557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.100888478999998 meters 0.029150478283408943 Centerline is valid? [True, True] Translation: X:30.19, Y:0.35, Z:0.03 [[ 9.96187293e-01 8.66290671e-02 -1.03093187e-02 3.01896061e+01] [-8.66297898e-02 9.96240502e-01 3.77280785e-04 3.53818924e-01] [ 1.03032443e-02 5.17251789e-04 9.99946786e-01 2.65868368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.130888478999996 meters 0.028393436378222725 Centerline is valid? [True, True] Translation: X:30.22, Y:0.35, Z:0.03 [[ 9.96240142e-01 8.60420958e-02 -1.01161968e-02 3.02217197e+01] [-8.60427357e-02 9.96291377e-01 3.72753747e-04 3.48448994e-01] [ 1.01107521e-02 4.99073001e-04 9.99948760e-01 2.80506935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.160888478999997 meters 0.03041774535432611 Centerline is valid? [True, True] Translation: X:30.25, Y:0.35, Z:0.03 [[ 9.96397423e-01 8.43702507e-02 -8.59279968e-03 3.02525596e+01] [-8.43706495e-02 9.96434390e-01 3.16721963e-04 3.46032331e-01] [ 8.58888301e-03 4.09399142e-04 9.99963031e-01 3.08451318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.190888478999998 meters 0.029622267949306114 Centerline is valid? [True, True] Translation: X:30.28, Y:0.34, Z:0.03 [[ 9.96412482e-01 8.42994240e-02 -7.46808481e-03 3.02843824e+01] [-8.42997078e-02 9.96440406e-01 2.77334604e-04 3.44107533e-01] [ 7.46488061e-03 3.53217707e-04 9.99972075e-01 3.16750476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.220888478999996 meters 0.028776158923179248 Centerline is valid? [True, True] Translation: X:30.32, Y:0.35, Z:0.03 [[ 9.96470062e-01 8.37844592e-02 -5.25172213e-03 3.03161871e+01] [-8.37845853e-02 9.96483871e-01 1.96382967e-04 3.45016367e-01] [ 5.24971024e-03 2.44323614e-04 9.99986190e-01 3.18169474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250888478999997 meters 0.028593322034855605 Centerline is valid? [True, True] Translation: X:30.35, Y:0.34, Z:0.03 [[ 9.96770419e-01 8.02243685e-02 -3.57523934e-03 3.03467924e+01] [-8.02244045e-02 9.96776819e-01 1.33584246e-04 3.42317155e-01] [ 3.57443241e-03 1.53668622e-04 9.99993600e-01 2.98945554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.280888478999998 meters 0.02833437667856369 Centerline is valid? [True, True] Translation: X:30.38, Y:0.34, Z:0.03 [[ 9.96914439e-01 7.83930313e-02 -4.01660015e-03 3.03787830e+01] [-7.83930569e-02 9.96922517e-01 1.51303853e-04 3.37447827e-01] [ 4.01610030e-03 1.64036569e-04 9.99991922e-01 2.98511491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310888478999995 meters 0.02575842059173823 Centerline is valid? [True, True] Translation: X:30.41, Y:0.33, Z:0.03 [[ 9.97028097e-01 7.69002870e-02 -4.61721537e-03 3.04107862e+01] [-7.69002997e-02 9.97038772e-01 1.75044812e-04 3.31260728e-01] [ 4.61700374e-03 1.80540650e-04 9.99989325e-01 3.11748364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.340888478999997 meters 0.028550264100293602 Centerline is valid? [True, True] Translation: X:30.44, Y:0.33, Z:0.03 [[ 9.97179191e-01 7.48447779e-02 -5.64972907e-03 3.04416349e+01] [-7.48447571e-02 9.97195174e-01 2.15401594e-04 3.30588265e-01] [ 5.65000425e-03 2.08058613e-04 9.99984017e-01 3.02444331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370888478999998 meters 0.026538696676129504 Centerline is valid? [True, True] Translation: X:30.47, Y:0.33, Z:0.03 [[ 9.97122729e-01 7.55444366e-02 -6.26907213e-03 3.04733235e+01] [-7.55444153e-02 9.97142409e-01 2.40546944e-04 3.26246627e-01] [ 6.26932967e-03 2.33738564e-04 9.99980320e-01 3.02863033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.400888479 meters 0.025478745686021414 Centerline is valid? [True, True] Translation: X:30.50, Y:0.33, Z:0.03 [[ 9.97044521e-01 7.65221530e-02 -6.82526138e-03 3.05046579e+01] [-7.65221455e-02 9.97067847e-01 2.62628077e-04 3.28138499e-01] [ 6.82534554e-03 2.60431759e-04 9.99976673e-01 3.06120913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430888478999996 meters 0.0259374403382264 Centerline is valid? [True, True] Translation: X:30.54, Y:0.33, Z:0.03 [[ 9.96950932e-01 7.77060167e-02 -7.11435809e-03 3.05369601e+01] [-7.77060255e-02 9.96976277e-01 2.75608508e-04 3.28917043e-01] [ 7.11426268e-03 2.78060332e-04 9.99974655e-01 2.93604347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.460888478999998 meters 0.028115545157118997 Centerline is valid? [True, True] Translation: X:30.57, Y:0.33, Z:0.03 [[ 9.96826873e-01 7.92393677e-02 -7.57019756e-03 3.05684729e+01] [-7.92394092e-02 9.96855571e-01 2.94923347e-04 3.29126824e-01] [ 7.56976315e-03 3.05870464e-04 9.99971302e-01 2.70215503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.490888479 meters 0.028123431275720888 Centerline is valid? [True, True] Translation: X:30.60, Y:0.32, Z:0.03 [[ 9.96786817e-01 7.96882736e-02 -8.11296098e-03 3.06011036e+01] [-7.96883175e-02 9.96819778e-01 3.18357068e-04 3.24287537e-01] [ 8.11252929e-03 3.29174082e-04 9.99967039e-01 2.75143611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.520888478999996 meters 0.02788021764333179 Centerline is valid? [True, True] Translation: X:30.63, Y:0.32, Z:0.03 [[ 9.96788506e-01 7.96597591e-02 -8.18520582e-03 3.06328183e+01] [-7.96597871e-02 9.96822057e-01 3.23122810e-04 3.20121380e-01] [ 8.18493359e-03 3.29946650e-04 9.99966448e-01 2.89837030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550888478999997 meters 0.027745684548448078 Centerline is valid? [True, True] Translation: X:30.67, Y:0.32, Z:0.03 [[ 9.96875590e-01 7.87211764e-02 -6.48333448e-03 3.06650244e+01] [-7.87211637e-02 9.96896641e-01 2.57550697e-04 3.18016371e-01] [ 6.48348905e-03 2.53629632e-04 9.99978950e-01 2.95751917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.580888479 meters 0.02767382259833787 Centerline is valid? [True, True] Translation: X:30.70, Y:0.32, Z:0.03 [[ 9.96963304e-01 7.77189118e-02 -4.89288243e-03 3.06972308e+01] [-7.77188864e-02 9.96975294e-01 1.95629804e-04 3.17158324e-01] [ 4.89328704e-03 1.85233639e-04 9.99988011e-01 2.85158905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610888478999996 meters 0.02665795601413662 Centerline is valid? [True, True] Translation: X:30.73, Y:0.32, Z:0.03 [[ 9.97049151e-01 7.67138572e-02 -2.82379152e-03 3.07291583e+01] [-7.67138423e-02 9.97053145e-01 1.13719219e-04 3.15435422e-01] [ 2.82419406e-03 1.03240247e-04 9.99996007e-01 2.87882857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.640888478999997 meters 0.026794055688856296 Centerline is valid? [True, True] Translation: X:30.76, Y:0.31, Z:0.03 [[ 9.97154740e-01 7.53753283e-02 -9.91857986e-04 3.07601123e+01] [-7.53753254e-02 9.97155233e-01 4.03303412e-05 3.14123182e-01] [ 9.92076294e-04 3.45460275e-05 9.99999507e-01 2.97936848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670888479 meters 0.024939374380760132 Centerline is valid? [True, True] Translation: X:30.79, Y:0.31, Z:0.03 [[ 9.97256803e-01 7.40144887e-02 -8.51097714e-04 3.07919295e+01] [-7.40144859e-02 9.97257166e-01 3.48780865e-05 3.05130086e-01] [ 8.51344778e-04 2.82111507e-05 9.99999637e-01 3.34924037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.700888478999996 meters 0.026205300459243748 Centerline is valid? [True, True] Translation: X:30.82, Y:0.30, Z:0.03 [[ 9.97271879e-01 7.37962370e-02 -1.70737985e-03 3.08228382e+01] [-7.37962251e-02 9.97273339e-01 7.00486563e-05 3.02857691e-01] [ 1.70789373e-03 5.61406325e-05 9.99998540e-01 3.33492142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730888478999997 meters 0.02575219161201216 Centerline is valid? [True, True] Translation: X:30.86, Y:0.30, Z:0.03 [[ 9.97232703e-01 7.43026358e-02 -2.46036894e-03 3.08559402e+01] [-7.43026111e-02 9.97235735e-01 1.01562730e-04 3.00437215e-01] [ 2.46111421e-03 8.15301609e-05 9.99996968e-01 3.36019181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.760888479 meters 0.026540111915637897 Centerline is valid? [True, True] Translation: X:30.89, Y:0.30, Z:0.03 [[ 9.97057444e-01 7.65397137e-02 -4.25736636e-03 3.08867913e+01] [-7.65396617e-02 9.97066522e-01 1.75378257e-04 3.02940365e-01] [ 4.25830087e-03 1.50995185e-04 9.99990922e-01 3.06510962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790888478999996 meters 0.025077885043367085 Centerline is valid? [True, True] Translation: X:30.92, Y:0.30, Z:0.03 [[ 9.96886343e-01 7.87628409e-02 -3.74608765e-03 3.09184498e+01] [-7.87628122e-02 9.96893372e-01 1.55413302e-04 3.01998400e-01] [ 3.74669075e-03 1.40123001e-04 9.99992971e-01 3.05634788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.820888478999997 meters 0.0281646152632768 Centerline is valid? [True, True] Translation: X:30.95, Y:0.30, Z:0.03 [[ 9.96759895e-01 8.03732075e-02 -3.13993990e-03 3.09492296e+01] [-8.03731955e-02 9.96764833e-01 1.30195800e-04 3.04288351e-01] [ 3.14024592e-03 1.22593051e-04 9.99995062e-01 2.78696624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850888478999998 meters 0.028462941906031915 Centerline is valid? [True, True] Translation: X:30.98, Y:0.31, Z:0.03 [[ 9.96459385e-01 8.40185110e-02 -3.09574809e-03 3.09791658e+01] [-8.40185171e-02 9.96464185e-01 1.28323163e-04 3.05848268e-01] [ 3.09558362e-03 1.32231344e-04 9.99995200e-01 2.99199669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.880888478999996 meters 0.028636182360687053 Centerline is valid? [True, True] Translation: X:31.01, Y:0.30, Z:0.03 [[ 9.96350362e-01 8.52866053e-02 -3.48577792e-03 3.10112318e+01] [-8.52866169e-02 9.96356448e-01 1.45601556e-04 3.04795513e-01] [ 3.48549517e-03 1.52220043e-04 9.99993914e-01 3.02766438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910888478999997 meters 0.0292813584033854 Centerline is valid? [True, True] Translation: X:31.04, Y:0.30, Z:0.03 [[ 9.96419507e-01 8.44927236e-02 -3.02415117e-03 3.10434543e+01] [-8.44927264e-02 9.96424088e-01 1.27088431e-04 3.02497153e-01] [ 3.02407512e-03 1.28885386e-04 9.99995419e-01 2.98495066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.940888478999998 meters 0.026992575325351528 Centerline is valid? [True, True] Translation: X:31.08, Y:0.30, Z:0.03 [[ 9.96494494e-01 8.36164348e-02 -2.64849949e-03 3.10752998e+01] [-8.36164320e-02 9.96498008e-01 1.11977731e-04 2.99702879e-01] [ 2.64858765e-03 1.09872886e-04 9.99996486e-01 3.23034671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970888478999996 meters 0.026820464449682068 Centerline is valid? [True, True] Translation: X:31.11, Y:0.30, Z:0.03 [[ 9.96693853e-01 8.11713037e-02 -3.54713142e-03 3.11065282e+01] [-8.11712839e-02 9.96700156e-01 1.49762175e-04 2.96306167e-01] [ 3.54758283e-03 1.38658173e-04 9.99993698e-01 3.10569970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.000888478999997 meters 0.02780569655274589 Centerline is valid? [True, True] Translation: X:31.14, Y:0.29, Z:0.03 [[ 9.96920118e-01 7.82887884e-02 -4.59825361e-03 3.11367583e+01] [-7.82887221e-02 9.96930709e-01 1.94679916e-04 2.93553105e-01] [ 4.59938149e-03 1.65911074e-04 9.99989409e-01 2.80319738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030888478999998 meters 0.025853277481985206 Centerline is valid? [True, True] Translation: X:31.17, Y:0.29, Z:0.03 [[ 9.97247876e-01 7.40636580e-02 -3.35382031e-03 3.11680788e+01] [-7.40635980e-02 9.97253510e-01 1.42245970e-04 2.88622354e-01] [ 3.35514433e-03 1.06541507e-04 9.99994366e-01 2.85239664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.060888478999995 meters 0.025636535366318942 Centerline is valid? [True, True] Translation: X:31.20, Y:0.29, Z:0.03 [[ 9.97359711e-01 7.25826830e-02 -2.31554409e-03 3.12002678e+01] [-7.25826486e-02 9.97362396e-01 9.89854850e-05 2.85119701e-01] [ 2.31662123e-03 6.93441882e-05 9.99997314e-01 2.95615345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090888478999997 meters 0.026410714683556755 Centerline is valid? [True, True] Translation: X:31.23, Y:0.28, Z:0.03 [[ 9.97462857e-01 7.11665370e-02 -1.78142350e-03 3.12313500e+01] [-7.11665136e-02 9.97464446e-01 7.65896736e-05 2.83300190e-01] [ 1.78235723e-03 5.03823452e-05 9.99998410e-01 3.05421251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.120888478999998 meters 0.026028554465605654 Centerline is valid? [True, True] Translation: X:31.26, Y:0.28, Z:0.03 [[ 9.97523362e-01 7.03107647e-02 -1.88137280e-03 3.12635114e+01] [-7.03107362e-02 9.97525134e-01 8.13358469e-05 2.79621299e-01] [ 1.88243544e-03 5.11462994e-05 9.99998227e-01 3.15872012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150888479 meters 0.02439796848728306 Centerline is valid? [True, True] Translation: X:31.30, Y:0.28, Z:0.03 [[ 9.97610241e-01 6.90582624e-02 -2.18259848e-03 3.12953208e+01] [-6.90582201e-02 9.97612627e-01 9.48416291e-05 2.78364110e-01] [ 2.18393740e-03 5.61113858e-05 9.99997614e-01 3.08311279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.180888478999996 meters 0.02439796848728306 Centerline is valid? [True, True] Translation: X:31.33, Y:0.28, Z:0.03 [[ 9.97591334e-01 6.93308478e-02 -2.18257083e-03 3.13277095e+01] [-6.93308047e-02 9.97593720e-01 9.54768947e-05 2.76878657e-01] [ 2.18393845e-03 5.60724693e-05 9.99997614e-01 3.07937208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210888478999998 meters 0.021413333928440068 Centerline is valid? [True, True] Translation: X:31.36, Y:0.28, Z:0.03 [[ 9.97584053e-01 6.94380602e-02 -2.10052857e-03 3.13609538e+01] [-6.94380192e-02 9.97586263e-01 9.24962182e-05 2.75285347e-01] [ 2.10188121e-03 5.35837910e-05 9.99997790e-01 3.20216718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.240888479 meters 0.02119515826873983 Centerline is valid? [True, True] Translation: X:31.39, Y:0.28, Z:0.03 [[ 9.97598796e-01 6.92326427e-02 -1.86664698e-03 3.13920672e+01] [-6.92326093e-02 9.97600541e-01 8.25934572e-05 2.75217178e-01] [ 1.86788620e-03 4.68377072e-05 9.99998254e-01 3.22793961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270888478999996 meters 0.023079744830703453 Centerline is valid? [True, True] Translation: X:31.42, Y:0.27, Z:0.03 [[ 9.97686248e-01 6.79549179e-02 -2.06868608e-03 3.14226726e+01] [-6.79548738e-02 9.97688392e-01 9.16811468e-05 2.71423513e-01] [ 2.07013427e-03 4.91082819e-05 9.99997856e-01 3.13853861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.300888478999997 meters 0.023604423259092244 Centerline is valid? [True, True] Translation: X:31.46, Y:0.27, Z:0.03 [[ 9.97693371e-01 6.78382980e-02 -2.42973440e-03 3.14558512e+01] [-6.78382349e-02 9.97696328e-01 1.08493146e-04 2.67453918e-01] [ 2.43149707e-03 5.65859998e-05 9.99997042e-01 3.12301620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330888479 meters 0.022793458211754346 Centerline is valid? [True, True] Translation: X:31.49, Y:0.27, Z:0.03 [[ 9.97663788e-01 6.82955858e-02 -1.63653239e-03 3.14881276e+01] [-6.82955573e-02 9.97665130e-01 7.33402108e-05 2.67972900e-01] [ 1.63772011e-03 3.85990192e-05 9.99998658e-01 3.29143463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.360888478999996 meters 0.023233871701923606 Centerline is valid? [True, True] Translation: X:31.52, Y:0.27, Z:0.03 [[ 9.97574256e-01 6.95793390e-02 -2.07816465e-03 3.15206409e+01] [-6.95792948e-02 9.97576420e-01 9.36429822e-05 2.67888862e-01] [ 2.07964367e-03 5.11814025e-05 9.99997836e-01 3.21036600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390888478999997 meters 0.026843609924909997 Centerline is valid? [True, True] Translation: X:31.55, Y:0.27, Z:0.03 [[ 9.97316659e-01 7.31472371e-02 -2.99393078e-03 3.15527589e+01] [-7.31471618e-02 9.97321149e-01 1.34798236e-04 2.71370181e-01] [ 2.99577061e-03 8.45610134e-05 9.99995509e-01 2.86504957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.420888479 meters 0.024832285305568084 Centerline is valid? [True, True] Translation: X:31.58, Y:0.27, Z:0.03 [[ 9.97085861e-01 7.62571263e-02 -2.15327798e-03 3.15837909e+01] [-7.62570939e-02 9.97088184e-01 9.72693989e-05 2.72449775e-01] [ 2.15442552e-03 6.72167790e-05 9.99997677e-01 3.04588980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450888478999996 meters 0.026212776576723062 Centerline is valid? [True, True] Translation: X:31.62, Y:0.27, Z:0.03 [[ 9.96877219e-01 7.89211810e-02 -2.69404959e-03 3.16158900e+01] [-7.89211397e-02 9.96880855e-01 1.21792233e-04 2.73290242e-01] [ 2.69525845e-03 9.12055617e-05 9.99996364e-01 2.93417227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.480888478999997 meters 0.02649514066575639 Centerline is valid? [True, True] Translation: X:31.65, Y:0.27, Z:0.03 [[ 9.96591707e-01 8.24754588e-02 -1.66383572e-03 3.16455973e+01] [-8.24754481e-02 9.96593094e-01 7.51706743e-05 2.74125115e-01] [ 1.66436693e-03 6.23111263e-05 9.99998613e-01 3.22606825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510888479 meters 0.02658570110194142 Centerline is valid? [True, True] Translation: X:31.68, Y:0.27, Z:0.03 [[ 9.96564423e-01 8.28129736e-02 -1.16729408e-03 3.16787696e+01] [-8.28129678e-02 9.96565106e-01 5.33928427e-05 2.69119242e-01] [ 1.16770617e-03 4.34576795e-05 9.99999317e-01 3.05981573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.540888478999996 meters 0.02824236288636185 Centerline is valid? [True, True] Translation: X:31.71, Y:0.27, Z:0.03 [[ 9.96508859e-01 8.34831535e-02 8.10054483e-04 3.17096138e+01] [-8.34831511e-02 9.96509188e-01 -3.67610474e-05 2.73361610e-01] [-8.10295663e-04 -3.09931914e-05 9.99999671e-01 3.28586500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570888478999997 meters 0.0269292662728264 Centerline is valid? [True, True] Translation: X:31.74, Y:0.27, Z:0.03 [[ 9.96517755e-01 8.33449592e-02 2.44557314e-03 3.17416522e+01] [-8.33449351e-02 9.96520752e-01 -1.11964947e-04 2.70676856e-01] [-2.44639610e-03 -9.22510763e-05 9.99997003e-01 3.28492117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.600888478999998 meters 0.027929923129106138 Centerline is valid? [True, True] Translation: X:31.77, Y:0.27, Z:0.03 [[ 9.96450395e-01 8.41644892e-02 1.71751135e-03 3.17731632e+01] [-8.41644780e-02 9.96451873e-01 -7.89536567e-05 2.67820979e-01] [-1.71806250e-03 -6.58800439e-05 9.99998522e-01 3.10321426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630888478999996 meters 0.028606549064373488 Centerline is valid? [True, True] Translation: X:31.80, Y:0.27, Z:0.03 [[ 9.96340070e-01 8.54774929e-02 2.52077422e-04 3.18045530e+01] [-8.54774928e-02 9.96340102e-01 -1.14251541e-05 2.66220036e-01] [-2.52131438e-04 -1.01636072e-05 9.99999968e-01 3.10991442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.660888478999997 meters 0.027861423371620026 Centerline is valid? [True, True] Translation: X:31.84, Y:0.26, Z:0.03 [[ 9.96093838e-01 8.82996247e-02 -4.91875113e-04 3.18357353e+01] [-8.82996240e-02 9.96093959e-01 2.31600367e-05 2.64550199e-01] [ 4.91998851e-04 2.03628176e-05 9.99999879e-01 3.34203856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690888478999998 meters 0.0300435786328033 Centerline is valid? [True, True] Translation: X:31.87, Y:0.26, Z:0.03 [[ 9.95977601e-01 8.95965465e-02 -1.03739886e-03 3.18679126e+01] [-8.95965441e-02 9.95978141e-01 4.88296813e-05 2.64574059e-01] [ 1.03760156e-03 4.43140840e-05 9.99999461e-01 3.08745764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.720888478999996 meters 0.028982451312663565 Centerline is valid? [True, True] Translation: X:31.90, Y:0.26, Z:0.03 [[ 9.95828919e-01 9.12383271e-02 5.76105597e-04 3.18997499e+01] [-9.12383268e-02 9.95829085e-01 -2.68230391e-05 2.62960965e-01] [-5.76149999e-04 -2.58517527e-05 9.99999834e-01 2.98474832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750888478999997 meters 0.029836510770793155 Centerline is valid? [True, True] Translation: X:31.93, Y:0.26, Z:0.03 [[ 9.95730385e-01 9.23012101e-02 1.21936612e-03 3.19314346e+01] [-9.23012089e-02 9.95731130e-01 -5.73914462e-05 2.62346045e-01] [-1.21945811e-03 -5.54025604e-05 9.99999255e-01 2.95791951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.780888478999998 meters 0.027853391297634568 Centerline is valid? [True, True] Translation: X:31.96, Y:0.26, Z:0.03 [[ 9.95681434e-01 9.28075489e-02 2.28949892e-03 3.19641952e+01] [-9.28075440e-02 9.95684060e-01 -1.08611898e-04 2.60444379e-01] [-2.28969759e-03 -1.04339922e-04 9.99997373e-01 3.23870687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810888478999995 meters 0.030093849613931963 Centerline is valid? [True, True] Translation: X:32.00, Y:0.26, Z:0.03 [[ 9.95673235e-01 9.28904656e-02 2.48405609e-03 3.19973743e+01] [-9.28904583e-02 9.95676327e-01 -1.18566690e-04 2.58241388e-01] [-2.48432956e-03 -1.12691429e-04 9.99996908e-01 3.08247657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.840888478999997 meters 0.02946343034218202 Centerline is valid? [True, True] Translation: X:32.03, Y:0.25, Z:0.03 [[ 9.95786275e-01 9.16701213e-02 2.50657034e-03 3.20297182e+01] [-9.16701089e-02 9.95789424e-01 -1.20084115e-04 2.53374603e-01] [-2.50702436e-03 -1.10199463e-04 9.99996851e-01 3.32407836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870888478999998 meters 0.029129151730503334 Centerline is valid? [True, True] Translation: X:32.06, Y:0.25, Z:0.03 [[ 9.95803248e-01 9.15167430e-02 7.59399752e-04 3.20614556e+01] [-9.15167419e-02 9.95803537e-01 -3.63151351e-05 2.49414981e-01] [-7.59536402e-04 -3.33350617e-05 9.99999711e-01 3.12759410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.900888479 meters 0.030596299770810985 Centerline is valid? [True, True] Translation: X:32.09, Y:0.25, Z:0.03 [[ 9.95784462e-01 9.17094171e-02 -1.63972357e-03 3.20932181e+01] [-9.17094099e-02 9.95785809e-01 7.97561699e-05 2.48745118e-01] [ 1.64012785e-03 7.09581261e-05 9.99998652e-01 2.85487350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930888478999996 meters 0.029696965229205518 Centerline is valid? [True, True] Translation: X:32.12, Y:0.25, Z:0.03 [[ 9.95664819e-01 9.29932662e-02 -1.95481268e-03 3.21239110e+01] [-9.29932588e-02 9.95666734e-01 9.48315139e-05 2.49082452e-01] [ 1.95516065e-03 8.73639997e-05 9.99998085e-01 2.78756894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.960888478999998 meters 0.03165427371210627 Centerline is valid? [True, True] Translation: X:32.16, Y:0.25, Z:0.03 [[ 9.95545991e-01 9.42276890e-02 -3.05340100e-03 3.21554908e+01] [-9.42276743e-02 9.95550663e-01 1.48998651e-04 2.47188678e-01] [ 3.05385518e-03 1.39379865e-04 9.99995327e-01 2.70152595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990888479 meters 0.027684143551161763 Centerline is valid? [True, True] Translation: X:32.19, Y:0.24, Z:0.03 [[ 9.95520399e-01 9.45278839e-02 -1.90098749e-03 3.21880084e+01] [-9.45278774e-02 9.95522211e-01 9.34526843e-05 2.42666015e-01] [ 1.90130915e-03 8.66622590e-05 9.99998189e-01 3.16099792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.020888479 meters 0.029658774776738346 Centerline is valid? [True, True] Translation: X:32.22, Y:0.24, Z:0.03 [[ 9.95441462e-01 9.52925662e-02 -3.95260401e-03 3.22199770e+01] [-9.52925419e-02 9.95449292e-01 1.94905790e-04 2.38652257e-01] [ 3.95318994e-03 1.82636378e-04 9.99992169e-01 2.85185592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050888479 meters 0.030119606914721365 Centerline is valid? [True, True] Translation: X:32.25, Y:0.24, Z:0.03 [[ 9.95507110e-01 9.45624831e-02 -4.85084014e-03 3.22510889e+01] [-9.45624329e-02 9.95518904e-01 2.40217678e-04 2.37647645e-01] [ 4.85181864e-03 2.19568839e-04 9.99988206e-01 2.63747217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.080888479 meters 0.02777139892489726 Centerline is valid? [True, True] Translation: X:32.28, Y:0.23, Z:0.03 [[ 9.95593101e-01 9.37040503e-02 -3.73209168e-03 3.22826708e+01] [-9.37040109e-02 9.95600082e-01 1.85797834e-04 2.33976255e-01] [ 3.73308079e-03 1.64732917e-04 9.99993018e-01 2.77211845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110888479 meters 0.028545969220474792 Centerline is valid? [True, True] Translation: X:32.31, Y:0.23, Z:0.03 [[ 9.95631779e-01 9.32435964e-02 -4.79500260e-03 3.23141677e+01] [-9.32435207e-02 9.95643304e-01 2.39827539e-04 2.28797866e-01] [ 4.79647461e-03 2.08323005e-04 9.99988475e-01 2.60716791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.140888479 meters 0.02795002527533378 Centerline is valid? [True, True] Translation: X:32.35, Y:0.23, Z:0.03 [[ 9.95712489e-01 9.23886431e-02 -4.58018154e-03 3.23455200e+01] [-9.23885602e-02 9.95723004e-01 2.30121855e-04 2.25680463e-01] [ 4.58185277e-03 1.94021172e-04 9.99989484e-01 2.75698591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170888479 meters 0.02743403319633045 Centerline is valid? [True, True] Translation: X:32.38, Y:0.22, Z:0.03 [[ 9.95813238e-01 9.12351307e-02 -5.66982514e-03 3.23763603e+01] [-9.12349782e-02 9.95829351e-01 2.86077176e-04 2.20784757e-01] [ 5.67227858e-03 2.32406934e-04 9.99983885e-01 2.84541674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.200888479 meters 0.02692532383833012 Centerline is valid? [True, True] Translation: X:32.41, Y:0.22, Z:0.03 [[ 9.95840121e-01 9.09279235e-02 -5.87934989e-03 3.24083101e+01] [-9.09277458e-02 9.95857448e-01 2.98071906e-04 2.17362026e-01] [ 5.88209744e-03 2.37764070e-04 9.99982672e-01 2.84784128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.230888479 meters 0.026447074268092872 Centerline is valid? [True, True] Translation: X:32.44, Y:0.21, Z:0.03 [[ 9.95918404e-01 9.01196598e-02 -4.99802942e-03 3.24390369e+01] [-9.01195182e-02 9.95930925e-01 2.53997192e-04 2.13765037e-01] [ 5.00058221e-03 1.97459526e-04 9.99987478e-01 2.99704705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.260888479 meters 0.028289490836614972 Centerline is valid? [True, True] Translation: X:32.47, Y:0.21, Z:0.03 [[ 9.95876965e-01 9.03443331e-02 -8.18366790e-03 3.24712194e+01] [-9.03439445e-02 9.95910537e-01 4.17916364e-04 2.08039823e-01] [ 8.18795746e-03 3.23151557e-04 9.99966426e-01 2.68834404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290888479 meters 0.02924988121393742 Centerline is valid? [True, True] Translation: X:32.50, Y:0.21, Z:0.03 [[ 9.95792675e-01 9.12687268e-02 -8.18336912e-03 3.25019768e+01] [-9.12683544e-02 9.95826246e-01 4.19724772e-04 2.08696669e-01] [ 8.18752149e-03 3.28923779e-04 9.99966428e-01 2.67839741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.320888479000004 meters 0.028808542913239144 Centerline is valid? [True, True] Translation: X:32.53, Y:0.21, Z:0.03 [[ 9.95700516e-01 9.23090864e-02 -7.71454780e-03 3.25337283e+01] [-9.23087720e-02 9.95730351e-01 3.97571476e-04 2.05534941e-01] [ 7.71830886e-03 3.16258310e-04 9.99970163e-01 2.70861986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350888479 meters 0.02843028952766632 Centerline is valid? [True, True] Translation: X:32.57, Y:0.20, Z:0.03 [[ 9.95442942e-01 9.50680097e-02 -7.44465226e-03 3.25660077e+01] [-9.50677915e-02 9.95470727e-01 3.83991056e-04 2.04899276e-01] [ 7.44743866e-03 3.25505462e-04 9.99972214e-01 2.68807407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.380888479 meters 0.02768151371646399 Centerline is valid? [True, True] Translation: X:32.60, Y:0.21, Z:0.03 [[ 9.95340754e-01 9.62788820e-02 -5.21159932e-03 3.25969554e+01] [-9.62787844e-02 9.95354370e-01 2.70180881e-04 2.05042118e-01] [ 5.21340087e-03 2.32844405e-04 9.99986383e-01 2.88146229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.410888479 meters 0.030214186964070452 Centerline is valid? [True, True] Translation: X:32.63, Y:0.20, Z:0.03 [[ 9.95198148e-01 9.75302832e-02 -8.27590110e-03 3.26286970e+01] [-9.75300784e-02 9.95232485e-01 4.29285376e-04 2.02517869e-01] [ 8.27831394e-03 3.79925272e-04 9.99965662e-01 2.62946701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.440888479 meters 0.03021081426202408 Centerline is valid? [True, True] Translation: X:32.66, Y:0.20, Z:0.03 [[ 9.95106917e-01 9.82901563e-02 -1.00632452e-02 3.26598156e+01] [-9.82898790e-02 9.95157689e-01 5.23325134e-04 1.98973042e-01] [ 1.00659535e-02 4.68350691e-04 9.99949227e-01 2.65869430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470888479 meters 0.030864370754895905 Centerline is valid? [True, True] Translation: X:32.69, Y:0.20, Z:0.03 [[ 9.95085560e-01 9.84726604e-02 -1.03857450e-02 3.26915002e+01] [-9.84723460e-02 9.95139640e-01 5.42878315e-04 1.97844049e-01] [ 1.03887252e-02 4.82498303e-04 9.99945919e-01 2.62508140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.500888479000004 meters 0.029904579394036707 Centerline is valid? [True, True] Translation: X:32.72, Y:0.19, Z:0.03 [[ 9.95068357e-01 9.86635537e-02 -1.02209918e-02 3.27243104e+01] [-9.86632305e-02 9.95120736e-01 5.37083851e-04 1.94796000e-01] [ 1.02241114e-02 4.74000919e-04 9.99947620e-01 2.65614041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.530888479 meters 0.027348480621696425 Centerline is valid? [True, True] Translation: X:32.76, Y:0.19, Z:0.03 [[ 9.95255965e-01 9.68409283e-02 -9.34875498e-03 3.27560252e+01] [-9.68405752e-02 9.95299785e-01 4.91504765e-04 1.90577990e-01] [ 9.35241160e-03 4.16165761e-04 9.99956179e-01 2.78082634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.560888479 meters 0.02787394561128674 Centerline is valid? [True, True] Translation: X:32.79, Y:0.19, Z:0.03 [[ 9.95278029e-01 9.65169314e-02 -1.03018400e-02 3.27869321e+01] [-9.65164600e-02 9.95331240e-01 5.44069822e-04 1.89377343e-01] [ 1.03062551e-02 4.52796385e-04 9.99946787e-01 2.64769062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.590888479 meters 0.028769991430602816 Centerline is valid? [True, True] Translation: X:32.82, Y:0.19, Z:0.02 [[ 9.95229892e-01 9.65584032e-02 -1.39261218e-02 3.28193297e+01] [-9.65575009e-02 9.95327134e-01 7.38725799e-04 1.86514934e-01] [ 1.39323770e-02 6.09469518e-04 9.99902754e-01 2.30430372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.620888479 meters 0.028556425633082996 Centerline is valid? [True, True] Translation: X:32.85, Y:0.18, Z:0.02 [[ 9.95143619e-01 9.70626321e-02 -1.63714249e-02 3.28509038e+01] [-9.70613894e-02 9.95278014e-01 8.72340645e-04 1.82828017e-01] [ 1.63787909e-02 7.20929018e-04 9.99865599e-01 2.03543910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650888479 meters 0.02946839882238233 Centerline is valid? [True, True] Translation: X:32.88, Y:0.18, Z:0.02 [[ 9.95092277e-01 9.74109331e-02 -1.73916483e-02 3.28831615e+01] [-9.74095113e-02 9.95243950e-01 9.30876211e-04 1.81416856e-01] [ 1.73996103e-02 7.67804233e-04 9.99848321e-01 1.91194353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.680888479000004 meters 0.029090990603183785 Centerline is valid? [True, True] Translation: X:32.92, Y:0.18, Z:0.02 [[ 9.95117134e-01 9.70437322e-02 -1.80111946e-02 3.29155868e+01] [-9.70420689e-02 9.95279809e-01 9.68386746e-04 1.78958974e-01] [ 1.80201542e-02 7.84185346e-04 9.99837316e-01 1.85582125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710888479 meters 0.02767600504813742 Centerline is valid? [True, True] Translation: X:32.95, Y:0.17, Z:0.02 [[ 9.95359603e-01 9.46743873e-02 -1.72052730e-02 3.29473449e+01] [-9.46725041e-02 9.95508041e-01 9.25747031e-04 1.74763222e-01] [ 1.72156321e-02 7.07415080e-04 9.99851550e-01 1.86232139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.740888479 meters 0.028368770660645675 Centerline is valid? [True, True] Translation: X:32.98, Y:0.17, Z:0.02 [[ 9.95478603e-01 9.34440631e-02 -1.70457809e-02 3.29782018e+01] [-9.34419662e-02 9.95624302e-01 9.21176995e-04 1.72852625e-01] [ 1.70572723e-02 6.75779297e-04 9.99854286e-01 1.82750628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.770888479 meters 0.026337929283440403 Centerline is valid? [True, True] Translation: X:33.01, Y:0.17, Z:0.02 [[ 9.95660860e-01 9.17442180e-02 -1.55707984e-02 3.30093474e+01] [-9.17422553e-02 9.95782431e-01 8.41806616e-04 1.68568817e-01] [ 1.55823584e-02 5.90346263e-04 9.99878413e-01 2.05094065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.800888479 meters 0.025792786982034938 Centerline is valid? [True, True] Translation: X:33.04, Y:0.16, Z:0.02 [[ 9.95858684e-01 8.97736208e-02 -1.43588865e-02 3.30392659e+01] [-8.97717438e-02 9.95962063e-01 7.76513607e-04 1.64853822e-01] [ 1.43706167e-02 5.15724463e-04 9.99896604e-01 2.15710651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830888479 meters 0.02539203546093698 Centerline is valid? [True, True] Translation: X:33.07, Y:0.16, Z:0.02 [[ 9.96206019e-01 8.55877720e-02 -1.57575930e-02 3.30701909e+01] [-8.55849796e-02 9.96330509e-01 8.52711306e-04 1.57425544e-01] [ 1.57727524e-02 4.99137143e-04 9.99875478e-01 2.15543914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.860888479 meters 0.025158868832314753 Centerline is valid? [True, True] Translation: X:33.10, Y:0.16, Z:0.02 [[ 9.96299321e-01 8.44746452e-02 -1.58649399e-02 3.31018352e+01] [-8.44716107e-02 9.96425513e-01 8.62485534e-04 1.55595777e-01] [ 1.58810891e-02 4.80843277e-04 9.99873772e-01 2.04204632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890888479 meters 0.024662397255522935 Centerline is valid? [True, True] Translation: X:33.13, Y:0.15, Z:0.02 [[ 9.96396258e-01 8.33887786e-02 -1.55180371e-02 3.31343676e+01] [-8.33857257e-02 9.96516988e-01 8.44790312e-04 1.52459803e-01] [ 1.55344336e-02 4.52236878e-04 9.99879231e-01 2.00728217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.920888479 meters 0.021190379868186986 Centerline is valid? [True, True] Translation: X:33.17, Y:0.15, Z:0.02 [[ 9.96463700e-01 8.28175681e-02 -1.41895962e-02 3.31664242e+01] [-8.28149068e-02 9.96564644e-01 7.76044717e-04 1.48945772e-01] [ 1.42051200e-02 4.01809694e-04 9.99899021e-01 2.21905803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.950888479 meters 0.023889700285110154 Centerline is valid? [True, True] Translation: X:33.20, Y:0.15, Z:0.02 [[ 9.96441086e-01 8.26956739e-02 -1.63274940e-02 3.31969190e+01] [-8.26920858e-02 9.96574742e-01 8.95914524e-04 1.46765734e-01] [ 1.63456564e-02 4.57428494e-04 9.99866296e-01 2.02820343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.980888479 meters 0.021970615931913386 Centerline is valid? [True, True] Translation: X:33.23, Y:0.15, Z:0.02 [[ 9.96329503e-01 8.39446458e-02 -1.67576133e-02 3.32289053e+01] [-8.39409753e-02 9.96470300e-01 9.23532789e-04 1.45089702e-01] [ 1.67759896e-02 4.86507441e-04 9.99859155e-01 2.08594794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010888479 meters 0.024365211158383263 Centerline is valid? [True, True] Translation: X:33.26, Y:0.14, Z:0.02 [[ 9.96253690e-01 8.43748328e-02 -1.89597784e-02 3.32600986e+01] [-8.43701345e-02 9.96433932e-01 1.04899189e-03 1.44935836e-01] [ 1.89806750e-02 5.54577008e-04 9.99819697e-01 1.76694673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.040888479 meters 0.025101589639710507 Centerline is valid? [True, True] Translation: X:33.29, Y:0.14, Z:0.02 [[ 9.96209301e-01 8.48364949e-02 -1.92301348e-02 3.32917076e+01] [-8.48316608e-02 9.96394725e-01 1.06845486e-03 1.43350113e-01] [ 1.92514488e-02 5.66919597e-04 9.99814513e-01 1.69548326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070888479000004 meters 0.024037182040691156 Centerline is valid? [True, True] Translation: X:33.32, Y:0.14, Z:0.02 [[ 9.96214959e-01 8.50158112e-02 -1.81126348e-02 3.33237149e+01] [-8.50114741e-02 9.96379460e-01 1.01066624e-03 1.41503117e-01] [ 1.81329799e-02 5.32940958e-04 9.99835442e-01 1.82199871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.100888479 meters 0.024037182040691156 Centerline is valid? [True, True] Translation: X:33.36, Y:0.14, Z:0.02 [[ 9.96191950e-01 8.52850557e-02 -1.81123588e-02 3.33560838e+01] [-8.52806734e-02 9.96356450e-01 1.01560035e-03 1.39604445e-01] [ 1.81329811e-02 5.32901263e-04 9.99835442e-01 1.81825709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.130888479 meters 0.024021182668592485 Centerline is valid? [True, True] Translation: X:33.39, Y:0.14, Z:0.02 [[ 9.96272891e-01 8.49257675e-02 -1.50977020e-02 3.33871717e+01] [-8.49226316e-02 9.96387186e-01 8.49849872e-04 1.41673873e-01] [ 1.51153309e-02 4.35454194e-04 9.99885662e-01 1.76937613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.160888479 meters 0.022952882792462423 Centerline is valid? [True, True] Translation: X:33.42, Y:0.14, Z:0.02 [[ 9.96307264e-01 8.46220358e-02 -1.45239809e-02 3.34195707e+01] [-8.46190509e-02 9.96413038e-01 8.21031637e-04 1.38527052e-01] [ 1.45413613e-02 4.11005697e-04 9.99894184e-01 1.91934585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190888479 meters 0.02304785461185773 Centerline is valid? [True, True] Translation: X:33.45, Y:0.13, Z:0.02 [[ 9.96311566e-01 8.45252196e-02 -1.47902390e-02 3.34520842e+01] [-8.45220521e-02 9.96421255e-01 8.40236143e-04 1.34842858e-01] [ 1.48083296e-02 4.12964361e-04 9.99890265e-01 2.01367681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.220888479 meters 0.023698915735466602 Centerline is valid? [True, True] Translation: X:33.48, Y:0.13, Z:0.02 [[ 9.96253792e-01 8.51249065e-02 -1.52358885e-02 3.34826489e+01] [-8.51215901e-02 9.96370194e-01 8.67208854e-04 1.33335193e-01] [ 1.52544062e-02 4.32942945e-04 9.99883551e-01 2.11315850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250888479000004 meters 0.024845795219606337 Centerline is valid? [True, True] Translation: X:33.51, Y:0.13, Z:0.02 [[ 9.96236275e-01 8.51758457e-02 -1.60735750e-02 3.35133447e+01] [-8.51721276e-02 9.96365830e-01 9.16976422e-04 1.31808878e-01] [ 1.60932651e-02 4.55495405e-04 9.99870391e-01 2.08487229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.280888479 meters 0.023873629356684124 Centerline is valid? [True, True] Translation: X:33.55, Y:0.13, Z:0.02 [[ 9.96169535e-01 8.60181925e-02 -1.57202789e-02 3.35462495e+01] [-8.60146720e-02 9.96293463e-01 9.01189099e-04 1.31621692e-01] [ 1.57395298e-02 4.54437510e-04 9.99876023e-01 2.07767237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310888479 meters 0.023041756279417694 Centerline is valid? [True, True] Translation: X:33.58, Y:0.14, Z:0.02 [[ 9.96035684e-01 8.74216147e-02 -1.64431495e-02 3.35782010e+01] [-8.74179236e-02 9.96171278e-01 9.44479018e-04 1.35028558e-01] [ 1.64627611e-02 4.96691179e-04 9.99864356e-01 1.81424588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.340888479 meters 0.025123853307893095 Centerline is valid? [True, True] Translation: X:33.61, Y:0.14, Z:0.01 [[ 9.95956621e-01 8.82308611e-02 -1.69033688e-02 3.36104293e+01] [-8.82270067e-02 9.96099917e-01 9.75067246e-04 1.36145381e-01] [ 1.69234753e-02 5.20208953e-04 9.99856652e-01 1.43031632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370888479 meters 0.02412202893790676 Centerline is valid? [True, True] Translation: X:33.64, Y:0.14, Z:0.01 [[ 9.95899395e-01 8.90263790e-02 -1.60840907e-02 3.36434286e+01] [-8.90229219e-02 9.96029141e-01 9.32207302e-04 1.36697535e-01] [ 1.61032141e-02 5.03468064e-04 9.99870208e-01 1.40436600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.400888479 meters 0.02374389935321643 Centerline is valid? [True, True] Translation: X:33.68, Y:0.14, Z:0.02 [[ 9.95838873e-01 8.97733698e-02 -1.56741934e-02 3.36753228e+01] [-8.97701174e-02 9.95962094e-01 9.12380250e-04 1.35484757e-01] [ 1.56928099e-02 4.98490458e-04 9.99876736e-01 1.52056301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430888479000004 meters 0.026105905435325993 Centerline is valid? [True, True] Translation: X:33.71, Y:0.13, Z:0.02 [[ 9.95833488e-01 8.99574650e-02 -1.49438202e-02 3.37074532e+01] [-8.99544775e-02 9.95945495e-01 8.73328232e-04 1.32709604e-01] [ 1.49617928e-02 4.74574038e-04 9.99887953e-01 1.70420195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.460888479 meters 0.02599840001736134 Centerline is valid? [True, True] Translation: X:33.74, Y:0.13, Z:0.02 [[ 9.95850742e-01 8.98981531e-02 -1.41287390e-02 3.37400336e+01] [-8.98954529e-02 9.95950864e-01 8.27372244e-04 1.30598641e-01] [ 1.41459091e-02 4.46170130e-04 9.99899842e-01 1.85401418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490888479 meters 0.02531964920708924 Centerline is valid? [True, True] Translation: X:33.77, Y:0.13, Z:0.02 [[ 9.95884840e-01 8.97008980e-02 -1.29280151e-02 3.37715800e+01] [-8.96985830e-02 9.95968668e-01 7.59961447e-04 1.30867407e-01] [ 1.29440672e-02 4.02790550e-04 9.99916141e-01 1.90393088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.520888479 meters 0.02658423395921721 Centerline is valid? [True, True] Translation: X:33.80, Y:0.13, Z:0.02 [[ 9.95891307e-01 8.97065322e-02 -1.23791456e-02 3.38034482e+01] [-8.97043747e-02 9.95968168e-01 7.30551038e-04 1.30530151e-01] [ 1.23947702e-02 3.82914091e-04 9.99923109e-01 1.79924059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550888479 meters 0.02511528152716077 Centerline is valid? [True, True] Translation: X:33.84, Y:0.13, Z:0.02 [[ 9.95831794e-01 9.03444113e-02 -1.25270175e-02 3.38351031e+01] [-9.03422145e-02 9.95910505e-01 7.42295968e-04 1.27607734e-01] [ 1.25428507e-02 3.92516581e-04 9.99921258e-01 1.84199397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.580888479 meters 0.023340688914401952 Centerline is valid? [True, True] Translation: X:33.87, Y:0.12, Z:0.02 [[ 9.95795158e-01 9.07671073e-02 -1.23828968e-02 3.38680527e+01] [-9.07649497e-02 9.95872070e-01 7.37278821e-04 1.23434232e-01] [ 1.23987017e-02 3.89754324e-04 9.99923057e-01 2.05625625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610888479 meters 0.022321497529491967 Centerline is valid? [True, True] Translation: X:33.90, Y:0.12, Z:0.02 [[ 9.95783548e-01 9.10910329e-02 -1.08419825e-02 3.38995057e+01] [-9.10893717e-02 9.95842511e-01 6.47960016e-04 1.22250657e-01] [ 1.08559304e-02 3.42361449e-04 9.99941014e-01 2.35422390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.640888479 meters 0.025252440973269195 Centerline is valid? [True, True] Translation: X:33.93, Y:0.12, Z:0.02 [[ 9.95810297e-01 9.08021277e-02 -1.08086381e-02 3.39307595e+01] [-9.08004451e-02 9.95868897e-01 6.47318607e-04 1.24309642e-01] [ 1.08227644e-02 3.36822616e-04 9.99941375e-01 1.93703186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670888479 meters 0.024533877813799503 Centerline is valid? [True, True] Translation: X:33.96, Y:0.12, Z:0.02 [[ 9.95790539e-01 9.10311444e-02 -1.07019847e-02 3.39633548e+01] [-9.10294756e-02 9.95847990e-01 6.43963901e-04 1.23836269e-01] [ 1.07161707e-02 3.32942891e-04 9.99942525e-01 1.79646497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.700888479 meters 0.025783081169070646 Centerline is valid? [True, True] Translation: X:34.00, Y:0.12, Z:0.02 [[ 9.95753149e-01 9.14167827e-02 -1.08921182e-02 3.39963456e+01] [-9.14150452e-02 9.95812661e-01 6.58324102e-04 1.23806627e-01] [ 1.09066911e-02 3.40175181e-04 9.99940462e-01 1.55427243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.730888479 meters 0.025233720839014165 Centerline is valid? [True, True] Translation: X:34.03, Y:0.12, Z:0.02 [[ 9.95767151e-01 9.13518112e-02 -1.01304947e-02 3.40287603e+01] [-9.13502804e-02 9.95818632e-01 6.14699219e-04 1.21202055e-01] [ 1.01442892e-02 3.13326237e-04 9.99948496e-01 1.58944932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.760888479 meters 0.024922276627270167 Centerline is valid? [True, True] Translation: X:34.06, Y:0.12, Z:0.02 [[ 9.95861064e-01 9.05826854e-02 -7.45111748e-03 3.40595933e+01] [-9.05818232e-02 9.95888913e-01 4.53807102e-04 1.19252617e-01] [ 7.46159235e-03 2.23006983e-04 9.99972137e-01 1.89696490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790888479 meters 0.024696655042608703 Centerline is valid? [True, True] Translation: X:34.09, Y:0.12, Z:0.02 [[ 9.95873114e-01 9.05246036e-02 -6.48357745e-03 3.40914180e+01] [-9.05239391e-02 9.95894201e-01 3.96474876e-04 1.17316662e-01] [ 6.49284791e-03 1.92080301e-04 9.99978903e-01 1.96546169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.820888479000004 meters 0.025410316087371123 Centerline is valid? [True, True] Translation: X:34.12, Y:0.12, Z:0.02 [[ 9.95862009e-01 9.07610282e-02 -4.61465133e-03 3.41229331e+01] [-9.07606892e-02 9.95872691e-01 2.83255763e-04 1.18231800e-01] [ 4.62131382e-03 1.36745282e-04 9.99989312e-01 1.99876516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850888479 meters 0.024453128023831365 Centerline is valid? [True, True] Translation: X:34.16, Y:0.12, Z:0.02 [[ 9.95815762e-01 9.12727815e-02 -4.49963738e-03 3.41552871e+01] [-9.12724587e-02 9.95825919e-01 2.77480062e-04 1.15873208e-01] [ 4.50618191e-03 1.34373947e-04 9.99989838e-01 2.05423933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.880888479 meters 0.025575318668954572 Centerline is valid? [True, True] Translation: X:34.19, Y:0.11, Z:0.02 [[ 9.95766999e-01 9.17814122e-02 -4.92496327e-03 3.41884809e+01] [-9.17810251e-02 9.95779167e-01 3.05040368e-04 1.13829522e-01] [ 4.93217286e-03 1.48269045e-04 9.99987826e-01 1.90984681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.910888479 meters 0.02369890909661321 Centerline is valid? [True, True] Translation: X:34.22, Y:0.12, Z:0.01 [[ 9.95656422e-01 9.27876963e-02 -7.66378496e-03 3.42198153e+01] [-9.27867774e-02 9.95685888e-01 4.76137505e-04 1.15788362e-01] [ 7.67490223e-03 2.37028544e-04 9.99970519e-01 1.39726129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.940888479 meters 0.023398421646636667 Centerline is valid? [True, True] Translation: X:34.25, Y:0.11, Z:0.01 [[ 9.95567765e-01 9.35612900e-02 -9.54512148e-03 3.42518202e+01] [-9.35598781e-02 9.95613477e-01 5.95313210e-04 1.13493327e-01] [ 9.55894985e-03 3.00365760e-04 9.99954267e-01 1.09814555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970888479 meters 0.024832090289190843 Centerline is valid? [True, True] Translation: X:34.28, Y:0.11, Z:0.01 [[ 9.95498707e-01 9.42085036e-02 -1.03480787e-02 3.42825677e+01] [-9.42068596e-02 9.95552434e-01 6.47291248e-04 1.14077167e-01] [ 1.03630353e-02 3.30482395e-04 9.99946248e-01 8.46508069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.000888479000004 meters 0.02380159021235398 Centerline is valid? [True, True] Translation: X:34.31, Y:0.11, Z:0.01 [[ 9.95359895e-01 9.57058120e-02 -9.95375148e-03 3.43133119e+01] [-9.57043437e-02 9.95409608e-01 6.24828930e-04 1.11535429e-01] [ 9.96785962e-03 3.30687594e-04 9.99950265e-01 1.22091581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030888479 meters 0.024125594006187995 Centerline is valid? [True, True] Translation: X:34.35, Y:0.11, Z:0.01 [[ 9.95409811e-01 9.53117462e-02 -8.65902720e-03 3.43453530e+01] [-9.53106011e-02 9.95447433e-01 5.45746698e-04 1.05275108e-01] [ 8.67162247e-03 2.82055470e-04 9.99962361e-01 1.32474572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.060888479 meters 0.023149839864427636 Centerline is valid? [True, True] Translation: X:34.38, Y:0.10, Z:0.01 [[ 9.95415043e-01 9.53487117e-02 -7.58386726e-03 3.43772882e+01] [-9.53478200e-02 9.95443902e-01 4.79877018e-04 1.03506167e-01] [ 7.59507008e-03 2.45428408e-04 9.99971127e-01 1.47489369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.090888479 meters 0.02507841168909924 Centerline is valid? [True, True] Translation: X:34.41, Y:0.10, Z:0.01 [[ 9.95523092e-01 9.43284439e-02 -5.99312477e-03 3.44088649e+01] [-9.43278639e-02 9.95541114e-01 3.79998652e-04 1.04887994e-01] [ 6.00224679e-03 1.87021225e-04 9.99981969e-01 1.33533231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.120888479 meters 0.023542965909416756 Centerline is valid? [True, True] Translation: X:34.44, Y:0.10, Z:0.01 [[ 9.95534614e-01 9.42505825e-02 -5.25934489e-03 3.44412563e+01] [-9.42501272e-02 9.95548493e-01 3.34886731e-04 1.02339075e-01] [ 5.26749614e-03 1.62302593e-04 9.99986113e-01 1.35630106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150888479 meters 0.023663623237166143 Centerline is valid? [True, True] Translation: X:34.47, Y:0.10, Z:0.01 [[ 9.95606188e-01 9.35209723e-02 -4.70591491e-03 3.44732262e+01] [-9.35205940e-02 9.95617300e-01 3.00846761e-04 9.77717333e-02] [ 4.71342578e-03 1.40575061e-04 9.99988882e-01 1.34190290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.180888479000004 meters 0.021947684674087677 Centerline is valid? [True, True] Translation: X:34.50, Y:0.09, Z:0.02 [[ 9.95681008e-01 9.27413133e-02 -4.28703297e-03 3.45039624e+01] [-9.27409880e-02 9.95690230e-01 2.75045110e-04 9.41223289e-02] [ 4.29406489e-03 1.23726481e-04 9.99990773e-01 1.51293119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210888479 meters 0.02106473731161704 Centerline is valid? [True, True] Translation: X:34.53, Y:0.09, Z:0.02 [[ 9.95873362e-01 9.06404852e-02 -4.53305578e-03 3.45346770e+01] [-9.06400952e-02 9.95883672e-01 2.91817852e-04 8.75718006e-02] [ 4.54084675e-03 1.20262983e-04 9.99989683e-01 1.74869638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.240888479 meters 0.021836842275058225 Centerline is valid? [True, True] Translation: X:34.57, Y:0.09, Z:0.02 [[ 9.95924536e-01 9.01124264e-02 -3.75078612e-03 3.45663897e+01] [-9.01121521e-02 9.95931595e-01 2.42400418e-04 8.51520638e-02] [ 3.75736969e-03 9.65788856e-05 9.99992936e-01 1.66204317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.270888479 meters 0.023631422140401148 Centerline is valid? [True, True] Translation: X:34.60, Y:0.08, Z:0.02 [[ 9.95938336e-01 9.00097347e-02 -2.25345526e-03 3.45990187e+01] [-9.00096351e-02 9.95940884e-01 1.45762705e-04 8.41213211e-02] [ 2.25742828e-03 5.76620193e-05 9.99997450e-01 1.51289743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.300888479 meters 0.023024541468697406 Centerline is valid? [True, True] Translation: X:34.63, Y:0.09, Z:0.02 [[ 9.95898130e-01 9.04811058e-02 2.90463598e-04 3.46319236e+01] [-9.04811042e-02 9.95898172e-01 -1.85396979e-05 8.50442358e-02] [-2.90949659e-04 -7.81781667e-06 9.99999958e-01 1.58234582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330888479 meters 0.02280561868005507 Centerline is valid? [True, True] Translation: X:34.66, Y:0.09, Z:0.02 [[ 9.95727634e-01 9.23192266e-02 1.90791815e-03 3.46641422e+01] [-9.23191583e-02 9.95729460e-01 -1.24039867e-04 8.50816717e-02] [-1.91122158e-03 -5.26274750e-05 9.99998172e-01 1.74343085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.360888479 meters 0.023208007640768073 Centerline is valid? [True, True] Translation: X:34.70, Y:0.08, Z:0.02 [[ 9.95688513e-01 9.27409791e-02 1.86946695e-03 3.46963304e+01] [-9.27409135e-02 9.95690267e-01 -1.21941530e-04 8.37992296e-02] [-1.87271902e-03 -5.19602920e-05 9.99998245e-01 1.85658392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390888479 meters 0.023649573093736043 Centerline is valid? [True, True] Translation: X:34.73, Y:0.08, Z:0.02 [[ 9.95654573e-01 9.31013623e-02 2.02680129e-03 3.47296072e+01] [-9.31012850e-02 9.95656634e-01 -1.32660755e-04 8.15582081e-02] [-2.03034904e-03 -5.66135163e-05 9.99997937e-01 1.91077557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.420888479 meters 0.021150586253822136 Centerline is valid? [True, True] Translation: X:34.76, Y:0.08, Z:0.02 [[ 9.95595211e-01 9.37406697e-02 1.69208224e-03 3.47625639e+01] [-9.37406161e-02 9.95596648e-01 -1.11166207e-04 7.81300825e-02] [-1.69505220e-03 -4.79402889e-05 9.99998562e-01 2.14560917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.450888479 meters 0.023152719741921925 Centerline is valid? [True, True] Translation: X:34.79, Y:0.08, Z:0.02 [[ 9.95663705e-01 9.30231592e-02 6.92046835e-04 3.47939783e+01] [-9.30231500e-02 9.95663945e-01 -4.54947637e-05 7.77185811e-02] [-6.93278149e-04 -1.90788915e-05 9.99999760e-01 1.88000611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.480888479 meters 0.023974659217535735 Centerline is valid? [True, True] Translation: X:34.83, Y:0.08, Z:0.01 [[ 9.95842390e-01 9.10618845e-02 -2.38046694e-03 3.48264361e+01] [-9.10617663e-02 9.95845234e-01 1.58211517e-04 7.66754788e-02] [ 2.38498370e-03 5.92157887e-05 9.99997154e-01 1.34485571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510888479 meters 0.022254966922542977 Centerline is valid? [True, True] Translation: X:34.86, Y:0.07, Z:0.01 [[ 9.95893284e-01 9.04995397e-02 -2.53001120e-03 3.48582236e+01] [-9.04994029e-02 9.95896495e-01 1.68745896e-04 7.43812114e-02] [ 2.53490071e-03 6.09115980e-05 9.99996785e-01 1.32604137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.540888479 meters 0.021931122151034235 Centerline is valid? [True, True] Translation: X:34.89, Y:0.07, Z:0.01 [[ 9.95980890e-01 8.95370227e-02 -2.27788071e-03 3.48897037e+01] [-8.95369081e-02 9.95983493e-01 1.52439342e-04 7.32353781e-02] [ 2.28238055e-03 5.21277239e-05 9.99997394e-01 1.30193575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570888479000004 meters 0.020738989123453528 Centerline is valid? [True, True] Translation: X:34.92, Y:0.07, Z:0.01 [[ 9.96088388e-01 8.82949986e-02 -3.45214887e-03 3.49212989e+01] [-8.82947254e-02 9.96094367e-01 2.31743960e-04 7.00842883e-02] [ 3.45912788e-03 7.39690691e-05 9.99994014e-01 1.28737419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.600888479 meters 0.01999307249599151 Centerline is valid? [True, True] Translation: X:34.95, Y:0.07, Z:0.01 [[ 9.96113724e-01 8.79670085e-02 -4.38803683e-03 3.49543419e+01] [-8.79665587e-02 9.96123384e-01 2.95762608e-04 6.75267771e-02] [ 4.39704345e-03 9.13873066e-05 9.99990329e-01 1.24516305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630888479 meters 0.02264292187951467 Centerline is valid? [True, True] Translation: X:34.99, Y:0.07, Z:0.01 [[ 9.96181334e-01 8.71016793e-02 -6.00399099e-03 3.49866324e+01] [-8.71008138e-02 9.96199420e-01 4.05981585e-04 6.62877490e-02] [ 6.01653402e-03 1.18521225e-04 9.99981893e-01 8.17014448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.660888479 meters 0.022331194884261295 Centerline is valid? [True, True] Translation: X:35.02, Y:0.07, Z:0.01 [[ 9.96268042e-01 8.60397082e-02 -6.86706078e-03 3.50191509e+01] [-8.60385394e-02 9.96291701e-01 4.65985148e-04 6.61930256e-02] [ 6.88168889e-03 1.26585769e-04 9.99976313e-01 5.61437903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690888479 meters 0.0216677425450816 Centerline is valid? [True, True] Translation: X:35.05, Y:0.07, Z:0.01 [[ 9.96300824e-01 8.57302856e-02 -5.91490272e-03 3.50498188e+01] [-8.57294050e-02 9.96318376e-01 4.02723054e-04 6.53972630e-02] [ 5.92765183e-03 1.05847780e-04 9.99982426e-01 6.51435518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.720888479 meters 0.019064524566929933 Centerline is valid? [True, True] Translation: X:35.08, Y:0.06, Z:0.01 [[ 9.96272334e-01 8.61681462e-02 -4.06049308e-03 3.50830024e+01] [-8.61677297e-02 9.96280606e-01 2.77751191e-04 6.16234795e-02] [ 4.06932381e-03 7.31676431e-05 9.99991718e-01 1.10414063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750888479000004 meters 0.022545149519008163 Centerline is valid? [True, True] Translation: X:35.12, Y:0.06, Z:0.01 [[ 9.96380734e-01 8.49178639e-02 -3.79337124e-03 3.51152328e+01] [-8.49174878e-02 9.96387953e-01 2.60390502e-04 5.94919021e-02] [ 3.80178121e-03 6.26754762e-05 9.99992771e-01 9.67883737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.780888479 meters 0.022837117800108702 Centerline is valid? [True, True] Translation: X:35.15, Y:0.06, Z:0.01 [[ 9.96466114e-01 8.39652318e-02 -2.26337425e-03 3.51466226e+01] [-8.39650941e-02 9.96468684e-01 1.55969784e-04 6.05019214e-02] [ 2.26847760e-03 3.46258271e-05 9.99997426e-01 1.11552480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810888479 meters 0.022359904523594713 Centerline is valid? [True, True] Translation: X:35.18, Y:0.06, Z:0.01 [[ 9.96460463e-01 8.40060691e-02 -3.08633538e-03 3.51790404e+01] [-8.40058110e-02 9.96465242e-01 2.13400898e-04 6.05045170e-02] [ 3.09335290e-03 4.66245486e-05 9.99995214e-01 1.08740139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.840888479 meters 0.020388695674346036 Centerline is valid? [True, True] Translation: X:35.21, Y:0.06, Z:0.01 [[ 9.96409169e-01 8.45695247e-02 -4.09426036e-03 3.52116146e+01] [-8.45690707e-02 9.96417579e-01 2.84204340e-04 5.77235346e-02] [ 4.10362802e-03 6.30639837e-05 9.99991578e-01 1.04198142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870888479 meters 0.022303671279138893 Centerline is valid? [True, True] Translation: X:35.24, Y:0.06, Z:0.01 [[ 9.96390575e-01 8.46672206e-02 -6.10598786e-03 3.52440250e+01] [-8.46662038e-02 9.96409280e-01 4.25289733e-04 5.76113320e-02] [ 6.12007106e-03 9.32161301e-05 9.99981268e-01 6.45663768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.900888479 meters 0.019813791920810873 Centerline is valid? [True, True] Translation: X:35.28, Y:0.06, Z:0.01 [[ 9.96258609e-01 8.61765567e-02 -6.51040166e-03 3.52757257e+01] [-8.61754236e-02 9.96279875e-01 4.54878661e-04 6.00250824e-02] [ 6.52538203e-03 1.07859839e-04 9.99978704e-01 6.09521922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930888479000004 meters 0.022759810641586973 Centerline is valid? [True, True] Translation: X:35.31, Y:0.06, Z:0.00 [[ 9.96245028e-01 8.62604836e-02 -7.41433332e-03 3.53086766e+01] [-8.62590014e-02 9.96272610e-01 5.20047143e-04 5.85368094e-02] [ 7.43155673e-03 1.21458608e-04 9.99972378e-01 3.69186202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.960888479 meters 0.024031233575059326 Centerline is valid? [True, True] Translation: X:35.34, Y:0.06, Z:0.00 [[ 9.96206705e-01 8.66130741e-02 -8.38911012e-03 3.53416554e+01] [-8.66111705e-02 9.96242017e-01 5.90640820e-04 5.77147314e-02] [ 8.40874120e-03 1.38190302e-04 9.99964636e-01 2.57870303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990888479 meters 0.024031233575059326 Centerline is valid? [True, True] Translation: X:35.37, Y:0.06, Z:0.00 [[ 9.96183433e-01 8.68803387e-02 -8.38895142e-03 3.53739926e+01] [-8.68784256e-02 9.96218745e-01 5.92891253e-04 5.53508385e-02] [ 8.40874124e-03 1.38190447e-04 9.99964636e-01 2.54128667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.020888479 meters 0.023780363997711728 Centerline is valid? [True, True] Translation: X:35.41, Y:0.06, Z:0.00 [[ 9.96155973e-01 8.71219005e-02 -9.11325994e-03 3.54061302e+01] [-8.71196324e-02 9.96197647e-01 6.46321222e-04 5.57039394e-02] [ 9.13491685e-03 1.50107110e-04 9.99958265e-01 2.22199383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.050888479 meters 0.022123713484748377 Centerline is valid? [True, True] Translation: X:35.44, Y:0.05, Z:0.01 [[ 9.96111812e-01 8.76371826e-02 -8.99902583e-03 3.54391607e+01] [-8.76349696e-02 9.96152449e-01 6.40695119e-04 5.23741494e-02] [ 9.02055034e-03 1.50425380e-04 9.99959303e-01 5.16979751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.080888479 meters 0.023858971423894045 Centerline is valid? [True, True] Translation: X:35.47, Y:0.05, Z:0.01 [[ 9.96041443e-01 8.84891289e-02 -8.43318580e-03 3.54717513e+01] [-8.84871965e-02 9.96077132e-01 6.02716409e-04 5.15333142e-02] [ 8.45343737e-03 1.45898448e-04 9.99964258e-01 6.54677769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110888479 meters 0.022498119495425673 Centerline is valid? [True, True] Translation: X:35.50, Y:0.05, Z:0.01 [[ 9.95958454e-01 8.94912234e-02 -7.62089102e-03 3.55039036e+01] [-8.94896599e-02 9.95987601e-01 5.46591998e-04 5.41105202e-02] [ 7.63922815e-03 1.37608025e-04 9.99970811e-01 6.45313443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.140888479 meters 0.022799672088471733 Centerline is valid? [True, True] Translation: X:35.54, Y:0.05, Z:0.01 [[ 9.95928273e-01 8.98250720e-02 -7.63754388e-03 3.55371895e+01] [-8.98234954e-02 9.95957548e-01 5.49901742e-04 5.19200253e-02] [ 7.65606444e-03 1.38368195e-04 9.99970682e-01 6.16042865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170888479 meters 0.02344670462647914 Centerline is valid? [True, True] Translation: X:35.57, Y:0.05, Z:0.00 [[ 9.95841396e-01 9.06967152e-02 -8.60352078e-03 3.55682887e+01] [-9.06947315e-02 9.95878547e-01 6.21248482e-04 5.30907992e-02] [ 8.62440697e-03 1.61629052e-04 9.99962796e-01 3.75636617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.200888479 meters 0.022585588947043597 Centerline is valid? [True, True] Translation: X:35.60, Y:0.05, Z:0.00 [[ 9.95763337e-01 9.14719096e-02 -9.39499166e-03 3.56003350e+01] [-9.14695579e-02 9.95807640e-01 6.80606163e-04 5.10101543e-02] [ 9.41786082e-03 1.81633069e-04 9.99955634e-01 3.64327422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.230888479 meters 0.0235853065868169 Centerline is valid? [True, True] Translation: X:35.63, Y:0.05, Z:0.00 [[ 9.95770052e-01 9.12957098e-02 -1.03487864e-02 3.56328100e+01] [-9.12928177e-02 9.95823807e-01 7.52505826e-04 4.77395401e-02] [ 1.03742684e-02 1.95447104e-04 9.99946167e-01 2.85003231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.260888479 meters 0.02375922990491918 Centerline is valid? [True, True] Translation: X:35.66, Y:0.04, Z:0.00 [[ 9.95821343e-01 9.07418573e-02 -1.02843852e-02 3.56646434e+01] [-9.07389470e-02 9.95874430e-01 7.50206836e-04 4.40850949e-02] [ 1.03100314e-02 1.86122301e-04 9.99946833e-01 3.45954417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290888479 meters 0.01932951300471107 Centerline is valid? [True, True] Translation: X:35.70, Y:0.04, Z:0.01 [[ 9.95900981e-01 9.01340496e-02 -7.55578836e-03 3.56961094e+01] [-9.01324466e-02 9.95929634e-01 5.53089975e-04 3.99147607e-02] [ 7.57488578e-03 1.30198843e-04 9.99971302e-01 8.71885886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.320888479 meters 0.022060248415621837 Centerline is valid? [True, True] Translation: X:35.73, Y:0.04, Z:0.00 [[ 9.95963026e-01 8.93188419e-02 -8.93285187e-03 3.57284631e+01] [-8.93165482e-02 9.96003074e-01 6.56177708e-04 4.01819684e-02] [ 8.95575695e-03 1.44322759e-04 9.99959886e-01 4.22258204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350888479 meters 0.021897587163226928 Centerline is valid? [True, True] Translation: X:35.76, Y:0.04, Z:0.00 [[ 9.95920107e-01 8.98018533e-02 -8.87515132e-03 3.57611883e+01] [-8.97995871e-02 9.95959641e-01 6.54328849e-04 3.96981478e-02] [ 8.89805247e-03 1.45325667e-04 9.99960401e-01 3.20457684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.380888479 meters 0.02318311853579443 Centerline is valid? [True, True] Translation: X:35.79, Y:0.04, Z:0.00 [[ 9.95865342e-01 9.03782130e-02 -9.16513167e-03 3.57923428e+01] [-9.03758113e-02 9.95907503e-01 6.76717014e-04 4.01871913e-02] [ 9.18878387e-03 1.54387190e-04 9.99957770e-01 1.42217282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.410888479 meters 0.02385973092864916 Centerline is valid? [True, True] Translation: X:35.82, Y:0.04, Z:0.00 [[ 9.95615627e-01 9.30854928e-02 -9.19862448e-03 3.58244911e+01] [-9.30831675e-02 9.95658104e-01 6.81533307e-04 3.71737671e-02] [ 9.22212587e-03 1.77691892e-04 9.99957460e-01 3.54273364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.440888479 meters 0.022108576687449904 Centerline is valid? [True, True] Translation: X:35.86, Y:0.03, Z:0.01 [[ 9.95452194e-01 9.48699555e-02 -8.63832247e-03 3.58566259e+01] [-9.48679538e-02 9.95489658e-01 6.42108030e-04 3.35082496e-02] [ 8.66027744e-03 1.80312130e-04 9.99962483e-01 6.79414205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470888479 meters 0.023893110012972004 Centerline is valid? [True, True] Translation: X:35.89, Y:0.03, Z:0.01 [[ 9.95323128e-01 9.60386882e-02 -1.04135420e-02 3.58882476e+01] [-9.60358176e-02 9.95377576e-01 7.76515730e-04 3.00676565e-02] [ 1.04399817e-02 2.27188954e-04 9.99945476e-01 6.27122480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.500888479000004 meters 0.02330131025065426 Centerline is valid? [True, True] Translation: X:35.92, Y:0.03, Z:0.00 [[ 9.95237411e-01 9.68862647e-02 -1.07492718e-02 3.59202384e+01] [-9.68832272e-02 9.95295430e-01 8.04176124e-04 2.96835218e-02] [ 1.07766147e-02 2.41077978e-04 9.99941902e-01 4.99679633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530888479 meters 0.02197180273196084 Centerline is valid? [True, True] Translation: X:35.95, Y:0.03, Z:0.00 [[ 9.95104715e-01 9.83574526e-02 -9.61337249e-03 3.59520091e+01] [-9.83550704e-02 9.95151124e-01 7.21406308e-04 3.10098138e-02] [ 9.63771413e-03 2.27649110e-04 9.99953530e-01 4.15097095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.560888479 meters 0.023835552889295345 Centerline is valid? [True, True] Translation: X:35.98, Y:0.03, Z:0.00 [[ 9.95053629e-01 9.89642117e-02 -8.62326204e-03 3.59844368e+01] [-9.89622976e-02 9.95090972e-01 6.49431994e-04 3.20128327e-02] [ 8.64520073e-03 2.07158163e-04 9.99962608e-01 1.84124062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.590888479 meters 0.023141110734823996 Centerline is valid? [True, True] Translation: X:36.02, Y:0.03, Z:0.00 [[ 9.95031775e-01 9.92939187e-02 -7.24463552e-03 3.60161434e+01] [-9.92925633e-02 9.95058133e-01 5.47423236e-04 2.65678269e-02] [ 7.26318929e-03 1.74634917e-04 9.99973607e-01 4.08311054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.620888479 meters 0.021643902247512174 Centerline is valid? [True, True] Translation: X:36.05, Y:0.02, Z:0.01 [[ 9.94989088e-01 9.97542619e-02 -6.76768558e-03 3.60479001e+01] [-9.97530773e-02 9.95012090e-01 5.13202658e-04 2.13979659e-02] [ 6.78512312e-03 1.64466417e-04 9.99976967e-01 7.80492490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650888479 meters 0.02322091879148915 Centerline is valid? [True, True] Translation: X:36.08, Y:0.02, Z:0.01 [[ 9.95143763e-01 9.80641114e-02 -8.50415142e-03 3.60798114e+01] [-9.80621630e-02 9.95180081e-01 6.46799572e-04 1.50689711e-02] [ 8.52658992e-03 1.90276922e-04 9.99963630e-01 7.59449512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.680888479000004 meters 0.02270822022053651 Centerline is valid? [True, True] Translation: X:36.11, Y:0.01, Z:0.01 [[ 9.95234681e-01 9.70681693e-02 -9.25744817e-03 3.61119772e+01] [-9.70657962e-02 9.95277716e-01 7.06363618e-04 9.42195796e-03] [ 9.28229729e-03 1.95584008e-04 9.99956899e-01 7.89012471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.710888479 meters 0.02386703882302811 Centerline is valid? [True, True] Translation: X:36.14, Y:0.01, Z:0.00 [[ 9.95367132e-01 9.56807913e-02 -9.45828496e-03 3.61431364e+01] [-9.56782402e-02 9.95412051e-01 7.22888322e-04 1.08283358e-02] [ 9.48405736e-03 1.85412785e-04 9.99955008e-01 2.77437950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.740888479 meters 0.022478354882938326 Centerline is valid? [True, True] Translation: X:36.18, Y:0.01, Z:0.00 [[ 9.95338694e-01 9.60530781e-02 -8.64233178e-03 3.61761336e+01] [-9.60509412e-02 9.95376199e-01 6.62943389e-04 7.91563127e-03] [ 8.66604911e-03 1.70250895e-04 9.99962435e-01 3.08725153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.770888479 meters 0.02070844381995384 Centerline is valid? [True, True] Translation: X:36.21, Y:0.00, Z:0.00 [[ 9.95297694e-01 9.64939569e-02 -8.45078157e-03 3.62082262e+01] [-9.64919178e-02 9.95333556e-01 6.49630313e-04 2.03688926e-03] [ 8.47403187e-03 1.68856568e-04 9.99964080e-01 4.91546097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.800888479 meters 0.02189337650232762 Centerline is valid? [True, True] Translation: X:36.24, Y:0.00, Z:0.00 [[ 9.95162350e-01 9.78631148e-02 -8.64333968e-03 3.62396749e+01] [-9.78610162e-02 9.95199868e-01 6.66423616e-04 1.54849526e-04] [ 8.66706880e-03 1.82646312e-04 9.99962424e-01 4.11838563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.830888479 meters 0.024433858092067072 Centerline is valid? [True, True] Translation: X:36.27, Y:-0.00, Z:0.00 [[ 9.95161454e-01 9.77538835e-02 -9.89234709e-03 3.62715492e+01] [-9.77511055e-02 9.95210599e-01 7.65099086e-04 -3.34571148e-03] [ 9.91976008e-03 2.05590745e-04 9.99950777e-01 1.94450988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.860888479 meters 0.02257695943745778 Centerline is valid? [True, True] Translation: X:36.30, Y:-0.01, Z:0.00 [[ 9.95071667e-01 9.86859411e-02 -9.66759316e-03 3.63034023e+01] [-9.86833096e-02 9.95118607e-01 7.50017729e-04 -8.40771851e-03] [ 9.69441804e-03 2.07708696e-04 9.99952986e-01 4.07387969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.890888479 meters 0.021060516122580853 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.01, Z:0.00 [[ 9.95062444e-01 9.86052651e-02 -1.13019200e-02 3.63361890e+01] [-9.86016273e-02 9.95126597e-01 8.80003596e-04 -1.22391933e-02] [ 1.13336142e-02 2.38729173e-04 9.99935744e-01 3.63566995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.920888479 meters 0.02384771872024737 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.01, Z:-0.00 [[ 9.95109887e-01 9.77820929e-02 -1.39633662e-02 3.63673197e+01] [-9.77764164e-02 9.95207809e-01 1.09027118e-03 -1.41895563e-02] [ 1.40030601e-02 2.80348279e-04 9.99901913e-01 -1.38513433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.950888479 meters 0.022241101536852388 Centerline is valid? [True, True] Translation: X:36.40, Y:-0.02, Z:-0.00 [[ 9.95196550e-01 9.68959144e-02 -1.39645238e-02 3.63982718e+01] [-9.68901253e-02 9.95294485e-01 1.09210206e-03 -1.85472354e-02] [ 1.40046337e-02 2.66168255e-04 9.99901895e-01 -1.08682119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.980888479 meters 0.02039981830968196 Centerline is valid? [True, True] Translation: X:36.43, Y:-0.03, Z:0.00 [[ 9.95344175e-01 9.55739949e-02 -1.24733930e-02 3.64305239e+01] [-9.55692600e-02 9.95422304e-01 9.76478073e-04 -2.52334110e-02] [ 1.25096195e-02 2.20141178e-04 9.99921727e-01 1.74778896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010888479 meters 0.019849935286158967 Centerline is valid? [True, True] Translation: X:36.46, Y:-0.03, Z:0.00 [[ 9.95465669e-01 9.43830543e-02 -1.18296580e-02 3.64622664e+01] [-9.43786750e-02 9.95535937e-01 9.29154880e-04 -3.06515925e-02] [ 1.18645461e-02 1.91525663e-04 9.99929595e-01 2.87201529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.040888479 meters 0.018657875274316085 Centerline is valid? [True, True] Translation: X:36.49, Y:-0.03, Z:0.00 [[ 9.95577919e-01 9.34226601e-02 -9.83939685e-03 3.64945712e+01] [-9.34195595e-02 9.95626529e-01 7.75267992e-04 -3.37668454e-02] [ 9.86879213e-03 1.47352425e-04 9.99951291e-01 4.62125568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070888479 meters 0.019938875848297916 Centerline is valid? [True, True] Translation: X:36.53, Y:-0.04, Z:0.00 [[ 9.95928606e-01 8.97074174e-02 -8.87641038e-03 3.65256278e+01] [-8.97047286e-02 9.95968157e-01 7.01383357e-04 -3.94140723e-02] [ 8.90354137e-03 9.77282350e-05 9.99960358e-01 3.44668971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.100888479 meters 0.018108730771889854 Centerline is valid? [True, True] Translation: X:36.56, Y:-0.04, Z:0.01 [[ 9.95944610e-01 8.96485752e-02 -7.58062387e-03 3.65568010e+01] [-8.96465995e-02 9.95973457e-01 6.00705700e-04 -4.26907503e-02] [ 7.60395257e-03 8.13075465e-05 9.99971086e-01 6.56068358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130888479 meters 0.018628068085665552 Centerline is valid? [True, True] Translation: X:36.59, Y:-0.05, Z:0.01 [[ 9.95954192e-01 8.95197604e-02 -7.83960713e-03 3.65892225e+01] [-8.95176262e-02 9.95985043e-01 6.23411216e-04 -4.73405141e-02] [ 7.86393907e-03 8.08940067e-05 9.99969075e-01 6.33835459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.160888479 meters 0.018219538309267275 Centerline is valid? [True, True] Translation: X:36.62, Y:-0.05, Z:0.01 [[ 9.95857166e-01 9.05453649e-02 -8.36905651e-03 3.66213968e+01] [-9.05429520e-02 9.95892328e-01 6.67523828e-04 -5.15314845e-02] [ 8.39512036e-03 9.30006946e-05 9.99964756e-01 7.55820546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190888479 meters 0.02023557958583632 Centerline is valid? [True, True] Translation: X:36.65, Y:-0.05, Z:0.00 [[ 9.95520173e-01 9.39574524e-02 -1.05632327e-02 3.66534729e+01] [-9.39537736e-02 9.95576202e-01 8.45068681e-04 -5.31599259e-02] [ 1.05959036e-02 1.51172656e-04 9.99943850e-01 4.61409045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.220888479 meters 0.0204005581586733 Centerline is valid? [True, True] Translation: X:36.69, Y:-0.05, Z:0.00 [[ 9.95217764e-01 9.70634106e-02 -1.09679694e-02 3.66857344e+01] [-9.70596034e-02 9.95278182e-01 8.80133164e-04 -5.28862536e-02] [ 1.10016094e-02 1.88622603e-04 9.99939463e-01 3.12848953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250888479000004 meters 0.021860573029104696 Centerline is valid? [True, True] Translation: X:36.72, Y:-0.05, Z:0.00 [[ 9.94931637e-01 9.98846307e-02 -1.15800733e-02 3.67166847e+01] [-9.98805760e-02 9.94998998e-01 9.29400889e-04 -5.18331757e-02] [ 1.16149941e-02 2.31934038e-04 9.99932517e-01 4.61818519e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.280888479 meters 0.02191713196689144 Centerline is valid? [True, True] Translation: X:36.75, Y:-0.05, Z:-0.00 [[ 9.94370105e-01 1.05393072e-01 -1.09724944e-02 3.67484316e+01] [-1.05389762e-01 9.94430602e-01 8.81026947e-04 -5.08525350e-02] [ 1.10042384e-02 2.80321722e-04 9.99939412e-01 -1.05780580e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310888479 meters 0.023127294680718318 Centerline is valid? [True, True] Translation: X:36.78, Y:-0.05, Z:-0.00 [[ 9.94137071e-01 1.07622217e-01 -1.04375748e-02 3.67795897e+01] [-1.07619318e-01 9.94191820e-01 8.40678367e-04 -5.09876605e-02] [ 1.04674272e-02 2.87535153e-04 9.99945174e-01 -3.74433233e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.340888479 meters 0.02457592919104671 Centerline is valid? [True, True] Translation: X:36.81, Y:-0.05, Z:-0.00 [[ 9.93962790e-01 1.09290628e-01 -9.67117850e-03 3.68110841e+01] [-1.09288196e-01 9.94009799e-01 7.81141253e-04 -5.35647629e-02] [ 9.69861761e-03 2.80520315e-04 9.99952928e-01 -1.66804828e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370888479 meters 0.024496376659551018 Centerline is valid? [True, True] Translation: X:36.84, Y:-0.05, Z:0.00 [[ 9.93583835e-01 1.12802005e-01 -8.17741469e-03 3.68427709e+01] [-1.12800370e-01 9.93617450e-01 6.62362875e-04 -5.47682128e-02] [ 8.19993779e-03 2.64302354e-04 9.99966345e-01 2.50565546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.400888479 meters 0.024462590626293457 Centerline is valid? [True, True] Translation: X:36.88, Y:-0.06, Z:0.00 [[ 9.93418329e-01 1.14348371e-01 -6.66881953e-03 3.68751762e+01] [-1.14347307e-01 9.93440688e-01 5.41840887e-04 -5.66890411e-02] [ 6.68703529e-03 2.24286888e-04 9.99977616e-01 4.11211779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430888479000004 meters 0.02532425863225059 Centerline is valid? [True, True] Translation: X:36.91, Y:-0.06, Z:0.01 [[ 9.93248317e-01 1.15874076e-01 -5.56597446e-03 3.69063721e+01] [-1.15873352e-01 9.93263893e-01 4.53494512e-04 -5.66968409e-02] [ 5.58102972e-03 1.94515455e-04 9.99984407e-01 6.69677979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.460888479 meters 0.024586418539085268 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.06, Z:0.01 [[ 9.93177431e-01 1.16450173e-01 -6.16010887e-03 3.69384763e+01] [-1.16449288e-01 9.93196511e-01 5.03397334e-04 -6.36850751e-02] [ 6.17681935e-03 2.17377423e-04 9.99980900e-01 5.91063992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490888479 meters 0.025936195438497543 Centerline is valid? [True, True] Translation: X:36.97, Y:-0.06, Z:0.00 [[ 9.92972874e-01 1.18167727e-01 -6.42338064e-03 3.69698849e+01] [-1.18166792e-01 9.92993622e-01 5.26321715e-04 -6.47753397e-02] [ 6.44057025e-03 2.36407096e-04 9.99979231e-01 4.97514553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.520888479 meters 0.0272159476462725 Centerline is valid? [True, True] Translation: X:37.00, Y:-0.07, Z:0.00 [[ 9.92831751e-01 1.19372792e-01 -5.93730631e-03 3.70018563e+01] [-1.19372005e-01 9.92849478e-01 4.87931690e-04 -6.53677815e-02] [ 5.95309724e-03 2.24314087e-04 9.99982255e-01 3.52773204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.550888479 meters 0.0252629376370427 Centerline is valid? [True, True] Translation: X:37.03, Y:-0.07, Z:0.01 [[ 9.92678365e-01 1.20708556e-01 -4.37134195e-03 3.70343456e+01] [-1.20708138e-01 9.92687975e-01 3.60371338e-04 -6.73330529e-02] [ 4.38287849e-03 1.69923717e-04 9.99990381e-01 5.83114775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.580888479 meters 0.027408602352674727 Centerline is valid? [True, True] Translation: X:37.06, Y:-0.07, Z:0.00 [[ 9.92727244e-01 1.20250163e-01 -5.70239994e-03 3.70649789e+01] [-1.20249440e-01 9.92743598e-01 4.70677344e-04 -6.98237869e-02] [ 5.71762006e-03 2.18456176e-04 9.99983630e-01 2.53526155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.610888479 meters 0.024536486153669948 Centerline is valid? [True, True] Translation: X:37.10, Y:-0.08, Z:0.01 [[ 9.92708397e-01 1.20421547e-01 -5.35617239e-03 3.70970437e+01] [-1.20420903e-01 9.92722826e-01 4.43765191e-04 -7.69931832e-02] [ 5.37063348e-03 2.04465685e-04 9.99985557e-01 5.81542466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.640888479 meters 0.025468071605504194 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.08, Z:0.00 [[ 9.92711155e-01 1.20335246e-01 -6.63257924e-03 3.71293210e+01] [-1.20334245e-01 9.92733280e-01 5.51278838e-04 -8.15119005e-02] [ 6.65072042e-03 2.50865763e-04 9.99977852e-01 3.61780646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670888479 meters 0.025096762272893848 Centerline is valid? [True, True] Translation: X:37.16, Y:-0.09, Z:0.00 [[ 9.92551429e-01 1.21548486e-01 -8.22356774e-03 3.71610880e+01] [-1.21546973e-01 9.92585444e-01 6.85406045e-04 -8.59326401e-02] [ 8.24590371e-03 3.19249014e-04 9.99965951e-01 3.68323188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.700888479 meters 0.027251372433562963 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.09, Z:0.00 [[ 9.92467299e-01 1.22177538e-01 -9.01721317e-03 3.71927113e+01] [-1.22175735e-01 9.92508198e-01 7.52581759e-04 -8.55457905e-02] [ 9.04160658e-03 3.54771861e-04 9.99959061e-01 2.32312697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.730888479 meters 0.024453006562286717 Centerline is valid? [True, True] Translation: X:37.23, Y:-0.09, Z:0.00 [[ 9.92448492e-01 1.22343223e-01 -8.83894615e-03 3.72252317e+01] [-1.22341473e-01 9.92487791e-01 7.40369477e-04 -9.30142882e-02] [ 8.86312533e-03 3.46591123e-04 9.99960662e-01 3.95802548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.760888479 meters 0.023661956879640397 Centerline is valid? [True, True] Translation: X:37.26, Y:-0.10, Z:0.00 [[ 9.92653148e-01 1.20590147e-01 -9.88654597e-03 3.72565535e+01] [-1.20587848e-01 9.92702312e-01 8.30482561e-04 -1.00974074e-01] [ 9.91454506e-03 3.67816179e-04 9.99950782e-01 4.45361790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790888479 meters 0.023510116197613177 Centerline is valid? [True, True] Translation: X:37.29, Y:-0.11, Z:0.01 [[ 9.92851181e-01 1.18936671e-01 -1.00299913e-02 3.72872392e+01] [-1.18934208e-01 9.92901779e-01 8.43814597e-04 -1.06738008e-01] [ 1.00591567e-02 3.55126756e-04 9.99949342e-01 5.73428308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.820888479 meters 0.024130170600453273 Centerline is valid? [True, True] Translation: X:37.32, Y:-0.11, Z:0.01 [[ 9.93071721e-01 1.17052365e-01 -1.03585831e-02 3.73179230e+01] [-1.17049610e-01 9.93125684e-01 8.73880781e-04 -1.12596562e-01] [ 1.03896647e-02 3.44641816e-04 9.99945967e-01 5.27991263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850888479 meters 0.022337076923253974 Centerline is valid? [True, True] Translation: X:37.35, Y:-0.12, Z:0.01 [[ 9.93427044e-01 1.14067440e-01 -9.55650607e-03 3.73491164e+01] [-1.14064954e-01 9.93472967e-01 8.06527603e-04 -1.18588497e-01] [ 9.58612897e-03 2.88836092e-04 9.99954010e-01 7.31835730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.880888479 meters 0.021242506040567072 Centerline is valid? [True, True] Translation: X:37.38, Y:-0.12, Z:0.01 [[ 9.93503027e-01 1.13405481e-01 -9.53578533e-03 3.73806423e+01] [-1.13402951e-01 9.93548750e-01 8.07347078e-04 -1.23507315e-01] [ 9.56582518e-03 2.79284434e-04 9.99954207e-01 6.77132807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.910888479 meters 0.021218637822036715 Centerline is valid? [True, True] Translation: X:37.41, Y:-0.13, Z:0.01 [[ 9.93531831e-01 1.13178411e-01 -9.22755262e-03 3.74125489e+01] [-1.13176011e-01 9.93574646e-01 7.83514456e-04 -1.26700179e-01] [ 9.25693925e-03 2.65891044e-04 9.99957118e-01 6.21210076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.940888479 meters 0.021218637822036715 Centerline is valid? [True, True] Translation: X:37.44, Y:-0.13, Z:0.01 [[ 9.93500316e-01 1.13454740e-01 -9.22733095e-03 3.74448501e+01] [-1.13452328e-01 9.93543130e-01 7.86121309e-04 -1.29519783e-01] [ 9.25694046e-03 2.65850410e-04 9.99957118e-01 6.17468958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970888479 meters 0.02300394092379942 Centerline is valid? [True, True] Translation: X:37.48, Y:-0.14, Z:0.01 [[ 9.93651231e-01 1.12077176e-01 -9.79477498e-03 3.74757597e+01] [-1.12074371e-01 9.93699469e-01 8.36592156e-04 -1.36828466e-01] [ 9.82682559e-03 2.66462415e-04 9.99951680e-01 5.15848850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.000888479000004 meters 0.021454830948443738 Centerline is valid? [True, True] Translation: X:37.51, Y:-0.14, Z:0.01 [[ 9.93669503e-01 1.11968852e-01 -9.15947118e-03 3.75067803e+01] [-1.11966383e-01 9.93711686e-01 7.83491368e-04 -1.41953636e-01] [ 9.18960017e-03 2.47021382e-04 9.99957744e-01 9.64763950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030888479 meters 0.02098349707265307 Centerline is valid? [True, True] Translation: X:37.54, Y:-0.15, Z:0.01 [[ 9.93720105e-01 1.11552930e-01 -8.73485049e-03 3.75386734e+01] [-1.11550649e-01 9.93758467e-01 7.49396523e-04 -1.48687800e-01] [ 8.76392902e-03 2.29687852e-04 9.99961570e-01 1.16163668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.060888479 meters 0.020921697632005593 Centerline is valid? [True, True] Translation: X:37.57, Y:-0.15, Z:0.01 [[ 9.93770921e-01 1.11149928e-01 -8.06532464e-03 3.75705939e+01] [-1.11147954e-01 9.93803628e-01 6.93892779e-04 -1.52895346e-01] [ 8.09247502e-03 2.06873868e-04 9.99967234e-01 1.26125244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.090888479 meters 0.021319387994204072 Centerline is valid? [True, True] Translation: X:37.60, Y:-0.16, Z:0.01 [[ 9.93778392e-01 1.11134014e-01 -7.33061594e-03 3.76025017e+01] [-1.11132380e-01 9.93805411e-01 6.31155112e-04 -1.55023014e-01] [ 7.35534859e-03 1.87440482e-04 9.99972931e-01 1.25855815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.120888479 meters 0.02160045982420531 Centerline is valid? [True, True] Translation: X:37.63, Y:-0.16, Z:0.01 [[ 9.93702392e-01 1.11909627e-01 -5.63839590e-03 3.76341238e+01] [-1.11908664e-01 9.93718377e-01 4.87111951e-04 -1.56054788e-01] [ 5.65749014e-03 1.46941039e-04 9.99983985e-01 1.25285524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150888479 meters 0.021340708841226113 Centerline is valid? [True, True] Translation: X:37.67, Y:-0.16, Z:0.01 [[ 9.93581582e-01 1.12991029e-01 -5.35418770e-03 3.76658571e+01] [-1.12990169e-01 9.93595998e-01 4.63830153e-04 -1.59336237e-01] [ 5.37230812e-03 1.44117474e-04 9.99985559e-01 1.27527493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.180888479000004 meters 0.022152138341605468 Centerline is valid? [True, True] Translation: X:37.70, Y:-0.16, Z:0.01 [[ 9.93371735e-01 1.14727494e-01 -7.08506294e-03 3.76972705e+01] [-1.14726022e-01 9.93396981e-01 6.15225970e-04 -1.63260196e-01] [ 7.10886347e-03 2.01692997e-04 9.99974711e-01 1.20025040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210888479 meters 0.022240569481853996 Centerline is valid? [True, True] Translation: X:37.73, Y:-0.17, Z:0.01 [[ 9.93325777e-01 1.15023584e-01 -8.57181415e-03 3.77290735e+01] [-1.15021423e-01 9.93362731e-01 7.46322976e-04 -1.66980421e-01] [ 8.60076546e-03 2.44600408e-04 9.99962983e-01 1.07410529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.240888479 meters 0.021264289669355344 Centerline is valid? [True, True] Translation: X:37.76, Y:-0.17, Z:0.01 [[ 9.93262107e-01 1.15480038e-01 -9.73384220e-03 3.77605739e+01] [-1.15477250e-01 9.93309762e-01 8.49851863e-04 -1.72296587e-01] [ 9.76686140e-03 2.79911674e-04 9.99952264e-01 1.08184880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.270888479 meters 0.021106099322346535 Centerline is valid? [True, True] Translation: X:37.79, Y:-0.18, Z:0.01 [[ 9.93204968e-01 1.15955368e-01 -9.91183180e-03 3.77936930e+01] [-1.15952472e-01 9.93254384e-01 8.68238548e-04 -1.75882399e-01] [ 9.94564731e-03 2.86962560e-04 9.99950500e-01 1.04807070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.300888479 meters 0.02290510280504868 Centerline is valid? [True, True] Translation: X:37.83, Y:-0.17, Z:0.01 [[ 9.93141125e-01 1.16656649e-01 -7.86969967e-03 3.78263198e+01] [-1.16654828e-01 9.93172278e-01 6.91638710e-04 -1.74665187e-01] [ 7.89665180e-03 2.31143613e-04 9.99968794e-01 1.01903188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330888479 meters 0.021562483619372307 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.18, Z:0.01 [[ 9.93113657e-01 1.16974594e-01 -6.49688461e-03 3.78583455e+01] [-1.16973349e-01 9.93134889e-01 5.72594520e-04 -1.79086380e-01] [ 6.51926179e-03 1.91310912e-04 9.99978731e-01 1.22288345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.360888479 meters 0.021902023293891546 Centerline is valid? [True, True] Translation: X:37.89, Y:-0.18, Z:0.01 [[ 9.93068763e-01 1.17433921e-01 -4.86893270e-03 3.78903212e+01] [-1.17433223e-01 9.93080688e-01 4.29953630e-04 -1.80557097e-01] [ 4.88573417e-03 1.44800939e-04 9.99988054e-01 1.28842369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390888479 meters 0.022088530889449103 Centerline is valid? [True, True] Translation: X:37.92, Y:-0.18, Z:0.01 [[ 9.93038616e-01 1.17731206e-01 -3.69740246e-03 3.79227297e+01] [-1.17730801e-01 9.93045493e-01 3.27690284e-04 -1.83035099e-01] [ 3.71026822e-03 1.09889048e-04 9.99993111e-01 1.36581082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.420888479 meters 0.02243576292985431 Centerline is valid? [True, True] Translation: X:37.95, Y:-0.19, Z:0.02 [[ 9.92992424e-01 1.18139748e-01 -3.00747296e-03 3.79549778e+01] [-1.18139479e-01 9.92996975e-01 2.67431056e-04 -1.87262522e-01] [ 3.01800579e-03 8.97442765e-05 9.99995442e-01 1.56134962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.450888479 meters 0.0226910170392234 Centerline is valid? [True, True] Translation: X:37.99, Y:-0.19, Z:0.02 [[ 9.92955202e-01 1.18438093e-01 -3.51931704e-03 3.79868811e+01] [-1.18437724e-01 9.92961433e-01 3.13772744e-04 -1.90610527e-01] [ 3.53170874e-03 1.05257622e-04 9.99993758e-01 1.54880899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.480888479 meters 0.023099422129554483 Centerline is valid? [True, True] Translation: X:38.02, Y:-0.19, Z:0.01 [[ 9.92899140e-01 1.18873965e-01 -4.50311932e-03 3.80189917e+01] [-1.18873361e-01 9.92909342e-01 4.02544647e-04 -1.92992893e-01] [ 4.51904133e-03 1.35614696e-04 9.99989780e-01 1.47849403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510888479 meters 0.02382834610328184 Centerline is valid? [True, True] Translation: X:38.05, Y:-0.19, Z:0.01 [[ 9.92763884e-01 1.19984579e-01 -4.85495897e-03 3.80503610e+01] [-1.19983886e-01 9.92775744e-01 4.34989253e-04 -1.92913879e-01] [ 4.87207751e-03 1.50675221e-04 9.99988120e-01 1.26937091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.540888479 meters 0.022054184334429707 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.20, Z:0.01 [[ 9.92648808e-01 1.20939467e-01 -4.68931413e-03 3.80821901e+01] [-1.20938824e-01 9.92659873e-01 4.21352943e-04 -1.98322617e-01] [ 4.70585217e-03 1.48864641e-04 9.99988916e-01 1.33897845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570888479 meters 0.023805150865376594 Centerline is valid? [True, True] Translation: X:38.11, Y:-0.20, Z:0.01 [[ 9.92513714e-01 1.22060899e-01 -4.20286781e-03 3.81138126e+01] [-1.22060389e-01 9.92522603e-01 3.78613926e-04 -1.95851056e-01] [ 4.21765526e-03 1.37224165e-04 9.99991096e-01 1.30864465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.600888479 meters 0.024607319467114853 Centerline is valid? [True, True] Translation: X:38.15, Y:-0.20, Z:0.01 [[ 9.92351356e-01 1.23378432e-01 -4.06793802e-03 3.81462824e+01] [-1.23377961e-01 9.92359685e-01 3.67436415e-04 -1.95953817e-01] [ 4.08219142e-03 1.37267873e-04 9.99991658e-01 1.18914875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630888479 meters 0.024392206906067828 Centerline is valid? [True, True] Translation: X:38.18, Y:-0.20, Z:0.01 [[ 9.92180741e-01 1.24712645e-01 -4.91260177e-03 3.81779266e+01] [-1.24711969e-01 9.92192888e-01 4.44752590e-04 -1.96723568e-01] [ 4.92971481e-03 1.71385288e-04 9.99987834e-01 1.10048617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.660888479 meters 0.02562102150926478 Centerline is valid? [True, True] Translation: X:38.21, Y:-0.20, Z:0.01 [[ 9.91948330e-01 1.26531868e-01 -5.31015658e-03 3.82093430e+01] [-1.26531102e-01 9.91962524e-01 4.81252202e-04 -1.96029576e-01] [ 5.32837006e-03 1.94522648e-04 9.99985785e-01 9.62098770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690888479 meters 0.025768361154867237 Centerline is valid? [True, True] Translation: X:38.24, Y:-0.20, Z:0.01 [[ 9.91523829e-01 1.29638447e-01 -8.62373441e-03 3.82406469e+01] [-1.29636544e-01 9.91561272e-01 7.81668878e-04 -1.98641486e-01] [ 8.65229540e-03 3.42907809e-04 9.99962509e-01 8.34999663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.720888479 meters 0.02507114876605388 Centerline is valid? [True, True] Translation: X:38.27, Y:-0.20, Z:0.01 [[ 9.91392544e-01 1.30587688e-01 -9.36373262e-03 3.82727717e+01] [-1.30585463e-01 9.91436691e-01 8.51300593e-04 -2.02472656e-01] [ 9.39471746e-03 3.78794298e-04 9.99955797e-01 8.89410142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750888479000004 meters 0.02672149606494034 Centerline is valid? [True, True] Translation: X:38.30, Y:-0.20, Z:0.01 [[ 9.91277142e-01 1.31471538e-01 -9.21205659e-03 3.83037574e+01] [-1.31469403e-01 9.91319873e-01 8.39603460e-04 -2.02437706e-01] [ 9.24247873e-03 3.78823858e-04 9.99957216e-01 8.59514379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.780888479 meters 0.026033806767091605 Centerline is valid? [True, True] Translation: X:38.34, Y:-0.20, Z:0.01 [[ 9.91294380e-01 1.31411072e-01 -8.15985468e-03 3.83354470e+01] [-1.31409378e-01 9.91327907e-01 7.45721757e-04 -2.04249444e-01] [ 8.18708776e-03 3.33051640e-04 9.99966430e-01 9.60228118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810888479 meters 0.02628395232042347 Centerline is valid? [True, True] Translation: X:38.37, Y:-0.20, Z:0.01 [[ 9.91323177e-01 1.31227923e-01 -7.58891560e-03 3.83664183e+01] [-1.31226440e-01 9.91352177e-01 6.95231844e-04 -2.04889367e-01] [ 7.61452183e-03 3.06666935e-04 9.99970962e-01 9.57374463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.840888479 meters 0.024604784239498214 Centerline is valid? [True, True] Translation: X:38.40, Y:-0.21, Z:0.01 [[ 9.91360560e-01 1.30948921e-01 -7.52468916e-03 3.83984301e+01] [-1.30947440e-01 9.91389071e-01 6.91242340e-04 -2.08597428e-01] [ 7.55041203e-03 3.00068389e-04 9.99971450e-01 9.61475429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870888479 meters 0.025806512801211316 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.21, Z:0.01 [[ 9.91229421e-01 1.31838925e-01 -9.09574312e-03 3.84300195e+01] [-1.31836780e-01 9.91271084e-01 8.37559806e-04 -2.06852430e-01] [ 9.12677013e-03 3.68939568e-04 9.99958282e-01 6.79470488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.900888479 meters 0.028497008403136327 Centerline is valid? [True, True] Translation: X:38.46, Y:-0.21, Z:0.01 [[ 9.91188738e-01 1.32066385e-01 -1.01664239e-02 3.84625187e+01] [-1.32063691e-01 9.91240788e-01 9.38776855e-04 -2.05122785e-01] [ 1.02013549e-02 4.12110421e-04 9.99947880e-01 5.15549109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930888479000004 meters 0.026843353388159522 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.21, Z:0.01 [[ 9.91110759e-01 1.32603135e-01 -1.07643441e-02 3.84942062e+01] [-1.32600119e-01 9.91169115e-01 9.96502186e-04 -2.11356460e-01] [ 1.08014247e-02 4.39709272e-04 9.99941566e-01 6.77760664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.960888479 meters 0.025536629405781962 Centerline is valid? [True, True] Translation: X:38.53, Y:-0.22, Z:0.01 [[ 9.91130099e-01 1.32475630e-01 -1.05514861e-02 3.85256309e+01] [-1.32472698e-01 9.91186171e-01 9.79378465e-04 -2.16524229e-01] [ 1.05882309e-02 4.27092361e-04 9.99943852e-01 8.25096377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.990888479 meters 0.02519449048196047 Centerline is valid? [True, True] Translation: X:38.56, Y:-0.22, Z:0.01 [[ 9.91480708e-01 1.29904784e-01 -9.52644271e-03 3.85562481e+01] [-1.29902276e-01 9.91526408e-01 8.84170192e-04 -2.17146738e-01] [ 9.56057745e-03 3.60868905e-04 9.99954232e-01 8.44662712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.020888479 meters 0.024863408806907867 Centerline is valid? [True, True] Translation: X:38.59, Y:-0.22, Z:0.01 [[ 9.91643316e-01 1.28624019e-01 -9.96969820e-03 3.85888063e+01] [-1.28621199e-01 9.91693365e-01 9.26236755e-04 -2.19116703e-01] [ 1.00060198e-02 3.63818045e-04 9.99949872e-01 7.65701897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.050888479 meters 0.024135579238394836 Centerline is valid? [True, True] Translation: X:38.62, Y:-0.22, Z:0.01 [[ 9.91835454e-01 1.27120823e-01 -1.01354988e-02 3.86211709e+01] [-1.27117821e-01 9.91887177e-01 9.42509636e-04 -2.23389416e-01] [ 1.01730839e-02 3.53588053e-04 9.99948190e-01 7.42854180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.080888479 meters 0.022253117924255366 Centerline is valid? [True, True] Translation: X:38.65, Y:-0.23, Z:0.01 [[ 9.92036836e-01 1.25521054e-01 -1.03625020e-02 3.86527560e+01] [-1.25517800e-01 9.92090897e-01 9.66385240e-04 -2.30971799e-01] [ 1.04018456e-02 3.41988695e-04 9.99945841e-01 1.00424792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110888479 meters 0.022167222374455786 Centerline is valid? [True, True] Translation: X:38.68, Y:-0.23, Z:0.01 [[ 9.92093260e-01 1.25092391e-01 -1.01418168e-02 3.86846326e+01] [-1.25089226e-01 9.92145043e-01 9.48331067e-04 -2.33900825e-01] [ 1.01807823e-02 3.27799155e-04 9.99948121e-01 1.04060720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.140888479 meters 0.022154802272923275 Centerline is valid? [True, True] Translation: X:38.72, Y:-0.24, Z:0.01 [[ 9.92161721e-01 1.24498998e-01 -1.07293447e-02 3.87159426e+01] [-1.24495406e-01 9.92219676e-01 1.00463381e-03 -2.36056626e-01] [ 1.07709428e-02 3.38994919e-04 9.99941934e-01 9.95464623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170888479 meters 0.022960801920593094 Centerline is valid? [True, True] Translation: X:38.75, Y:-0.24, Z:0.01 [[ 9.92227644e-01 1.23843646e-01 -1.21266195e-02 3.87471659e+01] [-1.23838974e-01 9.92301674e-01 1.13828551e-03 -2.37078342e-01] [ 1.21742343e-02 3.72309767e-04 9.99925822e-01 8.06255341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.200888479 meters 0.021960242243365617 Centerline is valid? [True, True] Translation: X:38.78, Y:-0.24, Z:0.01 [[ 9.92379991e-01 1.22418514e-01 -1.39878948e-02 3.87791674e+01] [-1.22412110e-01 9.92478485e-01 1.31634312e-03 -2.41496963e-01] [ 1.40438294e-02 4.05975148e-04 9.99901298e-01 6.31075625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.230888479 meters 0.020962104101961723 Centerline is valid? [True, True] Translation: X:38.81, Y:-0.25, Z:0.01 [[ 9.92480354e-01 1.21691518e-01 -1.31878974e-02 3.88115368e+01] [-1.21685748e-01 9.92567900e-01 1.24206381e-03 -2.45818573e-01] [ 1.32410323e-02 3.72055222e-04 9.99912264e-01 7.33265423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.260888479 meters 0.020577411119939753 Centerline is valid? [True, True] Translation: X:38.84, Y:-0.25, Z:0.01 [[ 9.92518511e-01 1.21485498e-01 -1.21769880e-02 3.88433646e+01] [-1.21480523e-01 9.92593149e-01 1.15007829e-03 -2.49311264e-01] [ 1.22265127e-02 3.37792888e-04 9.99925196e-01 8.06908142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290888479 meters 0.02151439175836546 Centerline is valid? [True, True] Translation: X:38.87, Y:-0.25, Z:0.01 [[ 9.92598222e-01 1.20861182e-01 -1.18888402e-02 3.88744222e+01] [-1.20856363e-01 9.92669367e-01 1.12557516e-03 -2.50803852e-01] [ 1.19377258e-02 3.19598089e-04 9.99928692e-01 7.78986168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.320888479 meters 0.021198296914331834 Centerline is valid? [True, True] Translation: X:38.91, Y:-0.26, Z:0.01 [[ 9.92692967e-01 1.20068238e-01 -1.20121193e-02 3.89062976e+01] [-1.20063226e-01 9.92765593e-01 1.14010023e-03 -2.56181785e-01] [ 1.20621085e-02 3.10444303e-04 9.99927202e-01 1.07431663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350888479 meters 0.021147722123729513 Centerline is valid? [True, True] Translation: X:38.94, Y:-0.26, Z:0.01 [[ 9.92658231e-01 1.20415493e-01 -1.13906095e-02 3.89386879e+01] [-1.20410973e-01 9.92723537e-01 1.08425233e-03 -2.58683937e-01] [ 1.14382870e-02 2.95262383e-04 9.99934537e-01 1.13495135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.380888479 meters 0.020206015419374036 Centerline is valid? [True, True] Translation: X:38.97, Y:-0.26, Z:0.01 [[ 9.92577859e-01 1.21062035e-01 -1.15402311e-02 3.89711756e+01] [-1.21057402e-01 9.92644897e-01 1.10177988e-03 -2.62525822e-01] [ 1.15887352e-02 3.03428080e-04 9.99932802e-01 1.18126399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.410888479 meters 0.020993181593770262 Centerline is valid? [True, True] Translation: X:39.00, Y:-0.26, Z:0.01 [[ 9.92334946e-01 1.22937126e-01 -1.25625849e-02 3.90028432e+01] [-1.22931750e-01 9.92414399e-01 1.20216161e-03 -2.60818493e-01] [ 1.26150804e-02 3.51393570e-04 9.99920365e-01 8.81203805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.440888479 meters 0.021642114234773028 Centerline is valid? [True, True] Translation: X:39.03, Y:-0.26, Z:0.01 [[ 9.92172216e-01 1.24187184e-01 -1.31086298e-02 3.90337980e+01] [-1.24181402e-01 9.92258736e-01 1.25733861e-03 -2.61510694e-01] [ 1.31632977e-02 3.80351585e-04 9.99913288e-01 7.67931904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470888479 meters 0.021996164013455895 Centerline is valid? [True, True] Translation: X:39.07, Y:-0.26, Z:0.01 [[ 9.92036025e-01 1.25268753e-01 -1.31249466e-02 3.90657741e+01] [-1.25263009e-01 9.92122768e-01 1.26206452e-03 -2.63107831e-01] [ 1.31796556e-02 3.92056826e-04 9.99913068e-01 7.76092619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.500888479000004 meters 0.022288960627623103 Centerline is valid? [True, True] Translation: X:39.10, Y:-0.27, Z:0.01 [[ 9.91874646e-01 1.26586061e-01 -1.26749905e-02 3.90980438e+01] [-1.26580773e-01 9.91955551e-01 1.22184470e-03 -2.65464522e-01] [ 1.27276957e-02 3.92493319e-04 9.99918923e-01 8.37313717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530888479 meters 0.02241166765946015 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.27, Z:0.01 [[ 9.91565828e-01 1.28999478e-01 -1.25037632e-02 3.91296985e+01] [-1.28994488e-01 9.91644575e-01 1.20816576e-03 -2.66478282e-01] [ 1.25551417e-02 4.14940646e-04 9.99921095e-01 9.15499045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.560888479 meters 0.024195661460745824 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.26, Z:0.01 [[ 9.91357316e-01 1.30558347e-01 -1.28526342e-02 3.91613158e+01] [-1.30553168e-01 9.91440528e-01 1.24476612e-03 -2.64665692e-01] [ 1.29051371e-02 4.43944116e-04 9.99916627e-01 8.16910994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.590888479 meters 0.023836119435788422 Centerline is valid? [True, True] Translation: X:39.19, Y:-0.27, Z:0.01 [[ 9.91118228e-01 1.32333136e-01 -1.31377264e-02 3.91934707e+01] [-1.32327839e-01 9.91205184e-01 1.27554943e-03 -2.66488656e-01] [ 1.31909799e-02 4.74266641e-04 9.99912883e-01 8.80912565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.620888479 meters 0.024875169258638728 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.27, Z:0.01 [[ 9.90706423e-01 1.35328487e-01 -1.36742098e-02 3.92248636e+01] [-1.35323030e-01 9.90800643e-01 1.32786118e-03 -2.65483409e-01] [ 1.37281133e-02 5.34914895e-04 9.99905622e-01 9.61938722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650888479 meters 0.02724474408623012 Centerline is valid? [True, True] Translation: X:39.26, Y:-0.26, Z:0.01 [[ 9.90530372e-01 1.36509861e-01 -1.46506235e-02 3.92565839e+01] [-1.36503674e-01 9.90638538e-01 1.42615791e-03 -2.64626077e-01] [ 1.47081569e-02 5.87211213e-04 9.99891657e-01 8.21278036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.680888479000004 meters 0.02735228216637873 Centerline is valid? [True, True] Translation: X:39.29, Y:-0.27, Z:0.01 [[ 9.90457523e-01 1.36908151e-01 -1.58130976e-02 3.92885659e+01] [-1.36900936e-01 9.90583542e-01 1.54297583e-03 -2.67568064e-01] [ 1.58754402e-02 6.36575853e-04 9.99873775e-01 7.35941137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710888479 meters 0.02538829665455569 Centerline is valid? [True, True] Translation: X:39.32, Y:-0.27, Z:0.01 [[ 9.90344100e-01 1.37633414e-01 -1.66014357e-02 3.93206744e+01] [-1.37625496e-01 9.90483006e-01 1.62393416e-03 -2.72947512e-01] [ 1.66669475e-02 6.76527214e-04 9.99860868e-01 7.79072606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.740888479 meters 0.025532822000106887 Centerline is valid? [True, True] Translation: X:39.35, Y:-0.27, Z:0.01 [[ 9.90246305e-01 1.38341810e-01 -1.65468953e-02 3.93528031e+01] [-1.38333976e-01 9.90384308e-01 1.62262863e-03 -2.71963008e-01] [ 1.66122628e-02 6.82195808e-04 9.99861774e-01 6.49781225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.770888479 meters 0.02556111431016935 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.27, Z:0.01 [[ 9.90197363e-01 1.38782848e-01 -1.57639846e-02 3.93855680e+01] [-1.38775723e-01 9.90322622e-01 1.55029669e-03 -2.73928158e-01] [ 1.58265851e-02 6.52558659e-04 9.99874539e-01 6.41688511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.800888479 meters 0.025409021248785586 Centerline is valid? [True, True] Translation: X:39.42, Y:-0.28, Z:0.01 [[ 9.90115894e-01 1.39365015e-01 -1.57451604e-02 3.94174857e+01] [-1.39357920e-01 9.90240860e-01 1.55225740e-03 -2.77027810e-01] [ 1.58078315e-02 6.57298084e-04 9.99874832e-01 7.25543232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830888479 meters 0.025409021248785586 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.28, Z:0.01 [[ 9.90077148e-01 1.39640051e-01 -1.57447247e-02 3.94497731e+01] [-1.39632921e-01 9.90202113e-01 1.55667129e-03 -2.80292599e-01] [ 1.58078333e-02 6.57257216e-04 9.99874832e-01 7.21799953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.860888479 meters 0.026434691048059043 Centerline is valid? [True, True] Translation: X:39.48, Y:-0.28, Z:0.01 [[ 9.90165168e-01 1.38953484e-01 -1.62747892e-02 3.94806237e+01] [-1.38945715e-01 9.90298686e-01 1.61268122e-03 -2.80457073e-01] [ 1.63409900e-02 6.64491448e-04 9.99866256e-01 7.00632192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.890888479 meters 0.02529896781393786 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.28, Z:0.01 [[ 9.90203831e-01 1.38638517e-01 -1.66052880e-02 3.95126893e+01] [-1.38630317e-01 9.90342827e-01 1.64945515e-03 -2.84321392e-01] [ 1.66736059e-02 6.68699540e-04 9.99860762e-01 6.78372319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.920888479 meters 0.02543596765602288 Centerline is valid? [True, True] Translation: X:39.54, Y:-0.29, Z:0.01 [[ 9.90279613e-01 1.38104353e-01 -1.65370805e-02 3.95435613e+01] [-1.38096086e-01 9.90417468e-01 1.64634255e-03 -2.85485235e-01] [ 1.66059805e-02 6.53366621e-04 9.99861898e-01 6.01275696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.950888479 meters 0.024259754421168202 Centerline is valid? [True, True] Translation: X:39.58, Y:-0.29, Z:0.01 [[ 9.90416261e-01 1.37089024e-01 -1.67996998e-02 3.95759348e+01] [-1.37080323e-01 9.90558521e-01 1.67379402e-03 -2.89235568e-01] [ 1.68705445e-02 6.45155463e-04 9.99857474e-01 6.06579829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.980888479 meters 0.024623958243298497 Centerline is valid? [True, True] Translation: X:39.61, Y:-0.29, Z:0.00 [[ 9.90696059e-01 1.34905702e-01 -1.79379269e-02 3.96069565e+01] [-1.34895350e-01 9.90858232e-01 1.79138264e-03 -2.93014162e-01] [ 1.80156103e-02 6.45027207e-04 9.99837498e-01 4.93227537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010888479 meters 0.021839492703858265 Centerline is valid? [True, True] Translation: X:39.64, Y:-0.30, Z:0.01 [[ 9.90861698e-01 1.33725373e-01 -1.76244272e-02 3.96380005e+01] [-1.33715114e-01 9.91018241e-01 1.76452925e-03 -3.02431983e-01] [ 1.77020911e-02 6.08247836e-04 9.99843121e-01 8.66240464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.040888479 meters 0.021681804024222914 Centerline is valid? [True, True] Translation: X:39.67, Y:-0.31, Z:0.01 [[ 9.90983931e-01 1.32919120e-01 -1.68331894e-02 3.96698132e+01] [-1.32909574e-01 9.91126728e-01 1.68951739e-03 -3.07030511e-01] [ 1.69083931e-02 5.63007445e-04 9.99856884e-01 1.06605223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070888479 meters 0.021728241952456515 Centerline is valid? [True, True] Translation: X:39.70, Y:-0.31, Z:0.01 [[ 9.91282179e-01 1.30881633e-01 -1.51538823e-02 3.97004631e+01] [-1.30873655e-01 9.91397888e-01 1.52129139e-03 -3.09145204e-01] [ 1.52226360e-02 4.75214915e-04 9.99884016e-01 1.10209898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.100888479 meters 0.021879493215114 Centerline is valid? [True, True] Translation: X:39.73, Y:-0.31, Z:0.01 [[ 9.91290720e-01 1.30809497e-01 -1.52178901e-02 3.97317217e+01] [-1.30801387e-01 9.91407410e-01 1.53137060e-03 -3.10159070e-01] [ 1.52874469e-02 4.72487672e-04 9.99883029e-01 9.39129644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130888479 meters 0.022116492346589606 Centerline is valid? [True, True] Translation: X:39.76, Y:-0.31, Z:0.01 [[ 9.91224324e-01 1.31221627e-01 -1.59757403e-02 3.97635489e+01] [-1.31212680e-01 9.91352932e-01 1.61148819e-03 -3.11937463e-01] [ 1.60490590e-02 4.98873409e-04 9.99871081e-01 7.23372184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.160888479 meters 0.022378238681055356 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.31, Z:0.01 [[ 9.91152666e-01 1.31728603e-01 -1.62471085e-02 3.97958235e+01] [-1.31719354e-01 9.91285687e-01 1.64276767e-03 -3.14857826e-01] [ 1.63219256e-02 5.11825085e-04 9.99866658e-01 5.74584091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.190888479 meters 0.022840866157042217 Centerline is valid? [True, True] Translation: X:39.83, Y:-0.32, Z:0.01 [[ 9.91027631e-01 1.32600245e-01 -1.67752612e-02 3.98265531e+01] [-1.32590475e-01 9.91169452e-01 1.69819833e-03 -3.19584194e-01] [ 1.68523079e-02 5.41278375e-04 9.99857843e-01 7.38005021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.220888479 meters 0.023151704307619578 Centerline is valid? [True, True] Translation: X:39.86, Y:-0.32, Z:0.01 [[ 9.90972046e-01 1.32988665e-01 -1.69828804e-02 3.98589904e+01] [-1.32978627e-01 9.91117406e-01 1.72397104e-03 -3.23599178e-01] [ 1.70612970e-02 5.49953007e-04 9.99854294e-01 8.04673504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250888479000004 meters 0.02367993583161083 Centerline is valid? [True, True] Translation: X:39.89, Y:-0.33, Z:0.01 [[ 9.90945144e-01 1.33204926e-01 -1.68573143e-02 3.98908815e+01] [-1.33194996e-01 9.91088367e-01 1.71545163e-03 -3.26702463e-01] [ 1.69355947e-02 5.45391444e-04 9.99856434e-01 8.43982467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.280888479 meters 0.023463399491306797 Centerline is valid? [True, True] Translation: X:39.92, Y:-0.33, Z:0.01 [[ 9.91009198e-01 1.32911976e-01 -1.53354381e-02 3.99226812e+01] [-1.32903668e-01 9.91127726e-01 1.56415933e-03 -3.29697646e-01] [ 1.54072734e-02 4.88039690e-04 9.99881182e-01 1.01285635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310888479 meters 0.0216343323364654 Centerline is valid? [True, True] Translation: X:39.95, Y:-0.34, Z:0.01 [[ 9.91102114e-01 1.32387243e-01 -1.37919051e-02 3.99548462e+01] [-1.32380457e-01 9.91197979e-01 1.40778839e-03 -3.35700196e-01] [ 1.38568817e-02 4.30516664e-04 9.99903896e-01 1.27954535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.340888479 meters 0.021106813909109953 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.34, Z:0.01 [[ 9.91169340e-01 1.32040881e-01 -1.21879038e-02 3.99863679e+01] [-1.32035517e-01 9.91244201e-01 1.24725921e-03 -3.39910562e-01] [ 1.22458782e-02 3.72991097e-04 9.99924947e-01 1.42996924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.370888479 meters 0.02067350101618809 Centerline is valid? [True, True] Translation: X:40.02, Y:-0.34, Z:0.02 [[ 9.91213794e-01 1.31790859e-01 -1.12420924e-02 4.00184199e+01] [-1.31786248e-01 9.91277486e-01 1.15329107e-03 -3.44496184e-01] [ 1.12960263e-02 3.38395158e-04 9.99936141e-01 1.53696365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.400888479 meters 0.021419991348720305 Centerline is valid? [True, True] Translation: X:40.05, Y:-0.35, Z:0.01 [[ 9.91216862e-01 1.31732812e-01 -1.16446660e-02 4.00501501e+01] [-1.31727824e-01 9.91285199e-01 1.19768191e-03 -3.45817411e-01] [ 1.17009590e-02 3.46764004e-04 9.99931481e-01 1.35287264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430888479000004 meters 0.02111813351251438 Centerline is valid? [True, True] Translation: X:40.08, Y:-0.35, Z:0.01 [[ 9.91191669e-01 1.31929144e-01 -1.15661279e-02 4.00825869e+01] [-1.31924199e-01 9.91259090e-01 1.19284142e-03 -3.48971626e-01] [ 1.16224000e-02 3.43517679e-04 9.99932399e-01 1.29837910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.460888479 meters 0.021315725040768584 Centerline is valid? [True, True] Translation: X:40.11, Y:-0.35, Z:0.01 [[ 9.91176912e-01 1.32013057e-01 -1.18694050e-02 4.01143554e+01] [-1.32007819e-01 9.91247915e-01 1.22716340e-03 -3.51647754e-01] [ 1.19275246e-02 3.50518236e-04 9.99928803e-01 1.20884941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490888479 meters 0.02104822525681429 Centerline is valid? [True, True] Translation: X:40.15, Y:-0.36, Z:0.01 [[ 9.91234005e-01 1.31348479e-01 -1.42381386e-02 4.01468469e+01] [-1.31340818e-01 9.91336175e-01 1.47593683e-03 -3.55798530e-01] [ 1.43086439e-02 4.07049991e-04 9.99897543e-01 1.08489478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.520888479 meters 0.021587333835345914 Centerline is valid? [True, True] Translation: X:40.18, Y:-0.36, Z:0.01 [[ 9.91261024e-01 1.31028349e-01 -1.52693958e-02 4.01790716e+01] [-1.31019461e-01 9.91378529e-01 1.58530347e-03 -3.58996122e-01] [ 1.53454708e-02 4.29138467e-04 9.99882159e-01 9.39725643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.550888479 meters 0.02123335537747398 Centerline is valid? [True, True] Translation: X:40.21, Y:-0.36, Z:0.01 [[ 9.91311186e-01 1.30554134e-01 -1.60546063e-02 4.02117044e+01] [-1.30544175e-01 9.91441085e-01 1.67126419e-03 -3.63072458e-01] [ 1.61353867e-02 4.39092443e-04 9.99869720e-01 9.09335035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.580888479 meters 0.020710769110093008 Centerline is valid? [True, True] Translation: X:40.24, Y:-0.37, Z:0.01 [[ 9.91387641e-01 1.29937518e-01 -1.63336135e-02 4.02430055e+01] [-1.29927063e-01 9.91522090e-01 1.70416120e-03 -3.68073271e-01] [ 1.64165730e-02 4.32694076e-04 9.99865145e-01 1.01110965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610888479 meters 0.020949346225421252 Centerline is valid? [True, True] Translation: X:40.28, Y:-0.37, Z:0.01 [[ 9.91359073e-01 1.30205367e-01 -1.59295371e-02 4.02757038e+01] [-1.30195387e-01 9.91486956e-01 1.66636752e-03 -3.72043855e-01] [ 1.60108982e-02 4.21983692e-04 9.99871728e-01 1.03047970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.640888479 meters 0.019654304043863043 Centerline is valid? [True, True] Translation: X:40.31, Y:-0.38, Z:0.01 [[ 9.91336411e-01 1.30472125e-01 -1.51375394e-02 4.03074491e+01] [-1.30463087e-01 9.91451897e-01 1.58728450e-03 -3.78701712e-01] [ 1.52152386e-02 4.01357197e-04 9.99884161e-01 1.27318842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670888479 meters 0.021011912007812078 Centerline is valid? [True, True] Translation: X:40.34, Y:-0.38, Z:0.01 [[ 9.91315117e-01 1.30729437e-01 -1.42882161e-02 4.03388545e+01] [-1.30721364e-01 9.91418010e-01 1.50150457e-03 -3.79624864e-01] [ 1.43618856e-02 3.79310918e-04 9.99896791e-01 1.21300710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.700888479 meters 0.020784288274793086 Centerline is valid? [True, True] Translation: X:40.37, Y:-0.38, Z:0.01 [[ 9.91214009e-01 1.31636493e-01 -1.29082155e-02 4.03711987e+01] [-1.31629934e-01 9.91297993e-01 1.36009490e-03 -3.83391467e-01] [ 1.29749262e-02 3.50962432e-04 9.99915761e-01 1.36920423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.730888479 meters 0.021166103924738167 Centerline is valid? [True, True] Translation: X:40.40, Y:-0.39, Z:0.01 [[ 9.90952359e-01 1.33788206e-01 -1.06835878e-02 4.04033622e+01] [-1.33783810e-01 9.91009899e-01 1.12830029e-03 -3.85220679e-01] [ 1.07384946e-02 3.11199245e-04 9.99942292e-01 1.39885957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.760888479 meters 0.022100691767149003 Centerline is valid? [True, True] Translation: X:40.43, Y:-0.39, Z:0.01 [[ 9.90759740e-01 1.35125894e-01 -1.16674500e-02 4.04345005e+01] [-1.35120729e-01 9.90828374e-01 1.23352135e-03 -3.86604632e-01] [ 1.17271212e-02 3.54391057e-04 9.99931172e-01 1.25356733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790888479 meters 0.02150543049251287 Centerline is valid? [True, True] Translation: X:40.47, Y:-0.39, Z:0.01 [[ 9.90486908e-01 1.37003340e-01 -1.28751492e-02 4.04660175e+01] [-1.36997166e-01 9.90570500e-01 1.36449403e-03 -3.91818732e-01] [ 1.29406832e-02 4.12345481e-04 9.99916181e-01 1.27635711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.820888479 meters 0.023462800983913148 Centerline is valid? [True, True] Translation: X:40.50, Y:-0.39, Z:0.01 [[ 9.90041348e-01 1.40124911e-01 -1.35328571e-02 4.04957844e+01] [-1.40118385e-01 9.90133719e-01 1.43390128e-03 -3.94399255e-01] [ 1.36002634e-02 4.76580525e-04 9.99907399e-01 1.36716209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850888479 meters 0.023757487691436544 Centerline is valid? [True, True] Translation: X:40.53, Y:-0.40, Z:0.02 [[ 9.89835408e-01 1.41628820e-01 -1.29283795e-02 4.05278781e+01] [-1.41622948e-01 9.89919721e-01 1.37323660e-03 -3.98395560e-01] [ 1.29925477e-02 4.71677003e-04 9.99915482e-01 1.50037100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.880888479 meters 0.024061098910956986 Centerline is valid? [True, True] Translation: X:40.56, Y:-0.40, Z:0.02 [[ 9.89627074e-01 1.43015295e-01 -1.35970575e-02 4.05591661e+01] [-1.43008889e-01 9.89720346e-01 1.44728827e-03 -4.02383359e-01] [ 1.36642688e-02 5.12224432e-04 9.99906508e-01 1.56107741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.910888479 meters 0.02575761505021292 Centerline is valid? [True, True] Translation: X:40.59, Y:-0.40, Z:0.01 [[ 9.89331723e-01 1.44966770e-01 -1.44005721e-02 4.05900983e+01] [-1.44959745e-01 9.89436361e-01 1.53601454e-03 -4.02930854e-01] [ 1.44711207e-02 5.67875346e-04 9.99895127e-01 1.31238742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.940888479 meters 0.02592966406440708 Centerline is valid? [True, True] Translation: X:40.62, Y:-0.40, Z:0.01 [[ 9.89302316e-01 1.45231995e-01 -1.37330188e-02 4.06220180e+01] [-1.45225587e-01 9.89397480e-01 1.46807482e-03 -4.04668149e-01] [ 1.38006256e-02 5.42015890e-04 9.99904620e-01 1.25641681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970888479 meters 0.025138259165151455 Centerline is valid? [True, True] Translation: X:40.65, Y:-0.41, Z:0.01 [[ 9.89286428e-01 1.45506964e-01 -1.18358304e-02 4.06541486e+01] [-1.45502189e-01 9.89357117e-01 1.26814799e-03 -4.08949554e-01] [ 1.18943874e-02 4.67577626e-04 9.99929150e-01 1.33027659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.000888479000004 meters 0.024904598019917117 Centerline is valid? [True, True] Translation: X:40.69, Y:-0.41, Z:0.01 [[ 9.89323108e-01 1.45330829e-01 -1.08967007e-02 4.06862005e+01] [-1.45326742e-01 9.89383024e-01 1.17017207e-03 -4.13469000e-01] [ 1.09510727e-02 4.25903742e-04 9.99939945e-01 1.34312969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030888479 meters 0.024261231080932064 Centerline is valid? [True, True] Translation: X:40.72, Y:-0.42, Z:0.01 [[ 9.89373456e-01 1.45015992e-01 -1.05131998e-02 4.07174656e+01] [-1.45012142e-01 9.89429228e-01 1.13154900e-03 -4.19686966e-01] [ 1.05661599e-02 4.05017091e-04 9.99944095e-01 1.44847770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.060888479 meters 0.023432351403515753 Centerline is valid? [True, True] Translation: X:40.75, Y:-0.43, Z:0.02 [[ 9.89571094e-01 1.43691620e-01 -1.00880014e-02 4.07492412e+01] [-1.43687995e-01 9.89622442e-01 1.08700199e-03 -4.29219964e-01] [ 1.01395056e-02 3.73858934e-04 9.99948524e-01 1.80757426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.090888479 meters 0.023544690852004113 Centerline is valid? [True, True] Translation: X:40.78, Y:-0.43, Z:0.02 [[ 9.89604895e-01 1.43482314e-01 -9.74560983e-03 4.07807289e+01] [-1.43478896e-01 9.89652817e-01 1.05259762e-03 -4.33274314e-01] [ 9.79579937e-03 3.56633585e-04 9.99951956e-01 1.83560016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.120888479 meters 0.022773222597780148 Centerline is valid? [True, True] Translation: X:40.81, Y:-0.44, Z:0.02 [[ 9.89694018e-01 1.42908730e-01 -9.10196606e-03 4.08124970e+01] [-1.42905704e-01 9.89735818e-01 9.85331328e-04 -4.36937400e-01] [ 9.14935427e-03 3.25546348e-04 9.99958091e-01 1.72080791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150888479 meters 0.02370211315112271 Centerline is valid? [True, True] Translation: X:40.84, Y:-0.44, Z:0.02 [[ 9.89673612e-01 1.42974445e-01 -1.02200970e-02 4.08442192e+01] [-1.42970606e-01 9.89726314e-01 1.10902464e-03 -4.39072940e-01] [ 1.02736611e-02 3.63601037e-04 9.99947158e-01 1.56761952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.180888479000004 meters 0.023999857341506253 Centerline is valid? [True, True] Translation: X:40.88, Y:-0.44, Z:0.01 [[ 9.89618559e-01 1.43326358e-01 -1.06142446e-02 4.08770128e+01] [-1.43322206e-01 9.89675407e-01 1.15467947e-03 -4.42982099e-01] [ 1.06701529e-02 3.78564721e-04 9.99943001e-01 1.47591475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210888479 meters 0.023194091659564358 Centerline is valid? [True, True] Translation: X:40.91, Y:-0.45, Z:0.02 [[ 9.89519304e-01 1.44020553e-01 -1.04702705e-02 4.09086008e+01] [-1.44016526e-01 9.89574624e-01 1.14152890e-03 -4.48450201e-01] [ 1.05255176e-02 3.78327094e-04 9.99944534e-01 1.51735432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.240888479 meters 0.024350173565544236 Centerline is valid? [True, True] Translation: X:40.94, Y:-0.45, Z:0.01 [[ 9.89258736e-01 1.45697081e-01 -1.18115960e-02 4.09394037e+01] [-1.45692045e-01 9.89329148e-01 1.29035032e-03 -4.51975386e-01] [ 1.18735565e-02 4.44365248e-04 9.99929408e-01 1.43121325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.270888479 meters 0.024474512129586772 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.46, Z:0.01 [[ 9.89097723e-01 1.46755538e-01 -1.21863370e-02 4.09714017e+01] [-1.46750222e-01 9.89172681e-01 1.33423542e-03 -4.56164436e-01] [ 1.22501981e-02 4.68658437e-04 9.99924854e-01 1.32839768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.300888479 meters 0.023363601960925927 Centerline is valid? [True, True] Translation: X:41.00, Y:-0.46, Z:0.01 [[ 9.88934389e-01 1.47782754e-01 -1.30012233e-02 4.10032323e+01] [-1.47776749e-01 9.89019715e-01 1.42667452e-03 -4.61383670e-01] [ 1.30693041e-02 5.10391022e-04 9.99914463e-01 1.30026725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330888479 meters 0.02715341891056299 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.46, Z:0.01 [[ 9.88784048e-01 1.48766256e-01 -1.32176738e-02 4.10349488e+01] [-1.48760097e-01 9.88872247e-01 1.45342029e-03 -4.58108912e-01] [ 1.32868107e-02 5.29143632e-04 9.99911586e-01 9.86032457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.360888479 meters 0.026615452105693892 Centerline is valid? [True, True] Translation: X:41.07, Y:-0.46, Z:0.01 [[ 9.88545646e-01 1.50453055e-01 -1.18904748e-02 4.10670182e+01] [-1.50448158e-01 9.88617031e-01 1.31031966e-03 -4.62959727e-01] [ 1.19522675e-02 4.93589243e-04 9.99928447e-01 1.11995225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390888479 meters 0.025416700595328103 Centerline is valid? [True, True] Translation: X:41.10, Y:-0.47, Z:0.01 [[ 9.88479115e-01 1.50918699e-01 -1.15145546e-02 4.10988764e+01] [-1.50914101e-01 9.88546062e-01 1.27214613e-03 -4.70739311e-01] [ 1.15746583e-02 4.80218778e-04 9.99932896e-01 1.35259063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.420888479 meters 0.026161484290029968 Centerline is valid? [True, True] Translation: X:41.13, Y:-0.48, Z:0.02 [[ 9.88479233e-01 1.50987281e-01 -1.05662629e-02 4.11300323e+01] [-1.50983389e-01 9.88535608e-01 1.16970746e-03 -4.75294398e-01] [ 1.06217381e-02 4.39098656e-04 9.99943491e-01 1.55589999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.450888479 meters 0.027187662563792587 Centerline is valid? [True, True] Translation: X:41.16, Y:-0.48, Z:0.02 [[ 9.88378629e-01 1.51697757e-01 -9.77118754e-03 4.11605730e+01] [-1.51694442e-01 9.88426842e-01 1.08384185e-03 -4.79902574e-01] [ 9.82252042e-03 4.10988717e-04 9.99951673e-01 1.76999834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.480888479 meters 0.02548929118948634 Centerline is valid? [True, True] Translation: X:41.19, Y:-0.49, Z:0.02 [[ 9.88275367e-01 1.52410318e-01 -9.10459189e-03 4.11923209e+01] [-1.52407449e-01 9.88317229e-01 1.01215972e-03 -4.86179799e-01] [ 9.15248861e-03 3.87315102e-04 9.99958040e-01 1.80492214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510888479 meters 0.025228715248781227 Centerline is valid? [True, True] Translation: X:41.22, Y:-0.49, Z:0.02 [[ 9.88138393e-01 1.53297813e-01 -9.07173375e-03 4.12244335e+01] [-1.53294982e-01 9.88179957e-01 1.01074179e-03 -4.89888675e-01] [ 9.11944997e-03 3.91898492e-04 9.99958340e-01 1.76707147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.540888479 meters 0.026937839098784434 Centerline is valid? [True, True] Translation: X:41.26, Y:-0.49, Z:0.02 [[ 9.87966111e-01 1.54436086e-01 -8.51229191e-03 4.12556551e+01] [-1.54433619e-01 9.88002710e-01 9.50339744e-04 -4.90404592e-01] [ 8.55693422e-03 3.75680580e-04 9.99963318e-01 1.67021099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570888479 meters 0.029159233998302794 Centerline is valid? [True, True] Translation: X:41.29, Y:-0.49, Z:0.02 [[ 9.87600513e-01 1.56818444e-01 -7.29393797e-03 4.12863940e+01] [-1.56816697e-01 9.87627389e-01 8.14384978e-04 -4.91085146e-01] [ 7.33140350e-03 3.39524238e-04 9.99973067e-01 1.65572640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.600888479 meters 0.032039577075230696 Centerline is valid? [True, True] Translation: X:41.32, Y:-0.49, Z:0.02 [[ 9.87428039e-01 1.57902884e-01 -7.24891038e-03 4.13176426e+01] [-1.57901175e-01 9.87454587e-01 8.11145603e-04 -4.90906911e-01] [ 7.28605204e-03 3.43663552e-04 9.99973397e-01 1.60607914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630888479 meters 0.02738147717574804 Centerline is valid? [True, True] Translation: X:41.35, Y:-0.50, Z:0.02 [[ 9.87257125e-01 1.58977995e-01 -7.02609932e-03 4.13482555e+01] [-1.58976405e-01 9.87282068e-01 7.87832850e-04 -5.02140369e-01] [ 7.06198995e-03 3.39190415e-04 9.99975006e-01 1.74013728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.660888479 meters 0.027364772319989638 Centerline is valid? [True, True] Translation: X:41.38, Y:-0.51, Z:0.02 [[ 9.87129875e-01 1.59751229e-01 -7.35900808e-03 4.13800236e+01] [-1.59749493e-01 9.87157240e-01 8.26986599e-04 -5.07145146e-01] [ 7.39661023e-03 3.59254631e-04 9.99972580e-01 1.78288219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690888479 meters 0.030079034569378108 Centerline is valid? [True, True] Translation: X:41.41, Y:-0.51, Z:0.02 [[ 9.87089234e-01 1.59981795e-01 -7.78903909e-03 4.14116989e+01] [-1.59979841e-01 9.87119892e-01 8.77367591e-04 -5.07063394e-01] [ 7.82907826e-03 3.80049128e-04 9.99969280e-01 1.65727581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.720888479 meters 0.02774876553429889 Centerline is valid? [True, True] Translation: X:41.44, Y:-0.51, Z:0.02 [[ 9.87058091e-01 1.60154700e-01 -8.17297456e-03 4.14435684e+01] [-1.60152535e-01 9.87091847e-01 9.22908575e-04 -5.14697226e-01] [ 8.21528469e-03 3.97958215e-04 9.99966175e-01 1.65407619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750888479000004 meters 0.02774876553429889 Centerline is valid? [True, True] Translation: X:41.48, Y:-0.52, Z:0.02 [[ 9.87013842e-01 1.60427186e-01 -8.17271959e-03 4.14758079e+01] [-1.60425012e-01 9.87047597e-01 9.25164060e-04 -5.18420329e-01] [ 8.21528470e-03 3.97958902e-04 9.99966175e-01 1.65033067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.780888479 meters 0.02799142569694796 Centerline is valid? [True, True] Translation: X:41.51, Y:-0.52, Z:0.02 [[ 9.86966319e-01 1.60690807e-01 -8.71491976e-03 4.15082790e+01] [-1.60688324e-01 9.87004703e-01 9.88942306e-04 -5.22539638e-01] [ 8.76058073e-03 4.24333103e-04 9.99961535e-01 1.60161133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810888479 meters 0.029229118508321345 Centerline is valid? [True, True] Translation: X:41.54, Y:-0.53, Z:0.02 [[ 9.87151459e-01 1.59541248e-01 -8.86499455e-03 4.15390639e+01] [-1.59538615e-01 9.87191174e-01 1.00789135e-03 -5.25484443e-01] [ 8.91224463e-03 4.19367533e-04 9.99960197e-01 1.53253708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.840888479 meters 0.02729673912298736 Centerline is valid? [True, True] Translation: X:41.57, Y:-0.53, Z:0.02 [[ 9.87212478e-01 1.59172436e-01 -8.69817601e-03 4.15709140e+01] [-1.59169868e-01 9.87250713e-01 9.91059868e-04 -5.32239399e-01] [ 8.74502988e-03 4.06100860e-04 9.99961679e-01 1.54364672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.870888479 meters 0.028147772215733922 Centerline is valid? [True, True] Translation: X:41.60, Y:-0.53, Z:0.01 [[ 9.87303745e-01 1.58603561e-01 -8.73076871e-03 4.16017264e+01] [-1.58600936e-01 9.87342266e-01 9.96699180e-04 -5.34857568e-01] [ 8.77833700e-03 4.00663256e-04 9.99961389e-01 1.45479757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.900888479 meters 0.028188557278410274 Centerline is valid? [True, True] Translation: X:41.63, Y:-0.54, Z:0.01 [[ 9.87459308e-01 1.57523852e-01 -1.05047674e-02 4.16327861e+01] [-1.57519964e-01 9.87515072e-01 1.20165617e-03 -5.40669761e-01] [ 1.05629057e-02 4.68124015e-04 9.99944101e-01 1.30426382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930888479000004 meters 0.028177668620851682 Centerline is valid? [True, True] Translation: X:41.66, Y:-0.55, Z:0.01 [[ 9.87562004e-01 1.56825364e-01 -1.12735435e-02 4.16631442e+01] [-1.56820814e-01 9.87626226e-01 1.29201659e-03 -5.45054047e-01] [ 1.13366682e-02 4.91979776e-04 9.99935617e-01 1.19482333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.960888479 meters 0.026782033350154878 Centerline is valid? [True, True] Translation: X:41.70, Y:-0.55, Z:0.01 [[ 9.87686084e-01 1.56039214e-01 -1.13120606e-02 4.16953241e+01] [-1.56034572e-01 9.87750743e-01 1.29723912e-03 -5.51237637e-01] [ 1.13759165e-02 4.83807507e-04 9.99935175e-01 1.17017418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990888479 meters 0.024835763873435897 Centerline is valid? [True, True] Translation: X:41.73, Y:-0.56, Z:0.01 [[ 9.88058265e-01 1.53730387e-01 -1.03842868e-02 4.17266125e+01] [-1.53726340e-01 9.88112743e-01 1.19161345e-03 -5.58912958e-01] [ 1.04440333e-02 4.18954882e-04 9.99945372e-01 1.27059068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.020888479 meters 0.02426984177165893 Centerline is valid? [True, True] Translation: X:41.76, Y:-0.56, Z:0.01 [[ 9.88240436e-01 1.52604092e-01 -9.63489968e-03 4.17579100e+01] [-1.52600530e-01 9.88287332e-01 1.10814970e-03 -5.64607918e-01] [ 9.69115748e-03 3.75172456e-04 9.99952969e-01 1.39123026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.050888479 meters 0.02417672474519387 Centerline is valid? [True, True] Translation: X:41.79, Y:-0.57, Z:0.02 [[ 9.88443186e-01 1.51359886e-01 -8.38168431e-03 4.17896466e+01] [-1.51357128e-01 9.88478673e-01 9.66059551e-04 -5.70162871e-01] [ 8.43133884e-03 3.13732685e-04 9.99964406e-01 1.53233292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.080888479 meters 0.021811182382647135 Centerline is valid? [True, True] Translation: X:41.82, Y:-0.58, Z:0.02 [[ 9.88916085e-01 1.48353747e-01 -6.01180458e-03 4.18207223e+01] [-1.48352272e-01 9.88934337e-01 6.93095643e-04 -5.80060892e-01] [ 6.04810332e-03 2.06451439e-04 9.99981689e-01 1.88668178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110888479 meters 0.022458782426373478 Centerline is valid? [True, True] Translation: X:41.85, Y:-0.58, Z:0.02 [[ 9.89092511e-01 1.47239402e-01 -4.06970046e-03 4.18519365e+01] [-1.47238712e-01 9.89100875e-01 4.70337807e-04 -5.82527364e-01] [ 4.09459655e-03 1.34009850e-04 9.99991608e-01 1.93049714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.140888479 meters 0.022040336123283766 Centerline is valid? [True, True] Translation: X:41.88, Y:-0.59, Z:0.02 [[ 9.89155180e-01 1.46832518e-01 -3.49886760e-03 4.18840271e+01] [-1.46832003e-01 9.89161361e-01 4.05259409e-04 -5.86411047e-01] [ 3.52044990e-03 1.12881293e-04 9.99993797e-01 1.92358645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170888479 meters 0.02160232933352929 Centerline is valid? [True, True] Translation: X:41.92, Y:-0.59, Z:0.02 [[ 9.89057453e-01 1.47422514e-01 -5.65299914e-03 4.19152350e+01] [-1.47421171e-01 9.89073591e-01 6.55862808e-04 -5.91578585e-01] [ 5.68792110e-03 1.84685756e-04 9.99983807e-01 1.75980489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.200888479 meters 0.02139048052980035 Centerline is valid? [True, True] Translation: X:41.95, Y:-0.60, Z:0.02 [[ 9.88966592e-01 1.47966410e-01 -7.14290799e-03 4.19471232e+01] [-1.47964268e-01 9.88992359e-01 8.30445060e-04 -5.97300579e-01] [ 7.18715940e-03 2.35612728e-04 9.99974144e-01 1.78669268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.230888479 meters 0.023453744632630648 Centerline is valid? [True, True] Translation: X:41.98, Y:-0.60, Z:0.02 [[ 9.88891279e-01 1.48429216e-01 -7.92504036e-03 4.19784873e+01] [-1.48426586e-01 9.88922999e-01 9.22286719e-04 -5.98333646e-01] [ 7.97414898e-03 2.64245393e-04 9.99968171e-01 1.72637404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.260888479 meters 0.02186269807139963 Centerline is valid? [True, True] Translation: X:42.01, Y:-0.60, Z:0.02 [[ 9.88897846e-01 1.48387694e-01 -7.88304471e-03 4.20097730e+01] [-1.48385075e-01 9.88929231e-01 9.19443780e-04 -6.04732663e-01] [ 7.93220749e-03 2.60490204e-04 9.99968506e-01 1.81644035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290888479 meters 0.022005926175111948 Centerline is valid? [True, True] Translation: X:42.04, Y:-0.61, Z:0.02 [[ 9.88974710e-01 1.47901865e-01 -7.35258601e-03 4.20405537e+01] [-1.47899560e-01 9.89002013e-01 8.59220746e-04 -6.07208942e-01] [ 7.39880272e-03 2.37696647e-04 9.99972600e-01 1.76666907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.320888479 meters 0.02027605526764118 Centerline is valid? [True, True] Translation: X:42.07, Y:-0.61, Z:0.02 [[ 9.89141266e-01 1.46791595e-01 -7.19605835e-03 4.20719393e+01] [-1.46789345e-01 9.89167417e-01 8.42775526e-04 -6.13506363e-01] [ 7.24181881e-03 2.22680641e-04 9.99973753e-01 1.73941928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.350888479 meters 0.021528399595258003 Centerline is valid? [True, True] Translation: X:42.10, Y:-0.61, Z:0.02 [[ 9.89393759e-01 1.45088653e-01 -7.01941930e-03 4.21030880e+01] [-1.45086457e-01 9.89418638e-01 8.23701339e-04 -6.14864174e-01] [ 7.06465401e-03 2.03457716e-04 9.99975024e-01 1.62103679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.380888479 meters 0.019427857683183003 Centerline is valid? [True, True] Translation: X:42.13, Y:-0.63, Z:0.02 [[ 9.89985575e-01 1.40926388e-01 -8.26529740e-03 4.21329427e+01] [-1.40923199e-01 9.90020056e-01 9.69917272e-04 -6.27844759e-01] [ 8.31949714e-03 2.04568040e-04 9.99965371e-01 1.92268327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.410888479 meters 0.018473741471153684 Centerline is valid? [True, True] Translation: X:42.16, Y:-0.64, Z:0.02 [[ 9.90261209e-01 1.38959620e-01 -8.54182621e-03 4.21646299e+01] [-1.38956120e-01 9.90298029e-01 1.00471238e-03 -6.35734533e-01] [ 8.59856811e-03 1.92011329e-04 9.99963013e-01 2.08312969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.440888479 meters 0.017971642487273645 Centerline is valid? [True, True] Translation: X:42.20, Y:-0.64, Z:0.02 [[ 9.90492092e-01 1.37355767e-01 -7.66864675e-03 4.21960851e+01] [-1.37352884e-01 9.90521766e-01 9.03942603e-04 -6.41112864e-01] [ 7.72012325e-03 1.57962746e-04 9.99970187e-01 2.15955670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.470888479 meters 0.018116894975624187 Centerline is valid? [True, True] Translation: X:42.23, Y:-0.64, Z:0.02 [[ 9.90814385e-01 1.35117601e-01 -5.48536337e-03 4.22274461e+01] [-1.35116087e-01 9.90829564e-01 6.47323275e-04 -6.42846990e-01] [ 5.52252496e-03 9.97836241e-05 9.99984746e-01 2.17691387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.500888479000004 meters 0.017641545696762025 Centerline is valid? [True, True] Translation: X:42.26, Y:-0.65, Z:0.02 [[ 9.90863727e-01 1.34805783e-01 -4.05909288e-03 4.22596139e+01] [-1.34804946e-01 9.90872038e-01 4.80151524e-04 -6.46996252e-01] [ 4.08676884e-03 7.14210699e-05 9.99991647e-01 2.26438315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530888479 meters 0.017946795335076225 Centerline is valid? [True, True] Translation: X:42.29, Y:-0.65, Z:0.02 [[ 9.90821918e-01 1.35143159e-01 -2.87294454e-03 4.22911310e+01] [-1.35142739e-01 9.90826082e-01 3.40680888e-04 -6.49644306e-01] [ 2.89262907e-03 5.07035032e-05 9.99995815e-01 2.35182188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.560888479 meters 0.01765171736680701 Centerline is valid? [True, True] Translation: X:42.32, Y:-0.65, Z:0.02 [[ 9.90742165e-01 1.35730295e-01 -2.69240347e-03 4.23238944e+01] [-1.35729926e-01 9.90745822e-01 3.20073090e-04 -6.54338650e-01] [ 2.71093110e-03 4.83298192e-05 9.99996324e-01 2.46747753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.590888479 meters 0.017742092060107597 Centerline is valid? [True, True] Translation: X:42.36, Y:-0.66, Z:0.03 [[ 9.90512943e-01 1.37394144e-01 -2.63803201e-03 4.23560870e+01] [-1.37393794e-01 9.90516454e-01 3.14231553e-04 -6.57461310e-01] [ 2.65618768e-03 5.11988064e-05 9.99996471e-01 2.50304905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.620888479 meters 0.01825641571537941 Centerline is valid? [True, True] Translation: X:42.39, Y:-0.66, Z:0.02 [[ 9.90362185e-01 1.38460877e-01 -3.36573440e-03 4.23874053e+01] [-1.38460313e-01 9.90367902e-01 4.01157707e-04 -6.59660089e-01] [ 3.38885996e-03 6.87292165e-05 9.99994255e-01 2.44427100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650888479 meters 0.018014668813962294 Centerline is valid? [True, True] Translation: X:42.42, Y:-0.66, Z:0.02 [[ 9.90244274e-01 1.39284529e-01 -4.01227868e-03 4.24190351e+01] [-1.39283730e-01 9.90252399e-01 4.79314786e-04 -6.63230836e-01] [ 4.03992972e-03 8.42064178e-05 9.99991836e-01 2.41988332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.680888479000004 meters 0.01818518333337897 Centerline is valid? [True, True] Translation: X:42.45, Y:-0.67, Z:0.02 [[ 9.90109848e-01 1.40226363e-01 -4.36526201e-03 4.24513362e+01] [-1.40225421e-01 9.90119467e-01 5.22535751e-04 -6.65443934e-01] [ 4.39540418e-03 9.47529103e-05 9.99990336e-01 2.39618591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710888479 meters 0.018657908284924682 Centerline is valid? [True, True] Translation: X:42.48, Y:-0.67, Z:0.02 [[ 9.89833769e-01 1.42153116e-01 -4.64774503e-03 4.24831785e+01] [-1.42152065e-01 9.89844675e-01 5.57367221e-04 -6.65755381e-01] [ 4.67977716e-03 1.08985658e-04 9.99989044e-01 2.31964332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.740888479 meters 0.018791889664326062 Centerline is valid? [True, True] Translation: X:42.52, Y:-0.67, Z:0.02 [[ 9.89730821e-01 1.42861333e-01 -4.85195652e-03 4.25155670e+01] [-1.42860190e-01 9.89742707e-01 5.83053067e-04 -6.68115750e-01] [ 4.88548432e-03 1.16085839e-04 9.99988059e-01 2.31491286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.770888479 meters 0.020936675387758993 Centerline is valid? [True, True] Translation: X:42.55, Y:-0.67, Z:0.02 [[ 9.89660540e-01 1.43357759e-01 -4.53523192e-03 4.25481394e+01] [-1.43356761e-01 9.89670926e-01 5.46211399e-04 -6.67270702e-01] [ 4.56669081e-03 1.09592288e-04 9.99989567e-01 2.27713707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.800888479 meters 0.019250704838235863 Centerline is valid? [True, True] Translation: X:42.58, Y:-0.67, Z:0.02 [[ 9.89588692e-01 1.43871156e-01 -3.91283843e-03 4.25803520e+01] [-1.43870412e-01 9.89596423e-01 4.72392028e-04 -6.73487275e-01] [ 3.94009450e-03 9.54678674e-05 9.99992233e-01 2.47495084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830888479 meters 0.018818200431999412 Centerline is valid? [True, True] Translation: X:42.61, Y:-0.68, Z:0.02 [[ 9.89527629e-01 1.44272162e-01 -4.54026581e-03 4.26132873e+01] [-1.44271159e-01 9.89538039e-01 5.49386298e-04 -6.78070118e-01] [ 4.57202687e-03 1.11396490e-04 9.99989542e-01 2.42208338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.860888479 meters 0.01905471375906712 Centerline is valid? [True, True] Translation: X:42.65, Y:-0.68, Z:0.02 [[ 9.89524336e-01 1.44290757e-01 -4.66532643e-03 4.26457198e+01] [-1.44289692e-01 9.89535328e-01 5.65826529e-04 -6.81005747e-01] [ 4.69814886e-03 1.13259394e-04 9.99988957e-01 2.39242098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890888479 meters 0.018745741251591595 Centerline is valid? [True, True] Translation: X:42.68, Y:-0.68, Z:0.03 [[ 9.89609728e-01 1.43766259e-01 -1.96205722e-03 4.26774970e+01] [-1.43766068e-01 9.89611672e-01 2.38597186e-04 -6.83009760e-01] [ 1.97597695e-03 4.59591565e-05 9.99998047e-01 2.51961554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.920888479 meters 0.018570671612092 Centerline is valid? [True, True] Translation: X:42.71, Y:-0.69, Z:0.03 [[ 9.89655865e-01 1.43461429e-01 -2.96346335e-04 4.27093336e+01] [-1.43461425e-01 9.89655909e-01 3.63504926e-05 -6.86179870e-01] [ 2.98495795e-04 6.53978930e-06 9.99999955e-01 2.57033551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.950888479 meters 0.018839085056137603 Centerline is valid? [True, True] Translation: X:42.74, Y:-0.69, Z:0.03 [[ 9.89739032e-01 1.42886696e-01 2.00040302e-04 4.27401971e+01] [-1.42886694e-01 9.89739053e-01 -2.41319860e-05 -6.88592808e-01] [-2.01435838e-04 -4.69872894e-06 9.99999980e-01 2.62282704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.980888479 meters 0.018508177484517295 Centerline is valid? [True, True] Translation: X:42.77, Y:-0.69, Z:0.03 [[ 9.89760059e-01 1.42735779e-01 1.23397595e-03 4.27716026e+01] [-1.42735702e-01 9.89760828e-01 -1.50489999e-04 -6.93088858e-01] [-1.24282136e-03 -2.71834323e-05 9.99999227e-01 2.65138694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010888479 meters 0.018622316510428442 Centerline is valid? [True, True] Translation: X:42.80, Y:-0.70, Z:0.03 [[ 9.89724092e-01 1.42989068e-01 5.90774551e-04 4.28044362e+01] [-1.42989050e-01 9.89724268e-01 -7.20283458e-05 -6.96406219e-01] [-5.95003176e-04 -1.31861027e-05 9.99999823e-01 2.75784479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.040888479 meters 0.018903144133545567 Centerline is valid? [True, True] Translation: X:42.84, Y:-0.70, Z:0.03 [[ 9.89610739e-01 1.43772640e-01 -1.14438739e-04 4.28362244e+01] [-1.43772639e-01 9.89610746e-01 1.43211588e-05 -6.98949124e-01] [ 1.15308797e-04 2.28078697e-06 9.99999993e-01 2.68658966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070888479 meters 0.018947729346089022 Centerline is valid? [True, True] Translation: X:42.87, Y:-0.70, Z:0.03 [[ 9.89529629e-01 1.44328400e-01 -6.53164235e-04 4.28685439e+01] [-1.44328378e-01 9.89529844e-01 8.06538794e-05 -7.02084775e-01] [ 6.57966149e-04 1.44607314e-05 9.99999783e-01 2.56382794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.100888479 meters 0.01920192904070623 Centerline is valid? [True, True] Translation: X:42.90, Y:-0.70, Z:0.03 [[ 9.89419060e-01 1.45078047e-01 -1.51156235e-03 4.29006350e+01] [-1.45077931e-01 9.89420214e-01 1.86554606e-04 -7.04848289e-01] [ 1.52263532e-03 3.47136553e-05 9.99998840e-01 2.50984244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130888479 meters 0.02001161151666463 Centerline is valid? [True, True] Translation: X:42.93, Y:-0.71, Z:0.02 [[ 9.89212478e-01 1.46438965e-01 -3.78201011e-03 4.29314814e+01] [-1.46438252e-01 9.89219703e-01 4.66244573e-04 -7.05703198e-01] [ 3.80951529e-03 9.26159999e-05 9.99992739e-01 2.36732469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.160888479 meters 0.02011469334081104 Centerline is valid? [True, True] Translation: X:42.96, Y:-0.71, Z:0.02 [[ 9.89135844e-01 1.46942579e-01 -4.26153803e-03 4.29641659e+01] [-1.46941673e-01 9.89145018e-01 5.26794322e-04 -7.07888294e-01] [ 4.29268763e-03 1.05126379e-04 9.99990781e-01 2.19785001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.190888479 meters 0.02063565348933894 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.71, Z:0.02 [[ 9.88875868e-01 1.48667877e-01 -4.73068424e-03 4.29968125e+01] [-1.48666774e-01 9.88887176e-01 5.85844103e-04 -7.07322909e-01] [ 4.76520918e-03 1.23968469e-04 9.99988639e-01 1.87562441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.220888479 meters 0.021307296214461556 Centerline is valid? [True, True] Translation: X:43.03, Y:-0.71, Z:0.02 [[ 9.88735064e-01 1.49609241e-01 -4.47758511e-03 4.30279704e+01] [-1.49608259e-01 9.88745195e-01 5.55482768e-04 -7.09355344e-01] [ 4.51029612e-03 1.20658423e-04 9.99989821e-01 1.85154856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.250888479 meters 0.021191950506301804 Centerline is valid? [True, True] Translation: X:43.06, Y:-0.71, Z:0.02 [[ 9.88502148e-01 1.51133337e-01 -4.71351692e-03 4.30596537e+01] [-1.51132260e-01 9.88513377e-01 5.85894235e-04 -7.13789076e-01] [ 4.74792268e-03 1.33206756e-04 9.99988720e-01 1.93720646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.280888479 meters 0.022716632274712645 Centerline is valid? [True, True] Translation: X:43.09, Y:-0.72, Z:0.02 [[ 9.88241592e-01 1.52837092e-01 -4.40206275e-03 4.30904064e+01] [-1.52836168e-01 9.88251388e-01 5.47624260e-04 -7.15626196e-01] [ 4.43404192e-03 1.31609331e-04 9.99990161e-01 1.99975180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310888479 meters 0.022521437395879935 Centerline is valid? [True, True] Translation: X:43.12, Y:-0.72, Z:0.02 [[ 9.87979015e-01 1.54522765e-01 -4.49236235e-03 4.31218998e+01] [-1.54521814e-01 9.87989218e-01 5.60053571e-04 -7.19987641e-01] [ 4.52494660e-03 1.40846806e-04 9.99989752e-01 2.14029287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.340888479 meters 0.024138992502474938 Centerline is valid? [True, True] Translation: X:43.15, Y:-0.72, Z:0.02 [[ 9.87466757e-01 1.57807236e-01 -2.50607417e-03 4.31538287e+01] [-1.57806950e-01 9.87469933e-01 3.12687786e-04 -7.19174251e-01] [ 2.52401729e-03 8.67071260e-05 9.99996811e-01 2.20683024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.370888479 meters 0.025420073322770544 Centerline is valid? [True, True] Translation: X:43.18, Y:-0.72, Z:0.02 [[ 9.87141959e-01 1.59834129e-01 -1.95040925e-03 4.31847569e+01] [-1.59833959e-01 9.87143883e-01 2.43621084e-04 -7.19921313e-01] [ 1.96427352e-03 7.12530368e-05 9.99998068e-01 2.18059157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.400888479 meters 0.025368324430162265 Centerline is valid? [True, True] Translation: X:43.22, Y:-0.72, Z:0.02 [[ 9.86912575e-01 1.61247191e-01 -1.70639829e-03 4.32161961e+01] [-1.61247062e-01 9.86914049e-01 2.13654700e-04 -7.23639555e-01] [ 1.71851967e-03 6.42932016e-05 9.99998521e-01 2.17299019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430888479000004 meters 0.02720496895947227 Centerline is valid? [True, True] Translation: X:43.25, Y:-0.73, Z:0.02 [[ 9.86576622e-01 1.63269396e-01 -3.11030383e-03 4.32471216e+01] [-1.63268977e-01 9.86581517e-01 3.89907712e-04 -7.25625292e-01] [ 3.13222827e-03 1.23142291e-04 9.99995087e-01 1.97421023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.460888479 meters 0.02663856260769991 Centerline is valid? [True, True] Translation: X:43.28, Y:-0.73, Z:0.02 [[ 9.86440453e-01 1.64075284e-01 -3.81232194e-03 4.32787944e+01] [-1.64074657e-01 9.86447808e-01 4.78782460e-04 -7.30998661e-01] [ 3.83921298e-03 1.53215028e-04 9.99992618e-01 1.88478229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490888479 meters 0.02474829456313426 Centerline is valid? [True, True] Translation: X:43.31, Y:-0.74, Z:0.02 [[ 9.86388781e-01 1.64370946e-01 -4.40057002e-03 4.33113339e+01] [-1.64370108e-01 9.86398581e-01 5.53919902e-04 -7.39178833e-01] [ 4.43176436e-03 1.76941791e-04 9.99990164e-01 1.87496875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.520888479 meters 0.02584536877316305 Centerline is valid? [True, True] Translation: X:43.34, Y:-0.74, Z:0.02 [[ 9.86277789e-01 1.65039392e-01 -4.25708352e-03 4.33419427e+01] [-1.65038610e-01 9.86286961e-01 5.36779033e-04 -7.42689669e-01] [ 4.28729566e-03 1.73169910e-04 9.99990795e-01 1.80103736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.550888479 meters 0.027461003621066373 Centerline is valid? [True, True] Translation: X:43.37, Y:-0.74, Z:0.02 [[ 9.86195597e-01 1.65542023e-01 -3.75277418e-03 4.33742365e+01] [-1.65541415e-01 9.86202725e-01 4.74237468e-04 -7.43966598e-01] [ 3.77950235e-03 1.53548643e-04 9.99992846e-01 1.79248387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.580888479 meters 0.026278297801259794 Centerline is valid? [True, True] Translation: X:43.41, Y:-0.75, Z:0.02 [[ 9.86085483e-01 1.66205942e-01 -3.31750742e-03 4.34054217e+01] [-1.66205468e-01 9.86091054e-01 4.19973639e-04 -7.49525031e-01] [ 3.34116650e-03 1.37257964e-04 9.99994409e-01 1.81947845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.610888479 meters 0.026849164988940046 Centerline is valid? [True, True] Translation: X:43.44, Y:-0.75, Z:0.02 [[ 9.85884426e-01 1.67385351e-01 -3.74726369e-03 4.34377543e+01] [-1.67384751e-01 9.85891535e-01 4.75268134e-04 -7.52961872e-01] [ 3.77394847e-03 1.58675349e-04 9.99992866e-01 1.79225304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.640888479 meters 0.026849164988940046 Centerline is valid? [True, True] Translation: X:43.47, Y:-0.76, Z:0.02 [[ 9.85838950e-01 1.67652984e-01 -3.74712967e-03 4.34699316e+01] [-1.67652382e-01 9.85846059e-01 4.76323935e-04 -7.57128804e-01] [ 3.77395015e-03 1.58636529e-04 9.99992866e-01 1.78851022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670888479 meters 0.02781182672214144 Centerline is valid? [True, True] Translation: X:43.50, Y:-0.76, Z:0.02 [[ 9.85570885e-01 1.69177309e-01 -5.39159413e-03 4.35015296e+01] [-1.69176086e-01 9.85585604e-01 6.85359263e-04 -7.61142676e-01] [ 5.42982479e-03 2.36658659e-04 9.99985230e-01 1.75576082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.700888479 meters 0.028373964237220724 Centerline is valid? [True, True] Translation: X:43.53, Y:-0.77, Z:0.02 [[ 9.85401583e-01 1.70144939e-01 -5.86682389e-03 4.35329801e+01] [-1.70143499e-01 9.85419013e-01 7.47361208e-04 -7.65722507e-01] [ 5.90843954e-03 2.61751027e-04 9.99982511e-01 1.73869723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.730888479 meters 0.027268812484687224 Centerline is valid? [True, True] Translation: X:43.57, Y:-0.77, Z:0.02 [[ 9.85348867e-01 1.70454215e-01 -5.74197242e-03 4.35655905e+01] [-1.70452832e-01 9.85365564e-01 7.33114262e-04 -7.72940440e-01] [ 5.78290431e-03 2.56362150e-04 9.99983246e-01 1.80519452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.760888479 meters 0.029090090124342754 Centerline is valid? [True, True] Translation: X:43.60, Y:-0.78, Z:0.02 [[ 9.85470870e-01 1.69785253e-01 -4.48685821e-03 4.35968452e+01] [-1.69784396e-01 9.85481065e-01 5.73880906e-04 -7.75846960e-01] [ 4.51915032e-03 1.96255595e-04 9.99989769e-01 1.89265140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790888479 meters 0.028983712043444555 Centerline is valid? [True, True] Translation: X:43.63, Y:-0.78, Z:0.02 [[ 9.85542384e-01 1.69388576e-01 -3.70405796e-03 4.36288262e+01] [-1.69387986e-01 9.85549332e-01 4.74682705e-04 -7.80200938e-01] [ 3.73093768e-03 1.59602995e-04 9.99993027e-01 1.87269328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.820888479 meters 0.027913662193098123 Centerline is valid? [True, True] Translation: X:43.66, Y:-0.79, Z:0.02 [[ 9.85618203e-01 1.68956721e-01 -3.22256365e-03 4.36606853e+01] [-1.68956269e-01 9.85623462e-01 4.13782723e-04 -7.86045485e-01] [ 3.24614571e-03 1.36640548e-04 9.99994722e-01 1.91411954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850888479 meters 0.027895659043888625 Centerline is valid? [True, True] Translation: X:43.69, Y:-0.79, Z:0.02 [[ 9.85719101e-01 1.68361048e-01 -3.52293815e-03 4.36920947e+01] [-1.68360502e-01 9.85725386e-01 4.53155990e-04 -7.93278594e-01] [ 3.54894338e-03 1.46439121e-04 9.99993692e-01 1.95693912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.880888479 meters 0.028667811673940932 Centerline is valid? [True, True] Translation: X:43.72, Y:-0.80, Z:0.02 [[ 9.85714417e-01 1.68357663e-01 -4.77331824e-03 4.37237432e+01] [-1.68356655e-01 9.85725955e-01 6.15116114e-04 -7.98231070e-01] [ 4.80874319e-03 1.97291068e-04 9.99988418e-01 1.87884540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.910888479 meters 0.025411036738390198 Centerline is valid? [True, True] Translation: X:43.76, Y:-0.81, Z:0.02 [[ 9.85706369e-01 1.68370385e-01 -5.86236927e-03 4.37558163e+01] [-1.68368855e-01 9.85723772e-01 7.57087808e-04 -8.08885411e-01] [ 5.90614791e-03 2.40774128e-04 9.99982530e-01 1.88060236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.940888479 meters 0.027909275053279402 Centerline is valid? [True, True] Translation: X:43.79, Y:-0.81, Z:0.02 [[ 9.85541320e-01 1.69272618e-01 -7.42212996e-03 4.37867999e+01] [-1.69270192e-01 9.85569218e-01 9.58414341e-04 -8.08357374e-01] [ 7.47725613e-03 3.11788428e-04 9.99971996e-01 1.51573954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970888479 meters 0.028569910702251348 Centerline is valid? [True, True] Translation: X:43.82, Y:-0.81, Z:0.02 [[ 9.85356980e-01 1.70324306e-01 -7.82640951e-03 4.38189326e+01] [-1.70321625e-01 9.85388004e-01 1.01268711e-03 -8.12400972e-01] [ 7.88453528e-03 3.35148474e-04 9.99968860e-01 1.50865961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.000888479 meters 0.031598604512828185 Centerline is valid? [True, True] Translation: X:43.85, Y:-0.81, Z:0.02 [[ 9.85174502e-01 1.71392539e-01 -7.46987550e-03 4.38497932e+01] [-1.71390115e-01 9.85202767e-01 9.68167809e-04 -8.13719625e-01] [ 7.52527874e-03 3.26448582e-04 9.99971631e-01 1.62660439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030888479 meters 0.028417848772747396 Centerline is valid? [True, True] Translation: X:43.88, Y:-0.82, Z:0.02 [[ 9.85037228e-01 1.72171700e-01 -7.65279056e-03 4.38805730e+01] [-1.72169165e-01 9.85066897e-01 9.93725459e-04 -8.24756888e-01] [ 7.70960205e-03 3.38717992e-04 9.99970223e-01 1.87307096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.060888479 meters 0.026077429303243155 Centerline is valid? [True, True] Translation: X:43.91, Y:-0.83, Z:0.02 [[ 9.84803156e-01 1.73528861e-01 -7.10485908e-03 4.39120631e+01] [-1.73526699e-01 9.84828731e-01 9.24401254e-04 -8.34166986e-01] [ 7.15747965e-03 3.22529468e-04 9.99974333e-01 2.09451287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.090888479 meters 0.029701732695839103 Centerline is valid? [True, True] Translation: X:43.94, Y:-0.83, Z:0.02 [[ 9.84703521e-01 1.74135702e-01 -5.97774008e-03 4.39442872e+01] [-1.74134172e-01 9.84721627e-01 7.79422130e-04 -8.32160402e-01] [ 6.02213515e-03 2.73429105e-04 9.99981829e-01 2.00369476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.120888479 meters 0.029180427208534733 Centerline is valid? [True, True] Translation: X:43.98, Y:-0.84, Z:0.02 [[ 9.84537658e-01 1.75090724e-01 -5.37012247e-03 4.39761853e+01] [-1.75089496e-01 9.84552272e-01 7.01489223e-04 -8.36240108e-01] [ 5.40999053e-03 2.49609481e-04 9.99985335e-01 2.04282322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150888479 meters 0.029641312124476727 Centerline is valid? [True, True] Translation: X:44.01, Y:-0.84, Z:0.02 [[ 9.84407706e-01 1.75872386e-01 -3.22050937e-03 4.40074970e+01] [-1.75871947e-01 9.84412963e-01 4.21496436e-04 -8.40324678e-01] [ 3.24444075e-03 1.51472912e-04 9.99994725e-01 2.11700506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.180888479000004 meters 0.029783671172748823 Centerline is valid? [True, True] Translation: X:44.04, Y:-0.85, Z:0.02 [[ 9.84367953e-01 1.76088204e-01 -3.56060770e-03 4.40395261e+01] [-1.76087664e-01 9.84374378e-01 4.67015453e-04 -8.46238195e-01] [ 3.58720690e-03 1.67264047e-04 9.99993552e-01 2.22645020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210888479 meters 0.031350422870414216 Centerline is valid? [True, True] Translation: X:44.07, Y:-0.85, Z:0.02 [[ 9.84397396e-01 1.75914264e-01 -3.99230053e-03 4.40700811e+01] [-1.75913581e-01 9.84405474e-01 5.24423735e-04 -8.50091109e-01] [ 4.02229611e-03 1.86058525e-04 9.99991893e-01 2.26840065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.240888479 meters 0.028894309980349173 Centerline is valid? [True, True] Translation: X:44.10, Y:-0.86, Z:0.02 [[ 9.84480746e-01 1.75424504e-01 -4.88912541e-03 4.41013313e+01] [-1.75423468e-01 9.84492861e-01 6.43365241e-04 -8.59314132e-01] [ 4.92617109e-03 2.24286642e-04 9.99987841e-01 2.32792308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.270888479 meters 0.029065584428393017 Centerline is valid? [True, True] Translation: X:44.13, Y:-0.86, Z:0.02 [[ 9.84421838e-01 1.75754125e-01 -4.91257140e-03 4.41345946e+01] [-1.75753076e-01 9.84434069e-01 6.47831370e-04 -8.62078451e-01] [ 4.94996169e-03 2.25660185e-04 9.99987723e-01 2.15404228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.300888479 meters 0.028301305031535627 Centerline is valid? [True, True] Translation: X:44.17, Y:-0.87, Z:0.02 [[ 9.84294523e-01 1.76457191e-01 -5.21071842e-03 4.41667751e+01] [-1.76456014e-01 9.84308286e-01 6.88370147e-04 -8.66846434e-01] [ 5.25042117e-03 2.41903638e-04 9.99986187e-01 1.99811756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330888479 meters 0.028688208796816606 Centerline is valid? [True, True] Translation: X:44.20, Y:-0.87, Z:0.02 [[ 9.84229371e-01 1.76784525e-01 -6.30689895e-03 4.41973627e+01] [-1.76782803e-01 9.84249534e-01 8.33844058e-04 -8.70795062e-01] [ 6.35497308e-03 2.94257464e-04 9.99979764e-01 1.96181785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.360888479 meters 0.029111447505875444 Centerline is valid? [True, True] Translation: X:44.23, Y:-0.88, Z:0.02 [[ 9.84247762e-01 1.76653834e-01 -7.05445075e-03 4.42275690e+01] [-1.76651664e-01 9.84272989e-01 9.34330646e-04 -8.77034573e-01] [ 7.10855841e-03 3.26567619e-04 9.99974681e-01 2.09913609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390888479 meters 0.029063887527205574 Centerline is valid? [True, True] Translation: X:44.26, Y:-0.88, Z:0.02 [[ 9.84301871e-01 1.76346904e-01 -7.18311637e-03 4.42591175e+01] [-1.76344634e-01 9.84328025e-01 9.53100956e-04 -8.81943103e-01] [ 7.23861915e-03 3.28564975e-04 9.99973747e-01 2.14434220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.420888479 meters 0.027513176481552867 Centerline is valid? [True, True] Translation: X:44.29, Y:-0.89, Z:0.02 [[ 9.84349124e-01 1.76114905e-01 -6.35150341e-03 4.42909334e+01] [-1.76113116e-01 9.84369574e-01 8.44347321e-04 -8.89012787e-01] [ 6.40092886e-03 2.87450510e-04 9.99979473e-01 2.18236149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.450888479 meters 0.028097266830417373 Centerline is valid? [True, True] Translation: X:44.32, Y:-0.89, Z:0.02 [[ 9.84609350e-01 1.74674075e-01 -5.77885451e-03 4.43217837e+01] [-1.74672565e-01 9.84626276e-01 7.68929319e-04 -8.91816951e-01] [ 5.82432402e-03 2.52312343e-04 9.99983007e-01 2.10612224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.480888479 meters 0.027456971662245297 Centerline is valid? [True, True] Translation: X:44.35, Y:-0.90, Z:0.02 [[ 9.84625025e-01 1.74597508e-01 -5.41016701e-03 4.43536527e+01] [-1.74596175e-01 9.84639861e-01 7.21310049e-04 -8.96751454e-01] [ 5.45300503e-03 2.34374543e-04 9.99985105e-01 2.15375922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510888479 meters 0.028110840300548206 Centerline is valid? [True, True] Translation: X:44.39, Y:-0.90, Z:0.02 [[ 9.84545258e-01 1.75040301e-01 -5.61489319e-03 4.43850855e+01] [-1.75038866e-01 9.84561239e-01 7.49817953e-04 -8.99542388e-01] [ 5.65945455e-03 2.44594828e-04 9.99983955e-01 2.10479772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.540888479 meters 0.029018827253219127 Centerline is valid? [True, True] Translation: X:44.42, Y:-0.90, Z:0.02 [[ 9.84485910e-01 1.75374457e-01 -5.59407959e-03 4.44162254e+01] [-1.75373034e-01 9.84501772e-01 7.47666862e-04 -9.02648228e-01] [ 5.63850294e-03 2.44983220e-04 9.99984074e-01 2.06032681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570888479 meters 0.029842582704644703 Centerline is valid? [True, True] Translation: X:44.45, Y:-0.91, Z:0.02 [[ 9.84314588e-01 1.76333348e-01 -5.59843639e-03 4.44476031e+01] [-1.76331931e-01 9.84330477e-01 7.49559706e-04 -9.06834227e-01] [ 5.64288393e-03 2.49380548e-04 9.99984048e-01 2.20117979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.600888479 meters 0.03025617401623579 Centerline is valid? [True, True] Translation: X:44.48, Y:-0.91, Z:0.02 [[ 9.84196405e-01 1.76996458e-01 -5.44895834e-03 4.44797370e+01] [-1.76995119e-01 9.84211458e-01 7.30837796e-04 -9.10288170e-01] [ 5.49228294e-03 2.45151099e-04 9.99984887e-01 2.21528898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630888479 meters 0.030621932542320415 Centerline is valid? [True, True] Translation: X:44.51, Y:-0.91, Z:0.02 [[ 9.84042992e-01 1.77854444e-01 -5.21406186e-03 4.45112394e+01] [-1.77853224e-01 9.84056777e-01 7.00450331e-04 -9.13355705e-01] [ 5.25551111e-03 2.38064475e-04 9.99986161e-01 2.18572246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.660888479 meters 0.031489187408352236 Centerline is valid? [True, True] Translation: X:44.54, Y:-0.92, Z:0.02 [[ 9.83910984e-01 1.78578560e-01 -5.37348385e-03 4.45425398e+01] [-1.78577269e-01 9.83925625e-01 7.23012257e-04 -9.15019404e-01] [ 5.41622295e-03 2.48202370e-04 9.99985301e-01 2.07939218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.690888479 meters 0.031917865599585635 Centerline is valid? [True, True] Translation: X:44.57, Y:-0.92, Z:0.02 [[ 9.83876352e-01 1.78749781e-01 -5.98666390e-03 4.45740585e+01] [-1.78748173e-01 9.83894527e-01 8.06986948e-04 -9.17514080e-01] [ 6.03449459e-03 2.76129857e-04 9.99981754e-01 1.87727333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.720888479 meters 0.03231403089990726 Centerline is valid? [True, True] Translation: X:44.61, Y:-0.92, Z:0.02 [[ 9.83914927e-01 1.78510409e-01 -6.74175126e-03 4.46052884e+01] [-1.78508355e-01 9.83937975e-01 9.10113200e-04 -9.21874006e-01] [ 6.79592977e-03 3.07984962e-04 9.99976860e-01 1.81086662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750888479 meters 0.02756223125536424 Centerline is valid? [True, True] Translation: X:44.64, Y:-0.93, Z:0.02 [[ 9.83979274e-01 1.78103152e-01 -8.00345688e-03 4.46360688e+01] [-1.78100228e-01 9.84011757e-01 1.08237776e-03 -9.33799225e-01] [ 8.06827056e-03 3.60380210e-04 9.99967386e-01 1.89355643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.780888479 meters 0.027888901745910747 Centerline is valid? [True, True] Translation: X:44.67, Y:-0.94, Z:0.02 [[ 9.83955731e-01 1.78121533e-01 -1.01901216e-02 4.46675247e+01] [-1.78116768e-01 9.84008390e-01 1.38048617e-03 -9.37896842e-01] [ 1.02730595e-02 4.56694260e-04 9.99947126e-01 1.72118676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810888479 meters 0.026625664001145063 Centerline is valid? [True, True] Translation: X:44.70, Y:-0.94, Z:0.02 [[ 9.83952133e-01 1.78146507e-01 -1.01005966e-02 4.46994527e+01] [-1.78141802e-01 9.84003871e-01 1.37086330e-03 -9.43667865e-01] [ 1.01832406e-02 4.50474612e-04 9.99948048e-01 1.74952528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.840888479 meters 0.026911795345457814 Centerline is valid? [True, True] Translation: X:44.73, Y:-0.95, Z:0.02 [[ 9.84179581e-01 1.76950527e-01 -8.89180575e-03 4.47306844e+01] [-1.76946812e-01 9.84219673e-01 1.20901082e-03 -9.47430461e-01] [ 8.96542524e-03 3.83492915e-04 9.99959736e-01 1.80029436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.870888479 meters 0.027725865203222764 Centerline is valid? [True, True] Translation: X:44.76, Y:-0.95, Z:0.02 [[ 9.84402960e-01 1.75740108e-01 -8.13793979e-03 4.47616412e+01] [-1.75736941e-01 9.84436539e-01 1.10832148e-03 -9.51385568e-01] [ 8.20606182e-03 3.39101691e-04 9.99966272e-01 1.85987148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.900888479 meters 0.027172638502369312 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.96, Z:0.02 [[ 9.84645276e-01 1.74412393e-01 -7.34831724e-03 4.47930177e+01] [-1.74409760e-01 9.84672651e-01 1.00254566e-03 -9.57321879e-01] [ 7.41054341e-03 2.94466398e-04 9.99972498e-01 2.00391392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930888479000004 meters 0.024805695679254853 Centerline is valid? [True, True] Translation: X:44.82, Y:-0.97, Z:0.02 [[ 9.85014566e-01 1.72387338e-01 -5.37682374e-03 4.48234162e+01] [-1.72385898e-01 9.85029220e-01 7.33602808e-04 -9.66180627e-01] [ 5.42279233e-03 2.04279134e-04 9.99985276e-01 2.28146909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.960888479 meters 0.02546047702301455 Centerline is valid? [True, True] Translation: X:44.85, Y:-0.97, Z:0.02 [[ 9.85033635e-01 1.72285161e-01 -5.15371542e-03 4.48541806e+01] [-1.72283829e-01 9.85047098e-01 7.04534082e-04 -9.69730633e-01] [ 5.19803319e-03 1.93912061e-04 9.99986471e-01 2.27984238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990888479 meters 0.023357470315215047 Centerline is valid? [True, True] Translation: X:44.89, Y:-0.98, Z:0.02 [[ 9.85078553e-01 1.72042600e-01 -4.64625012e-03 4.48850905e+01] [-1.72041510e-01 9.85089495e-01 6.36373787e-04 -9.77718241e-01] [ 4.68645559e-03 1.72469716e-04 9.99989004e-01 2.37581437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.020888479 meters 0.02450974804823334 Centerline is valid? [True, True] Translation: X:44.92, Y:-0.98, Z:0.02 [[ 9.85012150e-01 1.72424729e-01 -4.55812114e-03 4.49168133e+01] [-1.72423680e-01 9.85022682e-01 6.25032513e-04 -9.80329696e-01] [ 4.59762377e-03 1.70263401e-04 9.99989416e-01 2.42244636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.050888479 meters 0.025614792701264568 Centerline is valid? [True, True] Translation: X:44.95, Y:-0.98, Z:0.02 [[ 9.84736428e-01 1.73998888e-01 -4.30738316e-03 4.49479934e+01] [-1.73997962e-01 9.84745835e-01 5.91678437e-04 -9.81067852e-01] [ 4.34462902e-03 1.66828582e-04 9.99990548e-01 2.34377480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.080888479 meters 0.025949596297259944 Centerline is valid? [True, True] Translation: X:44.98, Y:-0.98, Z:0.02 [[ 9.84527915e-01 1.75176535e-01 -4.23853216e-03 4.49804339e+01] [-1.75175645e-01 9.84537025e-01 5.83258967e-04 -9.83545958e-01] [ 4.27516513e-03 1.68252872e-04 9.99990847e-01 2.21768213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110888479 meters 0.026680987833451686 Centerline is valid? [True, True] Translation: X:45.01, Y:-0.99, Z:0.02 [[ 9.84235005e-01 1.76805629e-01 -4.60705006e-03 4.50121468e+01] [-1.76804590e-01 9.84245769e-01 6.35044687e-04 -9.85855201e-01] [ 4.64674901e-03 1.89514385e-04 9.99989186e-01 2.18046950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.140888479 meters 0.027347244710113017 Centerline is valid? [True, True] Translation: X:45.04, Y:-0.99, Z:0.02 [[ 9.83702799e-01 1.79697838e-01 -6.12299464e-03 4.50432804e+01] [-1.79696060e-01 9.83721817e-01 8.43768867e-04 -9.87891237e-01] [ 6.17494686e-03 2.70260217e-04 9.99980898e-01 2.11962619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170888479 meters 0.029037842661015126 Centerline is valid? [True, True] Translation: X:45.07, Y:-0.99, Z:0.02 [[ 9.83344834e-01 1.81622988e-01 -6.78436726e-03 4.50745208e+01] [-1.81620839e-01 9.83368188e-01 9.36644833e-04 -9.88227850e-01] [ 6.84164717e-03 3.11137615e-04 9.99976547e-01 1.98667500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.200888479 meters 0.027839722771776772 Centerline is valid? [True, True] Translation: X:45.11, Y:-0.99, Z:0.02 [[ 9.83057423e-01 1.83129784e-01 -7.84758287e-03 4.51063695e+01] [-1.83126954e-01 9.83088676e-01 1.08377178e-03 -9.92165136e-01] [ 7.91334074e-03 3.71694053e-04 9.99968620e-01 1.83269108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.230888479 meters 0.028189035293437158 Centerline is valid? [True, True] Translation: X:45.14, Y:-0.99, Z:0.02 [[ 9.82589792e-01 1.85555349e-01 -9.30127070e-03 4.51382745e+01] [-1.85551480e-01 9.82633705e-01 1.28480340e-03 -9.92143457e-01] [ 9.37814423e-03 4.63429838e-04 9.99955917e-01 1.60263702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.260888479 meters 0.027772463037001552 Centerline is valid? [True, True] Translation: X:45.17, Y:-1.00, Z:0.02 [[ 9.82501434e-01 1.85984007e-01 -1.00439409e-02 4.51704376e+01] [-1.85979490e-01 9.82552643e-01 1.39013822e-03 -9.96552291e-01] [ 1.01272442e-02 5.02154211e-04 9.99948592e-01 1.59434681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290888479 meters 0.030192103829955276 Centerline is valid? [True, True] Translation: X:45.20, Y:-1.00, Z:0.02 [[ 9.82539275e-01 1.85710117e-01 -1.13281146e-02 4.52016769e+01] [-1.85704324e-01 9.82604416e-01 1.57042476e-03 -9.97000547e-01] [ 1.14226992e-02 5.60675867e-04 9.99934602e-01 1.59347903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.320888479 meters 0.029313497386113104 Centerline is valid? [True, True] Translation: X:45.23, Y:-1.00, Z:0.02 [[ 9.82808139e-01 1.84301795e-01 -1.10004755e-02 4.52338753e+01] [-1.84296235e-01 9.82869559e-01 1.52578699e-03 -1.00246342e+00] [ 1.10932378e-02 5.27790353e-04 9.99938329e-01 1.70124994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350888479 meters 0.027821639065964424 Centerline is valid? [True, True] Translation: X:45.27, Y:-1.01, Z:0.02 [[ 9.83038732e-01 1.83104824e-01 -1.03669656e-02 4.52654844e+01] [-1.83099791e-01 9.83093277e-01 1.44062653e-03 -1.00883498e+00] [ 1.04554798e-02 4.81997544e-04 9.99945224e-01 1.84193760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.380888479 meters 0.027280591979919777 Centerline is valid? [True, True] Translation: X:45.30, Y:-1.01, Z:0.02 [[ 9.83692345e-01 1.79655539e-01 -8.55910401e-03 4.52953625e+01] [-1.79651980e-01 9.83729512e-01 1.18917139e-03 -1.01162996e+00] [ 8.63348444e-03 3.67881189e-04 9.99962663e-01 1.89833953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.410888479 meters 0.025231141222232085 Centerline is valid? [True, True] Translation: X:45.33, Y:-1.02, Z:0.02 [[ 9.84122183e-01 1.77332057e-01 -7.54121030e-03 4.53264078e+01] [-1.77329223e-01 9.84151029e-01 1.04820459e-03 -1.01777427e+00] [ 7.60757015e-03 3.05715567e-04 9.99971015e-01 1.91946817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.440888479 meters 0.025860724785030254 Centerline is valid? [True, True] Translation: X:45.36, Y:-1.02, Z:0.02 [[ 9.84517364e-01 1.75144852e-01 -7.05973929e-03 4.53565657e+01] [-1.75142306e-01 9.84542639e-01 9.82071230e-04 -1.02020461e+00] [ 7.12261907e-03 2.69592841e-04 9.99974597e-01 1.78558799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470888479 meters 0.02225058883493794 Centerline is valid? [True, True] Translation: X:45.39, Y:-1.03, Z:0.02 [[ 9.84951189e-01 1.72692270e-01 -6.96671333e-03 4.53867000e+01] [-1.72689728e-01 9.84975796e-01 9.69306389e-04 -1.03034588e+00] [ 7.02943573e-03 2.48360353e-04 9.99975262e-01 1.94235543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.500888479 meters 0.022270054828318724 Centerline is valid? [True, True] Translation: X:45.42, Y:-1.04, Z:0.02 [[ 9.85813649e-01 1.67731405e-01 -6.13387608e-03 4.54157953e+01] [-1.67729339e-01 9.85832714e-01 8.53394330e-04 -1.03707321e+00] [ 6.19011673e-03 1.87543204e-04 9.99980823e-01 2.09464816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530888479 meters 0.022270054828318724 Centerline is valid? [True, True] Translation: X:45.45, Y:-1.04, Z:0.02 [[ 9.85768742e-01 1.67995137e-01 -6.13360510e-03 4.54479031e+01] [-1.67993064e-01 9.85787806e-01 8.55340095e-04 -1.04163323e+00] [ 6.19012609e-03 1.87235582e-04 9.99980823e-01 2.09091742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.560888479 meters 0.02055662728589032 Centerline is valid? [True, True] Translation: X:45.48, Y:-1.05, Z:0.02 [[ 9.86283693e-01 1.64953255e-01 -5.90773793e-03 4.54783672e+01] [-1.64951278e-01 9.86301372e-01 8.23790047e-04 -1.05026725e+00] [ 5.96269688e-03 1.61998231e-04 9.99982210e-01 2.22025427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.590888479 meters 0.019953515633353222 Centerline is valid? [True, True] Translation: X:45.51, Y:-1.06, Z:0.02 [[ 9.86709550e-01 1.62405815e-01 -5.34923426e-03 4.55086981e+01] [-1.62404149e-01 9.86724041e-01 7.47331722e-04 -1.05662300e+00] [ 5.39958907e-03 1.31338488e-04 9.99985413e-01 2.26426313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.620888479 meters 0.01911101163944521 Centerline is valid? [True, True] Translation: X:45.54, Y:-1.06, Z:0.02 [[ 9.87101068e-01 1.60013962e-01 -5.19751548e-03 4.55403858e+01] [-1.60012349e-01 9.87114745e-01 7.27419123e-04 -1.06232457e+00] [ 5.24694138e-03 1.13630469e-04 9.99986228e-01 2.22973169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650888479 meters 0.01792318990789683 Centerline is valid? [True, True] Translation: X:45.57, Y:-1.07, Z:0.02 [[ 9.87780871e-01 1.55799048e-01 -3.95064483e-03 4.55716265e+01] [-1.55798081e-01 9.87788769e-01 5.53069154e-04 -1.06765599e+00] [ 3.98857024e-03 6.91917536e-05 9.99992043e-01 2.11438511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.680888479000004 meters 0.01742895929063525 Centerline is valid? [True, True] Translation: X:45.60, Y:-1.07, Z:0.02 [[ 9.87990836e-01 1.54465526e-01 -3.80899046e-03 4.56034663e+01] [-1.54464613e-01 9.87998177e-01 5.34398886e-04 -1.07348698e+00] [ 3.84582184e-03 6.03730358e-05 9.99992603e-01 2.02344395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710888479 meters 0.016950928512386516 Centerline is valid? [True, True] Translation: X:45.63, Y:-1.08, Z:0.02 [[ 9.88572579e-01 1.50649525e-01 -5.38309182e-03 4.56334145e+01] [-1.50647639e-01 9.88587233e-01 7.56341102e-04 -1.08250866e+00] [ 5.43559827e-03 6.32520014e-05 9.99985225e-01 2.01939364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.740888479 meters 0.016806622996586366 Centerline is valid? [True, True] Translation: X:45.66, Y:-1.09, Z:0.02 [[ 9.88821436e-01 1.48973291e-01 -6.25507189e-03 4.56635285e+01] [-1.48970703e-01 9.88841218e-01 8.80237676e-04 -1.08869091e+00] [ 6.31640481e-03 6.14245718e-05 9.99980049e-01 1.96398550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.770888479 meters 0.016662104910861786 Centerline is valid? [True, True] Translation: X:45.69, Y:-1.09, Z:0.02 [[ 9.89134639e-01 1.46849542e-01 -6.91932812e-03 4.56945124e+01] [-1.46846313e-01 9.89158839e-01 9.75232957e-04 -1.09385579e+00] [ 6.98752708e-03 5.14411250e-05 9.99975586e-01 1.84642364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.800888479 meters 0.016296790699521783 Centerline is valid? [True, True] Translation: X:45.73, Y:-1.10, Z:0.02 [[ 9.89382344e-01 1.45152862e-01 -7.29543828e-03 4.57265595e+01] [-1.45149213e-01 9.89409240e-01 1.03005609e-03 -1.09897496e+00] [ 7.36768963e-03 3.98078121e-05 9.99972857e-01 1.77896985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830888479 meters 0.01621635055909622 Centerline is valid? [True, True] Translation: X:45.76, Y:-1.10, Z:0.02 [[ 9.89526387e-01 1.44162427e-01 -7.39760670e-03 4.57580141e+01] [-1.44158632e-01 9.89554038e-01 1.04644174e-03 -1.10344087e+00] [ 7.47118916e-03 3.09471502e-05 9.99972090e-01 1.69742951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.860888479 meters 0.016185741499988665 Centerline is valid? [True, True] Translation: X:45.79, Y:-1.11, Z:0.02 [[ 9.89726245e-01 1.42851734e-01 -5.94491105e-03 4.57898884e+01] [-1.42849251e-01 9.89744099e-01 8.42450449e-04 -1.11047340e+00] [ 6.00428614e-03 1.54307692e-05 9.99981974e-01 1.98020425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890888479 meters 0.0161979632273804 Centerline is valid? [True, True] Translation: X:45.82, Y:-1.12, Z:0.02 [[ 9.89778548e-01 1.42541705e-01 -4.50418916e-03 4.58205986e+01] [-1.42540272e-01 9.89788797e-01 6.39353869e-04 -1.11582721e+00] [ 4.54933056e-03 9.20960243e-06 9.99989652e-01 2.19584090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.920888479 meters 0.016123110805435388 Centerline is valid? [True, True] Translation: X:45.85, Y:-1.12, Z:0.02 [[ 9.89848128e-01 1.42110110e-01 -2.32360144e-03 4.58524248e+01] [-1.42109726e-01 9.89850856e-01 3.30531106e-04 -1.11895632e+00] [ 2.34699068e-03 3.03076629e-06 9.99997246e-01 2.37145712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.950888479 meters 0.016080987913705394 Centerline is valid? [True, True] Translation: X:45.89, Y:-1.12, Z:0.02 [[ 9.89759798e-01 1.42729078e-01 -1.98830255e-03 4.58854411e+01] [-1.42728796e-01 9.89761795e-01 2.83469368e-04 -1.12165764e+00] [ 2.00840522e-03 3.22144535e-06 9.99997983e-01 2.39235659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.980888479 meters 0.016146845295578142 Centerline is valid? [True, True] Translation: X:45.92, Y:-1.12, Z:0.02 [[ 9.89681589e-01 1.43276080e-01 -1.52227678e-03 4.59169841e+01] [-1.43275915e-01 9.89682760e-01 2.17473588e-04 -1.12391551e+00] [ 1.53772984e-03 2.87599234e-06 9.99998818e-01 2.26738871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010888479 meters 0.016210806387819073 Centerline is valid? [True, True] Translation: X:45.95, Y:-1.13, Z:0.02 [[ 9.89589544e-01 1.43905000e-01 -1.97140360e-03 4.59501325e+01] [-1.43904723e-01 9.89591507e-01 2.82102952e-04 -1.12708681e+00] [ 1.99148028e-03 4.52815800e-06 9.99998017e-01 2.09959101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.040888479 meters 0.016147701778387473 Centerline is valid? [True, True] Translation: X:45.98, Y:-1.13, Z:0.02 [[ 9.89443928e-01 1.44848900e-01 -4.41701428e-03 4.59815443e+01] [-1.44847519e-01 9.89453787e-01 6.32681773e-04 -1.13081582e+00] [ 4.46207477e-03 1.37904234e-05 9.99990045e-01 1.96757713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070888479 meters 0.01612674098745924 Centerline is valid? [True, True] Translation: X:46.01, Y:-1.14, Z:0.02 [[ 9.89362550e-01 1.45369963e-01 -5.41459649e-03 4.60144458e+01] [-1.45367887e-01 9.89377367e-01 7.77093069e-04 -1.13593731e+00] [ 5.47004520e-03 1.82816702e-05 9.99985039e-01 2.04522616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.100888479 meters 0.016074573547828753 Centerline is valid? [True, True] Translation: X:46.05, Y:-1.14, Z:0.02 [[ 9.89286974e-01 1.45886852e-01 -5.32065972e-03 4.60469812e+01] [-1.45884847e-01 9.89301282e-01 7.65155089e-04 -1.14009610e+00] [ 5.37536154e-03 1.92456641e-05 9.99985552e-01 2.07850924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130888479 meters 0.016262902456007564 Centerline is valid? [True, True] Translation: X:46.08, Y:-1.14, Z:0.02 [[ 9.89235287e-01 1.46280477e-01 -3.94579452e-03 4.60787300e+01] [-1.46279376e-01 9.89243156e-01 5.67911375e-04 -1.14045467e+00] [ 3.98642457e-03 1.53903877e-05 9.99992054e-01 2.03503465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.160888479 meters 0.0162112527134595 Centerline is valid? [True, True] Translation: X:46.11, Y:-1.14, Z:0.02 [[ 9.89154918e-01 1.46836474e-01 -3.40566476e-03 4.61107722e+01] [-1.46835653e-01 9.89160781e-01 4.91219548e-04 -1.14198292e+00] [ 3.44087896e-03 1.41807771e-05 9.99994080e-01 1.98799577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.190888479 meters 0.01632519861349813 Centerline is valid? [True, True] Translation: X:46.14, Y:-1.14, Z:0.02 [[ 9.88947996e-01 1.48218473e-01 -3.62565391e-03 4.61439749e+01] [-1.48217548e-01 9.88954642e-01 5.23974521e-04 -1.14391308e+00] [ 3.66326996e-03 1.92019775e-05 9.99993290e-01 2.01731740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.220888479 meters 0.016184895173556556 Centerline is valid? [True, True] Translation: X:46.18, Y:-1.15, Z:0.02 [[ 9.88856690e-01 1.48809928e-01 -4.24879936e-03 4.61767617e+01] [-1.48808658e-01 9.88865817e-01 6.15169342e-04 -1.14877458e+00] [ 4.29303576e-03 2.39438116e-05 9.99990785e-01 1.99879036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250888479 meters 0.016150891153605372 Centerline is valid? [True, True] Translation: X:46.21, Y:-1.15, Z:0.02 [[ 9.88847860e-01 1.48844358e-01 -5.02657063e-03 4.62094786e+01] [-1.48842575e-01 9.88860635e-01 7.29153075e-04 -1.15432951e+00] [ 5.07910815e-03 2.71462563e-05 9.99987101e-01 2.01195957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.280888479 meters 0.01615185175998587 Centerline is valid? [True, True] Translation: X:46.24, Y:-1.16, Z:0.02 [[ 9.88903648e-01 1.48457061e-01 -5.48412024e-03 4.62416693e+01] [-1.48454924e-01 9.88918854e-01 7.97054730e-04 -1.15856712e+00] [ 5.54167831e-03 2.59343225e-05 9.99984644e-01 1.94541255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310888479 meters 0.016125452130189753 Centerline is valid? [True, True] Translation: X:46.27, Y:-1.16, Z:0.02 [[ 9.88935186e-01 1.48265176e-01 -4.96350763e-03 4.62737301e+01] [-1.48263419e-01 9.88947641e-01 7.22174478e-04 -1.15855439e+00] [ 5.01572249e-03 2.17228594e-05 9.99987421e-01 1.60523585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.340888479 meters 0.01620541835847214 Centerline is valid? [True, True] Translation: X:46.31, Y:-1.16, Z:0.02 [[ 9.88867206e-01 1.48727191e-01 -4.67678371e-03 4.63066755e+01] [-1.48725629e-01 9.88878265e-01 6.81883898e-04 -1.16201153e+00] [ 4.72618443e-03 2.12649747e-05 9.99988831e-01 1.59756437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.370888479 meters 0.01625296031681033 Centerline is valid? [True, True] Translation: X:46.34, Y:-1.17, Z:0.02 [[ 9.88802997e-01 1.49162392e-01 -4.38326552e-03 4.63397427e+01] [-1.49161019e-01 9.88812713e-01 6.40347798e-04 -1.16599508e+00] [ 4.42974448e-03 2.06345283e-05 9.99990188e-01 1.63855919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.400888479 meters 0.016420840539479266 Centerline is valid? [True, True] Translation: X:46.37, Y:-1.17, Z:0.02 [[ 9.88636582e-01 1.50264975e-01 -4.25974829e-03 4.63711868e+01] [-1.50263684e-01 9.88645759e-01 6.23407756e-04 -1.16869537e+00] [ 4.30505843e-03 2.37617559e-05 9.99990733e-01 1.60767690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430888479000004 meters 0.016529051671497402 Centerline is valid? [True, True] Translation: X:46.40, Y:-1.17, Z:0.02 [[ 9.88102817e-01 1.53746445e-01 -3.85394378e-03 4.64032069e+01] [-1.53745410e-01 9.88110333e-01 5.64970763e-04 -1.16936472e+00] [ 3.89498392e-03 3.42769658e-05 9.99992414e-01 1.73731628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.460888479 meters 0.016837549567446354 Centerline is valid? [True, True] Translation: X:46.43, Y:-1.17, Z:0.02 [[ 9.87678827e-01 1.56445417e-01 -3.91986413e-03 4.64348681e+01] [-1.56444365e-01 9.87686605e-01 5.75611534e-04 -1.17197462e+00] [ 3.96164908e-03 4.47213281e-05 9.99992152e-01 1.75639145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490888479 meters 0.017555521757550187 Centerline is valid? [True, True] Translation: X:46.47, Y:-1.17, Z:0.02 [[ 9.87222106e-01 1.59283382e-01 -4.61715110e-03 4.64658294e+01] [-1.59281948e-01 9.87232901e-01 6.78993271e-04 -1.17276360e+00] [ 4.66635582e-03 6.51116549e-05 9.99989110e-01 1.68653018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.520888479 meters 0.01847912827911294 Centerline is valid? [True, True] Translation: X:46.50, Y:-1.17, Z:0.01 [[ 9.86290324e-01 1.64899529e-01 -6.28831274e-03 4.64987989e+01] [-1.64896982e-01 9.86310362e-01 9.24923573e-04 -1.17150875e+00] [ 6.35474747e-03 1.24680622e-04 9.99979801e-01 1.37355714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.550888479 meters 0.019249817013277604 Centerline is valid? [True, True] Translation: X:46.53, Y:-1.17, Z:0.01 [[ 9.85897148e-01 1.67218248e-01 -6.69854458e-03 4.65298361e+01] [-1.67215411e-01 9.85919893e-01 9.85454628e-04 -1.17142852e+00] [ 6.76901436e-03 1.48542975e-04 9.99977079e-01 1.14547371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.580888479 meters 0.019646522705677936 Centerline is valid? [True, True] Translation: X:46.56, Y:-1.17, Z:0.01 [[ 9.85452435e-01 1.69830235e-01 -6.41788802e-03 4.65614996e+01] [-1.69827674e-01 9.85473321e-01 9.45863898e-04 -1.17393209e+00] [ 6.48529371e-03 1.57831114e-04 9.99978958e-01 1.04546494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610888479 meters 0.020417062042014114 Centerline is valid? [True, True] Translation: X:46.59, Y:-1.17, Z:0.01 [[ 9.84700165e-01 1.74137570e-01 -6.45693215e-03 4.65935676e+01] [-1.74135067e-01 9.84721317e-01 9.52238496e-04 -1.17445281e+00] [ 6.52409923e-03 1.86708907e-04 9.99978700e-01 9.67158550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.640888479 meters 0.021541653433464276 Centerline is valid? [True, True] Translation: X:46.63, Y:-1.18, Z:0.01 [[ 9.84277991e-01 1.76507218e-01 -6.48375470e-03 4.66251459e+01] [-1.76504734e-01 9.84299325e-01 9.57820136e-04 -1.17592044e+00] [ 6.55101754e-03 2.01652120e-04 9.99978522e-01 9.00285122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670888479 meters 0.02134787198470925 Centerline is valid? [True, True] Translation: X:46.66, Y:-1.18, Z:0.01 [[ 9.83871616e-01 1.78749248e-01 -6.73425240e-03 4.66568736e+01] [-1.78746609e-01 9.83894637e-01 9.96548180e-04 -1.18005342e+00] [ 6.80392706e-03 2.23249315e-04 9.99976828e-01 8.98276203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.700888479 meters 0.023176038429511304 Centerline is valid? [True, True] Translation: X:46.69, Y:-1.18, Z:0.01 [[ 9.83552367e-01 1.80500555e-01 -6.65512896e-03 4.66878971e+01] [-1.80498008e-01 9.83574855e-01 9.86375034e-04 -1.18075797e+00] [ 6.72385875e-03 2.31086020e-04 9.99977368e-01 8.89934697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.730888479 meters 0.024749575345901182 Centerline is valid? [True, True] Translation: X:46.72, Y:-1.19, Z:0.01 [[ 9.83124271e-01 1.82825313e-01 -6.44775874e-03 4.67181292e+01] [-1.82822972e-01 9.83145385e-01 9.55645867e-04 -1.18505017e+00] [ 6.51380050e-03 2.39279770e-04 9.99978756e-01 1.05873016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.760888479 meters 0.023960687602125788 Centerline is valid? [True, True] Translation: X:46.75, Y:-1.19, Z:0.01 [[ 9.82984001e-01 1.83615845e-01 -5.26073737e-03 4.67497227e+01] [-1.83614290e-01 9.82998058e-01 7.81250172e-04 -1.19146653e+00] [ 5.31474453e-03 1.97990136e-04 9.99985857e-01 1.19067639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790888479 meters 0.025010896183145743 Centerline is valid? [True, True] Translation: X:46.78, Y:-1.19, Z:0.01 [[ 9.83018969e-01 1.83481194e-01 -2.89115133e-03 4.67813823e+01] [-1.83480721e-01 9.83023214e-01 4.30109997e-04 -1.19167931e+00] [ 2.92098597e-03 1.07664246e-04 9.99995728e-01 1.09333629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.820888479 meters 0.023389522808623484 Centerline is valid? [True, True] Translation: X:46.81, Y:-1.20, Z:0.01 [[ 9.83062396e-01 1.83255913e-01 -2.36574096e-03 4.68126272e+01] [-1.83255594e-01 9.83065238e-01 3.52601480e-04 -1.19756238e+00] [ 2.39029401e-03 8.69060107e-05 9.99997139e-01 1.01263953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850888479 meters 0.023524407351427738 Centerline is valid? [True, True] Translation: X:46.84, Y:-1.20, Z:0.01 [[ 9.83120701e-01 1.82930294e-01 -3.19297582e-03 4.68442294e+01] [-1.82929710e-01 9.83125879e-01 4.76579333e-04 -1.20246089e+00] [ 3.22627796e-03 1.15555131e-04 9.99994789e-01 8.99803315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.880888479 meters 0.023969727205964037 Centerline is valid? [True, True] Translation: X:46.87, Y:-1.21, Z:0.01 [[ 9.83162860e-01 1.82685812e-01 -4.08476446e-03 4.68746184e+01] [-1.82684850e-01 9.83171334e-01 6.10510433e-04 -1.21058867e+00] [ 4.12755492e-03 1.45993401e-04 9.99991471e-01 9.73412055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.910888479 meters 0.022957153026266244 Centerline is valid? [True, True] Translation: X:46.91, Y:-1.22, Z:0.01 [[ 9.83164156e-01 1.82681197e-01 -3.97766449e-03 4.69053978e+01] [-1.82680280e-01 9.83172193e-01 5.95511273e-04 -1.21879216e+00] [ 4.01951783e-03 1.41155527e-04 9.99991912e-01 1.12890480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.940888479 meters 0.02286685800571176 Centerline is valid? [True, True] Translation: X:46.94, Y:-1.22, Z:0.01 [[ 9.83176364e-01 1.82626647e-01 -3.42718040e-03 4.69366337e+01] [-1.82625964e-01 9.83182330e-01 5.13981192e-04 -1.22468288e+00] [ 3.46340987e-03 1.20557962e-04 9.99993995e-01 1.15018399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970888479 meters 0.02301522587938308 Centerline is valid? [True, True] Translation: X:46.97, Y:-1.23, Z:0.01 [[ 9.83149603e-01 1.82777006e-01 -3.06986563e-03 4.69695046e+01] [-1.82776455e-01 9.83154390e-01 4.61323705e-04 -1.22933063e+00] [ 3.10247124e-03 1.07548939e-04 9.99995182e-01 1.14380523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.000888479 meters 0.02219153443224168 Centerline is valid? [True, True] Translation: X:47.00, Y:-1.23, Z:0.01 [[ 9.83057867e-01 1.83291168e-01 -1.25612359e-03 4.70019017e+01] [-1.83291076e-01 9.83058668e-01 1.89325658e-04 -1.23321239e+00] [ 1.26954491e-03 4.41181675e-05 9.99999193e-01 1.00175521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030888479 meters 0.02377946846669066 Centerline is valid? [True, True] Translation: X:47.03, Y:-1.23, Z:0.01 [[ 9.82971687e-01 1.83753130e-01 -1.20416135e-03 4.70337237e+01] [-1.83753045e-01 9.82972423e-01 1.81812003e-04 -1.23453057e+00] [ 1.21706593e-03 4.25522649e-05 9.99999258e-01 8.55452121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.060888479 meters 0.023425138072016877 Centerline is valid? [True, True] Translation: X:47.07, Y:-1.24, Z:0.01 [[ 9.82898774e-01 1.84143290e-01 -1.11756445e-03 4.70663540e+01] [-1.84143216e-01 9.82899409e-01 1.69082074e-04 -1.24032342e+00] [ 1.12958877e-03 3.96013495e-05 9.99999361e-01 7.86251302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.090888479 meters 0.023126300708699324 Centerline is valid? [True, True] Translation: X:47.10, Y:-1.25, Z:0.01 [[ 9.83044188e-01 1.83367513e-01 -6.92729715e-04 4.70977586e+01] [-1.83367485e-01 9.83044432e-01 1.05056231e-04 -1.24993044e+00] [ 7.00247989e-04 2.37491881e-05 9.99999755e-01 9.47847185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.120888479 meters 0.021884054909197186 Centerline is valid? [True, True] Translation: X:47.13, Y:-1.26, Z:0.01 [[ 9.83098938e-01 1.83073993e-01 -6.25869104e-04 4.71290397e+01] [-1.83073969e-01 9.83099137e-01 9.51083720e-05 -1.25916734e+00] [ 6.32703245e-04 2.10794017e-05 9.99999800e-01 1.09969256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150888479 meters 0.02124347779317384 Centerline is valid? [True, True] Translation: X:47.16, Y:-1.27, Z:0.01 [[ 9.83509786e-01 1.80854135e-01 5.31547555e-04 4.71611200e+01] [-1.80854118e-01 9.83509930e-01 -8.04781072e-05 -1.26511661e+00] [-5.37337097e-04 -1.69815582e-05 9.99999855e-01 1.08039238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.180888479000004 meters 0.021369446509415104 Centerline is valid? [True, True] Translation: X:47.19, Y:-1.27, Z:0.01 [[ 9.83690835e-01 1.79865978e-01 7.55234151e-04 4.71918243e+01] [-1.79865943e-01 9.83691125e-01 -1.14435527e-04 -1.26821144e+00] [-7.63500189e-04 -2.32717229e-05 9.99999708e-01 9.61129191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210888479 meters 0.02031778652634315 Centerline is valid? [True, True] Translation: X:47.22, Y:-1.27, Z:0.01 [[ 9.83830266e-01 1.79093447e-01 1.88292903e-03 4.72236116e+01] [-1.79093227e-01 9.83832066e-01 -2.85900520e-04 -1.27341396e+00] [-1.90368887e-03 -5.59422528e-05 9.99998186e-01 8.44125983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.240888479 meters 0.020548561274784185 Centerline is valid? [True, True] Translation: X:47.26, Y:-1.28, Z:0.01 [[ 9.83816896e-01 1.79166462e-01 1.92190885e-03 4.72560695e+01] [-1.79166233e-01 9.83818772e-01 -2.92337712e-04 -1.27935225e+00] [-1.94318712e-03 -5.67343879e-05 9.99998110e-01 9.16949483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.270888479 meters 0.02265199097458236 Centerline is valid? [True, True] Translation: X:47.29, Y:-1.28, Z:0.01 [[ 9.83798293e-01 1.79269829e-01 1.80171844e-03 4.72878209e+01] [-1.79269627e-01 9.83799942e-01 -2.74480314e-04 -1.28200925e+00] [-1.82173654e-03 -5.29601283e-05 9.99998339e-01 1.03843919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.300888479 meters 0.02025697297727358 Centerline is valid? [True, True] Translation: X:47.32, Y:-1.29, Z:0.01 [[ 9.83844656e-01 1.79021244e-01 1.04243928e-03 4.73187677e+01] [-1.79021177e-01 9.83845208e-01 -1.58902533e-04 -1.29294419e+00] [-1.05404582e-03 -3.02832985e-05 9.99999444e-01 1.10815139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330888479 meters 0.020737122243657796 Centerline is valid? [True, True] Translation: X:47.35, Y:-1.30, Z:0.01 [[ 9.83894806e-01 1.78745917e-01 9.52889469e-04 4.73498875e+01] [-1.78745860e-01 9.83895267e-01 -1.45470760e-04 -1.29733560e+00] [-9.63545743e-04 -2.71971222e-05 9.99999535e-01 1.15050719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.360888479 meters 0.019644821310440694 Centerline is valid? [True, True] Translation: X:47.38, Y:-1.30, Z:0.01 [[ 9.84087766e-01 1.77678372e-01 1.29018268e-03 4.73817634e+01] [-1.77678266e-01 9.84088611e-01 -1.97358043e-04 -1.30351417e+00] [-1.30472034e-03 -3.50197861e-05 9.99999148e-01 1.07555986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390888479 meters 0.019381163205953282 Centerline is valid? [True, True] Translation: X:47.41, Y:-1.31, Z:0.01 [[ 9.84194369e-01 1.77078980e-01 2.11615784e-03 4.74136915e+01] [-1.77078691e-01 9.84196643e-01 -3.24418155e-04 -1.30779140e+00] [-2.14016308e-03 -5.54359403e-05 9.99997708e-01 1.07938857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.420888479 meters 0.019381163205953282 Centerline is valid? [True, True] Translation: X:47.45, Y:-1.31, Z:0.01 [[ 9.84144914e-01 1.77353629e-01 2.11607336e-03 4.74457321e+01] [-1.77353340e-01 9.84147188e-01 -3.24968469e-04 -1.31278373e+00] [-2.14016199e-03 -5.54766120e-05 9.99997708e-01 1.07564790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.450888479 meters 0.01957510139155952 Centerline is valid? [True, True] Translation: X:47.48, Y:-1.32, Z:0.01 [[ 9.84114973e-01 1.77497000e-01 3.54041252e-03 4.74770139e+01] [-1.77496188e-01 9.84121337e-01 -5.44888704e-04 -1.31722071e+00] [-3.58091161e-03 -9.21765924e-05 9.99993584e-01 1.16081891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.480888479 meters 0.01966301372250744 Centerline is valid? [True, True] Translation: X:47.51, Y:-1.32, Z:0.01 [[ 9.84349101e-01 1.76162774e-01 4.85010279e-03 4.75074763e+01] [-1.76161227e-01 9.84361043e-01 -7.47712873e-04 -1.32276890e+00] [-4.90597141e-03 -1.18389564e-04 9.99987959e-01 1.36788108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.510888479 meters 0.01847361554690237 Centerline is valid? [True, True] Translation: X:47.54, Y:-1.33, Z:0.01 [[ 9.84511771e-01 1.75254866e-01 4.72275309e-03 4.75387736e+01] [-1.75253383e-01 9.84523093e-01 -7.29226700e-04 -1.32969360e+00] [-4.77746001e-03 -1.09746186e-04 9.99988582e-01 1.39074009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.540888479 meters 0.018105363922747843 Centerline is valid? [True, True] Translation: X:47.57, Y:-1.33, Z:0.01 [[ 9.84675998e-01 1.74323752e-01 4.94047271e-03 4.75709859e+01] [-1.74322114e-01 9.84688386e-01 -7.63482752e-04 -1.33479807e+00] [-4.99791928e-03 -1.09450508e-04 9.99987504e-01 1.35208949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570888479 meters 0.017937584755618546 Centerline is valid? [True, True] Translation: X:47.60, Y:-1.34, Z:0.01 [[ 9.84881397e-01 1.73154978e-01 5.09786186e-03 4.76021123e+01] [-1.73153214e-01 9.84894584e-01 -7.88896190e-04 -1.33990072e+00] [-5.15745784e-03 -1.05741982e-04 9.99986695e-01 1.39725652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.600888479 meters 0.017903539914752298 Centerline is valid? [True, True] Translation: X:47.63, Y:-1.35, Z:0.01 [[ 9.84804093e-01 1.73581024e-01 5.52503378e-03 4.76340143e+01] [-1.73578949e-01 9.84819585e-01 -8.56569337e-04 -1.34583227e+00] [-5.58984566e-03 -1.15476566e-04 9.99984370e-01 1.43535045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630888479 meters 0.018576795316249447 Centerline is valid? [True, True] Translation: X:47.66, Y:-1.35, Z:0.01 [[ 9.84662425e-01 1.74367527e-01 5.98958522e-03 4.76646261e+01] [-1.74365094e-01 9.84680633e-01 -9.30068920e-04 -1.34850865e+00] [-6.06000239e-03 -1.28570670e-04 9.99981630e-01 1.47844538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.660888479 meters 0.019420341338143843 Centerline is valid? [True, True] Translation: X:47.70, Y:-1.35, Z:0.01 [[ 9.84055230e-01 1.77679995e-01 8.06989331e-03 4.76971913e+01] [-1.77675682e-01 9.84088299e-01 -1.25394332e-03 -1.34845121e+00] [-8.16428822e-03 -1.99874322e-04 9.99966652e-01 1.38431297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.690888479 meters 0.020042024938925648 Centerline is valid? [True, True] Translation: X:47.73, Y:-1.35, Z:0.01 [[ 9.83696122e-01 1.79642887e-01 8.38885701e-03 4.77296819e+01] [-1.79638282e-01 9.83731866e-01 -1.30537576e-03 -1.35078893e+00] [-8.48688742e-03 -2.22866786e-04 9.99963961e-01 1.31121827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.720888479 meters 0.02077926964728018 Centerline is valid? [True, True] Translation: X:47.76, Y:-1.35, Z:0.01 [[ 9.82898042e-01 1.83998363e-01 7.48603080e-03 4.77612008e+01] [-1.83994818e-01 9.82926523e-01 -1.16536607e-03 -1.35162932e+00] [-7.57264367e-03 -2.31954853e-04 9.99971300e-01 1.11598488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750888479 meters 0.0234467233739723 Centerline is valid? [True, True] Translation: X:47.79, Y:-1.35, Z:0.01 [[ 9.82565434e-01 1.85789585e-01 6.88469755e-03 4.77923328e+01] [-1.85786629e-01 9.82589527e-01 -1.07199877e-03 -1.35105354e+00] [-6.96399791e-03 -2.25775814e-04 9.99975726e-01 1.13413053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.780888479 meters 0.024266159675442475 Centerline is valid? [True, True] Translation: X:47.82, Y:-1.35, Z:0.01 [[ 9.82276844e-01 1.87316573e-01 6.68607595e-03 4.78238121e+01] [-1.87313816e-01 9.82299572e-01 -1.04180160e-03 -1.35401118e+00] [-6.76287625e-03 -2.29056819e-04 9.99977105e-01 1.10650374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810888479 meters 0.02214024076919608 Centerline is valid? [True, True] Translation: X:47.86, Y:-1.36, Z:0.01 [[ 9.82155704e-01 1.87959348e-01 6.43862385e-03 4.78551650e+01] [-1.87956795e-01 9.82176783e-01 -1.00470939e-03 -1.36172360e+00] [-6.51271139e-03 -2.23402045e-04 9.99978767e-01 9.66882258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.840888479 meters 0.021536205761058944 Centerline is valid? [True, True] Translation: X:47.89, Y:-1.37, Z:0.01 [[ 9.82595188e-01 1.85725062e-01 3.59133012e-03 4.78866896e+01] [-1.85724252e-01 9.82601744e-01 -5.60696764e-04 -1.36692290e+00] [-3.63298269e-03 -1.16059159e-04 9.99993394e-01 6.83712595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.870888479 meters 0.02094021277236257 Centerline is valid? [True, True] Translation: X:47.92, Y:-1.37, Z:0.01 [[ 9.82948274e-01 1.83866442e-01 2.41283153e-03 4.79183952e+01] [-1.83866070e-01 9.82951233e-01 -3.77061165e-04 -1.37251983e+00] [-2.44102462e-03 -7.30062298e-05 9.99997018e-01 5.16277184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.900888479 meters 0.01997440014391324 Centerline is valid? [True, True] Translation: X:47.95, Y:-1.38, Z:0.00 [[ 9.83358580e-01 1.81669761e-01 1.41445265e-03 4.79495115e+01] [-1.81669630e-01 9.83359597e-01 -2.21276083e-04 -1.37946059e+00] [-1.43111476e-03 -3.93693552e-05 9.99998975e-01 4.06854163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930888479000004 meters 0.018566148191678643 Centerline is valid? [True, True] Translation: X:47.98, Y:-1.39, Z:0.00 [[ 9.84286600e-01 1.76573767e-01 1.26214810e-03 4.79797455e+01] [-1.76573658e-01 9.84287409e-01 -1.97708266e-04 -1.38869381e+00] [-1.27722657e-03 -2.82605099e-05 9.99999184e-01 3.96716254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.960888479 meters 0.017981659935613386 Centerline is valid? [True, True] Translation: X:48.01, Y:-1.39, Z:0.00 [[ 9.84696531e-01 1.74273056e-01 1.28229569e-03 4.80107603e+01] [-1.74272942e-01 9.84697365e-01 -2.00942539e-04 -1.39486911e+00] [-1.29769206e-03 -2.56020214e-05 9.99999158e-01 3.97122250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990888479 meters 0.01722272193665964 Centerline is valid? [True, True] Translation: X:48.04, Y:-1.40, Z:0.00 [[ 9.85058100e-01 1.72213402e-01 1.75631342e-03 4.80422671e+01] [-1.72213184e-01 9.85059665e-01 -2.75770880e-04 -1.40231373e+00] [-1.77756495e-03 -3.08099856e-05 9.99998420e-01 3.63042923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.020888479 meters 0.016773709509703045 Centerline is valid? [True, True] Translation: X:48.07, Y:-1.41, Z:0.00 [[ 9.85444236e-01 1.69976343e-01 2.77498619e-03 4.80738913e+01] [-1.69975788e-01 9.85448142e-01 -4.36594040e-04 -1.40841889e+00] [-2.80881564e-03 -4.14413826e-05 9.99996054e-01 3.53076671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.050888479 meters 0.016313712669406028 Centerline is valid? [True, True] Translation: X:48.10, Y:-1.42, Z:0.00 [[ 9.86120174e-01 1.65979944e-01 4.20254254e-03 4.81044654e+01] [-1.65978628e-01 9.86129128e-01 -6.62401563e-04 -1.41712991e+00] [-4.25419499e-03 -4.43247003e-05 9.99990950e-01 4.28467256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.080888479 meters 0.0162163303393055 Centerline is valid? [True, True] Translation: X:48.13, Y:-1.42, Z:0.00 [[ 9.86363366e-01 1.64517115e-01 4.62913105e-03 4.81345383e+01] [-1.64515497e-01 9.86374228e-01 -7.30763339e-04 -1.42353946e+00] [-4.68627864e-03 -4.07656091e-05 9.99989019e-01 4.85553893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110888479 meters 0.015911181207062863 Centerline is valid? [True, True] Translation: X:48.17, Y:-1.43, Z:0.00 [[ 9.86489949e-01 1.63765835e-01 4.28157530e-03 4.81656238e+01] [-1.63764439e-01 9.86499240e-01 -6.76896647e-04 -1.43017290e+00] [-4.33462333e-03 -3.34180414e-05 9.99990605e-01 4.85070169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.140888479 meters 0.015865332662219164 Centerline is valid? [True, True] Translation: X:48.20, Y:-1.44, Z:0.00 [[ 9.86344875e-01 1.64630935e-01 4.52126586e-03 4.81976280e+01] [-1.64629383e-01 9.86355237e-01 -7.16045712e-04 -1.43557809e+00] [-4.57745753e-03 -3.80651880e-05 9.99989523e-01 3.41613304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170888479 meters 0.016051517797455755 Centerline is valid? [True, True] Translation: X:48.23, Y:-1.44, Z:0.00 [[ 9.86027108e-01 1.66521618e-01 4.59278568e-03 4.82285797e+01] [-1.66520031e-01 9.86037803e-01 -7.28497367e-04 -1.43904691e+00] [-4.64997086e-03 -4.64726613e-05 9.99989188e-01 3.30646914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.200888479 meters 0.016567928850660756 Centerline is valid? [True, True] Translation: X:48.26, Y:-1.44, Z:0.00 [[ 9.85553178e-01 1.69311283e-01 4.31550002e-03 4.82596443e+01] [-1.69309904e-01 9.85562624e-01 -6.85478606e-04 -1.44257045e+00] [-4.36925478e-03 -5.50812747e-05 9.99990453e-01 2.76447976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.230888479 meters 0.017692756705473375 Centerline is valid? [True, True] Translation: X:48.29, Y:-1.45, Z:0.00 [[ 9.84515010e-01 1.75282123e-01 2.52420156e-03 4.82913678e+01] [-1.75281670e-01 9.84518245e-01 -4.01408392e-04 -1.44502074e+00] [-2.55548221e-03 -4.72536766e-05 9.99996734e-01 2.01340286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.260888479 meters 0.018069012549661975 Centerline is valid? [True, True] Translation: X:48.32, Y:-1.45, Z:0.00 [[ 9.83893070e-01 1.78748057e-01 1.88636005e-03 4.83231843e+01] [-1.78747809e-01 9.83894878e-01 -3.00353864e-04 -1.45013760e+00] [-1.90966766e-03 -4.16666414e-05 9.99998176e-01 1.21046090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290888479 meters 0.019469826378466656 Centerline is valid? [True, True] Translation: X:48.35, Y:-1.45, Z:0.00 [[ 9.83284126e-01 1.82073180e-01 1.29816059e-03 4.83546628e+01] [-1.82073065e-01 9.83284982e-01 -2.06930508e-04 -1.45247099e+00] [-1.31413831e-03 -3.28885939e-05 9.99999136e-01 7.32960666e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.320888479 meters 0.02148787047419636 Centerline is valid? [True, True] Translation: X:48.38, Y:-1.45, Z:0.00 [[ 9.82341962e-01 1.87083338e-01 2.02345123e-03 4.83848455e+01] [-1.87083069e-01 9.82344044e-01 -3.23025129e-04 -1.45330968e+00] [-2.04815788e-03 -6.12323259e-05 9.99997901e-01 6.93342398e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350888479 meters 0.022399777901311767 Centerline is valid? [True, True] Translation: X:48.42, Y:-1.46, Z:0.00 [[ 9.82113357e-01 1.88276986e-01 2.26511953e-03 4.84161537e+01] [-1.88276652e-01 9.82115966e-01 -3.61962217e-04 -1.45726061e+00] [-2.29275922e-03 -7.09811936e-05 9.99997369e-01 4.71099153e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.380888479 meters 0.020553972112771043 Centerline is valid? [True, True] Translation: X:48.45, Y:-1.47, Z:-0.00 [[ 9.82346638e-01 1.87066765e-01 1.05293838e-03 4.84475049e+01] [-1.87066691e-01 9.82347202e-01 -1.68367566e-04 -1.46790590e+00] [-1.06584704e-03 -3.15743856e-05 9.99999431e-01 -3.23427499e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.410888479 meters 0.020539185346825844 Centerline is valid? [True, True] Translation: X:48.48, Y:-1.47, Z:0.00 [[ 9.82654926e-01 1.85440859e-01 9.92459937e-04 4.84783817e+01] [-1.85440794e-01 9.82655426e-01 -1.58756197e-04 -1.47486879e+00] [-1.00468603e-03 -2.80399992e-05 9.99999495e-01 3.49945808e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.440888479 meters 0.0187308494013475 Centerline is valid? [True, True] Translation: X:48.51, Y:-1.49, Z:0.00 [[ 9.83026691e-01 1.83455388e-01 1.62669853e-03 4.85089775e+01] [-1.83455207e-01 9.83028036e-01 -2.60788790e-04 -1.48539370e+00] [-1.64693337e-03 -4.20639741e-05 9.99998643e-01 1.26137440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470888479 meters 0.018721031743051987 Centerline is valid? [True, True] Translation: X:48.54, Y:-1.49, Z:0.00 [[ 9.83401738e-01 1.81427724e-01 2.23671645e-03 4.85397835e+01] [-1.81427376e-01 9.83404280e-01 -3.59254170e-04 -1.49313743e+00] [-2.26477520e-03 -5.25104226e-05 9.99997434e-01 2.64777639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.500888479 meters 0.0173772715648544 Centerline is valid? [True, True] Translation: X:48.57, Y:-1.50, Z:0.00 [[ 9.83842273e-01 1.79019221e-01 2.54942620e-03 4.85711163e+01] [-1.79018759e-01 9.83845575e-01 -4.09932504e-04 -1.50380394e+00] [-2.58162749e-03 -5.30861897e-05 9.99996666e-01 4.35570324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530888479 meters 0.01701305650208826 Centerline is valid? [True, True] Translation: X:48.60, Y:-1.51, Z:0.01 [[ 9.84347584e-01 1.76207141e-01 3.29799220e-03 4.86007932e+01] [-1.76206351e-01 9.84353107e-01 -5.30937965e-04 -1.51314361e+00] [-3.33994393e-03 -5.84996662e-05 9.99994421e-01 5.54889502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.560888479 meters 0.017098658974039897 Centerline is valid? [True, True] Translation: X:48.63, Y:-1.52, Z:0.00 [[ 9.84410346e-01 1.75857373e-01 3.23343320e-03 4.86322591e+01] [-1.75856609e-01 9.84415655e-01 -5.21328040e-04 -1.51864513e+00] [-3.27472164e-03 -5.54198805e-05 9.99994637e-01 4.58947368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.590888479 meters 0.017505451276079602 Centerline is valid? [True, True] Translation: X:48.66, Y:-1.52, Z:0.00 [[ 9.84122403e-01 1.77486546e-01 1.27357977e-03 4.86626139e+01] [-1.77486429e-01 9.84123227e-01 -2.05482880e-04 -1.52434730e+00] [-1.28982987e-03 -2.38228188e-05 9.99999168e-01 2.36458566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.620888479 meters 0.01781409558300252 Centerline is valid? [True, True] Translation: X:48.69, Y:-1.53, Z:0.00 [[ 9.83832135e-01 1.79090435e-01 9.73022859e-04 4.86937908e+01] [-1.79090367e-01 9.83832616e-01 -1.57148829e-04 -1.53136974e+00] [-9.85435477e-04 -1.96509530e-05 9.99999514e-01 2.71393964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650888479 meters 0.018503344749626758 Centerline is valid? [True, True] Translation: X:48.72, Y:-1.54, Z:0.00 [[ 9.83481499e-01 1.81008240e-01 3.97925782e-04 4.87247222e+01] [-1.81008228e-01 9.83481579e-01 -6.42135563e-05 -1.53708127e+00] [-4.02975859e-04 -8.87499618e-06 9.99999919e-01 3.38077201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.680888479000004 meters 0.01955772435166954 Centerline is valid? [True, True] Translation: X:48.76, Y:-1.54, Z:0.00 [[ 9.82639478e-01 1.85525331e-01 -8.35376380e-05 4.87565651e+01] [-1.85525331e-01 9.82639482e-01 1.36215141e-05 -1.54132339e+00] [ 8.46145173e-05 2.11331043e-06 9.99999996e-01 3.02791044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710888479 meters 0.020912661014934723 Centerline is valid? [True, True] Translation: X:48.79, Y:-1.54, Z:0.00 [[ 9.82084177e-01 1.88441844e-01 -5.83848931e-04 4.87872547e+01] [-1.88441821e-01 9.82084350e-01 9.46993242e-05 -1.54305693e+00] [ 5.91234213e-04 1.70188479e-05 9.99999825e-01 2.43411368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.740888479 meters 0.022544493450128752 Centerline is valid? [True, True] Translation: X:48.82, Y:-1.54, Z:0.00 [[ 9.81438218e-01 1.91777248e-01 -7.15066542e-04 4.88180893e+01] [-1.91777215e-01 9.81438478e-01 1.15997669e-04 -1.54492892e+00] [ 7.24039533e-04 2.32889239e-05 9.99999738e-01 1.89163162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.770888479 meters 0.025147821215801513 Centerline is valid? [True, True] Translation: X:48.85, Y:-1.55, Z:0.00 [[ 9.80283223e-01 1.97581367e-01 -2.53115110e-03 4.88491288e+01] [-1.97580965e-01 9.80286486e-01 4.10522739e-04 -1.54863517e+00] [ 2.56236486e-03 9.76787218e-05 9.99996712e-01 1.96681505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.800888479 meters 0.02478347664812518 Centerline is valid? [True, True] Translation: X:48.88, Y:-1.56, Z:0.00 [[ 9.79884218e-01 1.99540050e-01 -3.26915852e-03 4.88802337e+01] [-1.99539386e-01 9.79889663e-01 5.31253496e-04 -1.55665842e+00] [ 3.30942099e-03 1.31758967e-04 9.99994515e-01 2.04881524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830888479 meters 0.02537762552786081 Centerline is valid? [True, True] Translation: X:48.91, Y:-1.56, Z:0.00 [[ 9.79611519e-01 2.00867638e-01 -3.66920962e-03 4.89113675e+01] [-2.00866810e-01 9.79618379e-01 5.96577088e-04 -1.56224804e+00] [ 3.71425821e-03 1.52608642e-04 9.99993090e-01 2.17044012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.860888479 meters 0.02727350385726266 Centerline is valid? [True, True] Translation: X:48.94, Y:-1.56, Z:0.00 [[ 9.79387768e-01 2.01953841e-01 -3.77446195e-03 4.89421909e+01] [-2.01952970e-01 9.79395028e-01 6.14651330e-04 -1.56437778e+00] [ 3.82082046e-03 1.60281805e-04 9.99992688e-01 1.56368687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890888479 meters 0.026019086162857002 Centerline is valid? [True, True] Translation: X:48.97, Y:-1.57, Z:-0.00 [[ 9.79091900e-01 2.03392793e-01 -3.22841706e-03 4.89740596e+01] [-2.03392160e-01 9.79097213e-01 5.26589378e-04 -1.57050055e+00] [ 3.26803863e-03 1.41055324e-04 9.99994650e-01 -3.97378425e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.920888479 meters 0.026782832563667182 Centerline is valid? [True, True] Translation: X:49.00, Y:-1.58, Z:-0.00 [[ 9.78985583e-01 2.03892483e-01 -3.88371438e-03 4.90042981e+01] [-2.03891568e-01 9.78993272e-01 6.34280092e-04 -1.57543114e+00] [ 3.93145519e-03 1.70905548e-04 9.99992257e-01 -9.43521470e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.950888479 meters 0.027020306083566363 Centerline is valid? [True, True] Translation: X:49.04, Y:-1.58, Z:-0.00 [[ 9.78920152e-01 2.04202868e-01 -4.06500637e-03 4.90366256e+01] [-2.04201864e-01 9.78928576e-01 6.65061324e-04 -1.58291982e+00] [ 4.11515833e-03 1.79039945e-04 9.99991517e-01 -2.80829572e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.980888479 meters 0.02785310561193171 Centerline is valid? [True, True] Translation: X:49.07, Y:-1.59, Z:0.00 [[ 9.79090918e-01 2.03369869e-01 -4.65518338e-03 4.90663937e+01] [-2.03368540e-01 9.79101964e-01 7.62057595e-04 -1.59204456e+00] [ 4.71287874e-03 2.00594177e-04 9.99988874e-01 2.45651396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.010888479 meters 0.02692496892478698 Centerline is valid? [True, True] Translation: X:49.10, Y:-1.60, Z:0.00 [[ 9.79546264e-01 2.01186269e-01 -3.63345287e-03 4.90968919e+01] [-2.01185445e-01 9.79552991e-01 5.94839892e-04 -1.59998742e+00] [ 3.67883324e-03 1.48324637e-04 9.99993222e-01 4.02293172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.040888479 meters 0.024983759383322833 Centerline is valid? [True, True] Translation: X:49.13, Y:-1.61, Z:0.00 [[ 9.79844082e-01 1.99744918e-01 -2.74654483e-03 4.91287860e+01] [-1.99744440e-01 9.79847925e-01 4.49950701e-04 -1.60733882e+00] [ 2.78107162e-03 1.07725528e-04 9.99996127e-01 3.38456240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070888479 meters 0.024558649668377168 Centerline is valid? [True, True] Translation: X:49.16, Y:-1.61, Z:0.00 [[ 9.79976143e-01 1.99102443e-01 -2.23072868e-03 4.91601220e+01] [-1.99102125e-01 9.79978678e-01 3.66188865e-04 -1.61288030e+00] [ 2.25897564e-03 8.52864686e-05 9.99997445e-01 2.24863984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.100888479 meters 0.02423811620492579 Centerline is valid? [True, True] Translation: X:49.19, Y:-1.62, Z:0.00 [[ 9.80135678e-01 1.98319130e-01 -1.89083488e-03 4.91912179e+01] [-1.98318898e-01 9.80137500e-01 3.10895714e-04 -1.61888417e+00] [ 1.91493474e-03 7.02683080e-05 9.99998164e-01 1.69904099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130888479 meters 0.023800547597623962 Centerline is valid? [True, True] Translation: X:49.22, Y:-1.63, Z:0.00 [[ 9.80517198e-01 1.96415642e-01 -2.63074639e-03 4.92211979e+01] [-1.96415186e-01 9.80520722e-01 4.33013967e-04 -1.62897543e+00] [ 2.66455207e-03 9.21409012e-05 9.99996446e-01 3.39202910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.160888479 meters 0.021459539294577987 Centerline is valid? [True, True] Translation: X:49.25, Y:-1.64, Z:0.01 [[ 9.80771378e-01 1.95141099e-01 -2.73028202e-03 4.92522726e+01] [-1.95140603e-01 9.80775174e-01 4.49661174e-04 -1.64062588e+00] [ 2.76554020e-03 9.17740705e-05 9.99996172e-01 5.09658078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.190888479 meters 0.021353585574547963 Centerline is valid? [True, True] Translation: X:49.28, Y:-1.65, Z:0.01 [[ 9.81145455e-01 1.93246782e-01 -3.04600363e-03 4.92826290e+01] [-1.93246154e-01 9.81150178e-01 5.02085289e-04 -1.64714329e+00] [ 3.08561337e-03 9.60097862e-05 9.99995235e-01 5.64948722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.220888479 meters 0.019820085440365027 Centerline is valid? [True, True] Translation: X:49.31, Y:-1.65, Z:0.00 [[ 9.81866239e-01 1.89546564e-01 -3.28462706e-03 4.93138302e+01] [-1.89545812e-01 9.81871729e-01 5.41583898e-04 -1.65352835e+00] [ 3.32773782e-03 9.08243588e-05 9.99994459e-01 3.97541876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250888479 meters 0.020490795823652687 Centerline is valid? [True, True] Translation: X:49.35, Y:-1.66, Z:0.00 [[ 9.82108580e-01 1.88282291e-01 -3.53785246e-03 4.93451939e+01] [-1.88281407e-01 9.82114948e-01 5.84320704e-04 -1.65639170e+00] [ 3.58459503e-03 9.22454632e-05 9.99993571e-01 2.39330315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.280888479 meters 0.01852060283089689 Centerline is valid? [True, True] Translation: X:49.38, Y:-1.67, Z:0.00 [[ 9.82870762e-01 1.84247244e-01 -4.24478990e-03 4.93751621e+01] [-1.84245934e-01 9.82879924e-01 7.00958889e-04 -1.66604448e+00] [ 4.30126852e-03 9.31332812e-05 9.99990745e-01 2.34844374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310888479 meters 0.017971496935483184 Centerline is valid? [True, True] Translation: X:49.41, Y:-1.67, Z:0.00 [[ 9.83326852e-01 1.81777154e-01 -5.03662802e-03 4.94068195e+01] [-1.81775275e-01 9.83339746e-01 8.32218595e-04 -1.67438780e+00] [ 5.10399484e-03 9.71915526e-05 9.99986970e-01 2.41013688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.340888479 meters 0.017971496935483184 Centerline is valid? [True, True] Translation: X:49.44, Y:-1.68, Z:0.00 [[ 9.83276460e-01 1.82049549e-01 -5.03636155e-03 4.94387849e+01] [-1.82047665e-01 9.83289353e-01 8.33829990e-04 -1.67974751e+00] [ 5.10399906e-03 9.69724614e-05 9.99986970e-01 2.37280976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.370888479 meters 0.0174936991479328 Centerline is valid? [True, True] Translation: X:49.47, Y:-1.69, Z:0.00 [[ 9.83706008e-01 1.79673770e-01 -6.31082319e-03 4.94703127e+01] [-1.79670754e-01 9.83726245e-01 1.04627028e-03 -1.68742829e+00] [ 6.39610973e-03 1.04648002e-04 9.99979539e-01 2.43640498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.400888479 meters 0.016711371597216047 Centerline is valid? [True, True] Translation: X:49.50, Y:-1.70, Z:0.00 [[ 9.84678604e-01 1.74262749e-01 -6.36718819e-03 4.95010212e+01] [-1.74259556e-01 9.84699187e-01 1.05717066e-03 -1.69564981e+00] [ 6.45399050e-03 6.85700582e-05 9.99979170e-01 2.24834211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430888479000004 meters 0.016313012193414127 Centerline is valid? [True, True] Translation: X:49.53, Y:-1.70, Z:0.00 [[ 9.85193047e-01 1.71363839e-01 -5.39392410e-03 4.95327659e+01] [-1.71361497e-01 9.85207812e-01 8.96934230e-04 -1.70260464e+00] [ 5.46783825e-03 4.06575413e-05 9.99985050e-01 2.72959852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.460888479 meters 0.016082561765370457 Centerline is valid? [True, True] Translation: X:49.56, Y:-1.71, Z:0.00 [[ 9.85744690e-01 1.68173015e-01 -5.02434361e-03 4.95642362e+01] [-1.68170935e-01 9.85757494e-01 8.36711932e-04 -1.70981088e+00] [ 5.09349673e-03 2.01642173e-05 9.99987028e-01 2.84440371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490888479 meters 0.015933379481007457 Centerline is valid? [True, True] Translation: X:49.59, Y:-1.72, Z:0.00 [[ 9.86269964e-01 1.65079748e-01 -4.49834816e-03 4.95945787e+01] [-1.65078044e-01 9.86280222e-01 7.50128219e-04 -1.71715317e+00] [ 4.56046280e-03 2.74958323e-06 9.99989601e-01 2.91783811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.520888479 meters 0.01607041234639581 Centerline is valid? [True, True] Translation: X:49.63, Y:-1.73, Z:0.01 [[ 9.87147214e-01 1.59787127e-01 -2.90709996e-03 4.96259309e+01] [-1.59786389e-01 9.87151495e-01 4.85713042e-04 -1.72739219e+00] [ 2.94735877e-03 -1.49552704e-05 9.99995656e-01 6.13763751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.550888479 meters 0.016226128652062036 Centerline is valid? [True, True] Translation: X:49.66, Y:-1.73, Z:0.01 [[ 9.87376226e-01 1.58385783e-01 -1.46009506e-03 4.96576748e+01] [-1.58385594e-01 9.87377306e-01 2.44493148e-04 -1.73412107e+00] [ 1.48038897e-03 -1.01486973e-05 9.99998904e-01 9.09451416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.580888479 meters 0.016575974524369954 Centerline is valid? [True, True] Translation: X:49.69, Y:-1.74, Z:0.01 [[ 9.87750625e-01 1.56040235e-01 3.84059822e-04 4.96880210e+01] [-1.56040222e-01 9.87750700e-01 -6.40572648e-05 -1.74006862e+00] [-3.89350869e-04 3.34382367e-06 9.99999924e-01 1.20711717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610888479 meters 0.016604063880163302 Centerline is valid? [True, True] Translation: X:49.72, Y:-1.74, Z:0.01 [[ 9.87782595e-01 1.55837393e-01 5.02054862e-04 4.97204819e+01] [-1.55837370e-01 9.87782723e-01 -8.38974272e-05 -1.74322833e+00] [-5.08995475e-04 4.63350872e-06 9.99999870e-01 1.18025557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.640888479 meters 0.016603962801554375 Centerline is valid? [True, True] Translation: X:49.75, Y:-1.75, Z:0.01 [[ 9.87775964e-01 1.55880177e-01 1.24853947e-04 4.97530505e+01] [-1.55880175e-01 9.87775972e-01 -2.06551119e-05 -1.74615000e+00] [-1.26547452e-04 9.40367898e-07 9.99999992e-01 1.05234543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670888479 meters 0.018421022657161074 Centerline is valid? [True, True] Translation: X:49.79, Y:-1.75, Z:0.01 [[ 9.87794996e-01 1.55755647e-01 -1.10637482e-03 4.97864726e+01] [-1.55755536e-01 9.87795616e-01 1.86567688e-04 -1.74809449e+00] [ 1.12193117e-03 -1.19666258e-05 9.99999371e-01 6.30754514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.700888479 meters 0.016817899036272017 Centerline is valid? [True, True] Translation: X:49.82, Y:-1.75, Z:0.01 [[ 9.87762159e-01 1.55959091e-01 -1.63662095e-03 4.98188469e+01] [-1.55958847e-01 9.87763515e-01 2.76306282e-04 -1.75205064e+00] [ 1.65968694e-03 -1.76793727e-05 9.99998623e-01 8.89570886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.730888479 meters 0.017048482075119394 Centerline is valid? [True, True] Translation: X:49.85, Y:-1.75, Z:0.01 [[ 9.87904245e-01 1.55037800e-01 -2.91269669e-03 4.98499778e+01] [-1.55037022e-01 9.87908538e-01 4.92102798e-04 -1.75479731e+00] [ 2.95377247e-03 -3.45746200e-05 9.99995637e-01 9.18422960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.760888479 meters 0.01733001416405007 Centerline is valid? [True, True] Translation: X:49.88, Y:-1.76, Z:0.01 [[ 9.87898194e-01 1.55053647e-01 -3.94010640e-03 4.98818014e+01] [-1.55052221e-01 9.87906050e-01 6.66680925e-04 -1.75855254e+00] [ 3.99582626e-03 -4.76906331e-05 9.99992016e-01 7.90224274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790888479 meters 0.017359677297759047 Centerline is valid? [True, True] Translation: X:49.91, Y:-1.76, Z:0.01 [[ 9.87884065e-01 1.55094691e-01 -5.54169130e-03 4.99141993e+01] [-1.55091864e-01 9.87899606e-01 9.38916685e-04 -1.76073003e+00] [ 5.62025565e-03 -6.80695992e-05 9.99984204e-01 6.03201506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.820888479 meters 0.01841288812221042 Centerline is valid? [True, True] Translation: X:49.95, Y:-1.76, Z:0.00 [[ 9.87844977e-01 1.55300148e-01 -6.64567667e-03 4.99471874e+01] [-1.55296076e-01 9.87867328e-01 1.12769263e-03 -1.75889792e+00] [ 6.74017769e-03 -8.19379937e-05 9.99977281e-01 6.32895440e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850888479 meters 0.017643248156993304 Centerline is valid? [True, True] Translation: X:49.98, Y:-1.76, Z:0.00 [[ 9.87795271e-01 1.55623165e-01 -6.47555150e-03 4.99803815e+01] [-1.55619293e-01 9.87816493e-01 1.10066249e-03 -1.76130080e+00] [ 6.56794515e-03 -7.95084565e-05 9.99978428e-01 1.41619192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.880888479 meters 0.019356625414258453 Centerline is valid? [True, True] Translation: X:50.01, Y:-1.76, Z:0.00 [[ 9.87912167e-01 1.54897643e-01 -6.02250280e-03 5.00132711e+01] [-1.54894270e-01 9.87930521e-01 1.02535823e-03 -1.76326058e+00] [ 6.10863990e-03 -8.01126900e-05 9.99981339e-01 8.45199541e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.910888479 meters 0.018040279305471477 Centerline is valid? [True, True] Translation: X:50.05, Y:-1.77, Z:0.00 [[ 9.87877108e-01 1.55128418e-01 -5.83035099e-03 5.00459282e+01] [-1.55125251e-01 9.87894310e-01 9.94272156e-04 -1.76599386e+00] [ 5.91401043e-03 -7.77840427e-05 9.99982509e-01 2.36601138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.940888479 meters 0.01994481229784084 Centerline is valid? [True, True] Translation: X:50.08, Y:-1.77, Z:0.00 [[ 9.87932308e-01 1.54766894e-01 -6.07982421e-03 5.00771329e+01] [-1.54763439e-01 9.87951012e-01 1.03744239e-03 -1.76753962e+00] [ 6.16713022e-03 -8.39883488e-05 9.99980980e-01 2.28464440e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970888479 meters 0.018328694344956226 Centerline is valid? [True, True] Translation: X:50.11, Y:-1.76, Z:0.00 [[ 9.87684816e-01 1.56397773e-01 -4.29435375e-03 5.01094231e+01] [-1.56396062e-01 9.87694150e-01 7.33411699e-04 -1.76367905e+00] [ 4.35621203e-03 -5.27595847e-05 9.99990510e-01 1.48888115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.000888479 meters 0.019966912161943174 Centerline is valid? [True, True] Translation: X:50.14, Y:-1.77, Z:-0.00 [[ 9.87521002e-01 1.57448288e-01 -3.50827807e-03 5.01421590e+01] [-1.57447150e-01 9.87527232e-01 6.00127150e-04 -1.76520153e+00] [ 3.55900912e-03 -4.02697812e-05 9.99993666e-01 -1.01666110e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030888479 meters 0.017876978144297187 Centerline is valid? [True, True] Translation: X:50.18, Y:-1.76, Z:0.00 [[ 9.86845394e-01 1.61646585e-01 -2.55910515e-03 5.01755404e+01] [-1.61645992e-01 9.86848712e-01 4.38480901e-04 -1.76168449e+00] [ 2.59632856e-03 -1.90437680e-05 9.99996629e-01 2.92430060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.060888479 meters 0.0180211790987123 Centerline is valid? [True, True] Translation: X:50.21, Y:-1.76, Z:0.00 [[ 9.86574287e-01 1.63303286e-01 -1.79224175e-03 5.02065780e+01] [-1.63302997e-01 9.86575915e-01 3.07557272e-04 -1.76337447e+00] [ 1.81840766e-03 -1.07496468e-05 9.99998347e-01 2.80810291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.090888479 meters 0.01802991372373316 Centerline is valid? [True, True] Translation: X:50.24, Y:-1.76, Z:0.00 [[ 9.86299782e-01 1.64959321e-01 -1.07780160e-03 5.02386299e+01] [-1.64959217e-01 9.86300371e-01 1.85343779e-04 -1.76351993e+00] [ 1.09361031e-03 -5.01121989e-06 9.99999402e-01 2.81505800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.120888479 meters 0.020855554933593718 Centerline is valid? [True, True] Translation: X:50.27, Y:-1.76, Z:-0.00 [[ 9.85925313e-01 1.67179911e-01 -1.46754291e-03 5.02727843e+01] [-1.67179720e-01 9.85926406e-01 2.52717801e-04 -1.76028097e+00] [ 1.48913865e-03 -3.81746422e-06 9.99998891e-01 -1.13522518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150888479 meters 0.019944794503813024 Centerline is valid? [True, True] Translation: X:50.31, Y:-1.76, Z:-0.00 [[ 9.85555913e-01 1.69342439e-01 -1.63746704e-03 5.03062940e+01] [-1.69342203e-01 9.85557273e-01 2.82399435e-04 -1.76101267e+00] [ 1.66163976e-03 -1.02815732e-06 9.99998619e-01 -1.46992941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.180888479000004 meters 0.01829987406386386 Centerline is valid? [True, True] Translation: X:50.34, Y:-1.76, Z:-0.00 [[ 9.85127350e-01 1.71819236e-01 -1.50121405e-03 5.03394299e+01] [-1.71819040e-01 9.85128494e-01 2.59343821e-04 -1.76175223e+00] [ 1.52344900e-03 2.45046563e-06 9.99998840e-01 -4.84977839e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210888479 meters 0.020649502155425225 Centerline is valid? [True, True] Translation: X:50.37, Y:-1.76, Z:-0.00 [[ 9.84790202e-01 1.73732805e-01 -2.27403827e-03 5.03713040e+01] [-1.73732360e-01 9.84792827e-01 3.93259780e-04 -1.76282321e+00] [ 2.30777870e-03 7.79565828e-06 9.99997337e-01 -2.86494042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.240888479 meters 0.021144534085005693 Centerline is valid? [True, True] Translation: X:50.40, Y:-1.76, Z:-0.00 [[ 9.83969290e-01 1.78270972e-01 -4.88837707e-03 5.04038951e+01] [-1.78268968e-01 9.83981432e-01 8.46176363e-04 -1.76169501e+00] [ 4.96092095e-03 3.88343802e-05 9.99987694e-01 -4.20890693e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.270888479 meters 0.023006055232861772 Centerline is valid? [True, True] Translation: X:50.44, Y:-1.76, Z:-0.01 [[ 9.83603785e-01 1.80236083e-01 -6.20869102e-03 5.04362227e+01] [-1.80232880e-01 9.83623379e-01 1.07614134e-03 -1.76378454e+00] [ 6.30097314e-03 6.05135661e-05 9.99980147e-01 -6.00792055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.300888479 meters 0.02287231818929801 Centerline is valid? [True, True] Translation: X:50.47, Y:-1.76, Z:-0.01 [[ 9.82829342e-01 1.84380328e-01 -7.09784647e-03 5.04696113e+01] [-1.84376238e-01 9.82854966e-01 1.23199085e-03 -1.76078354e+00] [ 7.20330853e-03 9.78374712e-05 9.99974051e-01 -7.76606119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.330888479 meters 0.023399522353114745 Centerline is valid? [True, True] Translation: X:50.50, Y:-1.76, Z:-0.01 [[ 9.82378338e-01 1.86791214e-01 -6.46870131e-03 5.05015734e+01] [-1.86787860e-01 9.82399629e-01 1.12427451e-03 -1.76037068e+00] [ 6.56485437e-03 1.03811944e-04 9.99978446e-01 -9.15369199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.360888479 meters 0.02307934265842356 Centerline is valid? [True, True] Translation: X:50.53, Y:-1.76, Z:-0.01 [[ 9.81959392e-01 1.89001614e-01 -5.84315711e-03 5.05335200e+01] [-1.88998907e-01 9.81976771e-01 1.01698831e-03 -1.76358218e+00] [ 5.93005698e-03 1.05709090e-04 9.99982411e-01 -7.93714668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390888479 meters 0.02515175316641073 Centerline is valid? [True, True] Translation: X:50.57, Y:-1.77, Z:-0.00 [[ 9.81393599e-01 1.91960793e-01 -4.20211468e-03 5.05651225e+01] [-1.91959416e-01 9.81402591e-01 7.32504354e-04 -1.76811622e+00] [ 4.26457835e-03 8.77603934e-05 9.99990903e-01 -4.90583710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.420888479 meters 0.022366225477757313 Centerline is valid? [True, True] Translation: X:50.60, Y:-1.77, Z:-0.00 [[ 9.80960222e-01 1.94191038e-01 -2.62387237e-03 5.05968344e+01] [-1.94190506e-01 9.80963729e-01 4.58152079e-04 -1.77147856e+00] [ 2.66289265e-03 6.01021387e-05 9.99996453e-01 -2.13615089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.450888479 meters 0.02369250370424526 Centerline is valid? [True, True] Translation: X:50.63, Y:-1.77, Z:-0.00 [[ 9.80545446e-01 1.96276323e-01 -2.49676118e-03 5.06291246e+01] [-1.96275847e-01 9.80548623e-01 4.36593190e-04 -1.77418492e+00] [ 2.53388864e-03 6.19544507e-05 9.99996788e-01 -2.83955801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.480888479 meters 0.025425656451501678 Centerline is valid? [True, True] Translation: X:50.66, Y:-1.77, Z:-0.00 [[ 9.79748372e-01 2.00222157e-01 -2.05319012e-03 5.06619091e+01] [-2.00221844e-01 9.79750522e-01 3.59025976e-04 -1.77362458e+00] [ 2.08349905e-03 5.93383953e-05 9.99997828e-01 -4.10833922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.510888479 meters 0.027669493267635258 Centerline is valid? [True, True] Translation: X:50.69, Y:-1.78, Z:-0.00 [[ 9.79339305e-01 2.02217798e-01 -1.57696946e-03 5.06941442e+01] [-2.02217615e-01 9.79340574e-01 2.76370583e-04 -1.77686178e+00] [ 1.60027723e-03 4.82304288e-05 9.99998718e-01 -4.47781633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.540888479 meters 0.028526039112339974 Centerline is valid? [True, True] Translation: X:50.72, Y:-1.78, Z:-0.00 [[ 9.78465053e-01 2.06412518e-01 1.07950810e-04 5.07240822e+01] [-2.06412517e-01 9.78465059e-01 -1.88993582e-05 -1.77773311e+00] [-1.09527160e-04 -3.79003683e-06 9.99999994e-01 -1.95367537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570888479 meters 0.027793316323488408 Centerline is valid? [True, True] Translation: X:50.76, Y:-1.78, Z:-0.00 [[ 9.78008402e-01 2.08564774e-01 5.47611067e-04 5.07552431e+01] [-2.08564753e-01 9.78008556e-01 -9.57373224e-05 -1.78331380e+00] [-5.55535741e-04 -2.05804611e-05 9.99999845e-01 -5.54177416e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.600888479 meters 0.026605804855689363 Centerline is valid? [True, True] Translation: X:50.79, Y:-1.79, Z:0.00 [[ 9.77533769e-01 2.10777486e-01 7.63154496e-04 5.07869557e+01] [-2.10777446e-01 9.77534066e-01 -1.33757761e-04 -1.78807493e+00] [-7.74202642e-04 -3.01030276e-05 9.99999700e-01 1.04520548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630888479 meters 0.030178170532207654 Centerline is valid? [True, True] Translation: X:50.82, Y:-1.79, Z:-0.00 [[ 9.77108231e-01 2.12742804e-01 5.99145817e-05 5.08185634e+01] [-2.12742804e-01 9.77108233e-01 -1.02581256e-05 -1.79116706e+00] [-6.07253734e-05 -2.72309715e-06 9.99999998e-01 -1.76543698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.660888479 meters 0.030725897887907583 Centerline is valid? [True, True] Translation: X:50.85, Y:-1.79, Z:-0.00 [[ 9.75941880e-01 2.18025637e-01 -1.50582246e-03 5.08499728e+01] [-2.18025488e-01 9.75943040e-01 2.64470736e-04 -1.79045180e+00] [ 1.52725835e-03 7.01996101e-05 9.99998831e-01 -4.01763973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.690888479 meters 0.03233484294077699 Centerline is valid? [True, True] Translation: X:50.88, Y:-1.79, Z:-0.01 [[ 9.75436175e-01 2.20264872e-01 -2.76682359e-03 5.08817184e+01] [-2.20264376e-01 9.75440089e-01 4.86193914e-04 -1.79437174e+00] [ 2.80596209e-03 1.35181542e-04 9.99996054e-01 -6.44098815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.720888479 meters 0.033431889918265 Centerline is valid? [True, True] Translation: X:50.91, Y:-1.80, Z:-0.01 [[ 9.74860560e-01 2.22781534e-01 -3.90864993e-03 5.09129459e+01] [-2.22780562e-01 9.74868375e-01 6.87884562e-04 -1.79891895e+00] [ 3.96366719e-03 2.00179699e-04 9.99992125e-01 -7.23503504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750888479 meters 0.033924482113324 Centerline is valid? [True, True] Translation: X:50.94, Y:-1.81, Z:-0.01 [[ 9.74413773e-01 2.24710344e-01 -4.80208654e-03 5.09444372e+01] [-2.24708900e-01 9.74425572e-01 8.45230866e-04 -1.80727868e+00] [ 4.86920804e-03 2.55466983e-04 9.99988113e-01 -7.33251935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.780888479 meters 0.0313552223113732 Centerline is valid? [True, True] Translation: X:50.98, Y:-1.81, Z:-0.01 [[ 9.74111315e-01 2.26032373e-01 -4.06357867e-03 5.09762196e+01] [-2.26031345e-01 9.74119766e-01 7.16496248e-04 -1.81358231e+00] [ 4.12036365e-03 2.20549051e-04 9.99991487e-01 -5.62649194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810888479 meters 0.034387260005658594 Centerline is valid? [True, True] Translation: X:51.01, Y:-1.81, Z:-0.01 [[ 9.74098093e-01 2.26092468e-01 -3.88594399e-03 5.10076142e+01] [-2.26091525e-01 9.74105822e-01 6.86075905e-04 -1.81420354e+00] [ 3.94043726e-03 2.10273769e-04 9.99992214e-01 -6.27166389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.840888479 meters 0.03313105791776104 Centerline is valid? [True, True] Translation: X:51.04, Y:-1.82, Z:-0.01 [[ 9.74243209e-01 2.25459575e-01 -4.26017094e-03 5.10382756e+01] [-2.25458431e-01 9.74252497e-01 7.53181417e-04 -1.82346316e+00] [ 4.32029414e-03 2.26709576e-04 9.99990642e-01 -7.32891706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.870888479 meters 0.035322247431547306 Centerline is valid? [True, True] Translation: X:51.07, Y:-1.83, Z:-0.01 [[ 9.74507074e-01 2.24266742e-01 -6.35540992e-03 5.10684116e+01] [-2.24264167e-01 9.74527742e-01 1.12424367e-03 -1.83076749e+00] [ 6.44565374e-03 3.29707301e-04 9.99979172e-01 -9.65460841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.900888479 meters 0.035519878629118665 Centerline is valid? [True, True] Translation: X:51.10, Y:-1.84, Z:-0.01 [[ 9.74681839e-01 2.23527990e-01 -5.52724757e-03 5.10984367e+01] [-2.23526022e-01 9.74697470e-01 9.79084721e-04 -1.83952370e+00] [ 5.60624706e-03 2.81187568e-04 9.99984245e-01 -8.81097882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930888479000004 meters 0.03196725030838325 Centerline is valid? [True, True] Translation: X:51.13, Y:-1.86, Z:-0.01 [[ 9.74908949e-01 2.22551101e-01 -4.85263790e-03 5.11283762e+01] [-2.22549566e-01 9.74920997e-01 8.60902395e-04 -1.85554422e+00] [ 4.92253335e-03 2.40651010e-04 9.99987855e-01 -8.13630565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.960888479 meters 0.030631084343530034 Centerline is valid? [True, True] Translation: X:51.16, Y:-1.86, Z:-0.01 [[ 9.74976612e-01 2.22270578e-01 -4.04915940e-03 5.11588019e+01] [-2.22269503e-01 9.74985000e-01 7.19341444e-04 -1.86249652e+00] [ 4.10775811e-03 1.98663564e-04 9.99991543e-01 -6.28216456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990888479 meters 0.0310368028038006 Centerline is valid? [True, True] Translation: X:51.19, Y:-1.87, Z:-0.01 [[ 9.75397172e-01 2.20421331e-01 -3.84629918e-03 5.11884118e+01] [-2.20420347e-01 9.75404739e-01 6.83230510e-04 -1.87407960e+00] [ 3.90229703e-03 1.81381492e-04 9.99992370e-01 -6.04370353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.020888479 meters 0.029338258400867994 Centerline is valid? [True, True] Translation: X:51.22, Y:-1.88, Z:-0.00 [[ 9.75351145e-01 2.20631884e-01 -3.42269621e-03 5.12191788e+01] [-2.20631102e-01 9.75357138e-01 6.09181174e-04 -1.88128481e+00] [ 3.47275597e-03 1.60987680e-04 9.99993957e-01 -3.77236095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.050888479 meters 0.03259008840950934 Centerline is valid? [True, True] Translation: X:51.25, Y:-1.89, Z:-0.01 [[ 9.75240925e-01 2.21115482e-01 -3.61685195e-03 5.12499661e+01] [-2.21114609e-01 9.75247617e-01 6.44512841e-04 -1.88699662e+00] [ 3.66983801e-03 1.71183505e-04 9.99993251e-01 -6.09204447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.080888479 meters 0.031176378428087317 Centerline is valid? [True, True] Translation: X:51.28, Y:-1.90, Z:-0.01 [[ 9.74960149e-01 2.22336782e-01 -4.36608630e-03 5.12812605e+01] [-2.22335517e-01 9.74969902e-01 7.79111560e-04 -1.89676769e+00] [ 4.43002790e-03 2.11133335e-04 9.99990165e-01 -7.11833992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110888479 meters 0.031676903864212125 Centerline is valid? [True, True] Translation: X:51.31, Y:-1.90, Z:-0.01 [[ 9.74291383e-01 2.25246691e-01 -4.49770304e-03 5.13106333e+01] [-2.25245379e-01 9.74301737e-01 8.02791279e-04 -1.90219256e+00] [ 4.56294596e-03 2.30934200e-04 9.99989563e-01 -7.10351312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.140888479 meters 0.03376859314494649 Centerline is valid? [True, True] Translation: X:51.34, Y:-1.91, Z:-0.01 [[ 9.74005324e-01 2.26447638e-01 -5.92414126e-03 5.13402675e+01] [-2.26445374e-01 9.74023291e-01 1.05887922e-03 -1.91454990e+00] [ 6.01003226e-03 3.10140388e-04 9.99981892e-01 -8.43400962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170888479 meters 0.03376859314494649 Centerline is valid? [True, True] Translation: X:51.37, Y:-1.92, Z:-0.01 [[ 9.73943510e-01 2.26713361e-01 -5.92384183e-03 5.13722217e+01] [-2.26711093e-01 9.73961475e-01 1.06055330e-03 -1.92035219e+00] [ 6.01003534e-03 3.10081649e-04 9.99981892e-01 -8.47145101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.200888479 meters 0.03376859314494649 Centerline is valid? [True, True] Translation: X:51.40, Y:-1.93, Z:-0.01 [[ 9.73881622e-01 2.26979068e-01 -5.92355232e-03 5.14041744e+01] [-2.26976795e-01 9.73899587e-01 1.06216941e-03 -1.92616318e+00] [ 6.01003538e-03 3.10081651e-04 9.99981892e-01 -8.50891090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.230888479 meters 0.03009425820203588 Centerline is valid? [True, True] Translation: X:51.43, Y:-1.94, Z:-0.01 [[ 9.73742698e-01 2.27583279e-01 -5.56852170e-03 5.14342321e+01] [-2.27581272e-01 9.73758576e-01 9.99923676e-04 -1.93819146e+00] [ 5.64996167e-03 2.93622874e-04 9.99983996e-01 -6.28720371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.260888479 meters 0.03009425820203588 Centerline is valid? [True, True] Translation: X:51.47, Y:-1.94, Z:-0.01 [[ 9.73678133e-01 2.27859360e-01 -5.56823079e-03 5.14661799e+01] [-2.27857348e-01 9.73694010e-01 1.00154267e-03 -1.94400323e+00] [ 5.64996384e-03 2.93582105e-04 9.99983996e-01 -6.32465116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290888479 meters 0.035243892081996124 Centerline is valid? [True, True] Translation: X:51.50, Y:-1.95, Z:-0.01 [[ 9.73546342e-01 2.28453199e-01 -4.08116513e-03 5.14978140e+01] [-2.28452119e-01 9.73554872e-01 7.35245309e-04 -1.94790460e+00] [ 4.14120733e-03 2.16555438e-04 9.99991402e-01 -7.16067350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.320888479 meters 0.03432840878955326 Centerline is valid? [True, True] Translation: X:51.53, Y:-1.96, Z:-0.01 [[ 9.73239621e-01 2.29761697e-01 -3.76861932e-03 5.15287604e+01] [-2.29760782e-01 9.73246896e-01 6.79859969e-04 -1.95551453e+00] [ 3.82400283e-03 2.04214261e-04 9.99992668e-01 -6.56960358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350888479 meters 0.03512478377763826 Centerline is valid? [True, True] Translation: X:51.56, Y:-1.96, Z:-0.01 [[ 9.72880510e-01 2.31256221e-01 -4.90645808e-03 5.15596267e+01] [-2.31254687e-01 9.72892844e-01 8.85478613e-04 -1.96051415e+00] [ 4.97823039e-03 2.73176544e-04 9.99987571e-01 -7.97993985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.380888479 meters 0.0345808015918397 Centerline is valid? [True, True] Translation: X:51.59, Y:-1.97, Z:-0.01 [[ 9.72189287e-01 2.34090805e-01 -7.03453822e-03 5.15895412e+01] [-2.34087725e-01 9.72214650e-01 1.26969364e-03 -1.96993939e+00] [ 7.13630472e-03 4.12316499e-04 9.99974451e-01 -1.07652182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.410888479 meters 0.03807238677661394 Centerline is valid? [True, True] Translation: X:51.62, Y:-1.97, Z:-0.01 [[ 9.72081893e-01 2.34504702e-01 -8.02103940e-03 5.16200401e+01] [-2.34500695e-01 9.72114871e-01 1.44979803e-03 -1.97448147e+00] [ 8.13735614e-03 4.71616898e-04 9.99966780e-01 -1.27571310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.440888479 meters 0.034399320616155096 Centerline is valid? [True, True] Translation: X:51.65, Y:-1.99, Z:-0.01 [[ 9.71747958e-01 2.35898686e-01 -7.59706934e-03 5.16502183e+01] [-2.35895120e-01 9.71777548e-01 1.37492921e-03 -1.98595168e+00] [ 7.70700540e-03 4.56026926e-04 9.99970197e-01 -8.99616358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470888479 meters 0.03711423455691619 Centerline is valid? [True, True] Translation: X:51.68, Y:-1.99, Z:-0.01 [[ 9.72183150e-01 2.34133464e-01 -6.43764963e-03 5.16794308e+01] [-2.34130865e-01 9.72204393e-01 1.16500970e-03 -1.99433325e+00] [ 6.53147900e-03 3.74649676e-04 9.99978599e-01 -1.00662216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.500888479 meters 0.03379945085940085 Centerline is valid? [True, True] Translation: X:51.71, Y:-2.01, Z:-0.01 [[ 9.72459210e-01 2.33003035e-01 -5.71577420e-03 5.17100599e+01] [-2.33000961e-01 9.72475954e-01 1.03531268e-03 -2.00783395e+00] [ 5.79968396e-03 3.24981530e-04 9.99983129e-01 -9.45930683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.530888479 meters 0.031674815106717394 Centerline is valid? [True, True] Translation: X:51.74, Y:-2.02, Z:-0.01 [[ 9.72895858e-01 2.31218516e-01 -3.41277388e-03 5.17402124e+01] [-2.31217765e-01 9.72901826e-01 6.18238872e-04 -2.01778795e+00] [ 3.46324222e-03 1.87611913e-04 9.99993985e-01 -7.28011095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.560888479 meters 0.03255790291860291 Centerline is valid? [True, True] Translation: X:51.77, Y:-2.02, Z:-0.00 [[ 9.72950343e-01 2.30993763e-01 -3.08400926e-03 5.17707163e+01] [-2.30993146e-01 9.72955216e-01 5.59648516e-04 -2.02206328e+00] [ 3.12987821e-03 1.67874786e-04 9.99995088e-01 -4.75161144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.590888479 meters 0.03111700327523448 Centerline is valid? [True, True] Translation: X:51.80, Y:-2.03, Z:-0.01 [[ 9.73260187e-01 2.29676282e-01 -3.66246103e-03 5.18008956e+01] [-2.29675399e-01 9.73267059e-01 6.65513744e-04 -2.03433455e+00] [ 3.71740539e-03 1.93459168e-04 9.99993072e-01 -5.47874664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.620888479 meters 0.031220425852289235 Centerline is valid? [True, True] Translation: X:51.83, Y:-2.04, Z:-0.01 [[ 9.73508234e-01 2.28612762e-01 -4.23365445e-03 5.18319722e+01] [-2.28611568e-01 9.73517415e-01 7.70339262e-04 -2.04384593e+00] [ 4.29764572e-03 2.17930768e-04 9.99990741e-01 -6.21765079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650888479 meters 0.03159908239169135 Centerline is valid? [True, True] Translation: X:51.86, Y:-2.05, Z:-0.01 [[ 9.74231116e-01 2.25492399e-01 -5.18760528e-03 5.18615255e+01] [-2.25490563e-01 9.74244895e-01 9.43792958e-04 -2.05315752e+00] [ 5.26681610e-03 2.50283567e-04 9.99986099e-01 -8.66208862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.680888479 meters 0.02858889355930308 Centerline is valid? [True, True] Translation: X:51.89, Y:-2.07, Z:-0.01 [[ 9.75068369e-01 2.21814178e-01 -6.33602395e-03 5.18901258e+01] [-2.21811361e-01 9.75088914e-01 1.15277911e-03 -2.06697840e+00] [ 6.43388947e-03 2.81363653e-04 9.99979263e-01 -8.43453630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710888479 meters 0.026547989817174017 Centerline is valid? [True, True] Translation: X:51.92, Y:-2.08, Z:-0.01 [[ 9.75534410e-01 2.19755941e-01 -6.31982256e-03 5.19202071e+01] [-2.19753094e-01 9.75554845e-01 1.15008549e-03 -2.07640577e+00] [ 6.41807163e-03 2.66852591e-04 9.99979368e-01 -6.59837859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.740888479 meters 0.028587706204715322 Centerline is valid? [True, True] Translation: X:51.95, Y:-2.09, Z:-0.01 [[ 9.76233820e-01 2.16624213e-01 -6.44042078e-03 5.19508321e+01] [-2.16621185e-01 9.76255032e-01 1.17239715e-03 -2.08540624e+00] [ 6.54146281e-03 2.50597838e-04 9.99978573e-01 -8.60649488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.770888479 meters 0.02402410586206309 Centerline is valid? [True, True] Translation: X:51.98, Y:-2.10, Z:-0.00 [[ 9.76590126e-01 2.15036101e-01 -5.58569313e-03 5.19813104e+01] [-2.15033789e-01 9.76606078e-01 1.01845815e-03 -2.09582035e+00] [ 5.67402713e-03 2.06496583e-04 9.99983881e-01 -3.24019843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.800888479 meters 0.025945590080149728 Centerline is valid? [True, True] Translation: X:52.01, Y:-2.11, Z:-0.01 [[ 9.78046083e-01 2.08324216e-01 -5.18456472e-03 5.20098563e+01] [-2.08322131e-01 9.78059812e-01 9.45052258e-04 -2.10610346e+00] [ 5.26769167e-03 1.55754911e-04 9.99986113e-01 -6.02591039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.830888479 meters 0.023637090006944042 Centerline is valid? [True, True] Translation: X:52.04, Y:-2.12, Z:-0.00 [[ 9.78506145e-01 2.06173975e-01 -4.24447637e-03 5.20409886e+01] [-2.06172551e-01 9.78515344e-01 7.74997175e-04 -2.11518907e+00] [ 4.31306950e-03 1.16755023e-04 9.99990692e-01 -3.69884559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.860888479 meters 0.021806040678295543 Centerline is valid? [True, True] Translation: X:52.07, Y:-2.12, Z:-0.00 [[ 9.79007391e-01 2.03790776e-01 -3.72124922e-03 5.20716376e+01] [-2.03789661e-01 9.79014459e-01 6.80391538e-04 -2.12393414e+00] [ 3.78181431e-03 9.22437736e-05 9.99992845e-01 -1.47381626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890888479 meters 0.019405227951572176 Centerline is valid? [True, True] Translation: X:52.10, Y:-2.14, Z:-0.00 [[ 9.80165038e-01 1.98144016e-01 -3.93022666e-03 5.21015388e+01] [-1.98142727e-01 9.80172915e-01 7.18585389e-04 -2.13799020e+00] [ 3.99468512e-03 7.44135541e-05 9.99992018e-01 -5.62471934e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.920888479 meters 0.018821010444930966 Centerline is valid? [True, True] Translation: X:52.13, Y:-2.15, Z:-0.00 [[ 9.80678251e-01 1.95593289e-01 -3.66525875e-03 5.21328099e+01] [-1.95592145e-01 9.80685098e-01 6.71298846e-04 -2.14733623e+00] [ 3.72576619e-03 5.85676448e-05 9.99993058e-01 -3.45505365e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.950888479 meters 0.019056098679008638 Centerline is valid? [True, True] Translation: X:52.16, Y:-2.16, Z:-0.00 [[ 9.81242207e-01 1.92752569e-01 -3.19021773e-03 5.21645728e+01] [-1.92751687e-01 9.81247393e-01 5.84639471e-04 -2.15519569e+00] [ 3.24308359e-03 4.12469233e-05 9.99994740e-01 -1.00596685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.980888479 meters 0.0174800683471881 Centerline is valid? [True, True] Translation: X:52.20, Y:-2.16, Z:0.00 [[ 9.81523687e-01 1.91325728e-01 -2.39099927e-03 5.21950334e+01] [-1.91325226e-01 9.81526599e-01 4.38880230e-04 -2.16109131e+00] [ 2.43079846e-03 2.66871336e-05 9.99997045e-01 1.46811153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.010888479 meters 0.019214575656427414 Centerline is valid? [True, True] Translation: X:52.23, Y:-2.17, Z:-0.00 [[ 9.82512104e-01 1.86198645e-01 -1.75057009e-04 5.22265548e+01] [-1.86198642e-01 9.82512119e-01 3.24408175e-05 -2.16904226e+00] [ 1.78036069e-04 7.21881537e-07 9.99999984e-01 -6.95801509e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.040888479 meters 0.02070979107140027 Centerline is valid? [True, True] Translation: X:52.26, Y:-2.18, Z:-0.00 [[ 9.82886291e-01 1.84212403e-01 5.73654817e-04 5.22567193e+01] [-1.84212373e-01 9.82886459e-01 -1.05248907e-04 -2.17640060e+00] [-5.83225706e-04 -2.22660732e-06 9.99999830e-01 -5.35387254e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070888479 meters 0.018688487279772428 Centerline is valid? [True, True] Translation: X:52.29, Y:-2.19, Z:0.00 [[ 9.83314800e-01 1.81911919e-01 2.40391203e-04 5.22882996e+01] [-1.81911913e-01 9.83314829e-01 -4.39584841e-05 -2.18513169e+00] [-2.44376807e-04 -5.04995818e-07 9.99999970e-01 2.80946814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.100888479 meters 0.019699910021766697 Centerline is valid? [True, True] Translation: X:52.32, Y:-2.19, Z:0.00 [[ 9.83487712e-01 1.80972544e-01 -9.26757220e-04 5.23196882e+01] [-1.80972463e-01 9.83488148e-01 1.71270451e-04 -2.19082192e+00] [ 9.42449992e-04 -7.24847310e-07 9.99999556e-01 7.41313231e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130888479 meters 0.017119205438492293 Centerline is valid? [True, True] Translation: X:52.35, Y:-2.20, Z:0.00 [[ 9.83416146e-01 1.81359650e-01 -1.16676608e-03 5.23526628e+01] [-1.81359521e-01 9.83416838e-01 2.15902789e-04 -2.19580693e+00] [ 1.18657347e-03 -7.18150457e-07 9.99999296e-01 2.86836791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.160888479 meters 0.016753922970885616 Centerline is valid? [True, True] Translation: X:52.38, Y:-2.20, Z:0.00 [[ 9.83465357e-01 1.81085855e-01 -1.95076561e-03 5.23843086e+01] [-1.81085495e-01 9.83467291e-01 3.61255911e-04 -2.19785414e+00] [ 1.98393251e-03 -2.02731721e-06 9.99998032e-01 1.88828809e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.190888479 meters 0.01937890971142212 Centerline is valid? [True, True] Translation: X:52.42, Y:-2.20, Z:-0.01 [[ 9.83532968e-01 1.80697394e-01 -3.36943862e-03 5.24174270e+01] [-1.80696314e-01 9.83538739e-01 6.24717796e-04 -2.20168108e+00] [ 3.42685829e-03 -5.58540828e-06 9.99994128e-01 -5.02451913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.220888479 meters 0.02026077146284238 Centerline is valid? [True, True] Translation: X:52.45, Y:-2.21, Z:-0.01 [[ 9.83402842e-01 1.81394170e-01 -3.87382216e-03 5.24503060e+01] [-1.81392744e-01 9.83410471e-01 7.19292845e-04 -2.20552339e+00] [ 3.94003281e-03 -4.67139722e-06 9.99992238e-01 -6.94352215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250888479 meters 0.01808860214418523 Centerline is valid? [True, True] Translation: X:52.48, Y:-2.21, Z:-0.01 [[ 9.82910566e-01 1.84012966e-01 -5.10374241e-03 5.24819499e+01] [-1.84010520e-01 9.82923816e-01 9.48891385e-04 -2.20735945e+00] [ 5.19119828e-03 6.46692395e-06 9.99986526e-01 -5.51526889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.280888479 meters 0.018923319187947676 Centerline is valid? [True, True] Translation: X:52.51, Y:-2.21, Z:-0.01 [[ 9.82655287e-01 1.85360777e-01 -5.47435115e-03 5.25146556e+01] [-1.85357975e-01 9.82670536e-01 1.01937613e-03 -2.21170946e+00] [ 5.56843593e-03 1.30192942e-05 9.99984496e-01 -5.75045373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310888479 meters 0.01939062125562785 Centerline is valid? [True, True] Translation: X:52.55, Y:-2.22, Z:-0.01 [[ 9.82338588e-01 1.87021206e-01 -5.82807605e-03 5.25469025e+01] [-1.87018049e-01 9.82355877e-01 1.08676263e-03 -2.21503504e+00] [ 5.92849241e-03 2.23865453e-05 9.99982426e-01 -6.61643517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.340888479 meters 0.019516016968527262 Centerline is valid? [True, True] Translation: X:52.58, Y:-2.22, Z:-0.01 [[ 9.81680890e-01 1.90424410e-01 -6.41669832e-03 5.25793277e+01] [-1.90420646e-01 9.81701860e-01 1.19809552e-03 -2.21521060e+00] [ 6.52743131e-03 4.57243600e-05 9.99978695e-01 -6.17073050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.370888479 meters 0.01989361988817622 Centerline is valid? [True, True] Translation: X:52.61, Y:-2.22, Z:-0.01 [[ 9.81330475e-01 1.92218398e-01 -6.52586105e-03 5.26106025e+01] [-1.92214535e-01 9.81352171e-01 1.21996919e-03 -2.21738483e+00] [ 6.63866843e-03 5.71724020e-05 9.99977962e-01 -6.51053853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.400888479 meters 0.01913910708603753 Centerline is valid? [True, True] Translation: X:52.64, Y:-2.22, Z:-0.00 [[ 9.80456866e-01 1.96655515e-01 -5.56259587e-03 5.26423271e+01] [-1.96652772e-01 9.80472643e-01 1.04117891e-03 -2.21655365e+00] [ 5.65872664e-03 7.30688889e-05 9.99983987e-01 -4.86280161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.430888479 meters 0.018907669687160292 Centerline is valid? [True, True] Translation: X:52.67, Y:-2.22, Z:-0.00 [[ 9.80071404e-01 1.98590277e-01 -4.68465764e-03 5.26738604e+01] [-1.98588347e-01 9.80082597e-01 8.78121576e-04 -2.22087843e+00] [ 4.76573784e-03 6.96965743e-05 9.99988641e-01 -4.26380655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.460888479 meters 0.020598334330894547 Centerline is valid? [True, True] Translation: X:52.71, Y:-2.22, Z:-0.01 [[ 9.79685136e-01 2.00496883e-01 -4.24667079e-03 5.27053429e+01] [-2.00495311e-01 9.79694338e-01 7.97029704e-04 -2.22136468e+00] [ 4.32024130e-03 7.05994271e-05 9.99990665e-01 -5.69564132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490888479 meters 0.022799341188113848 Centerline is valid? [True, True] Translation: X:52.74, Y:-2.23, Z:-0.01 [[ 9.79290699e-01 2.02403508e-01 -4.74832863e-03 5.27375126e+01] [-2.02401560e-01 9.79302207e-01 8.92376005e-04 -2.22634643e+00] [ 4.83066874e-03 8.71735977e-05 9.99988328e-01 -6.95952473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.520888479 meters 0.021607269298977654 Centerline is valid? [True, True] Translation: X:52.77, Y:-2.22, Z:-0.00 [[ 9.77948230e-01 2.08802151e-01 -4.34986156e-03 5.27687893e+01] [-2.08800580e-01 9.77957898e-01 8.17325972e-04 -2.22480981e+00] [ 4.42464088e-03 1.08951128e-04 9.99990205e-01 -4.40949732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.550888479 meters 0.021187368222755864 Centerline is valid? [True, True] Translation: X:52.80, Y:-2.23, Z:-0.00 [[ 9.77229423e-01 2.12150097e-01 -3.87181254e-03 5.28013406e+01] [-2.12148877e-01 9.77237087e-01 7.27846597e-04 -2.22706468e+00] [ 3.93809153e-03 1.10127571e-04 9.99992240e-01 -3.15246860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.580888479 meters 0.022243970307506584 Centerline is valid? [True, True] Translation: X:52.83, Y:-2.23, Z:-0.00 [[ 9.76600053e-01 2.15007720e-01 -4.90060668e-03 5.28335251e+01] [-2.15005800e-01 9.76612337e-01 9.21585361e-04 -2.22989825e+00] [ 4.98414091e-03 1.53638547e-04 9.99987567e-01 -4.56464514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610888479 meters 0.02611057024809919 Centerline is valid? [True, True] Translation: X:52.87, Y:-2.23, Z:-0.01 [[ 9.76024073e-01 2.17557139e-01 -6.77500922e-03 5.28650358e+01] [-2.17553518e-01 9.76047560e-01 1.27583002e-03 -2.23007079e+00] [ 6.89029715e-03 2.28686282e-04 9.99976235e-01 -7.49678276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.640888479 meters 0.027382469076596087 Centerline is valid? [True, True] Translation: X:52.90, Y:-2.23, Z:-0.01 [[ 9.74957846e-01 2.22271544e-01 -7.24984105e-03 5.28960121e+01] [-2.22267527e-01 9.74984760e-01 1.36531604e-03 -2.23178777e+00] [ 7.37195544e-03 2.80278660e-04 9.99972787e-01 -7.13846199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670888479 meters 0.025781161226692707 Centerline is valid? [True, True] Translation: X:52.93, Y:-2.24, Z:-0.01 [[ 9.74412665e-01 2.24659042e-01 -6.94788650e-03 5.29274948e+01] [-2.24655409e-01 9.74437393e-01 1.30899350e-03 -2.23712296e+00] [ 7.06435763e-03 2.85380441e-04 9.99975006e-01 -5.00139748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.700888479 meters 0.02670225154950969 Centerline is valid? [True, True] Translation: X:52.96, Y:-2.24, Z:-0.01 [[ 9.73842170e-01 2.27121355e-01 -6.87879620e-03 5.29598862e+01] [-2.27117853e-01 9.73866418e-01 1.29648023e-03 -2.23775814e+00] [ 6.99348696e-03 2.99730296e-04 9.99975500e-01 -6.68924197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.730888479 meters 0.027320107204191674 Centerline is valid? [True, True] Translation: X:52.99, Y:-2.24, Z:-0.01 [[ 9.73570987e-01 2.28250737e-01 -7.81885691e-03 5.29920355e+01] [-2.28246230e-01 9.73602321e-01 1.47583579e-03 -2.24172492e+00] [ 7.94931785e-03 3.47793707e-04 9.99968343e-01 -7.94298835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.760888479 meters 0.02877217120271023 Centerline is valid? [True, True] Translation: X:53.02, Y:-2.25, Z:-0.01 [[ 9.73465784e-01 2.28651255e-01 -9.10880892e-03 5.30229955e+01] [-2.28645137e-01 9.73508314e-01 1.72137668e-03 -2.24633229e+00] [ 9.26109615e-03 4.06983565e-04 9.99957032e-01 -9.55538339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790888479 meters 0.029335933854154117 Centerline is valid? [True, True] Translation: X:53.05, Y:-2.25, Z:-0.01 [[ 9.73678575e-01 2.27733250e-01 -9.35950169e-03 5.30548199e+01] [-2.27726743e-01 9.73723472e-01 1.76942370e-03 -2.25353023e+00] [ 9.51652309e-03 4.08558884e-04 9.99954633e-01 -9.28722582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.820888479 meters 0.028678387394023175 Centerline is valid? [True, True] Translation: X:53.09, Y:-2.26, Z:-0.01 [[ 9.73821437e-01 2.27128105e-01 -9.19961347e-03 5.30864062e+01] [-2.27121767e-01 9.73864811e-01 1.74168764e-03 -2.26009235e+00] [ 9.35476604e-03 3.93339709e-04 9.99956166e-01 -8.42109076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850888479 meters 0.027287903921333033 Centerline is valid? [True, True] Translation: X:53.12, Y:-2.27, Z:-0.01 [[ 9.74405226e-01 2.24577719e-01 -9.96507474e-03 5.31171219e+01] [-2.24570149e-01 9.74456099e-01 1.88670337e-03 -2.26738329e+00] [ 1.01342394e-02 3.99444692e-04 9.99948567e-01 -9.12522497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.880888479 meters 0.028914308553714768 Centerline is valid? [True, True] Translation: X:53.15, Y:-2.27, Z:-0.01 [[ 9.74658879e-01 2.23434039e-01 -1.08304863e-02 5.31477050e+01] [-2.23424996e-01 9.74718962e-01 2.05329927e-03 -2.27120916e+00] [ 1.10154573e-02 4.18534988e-04 9.99939240e-01 -1.11227871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.910888479 meters 0.025811358080622095 Centerline is valid? [True, True] Translation: X:53.18, Y:-2.28, Z:-0.01 [[ 9.74709079e-01 2.23208699e-01 -1.09584731e-02 5.31787529e+01] [-2.23199396e-01 9.74770589e-01 2.08036926e-03 -2.28070024e+00] [ 1.11463538e-02 4.18169779e-04 9.99937790e-01 -9.03693897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.940888479 meters 0.025190278333488417 Centerline is valid? [True, True] Translation: X:53.21, Y:-2.29, Z:-0.01 [[ 9.74820314e-01 2.22752960e-01 -1.03186125e-02 5.32103930e+01] [-2.22744659e-01 9.74874848e-01 1.96152982e-03 -2.28792983e+00] [ 1.04962923e-02 3.86276695e-04 9.99944838e-01 -7.47461463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970888479 meters 0.02649910251569092 Centerline is valid? [True, True] Translation: X:53.24, Y:-2.29, Z:-0.01 [[ 9.75179125e-01 2.21189006e-01 -1.00547382e-02 5.32409074e+01] [-2.21181017e-01 9.75230893e-01 1.91369913e-03 -2.29244596e+00] [ 1.02289806e-02 3.57717783e-04 9.99947619e-01 -7.64140181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.000888479 meters 0.025010394533520847 Centerline is valid? [True, True] Translation: X:53.27, Y:-2.30, Z:-0.01 [[ 9.75070956e-01 2.21653962e-01 -1.03029710e-02 5.32724185e+01] [-2.21645573e-01 9.75125318e-01 1.96343107e-03 -2.29695551e+00] [ 1.04818902e-02 3.69123309e-04 9.99944995e-01 -7.07637311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030888479 meters 0.02507833263330048 Centerline is valid? [True, True] Translation: X:53.30, Y:-2.30, Z:-0.01 [[ 9.75159537e-01 2.21212966e-01 -1.13446126e-02 5.33031624e+01] [-2.21202732e-01 9.75225443e-01 2.16480986e-03 -2.30490952e+00] [ 1.15424389e-02 3.98424324e-04 9.99933304e-01 -9.27113780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.060888479 meters 0.02668956042294159 Centerline is valid? [True, True] Translation: X:53.33, Y:-2.31, Z:-0.01 [[ 9.75217931e-01 2.20937938e-01 -1.16796382e-02 5.33340846e+01] [-2.20927039e-01 9.75287785e-01 2.23144628e-03 -2.30972433e+00] [ 1.18840196e-02 4.04201454e-04 9.99929301e-01 -9.88950681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.090888479 meters 0.026835271703991116 Centerline is valid? [True, True] Translation: X:53.36, Y:-2.32, Z:-0.01 [[ 9.75108787e-01 2.21394748e-01 -1.21333953e-02 5.33648562e+01] [-2.21382987e-01 9.75184181e-01 2.32086373e-03 -2.31665723e+00] [ 1.23461222e-02 4.23032673e-04 9.99923694e-01 -9.57882308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.120888479 meters 0.023452218369099765 Centerline is valid? [True, True] Translation: X:53.40, Y:-2.33, Z:-0.01 [[ 9.74806320e-01 2.22675577e-01 -1.29702163e-02 5.33954868e+01] [-2.22662207e-01 9.74892492e-01 2.48421805e-03 -2.32654393e+00] [ 1.31977412e-02 4.66345546e-04 9.99912797e-01 -7.32573323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150888479 meters 0.02564961032068188 Centerline is valid? [True, True] Translation: X:53.43, Y:-2.33, Z:-0.01 [[ 9.74773229e-01 2.22791581e-01 -1.34559545e-02 5.34275063e+01] [-2.22777148e-01 9.74865980e-01 2.58121628e-03 -2.33339002e+00] [ 1.36928256e-02 4.81578646e-04 9.99906133e-01 -9.13880798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.180888479 meters 0.02564961032068188 Centerline is valid? [True, True] Translation: X:53.46, Y:-2.34, Z:-0.01 [[ 9.74710551e-01 2.23065681e-01 -1.34552284e-02 5.34593572e+01] [-2.23051223e-01 9.74803298e-01 2.58499910e-03 -2.33957383e+00] [ 1.36928256e-02 4.81579242e-04 9.99906133e-01 -9.17624465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210888479 meters 0.025641375915052413 Centerline is valid? [True, True] Translation: X:53.49, Y:-2.35, Z:-0.01 [[ 9.74567028e-01 2.23698777e-01 -1.33403843e-02 5.34915362e+01] [-2.23684570e-01 9.74658209e-01 2.56685640e-03 -2.34615750e+00] [ 1.35765177e-02 4.82464521e-04 9.99907718e-01 -8.77688430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.240888479 meters 0.024089006389285503 Centerline is valid? [True, True] Translation: X:53.52, Y:-2.35, Z:-0.01 [[ 9.74160528e-01 2.25561602e-01 -1.15424571e-02 5.35217043e+01] [-2.25551066e-01 9.74228809e-01 2.22362520e-03 -2.35220614e+00] [ 1.17465587e-02 4.37245594e-04 9.99930911e-01 -6.28574602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.270888479 meters 0.027133094652284896 Centerline is valid? [True, True] Translation: X:53.55, Y:-2.36, Z:-0.01 [[ 9.74096148e-01 2.25795088e-01 -1.23802921e-02 5.35533048e+01] [-2.25782943e-01 9.74174706e-01 2.38840189e-03 -2.35839606e+00] [ 1.25998568e-02 4.68725687e-04 9.99920509e-01 -8.22224506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.300888479 meters 0.026978681096427756 Centerline is valid? [True, True] Translation: X:53.58, Y:-2.37, Z:-0.01 [[ 9.73975871e-01 2.26371245e-01 -1.12721401e-02 5.35842840e+01] [-2.26361180e-01 9.74041002e-01 2.17765147e-03 -2.36511789e+00] [ 1.14724843e-02 4.30594941e-04 9.99934096e-01 -6.99399040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.330888479 meters 0.02644498828960702 Centerline is valid? [True, True] Translation: X:53.62, Y:-2.37, Z:-0.01 [[ 9.73932519e-01 2.26625157e-01 -9.82282053e-03 5.36155596e+01] [-2.26617502e-01 9.73981980e-01 1.90010909e-03 -2.37384521e+00] [ 9.99786271e-03 3.75445014e-04 9.99949950e-01 -5.59801698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.360888479 meters 0.025025567319235723 Centerline is valid? [True, True] Translation: X:53.65, Y:-2.38, Z:-0.00 [[ 9.73607485e-01 2.28084161e-01 -8.12905963e-03 5.36460381e+01] [-2.28078954e-01 9.73641367e-01 1.57435462e-03 -2.37927198e+00] [ 8.27387409e-03 3.21263974e-04 9.99965719e-01 -2.12095433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390888479 meters 0.02536377292579303 Centerline is valid? [True, True] Translation: X:53.68, Y:-2.39, Z:-0.00 [[ 9.73567713e-01 2.28240404e-01 -8.49856554e-03 5.36784370e+01] [-2.28234697e-01 9.73604748e-01 1.64842904e-03 -2.38771863e+00] [ 8.65048187e-03 3.34810242e-04 9.99962528e-01 -3.47218323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.420888479 meters 0.024344767353708482 Centerline is valid? [True, True] Translation: X:53.71, Y:-2.39, Z:-0.00 [[ 9.73071481e-01 2.30363196e-01 -8.04308951e-03 5.37102459e+01] [-2.30358141e-01 9.73104664e-01 1.56201855e-03 -2.39411973e+00] [ 8.18659950e-03 3.32835437e-04 9.99966434e-01 -1.68529179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.450888479 meters 0.028985854399948784 Centerline is valid? [True, True] Translation: X:53.74, Y:-2.40, Z:-0.01 [[ 9.72988313e-01 2.30695439e-01 -8.56483991e-03 5.37414688e+01] [-2.30689711e-01 9.73025944e-01 1.66438345e-03 -2.39686613e+00] [ 8.71777711e-03 3.56394794e-04 9.99961936e-01 -5.08295162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.480888479 meters 0.02750147800446152 Centerline is valid? [True, True] Translation: X:53.77, Y:-2.41, Z:-0.00 [[ 9.72498010e-01 2.32782950e-01 -7.72779922e-03 5.37727188e+01] [-2.32778336e-01 9.72528655e-01 1.50370849e-03 -2.40614096e+00] [ 7.86554388e-03 3.36510735e-04 9.99969010e-01 -3.20915158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.510888479 meters 0.025157734490256916 Centerline is valid? [True, True] Translation: X:53.80, Y:-2.41, Z:-0.00 [[ 9.72226796e-01 2.33923376e-01 -7.41025592e-03 5.38041541e+01] [-2.33919152e-01 9.72254980e-01 1.44381822e-03 -2.41444247e+00] [ 7.54240105e-03 3.29682016e-04 9.99971501e-01 -1.27589713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.540888479 meters 0.03057308432767038 Centerline is valid? [True, True] Translation: X:53.83, Y:-2.42, Z:-0.01 [[ 9.72301181e-01 2.33573515e-01 -8.59227778e-03 5.38349108e+01] [-2.33567814e-01 9.72339071e-01 1.67517253e-03 -2.41720549e+00] [ 8.74588333e-03 3.78107314e-04 9.99961683e-01 -6.70327456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570888479 meters 0.029856275687137033 Centerline is valid? [True, True] Translation: X:53.87, Y:-2.42, Z:-0.01 [[ 9.72013555e-01 2.34728550e-01 -9.59980110e-03 5.38657041e+01] [-2.34721467e-01 9.72060863e-01 1.87393104e-03 -2.42419681e+00] [ 9.77145605e-03 4.31793027e-04 9.99952165e-01 -8.91626642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.600888479 meters 0.027460651203576474 Centerline is valid? [True, True] Translation: X:53.90, Y:-2.43, Z:-0.01 [[ 9.71577791e-01 2.36573184e-01 -8.35015604e-03 5.38963492e+01] [-2.36567876e-01 9.71613594e-01 1.63196013e-03 -2.42794027e+00] [ 8.49920313e-03 3.89802461e-04 9.99963805e-01 -6.72963681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630888479 meters 0.02774895456986058 Centerline is valid? [True, True] Translation: X:53.93, Y:-2.44, Z:-0.01 [[ 9.71422579e-01 2.37197978e-01 -8.67716560e-03 5.39272602e+01] [-2.37192251e-01 9.71461246e-01 1.69809202e-03 -2.43644898e+00] [ 8.83231410e-03 4.08591514e-04 9.99960911e-01 -8.06215885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.660888479 meters 0.02680550006418894 Centerline is valid? [True, True] Translation: X:53.96, Y:-2.44, Z:-0.01 [[ 9.71003454e-01 2.38900401e-01 -8.88200147e-03 5.39580089e+01] [-2.38894454e-01 9.71043980e-01 1.74025952e-03 -2.44432956e+00] [ 9.04056276e-03 4.32062885e-04 9.99959040e-01 -6.74465508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.690888479 meters 0.02628866207430713 Centerline is valid? [True, True] Translation: X:53.99, Y:-2.45, Z:-0.01 [[ 9.70803291e-01 2.39734328e-01 -8.27173717e-03 5.39893708e+01] [-2.39729181e-01 9.70838445e-01 1.62284810e-03 -2.45139510e+00] [ 8.41957285e-03 4.07510497e-04 9.99964472e-01 -6.03956064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.720888479 meters 0.028595041495788547 Centerline is valid? [True, True] Translation: X:54.02, Y:-2.46, Z:-0.01 [[ 9.70772556e-01 2.39838554e-01 -8.83809557e-03 5.40211852e+01] [-2.39832660e-01 9.70812690e-01 1.73658101e-03 -2.45802357e+00] [ 8.99663442e-03 4.33838779e-04 9.99959435e-01 -8.43534575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750888479 meters 0.02773565421333576 Centerline is valid? [True, True] Translation: X:54.05, Y:-2.46, Z:-0.01 [[ 9.70686995e-01 2.40152538e-01 -9.67038802e-03 5.40514246e+01] [-2.40145485e-01 9.70735047e-01 1.90126442e-03 -2.46331217e+00] [ 9.84397804e-03 4.76767374e-04 9.99951433e-01 -8.55867764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.780888479 meters 0.03096515395798169 Centerline is valid? [True, True] Translation: X:54.08, Y:-2.47, Z:-0.01 [[ 9.70658010e-01 2.40246782e-01 -1.02230652e-02 5.40833606e+01] [-2.40238875e-01 9.70711714e-01 2.01280308e-03 -2.46562295e+00] [ 1.04072186e-02 5.02234240e-04 9.99945717e-01 -1.05505202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810888479 meters 0.02859182545310961 Centerline is valid? [True, True] Translation: X:54.11, Y:-2.48, Z:-0.01 [[ 9.70773243e-01 2.39747567e-01 -1.09733708e-02 5.41140571e+01] [-2.39738395e-01 9.70835116e-01 2.16316012e-03 -2.47699300e+00] [ 1.11719461e-02 5.30800353e-04 9.99937451e-01 -1.00068854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.840888479 meters 0.02770424646705997 Centerline is valid? [True, True] Translation: X:54.14, Y:-2.49, Z:-0.01 [[ 9.70800603e-01 2.39645242e-01 -1.07864090e-02 5.41448138e+01] [-2.39636345e-01 9.70860386e-01 2.12899973e-03 -2.48621953e+00] [ 1.09823018e-02 5.17981403e-04 9.99939559e-01 -1.01850691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.870888479 meters 0.02960661146148547 Centerline is valid? [True, True] Translation: X:54.18, Y:-2.49, Z:-0.01 [[ 9.70933837e-01 2.39114127e-01 -1.05791759e-02 5.41758784e+01] [-2.39105509e-01 9.70991341e-01 2.09072045e-03 -2.49254594e+00] [ 1.07722090e-02 4.99588015e-04 9.99941853e-01 -1.17668096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.900888479 meters 0.029034119607649227 Centerline is valid? [True, True] Translation: X:54.21, Y:-2.50, Z:-0.01 [[ 9.71015320e-01 2.38827106e-01 -9.53216412e-03 5.42072171e+01] [-2.38820072e-01 9.71062004e-01 1.88621597e-03 -2.50023258e+00] [ 9.70680189e-03 4.44927520e-04 9.99952789e-01 -1.09488441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.930888479 meters 0.0290011949694918 Centerline is valid? [True, True] Translation: X:54.24, Y:-2.51, Z:-0.01 [[ 9.71383450e-01 2.37342003e-01 -9.10859446e-03 5.42378452e+01] [-2.37335493e-01 9.71426069e-01 1.80469596e-03 -2.50639968e+00] [ 9.27665626e-03 4.08740976e-04 9.99956887e-01 -1.00606180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.960888479 meters 0.029684882242064486 Centerline is valid? [True, True] Translation: X:54.27, Y:-2.51, Z:-0.01 [[ 9.71574076e-01 2.36546486e-01 -9.46433787e-03 5.42679921e+01] [-2.36539400e-01 9.71620084e-01 1.87732436e-03 -2.51467176e+00] [ 9.63981524e-03 4.14729118e-04 9.99953450e-01 -1.15373865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990888479 meters 0.02276983284321755 Centerline is valid? [True, True] Translation: X:54.30, Y:-2.53, Z:-0.01 [[ 9.72087690e-01 2.34468029e-01 -8.38254054e-03 5.42966559e+01] [-2.34462390e-01 9.72123769e-01 1.66305247e-03 -2.53367009e+00] [ 8.53879953e-03 3.48757655e-04 9.99963483e-01 -6.56446679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.020888479 meters 0.025155488542067096 Centerline is valid? [True, True] Translation: X:54.33, Y:-2.54, Z:-0.01 [[ 9.72278109e-01 2.33685465e-01 -8.14753662e-03 5.43272905e+01] [-2.33680093e-01 9.72312190e-01 1.61857292e-03 -2.53802100e+00] [ 8.30018613e-03 3.30214100e-04 9.99965498e-01 -6.74451228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.050888479 meters 0.02511886134303667 Centerline is valid? [True, True] Translation: X:54.36, Y:-2.55, Z:-0.01 [[ 9.72386556e-01 2.33243073e-01 -7.87744991e-03 5.43585918e+01] [-2.33238021e-01 9.72418413e-01 1.56685380e-03 -2.54610799e+00] [ 8.02563514e-03 3.13733259e-04 9.99967745e-01 -6.48190072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.080888479 meters 0.022591950990258663 Centerline is valid? [True, True] Translation: X:54.39, Y:-2.56, Z:-0.01 [[ 9.72525934e-01 2.32668693e-01 -7.65422792e-03 5.43889904e+01] [-2.32663890e-01 9.72556009e-01 1.52443131e-03 -2.55711410e+00] [ 7.79885280e-03 2.98313462e-04 9.99969544e-01 -5.67339371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110888479 meters 0.022975974482137916 Centerline is valid? [True, True] Translation: X:54.42, Y:-2.56, Z:-0.01 [[ 9.72617035e-01 2.32334670e-01 -6.05843181e-03 5.44193755e+01] [-2.32331645e-01 9.72635876e-01 1.20807131e-03 -2.56436255e+00] [ 6.17332498e-03 2.32574691e-04 9.99980918e-01 -6.12446481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.140888479 meters 0.025046602524816313 Centerline is valid? [True, True] Translation: X:54.45, Y:-2.57, Z:-0.01 [[ 9.72611849e-01 2.32353777e-01 -6.15746463e-03 5.44506377e+01] [-2.32350642e-01 9.72631311e-01 1.22949510e-03 -2.57140750e+00] [ 6.27462073e-03 2.34869358e-04 9.99980287e-01 -7.95168893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170888479 meters 0.02486122850211077 Centerline is valid? [True, True] Translation: X:54.48, Y:-2.58, Z:-0.01 [[ 9.72251498e-01 2.33872040e-01 -5.55816107e-03 5.44810743e+01] [-2.33869503e-01 9.72267361e-01 1.11109087e-03 -2.57840063e+00] [ 5.66387168e-03 2.19624604e-04 9.99983936e-01 -6.32707528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.200888479 meters 0.02521609609426539 Centerline is valid? [True, True] Translation: X:54.51, Y:-2.59, Z:-0.01 [[ 9.71937176e-01 2.35166278e-01 -5.91161302e-03 5.45127076e+01] [-2.35163424e-01 9.71955124e-01 1.18320314e-03 -2.58539182e+00] [ 6.02407205e-03 2.40196043e-04 9.99981826e-01 -6.82696543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.230888479 meters 0.027192099584503693 Centerline is valid? [True, True] Translation: X:54.54, Y:-2.59, Z:-0.01 [[ 9.71610294e-01 2.36501523e-01 -6.36132627e-03 5.45429056e+01] [-2.36498243e-01 9.71631081e-01 1.27382699e-03 -2.59055147e+00] [ 6.48212435e-03 2.66779074e-04 9.99978955e-01 -8.35643506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.260888479 meters 0.026251624272623265 Centerline is valid? [True, True] Translation: X:54.57, Y:-2.60, Z:-0.01 [[ 9.71187626e-01 2.38242888e-01 -5.90943743e-03 5.45740488e+01] [-2.38240080e-01 9.71205571e-01 1.18494333e-03 -2.59772085e+00] [ 6.02158288e-03 2.57062543e-04 9.99981837e-01 -6.98154767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290888479 meters 0.02971692337398292 Centerline is valid? [True, True] Translation: X:54.60, Y:-2.60, Z:-0.01 [[ 9.70421480e-01 2.41365159e-01 -5.00116068e-03 5.46040982e+01] [-2.41363190e-01 9.70434338e-01 1.00258325e-03 -2.60017888e+00] [ 5.09528672e-03 2.34167772e-04 9.99986992e-01 -8.21376873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.320888479 meters 0.029650643548159387 Centerline is valid? [True, True] Translation: X:54.64, Y:-2.61, Z:-0.01 [[ 9.70119246e-01 2.42579506e-01 -4.88174177e-03 5.46356386e+01] [-2.42577638e-01 9.70131501e-01 9.80097510e-04 -2.60691008e+00] [ 4.97368304e-03 2.33389929e-04 9.99987604e-01 -6.81657233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350888479 meters 0.026975262707557467 Centerline is valid? [True, True] Translation: X:54.67, Y:-2.62, Z:-0.01 [[ 9.69837718e-01 2.43696247e-01 -5.19036409e-03 5.46659739e+01] [-2.43694145e-01 9.69851574e-01 1.04337923e-03 -2.61984456e+00] [ 5.28815039e-03 2.52952803e-04 9.99985986e-01 -6.32397238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.380888479 meters 0.026225389190951343 Centerline is valid? [True, True] Translation: X:54.70, Y:-2.63, Z:-0.01 [[ 9.69907880e-01 2.43413015e-01 -5.36744338e-03 5.46967350e+01] [-2.43410755e-01 9.69922697e-01 1.08033973e-03 -2.62814401e+00] [ 5.46897391e-03 2.58663430e-04 9.99985012e-01 -5.84938238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.410888479 meters 0.031129598378057205 Centerline is valid? [True, True] Translation: X:54.73, Y:-2.63, Z:-0.01 [[ 9.70084250e-01 2.42711999e-01 -5.23769197e-03 5.47290096e+01] [-2.42709829e-01 9.70098358e-01 1.05555120e-03 -2.62819209e+00] [ 5.33727133e-03 2.47265730e-04 9.99985726e-01 -7.05896134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.440888479 meters 0.02549601730824855 Centerline is valid? [True, True] Translation: X:54.76, Y:-2.64, Z:-0.01 [[ 9.70268204e-01 2.41971486e-01 -5.42340486e-03 5.47586217e+01] [-2.41969141e-01 9.70283328e-01 1.09436200e-03 -2.64291504e+00] [ 5.52704372e-03 2.50471956e-04 9.99984694e-01 -6.51916736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470888479 meters 0.02438497498274138 Centerline is valid? [True, True] Translation: X:54.79, Y:-2.65, Z:-0.01 [[ 9.70791277e-01 2.39869030e-01 -5.21015107e-03 5.47893220e+01] [-2.39866836e-01 9.70805231e-01 1.05128710e-03 -2.65013120e+00] [ 5.31021313e-03 2.29162104e-04 9.99985874e-01 -9.26178142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.500888479 meters 0.025045162827401518 Centerline is valid? [True, True] Translation: X:54.82, Y:-2.66, Z:-0.01 [[ 9.71362119e-01 2.37547462e-01 -5.18048024e-03 5.48186806e+01] [-2.37545259e-01 9.71375909e-01 1.04537287e-03 -2.65684540e+00] [ 5.28051938e-03 2.15162911e-04 9.99986035e-01 -1.06844098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530888479 meters 0.02330351020329095 Centerline is valid? [True, True] Translation: X:54.85, Y:-2.67, Z:-0.01 [[ 9.71557025e-01 2.36755395e-01 -4.88158236e-03 5.48493784e+01] [-2.36753421e-01 9.71569269e-01 9.86569087e-04 -2.66767902e+00] [ 4.97637096e-03 1.97223199e-04 9.99987598e-01 -9.03917910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.560888479 meters 0.02428752757383251 Centerline is valid? [True, True] Translation: X:54.88, Y:-2.67, Z:-0.01 [[ 9.71882775e-01 2.35435360e-01 -3.75013965e-03 5.48803612e+01] [-2.35434182e-01 9.71889999e-01 7.58914622e-04 -2.67395147e+00] [ 3.82339856e-03 1.45335013e-04 9.99992680e-01 -7.47237322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.590888479 meters 0.022956632321896722 Centerline is valid? [True, True] Translation: X:54.91, Y:-2.68, Z:-0.01 [[ 9.72118679e-01 2.34476056e-01 -2.50079167e-03 5.49116803e+01] [-2.34475529e-01 9.72121891e-01 5.06222511e-04 -2.68368819e+00] [ 2.54977138e-03 9.42660898e-05 9.99996745e-01 -6.15813199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.620888479 meters 0.02393865243183265 Centerline is valid? [True, True] Translation: X:54.94, Y:-2.69, Z:-0.01 [[ 9.72435411e-01 2.33166162e-01 -1.70642383e-03 5.49422372e+01] [-2.33165914e-01 9.72436906e-01 3.46010610e-04 -2.68854289e+00] [ 1.74006748e-03 6.14069028e-05 9.99998484e-01 -7.59664229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.650888479 meters 0.022131087518107814 Centerline is valid? [True, True] Translation: X:54.97, Y:-2.70, Z:-0.01 [[ 9.72352869e-01 2.33506827e-01 -2.11164935e-03 5.49737615e+01] [-2.33506446e-01 9.72355159e-01 4.28738275e-04 -2.69617864e+00] [ 2.15338646e-03 7.61988428e-05 9.99997679e-01 -7.80881241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.680888479 meters 0.02350303937738904 Centerline is valid? [True, True] Translation: X:55.00, Y:-2.70, Z:-0.01 [[ 9.72105531e-01 2.34498671e-01 -4.60543499e-03 5.50047576e+01] [-2.34496866e-01 9.72116425e-01 9.35736719e-04 -2.69991236e+00] [ 4.69644802e-03 1.70325232e-04 9.99988957e-01 -1.03278604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710888479 meters 0.024430625885990903 Centerline is valid? [True, True] Translation: X:55.04, Y:-2.70, Z:-0.01 [[ 9.71974291e-01 2.35021042e-01 -5.57560408e-03 5.50359116e+01] [-2.35018398e-01 9.71990260e-01 1.13408998e-03 -2.70488572e+00] [ 5.68596787e-03 2.08063241e-04 9.99983813e-01 -1.22302770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.740888479 meters 0.02439971668061962 Centerline is valid? [True, True] Translation: X:55.07, Y:-2.71, Z:-0.01 [[ 9.71755211e-01 2.35894575e-01 -6.74972412e-03 5.50667395e+01] [-2.35890711e-01 9.71778619e-01 1.37440372e-03 -2.71211226e+00] [ 6.88345196e-03 2.56613243e-04 9.99976276e-01 -1.37958164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.770888479 meters 0.02414477827804807 Centerline is valid? [True, True] Translation: X:55.10, Y:-2.72, Z:-0.01 [[ 9.71649074e-01 2.36316569e-01 -7.24959491e-03 5.50995200e+01] [-2.36312107e-01 9.71676079e-01 1.47828850e-03 -2.71847851e+00] [ 7.39360202e-03 2.76789400e-04 9.99972629e-01 -1.44953961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.800888479 meters 0.023229003758075115 Centerline is valid? [True, True] Translation: X:55.13, Y:-2.73, Z:-0.01 [[ 9.71819201e-01 2.35629287e-01 -6.80294642e-03 5.51307209e+01] [-2.35625330e-01 9.71842979e-01 1.38890556e-03 -2.72579237e+00] [ 6.93866254e-03 2.53181402e-04 9.99975895e-01 -1.42736643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.830888479 meters 0.024681743224006385 Centerline is valid? [True, True] Translation: X:55.16, Y:-2.73, Z:-0.01 [[ 9.71919019e-01 2.35238233e-01 -6.03281632e-03 5.51618456e+01] [-2.35235109e-01 9.71937716e-01 1.23245040e-03 -2.72967654e+00] [ 6.15344117e-03 2.21288216e-04 9.99981043e-01 -1.48219668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.860888479 meters 0.023488346605367395 Centerline is valid? [True, True] Translation: X:55.19, Y:-2.74, Z:-0.01 [[ 9.72091850e-01 2.34535642e-01 -5.51967917e-03 5.51929367e+01] [-2.34533007e-01 9.72107501e-01 1.12912320e-03 -2.73860616e+00] [ 5.63054116e-03 1.96935493e-04 9.99984129e-01 -1.35052449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890888479 meters 0.024176944892320217 Centerline is valid? [True, True] Translation: X:55.22, Y:-2.75, Z:-0.01 [[ 9.72202751e-01 2.34075409e-01 -5.52401088e-03 5.52236013e+01] [-2.34072755e-01 9.72218425e-01 1.13126210e-03 -2.74525007e+00] [ 5.63534580e-03 1.93204317e-04 9.99984103e-01 -1.32192067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.920888479 meters 0.021265422023503344 Centerline is valid? [True, True] Translation: X:55.25, Y:-2.76, Z:-0.01 [[ 9.72562146e-01 2.32611585e-01 -3.83694972e-03 5.52544684e+01] [-2.32610292e-01 9.72569707e-01 7.86048182e-04 -2.75756605e+00] [ 3.91454498e-03 1.28033288e-04 9.99992330e-01 -9.62014949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.950888479 meters 0.02295466641258888 Centerline is valid? [True, True] Translation: X:55.29, Y:-2.76, Z:-0.01 [[ 9.72606204e-01 2.32442040e-01 -2.80522159e-03 5.52857063e+01] [-2.32441347e-01 9.72610245e-01 5.75179594e-04 -2.76089628e+00] [ 2.86208318e-03 9.26262437e-05 9.99995900e-01 -9.32046121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.980888479 meters 0.021775132815743073 Centerline is valid? [True, True] Translation: X:55.32, Y:-2.77, Z:-0.01 [[ 9.72593753e-01 2.32503062e-01 -1.92832579e-03 5.53164509e+01] [-2.32502733e-01 9.72595662e-01 3.96052107e-04 -2.76981919e+00] [ 1.96756463e-03 6.31432123e-05 9.99998062e-01 -8.91858945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.010888479 meters 0.021828392668432693 Centerline is valid? [True, True] Translation: X:55.35, Y:-2.78, Z:-0.01 [[ 9.72847219e-01 2.31443404e-01 -1.49633563e-03 5.53471129e+01] [-2.31443204e-01 9.72848369e-01 3.07485425e-04 -2.77575892e+00] [ 1.52687315e-03 4.71803718e-05 9.99998833e-01 -8.75552007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.040888479 meters 0.021808046989270545 Centerline is valid? [True, True] Translation: X:55.38, Y:-2.78, Z:-0.01 [[ 9.72939866e-01 2.31057797e-01 -5.58621386e-04 5.53783934e+01] [-2.31057769e-01 9.72940026e-01 1.15154389e-04 -2.78212054e+00] [ 5.70112426e-04 1.70355158e-05 9.99999837e-01 -8.93926411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070888479 meters 0.021808046989270545 Centerline is valid? [True, True] Translation: X:55.41, Y:-2.79, Z:-0.01 [[ 9.72876379e-01 2.31324966e-01 -5.58581982e-04 5.54101363e+01] [-2.31324937e-01 9.72876539e-01 1.15345692e-04 -2.78873099e+00] [ 5.70113644e-04 1.69968427e-05 9.99999837e-01 -8.97667493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.100888479 meters 0.02149125336891083 Centerline is valid? [True, True] Translation: X:55.44, Y:-2.80, Z:-0.01 [[ 9.73250166e-01 2.29744182e-01 1.31365356e-03 5.54419148e+01] [-2.29744026e-01 9.73251052e-01 -2.70524060e-04 -2.79633240e+00] [-1.34066603e-03 -3.85164702e-05 9.99999101e-01 -7.12049206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130888479 meters 0.020564284139024887 Centerline is valid? [True, True] Translation: X:55.47, Y:-2.81, Z:-0.01 [[ 9.73408715e-01 2.29070783e-01 1.43200249e-03 5.54725939e+01] [-2.29070596e-01 9.73409767e-01 -2.95083349e-04 -2.80537266e+00] [-1.46152018e-03 -4.07929605e-05 9.99998931e-01 -6.46555961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.160888479 meters 0.021287829293262454 Centerline is valid? [True, True] Translation: X:55.50, Y:-2.81, Z:-0.01 [[ 9.73501242e-01 2.28679194e-01 1.07617260e-03 5.55033742e+01] [-2.28679088e-01 9.73501836e-01 -2.21964589e-04 -2.81099201e+00] [-1.09841468e-03 -3.00153652e-05 9.99999396e-01 -6.40527552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.190888479 meters 0.021890175438219774 Centerline is valid? [True, True] Translation: X:55.53, Y:-2.82, Z:-0.01 [[ 9.73558928e-01 2.28435489e-01 -4.91788422e-04 5.55339471e+01] [-2.28435466e-01 9.73559052e-01 1.01923700e-04 -2.81652341e+00] [ 5.02068060e-04 1.31131897e-05 9.99999874e-01 -8.39082752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.220888479 meters 0.02150065668890252 Centerline is valid? [True, True] Translation: X:55.57, Y:-2.82, Z:-0.01 [[ 9.73497984e-01 2.28690818e-01 -1.47805400e-03 5.55659316e+01] [-2.28690617e-01 9.73499105e-01 3.06292310e-04 -2.82367727e+00] [ 1.50893048e-03 3.98421332e-05 9.99998861e-01 -9.95069455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250888479 meters 0.020788690888546978 Centerline is valid? [True, True] Translation: X:55.60, Y:-2.83, Z:-0.01 [[ 9.73459115e-01 2.28852350e-01 -1.98848166e-03 5.55983654e+01] [-2.28851985e-01 9.73461144e-01 4.12542488e-04 -2.83124669e+00] [ 2.03012095e-03 5.34747288e-05 9.99997938e-01 -1.12287045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.280888479 meters 0.021634300291620338 Centerline is valid? [True, True] Translation: X:55.63, Y:-2.84, Z:-0.01 [[ 9.73468428e-01 2.28805202e-01 -2.72008625e-03 5.56300001e+01] [-2.28804517e-01 9.73472226e-01 5.64575170e-04 -2.83667744e+00] [ 2.77710615e-03 7.27719185e-05 9.99996141e-01 -1.25291182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310888479 meters 0.020525085463677626 Centerline is valid? [True, True] Translation: X:55.66, Y:-2.85, Z:-0.01 [[ 9.73532091e-01 2.28524039e-01 -3.46871291e-03 5.56612640e+01] [-2.28522921e-01 9.73538266e-01 7.20865090e-04 -2.84581668e+00] [ 3.54165975e-03 9.08951067e-05 9.99993724e-01 -1.26532832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.340888479 meters 0.022648341321066013 Centerline is valid? [True, True] Translation: X:55.69, Y:-2.85, Z:-0.01 [[ 9.73547274e-01 2.28454206e-01 -3.79232899e-03 5.56935430e+01] [-2.28452864e-01 9.73554655e-01 7.89136274e-04 -2.84867057e+00] [ 3.87232104e-03 9.81069499e-05 9.99992498e-01 -1.34101097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.370888479 meters 0.021503308204692054 Centerline is valid? [True, True] Translation: X:55.73, Y:-2.86, Z:-0.01 [[ 9.73548995e-01 2.28451028e-01 -3.53290306e-03 5.57256236e+01] [-2.28449860e-01 9.73555401e-01 7.36169663e-04 -2.85820568e+00] [ 3.60765557e-03 9.03939724e-05 9.99993488e-01 -1.26385202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.400888479 meters 0.02099017992808042 Centerline is valid? [True, True] Translation: X:55.76, Y:-2.87, Z:-0.01 [[ 9.73668181e-01 2.27942128e-01 -3.55813760e-03 5.57562354e+01] [-2.27940936e-01 9.73674678e-01 7.42261172e-04 -2.86696841e+00] [ 3.63366107e-03 8.83291293e-05 9.99993394e-01 -1.08229146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.430888479 meters 0.020757608271642625 Centerline is valid? [True, True] Translation: X:55.79, Y:-2.87, Z:-0.01 [[ 9.73775070e-01 2.27486544e-01 -3.46192518e-03 5.57879702e+01] [-2.27485413e-01 9.73781220e-01 7.22327820e-04 -2.87458342e+00] [ 3.53547758e-03 8.41526543e-05 9.99993747e-01 -1.08681995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.460888479 meters 0.02012620011348462 Centerline is valid? [True, True] Translation: X:55.82, Y:-2.88, Z:-0.01 [[ 9.73686542e-01 2.27865201e-01 -3.45956443e-03 5.58197865e+01] [-2.27864069e-01 9.73692684e-01 7.23079341e-04 -2.88196009e+00] [ 3.53331719e-03 8.42578044e-05 9.99993754e-01 -1.16239322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490888479 meters 0.021117204485814157 Centerline is valid? [True, True] Translation: X:55.85, Y:-2.89, Z:-0.01 [[ 9.73632008e-01 2.28106041e-01 -2.88908700e-03 5.58515374e+01] [-2.28105250e-01 9.73636292e-01 6.04665769e-04 -2.88513154e+00] [ 2.95084787e-03 7.02939658e-05 9.99995644e-01 -1.34094627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.520888479 meters 0.02126891587997436 Centerline is valid? [True, True] Translation: X:55.88, Y:-2.89, Z:-0.01 [[ 9.73540267e-01 2.28498832e-01 -2.76261794e-03 5.58831387e+01] [-2.28498110e-01 9.73544185e-01 5.78244143e-04 -2.89166975e+00] [ 2.82165874e-03 6.83090207e-05 9.99996017e-01 -1.33768667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.550888479 meters 0.021101798078235548 Centerline is valid? [True, True] Translation: X:55.91, Y:-2.90, Z:-0.01 [[ 9.73522739e-01 2.28576436e-01 -2.50796522e-03 5.59145860e+01] [-2.28575839e-01 9.73525967e-01 5.25880880e-04 -2.89970747e+00] [ 2.56177324e-03 6.13032594e-05 9.99996717e-01 -1.26791461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.580888479 meters 0.020249994999006683 Centerline is valid? [True, True] Translation: X:55.95, Y:-2.91, Z:-0.01 [[ 9.73507818e-01 2.28649439e-01 -1.40120771e-03 5.59465013e+01] [-2.28649252e-01 9.73508825e-01 2.94369706e-04 -2.91017439e+00] [ 1.43139554e-03 3.38138834e-05 9.99998975e-01 -1.04296177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610888479 meters 0.020478872975338645 Centerline is valid? [True, True] Translation: X:55.98, Y:-2.92, Z:-0.01 [[ 9.73421948e-01 2.29016395e-01 -1.09653514e-03 5.59777080e+01] [-2.29016280e-01 9.73422565e-01 2.30708953e-04 -2.91612427e+00] [ 1.12022818e-03 2.65472405e-05 9.99999372e-01 -9.77790962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.640888479 meters 0.020731366827539136 Centerline is valid? [True, True] Translation: X:56.01, Y:-2.92, Z:-0.01 [[ 9.73303668e-01 2.29519342e-01 -9.17263691e-04 5.60099026e+01] [-2.29519262e-01 9.73304100e-01 1.93320332e-04 -2.92213100e+00] [ 9.37147267e-04 2.23702968e-05 9.99999561e-01 -9.65145213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670888479 meters 0.020543775734569756 Centerline is valid? [True, True] Translation: X:56.04, Y:-2.93, Z:-0.01 [[ 9.73029460e-01 2.30677825e-01 -1.18815030e-03 5.60410900e+01] [-2.30677691e-01 9.73030185e-01 2.50583684e-04 -2.92861548e+00] [ 1.21391021e-03 3.02544620e-05 9.99999263e-01 -1.01133204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.700888479 meters 0.02187028972549114 Centerline is valid? [True, True] Translation: X:56.07, Y:-2.93, Z:-0.01 [[ 9.72392250e-01 2.33339422e-01 -2.45479155e-03 5.60727964e+01] [-2.33338858e-01 9.72395346e-01 5.17968664e-04 -2.93020618e+00] [ 2.50789039e-03 6.91295416e-05 9.99996853e-01 -1.34787314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.730888479 meters 0.022502549948320422 Centerline is valid? [True, True] Translation: X:56.10, Y:-2.93, Z:-0.02 [[ 9.72052827e-01 2.34733329e-01 -3.68316975e-03 5.61033402e+01] [-2.34732065e-01 9.72059799e-01 7.77872040e-04 -2.93489236e+00] [ 3.76285374e-03 1.08425326e-04 9.99992915e-01 -1.50538672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.760888479 meters 0.021396170873532485 Centerline is valid? [True, True] Translation: X:56.13, Y:-2.94, Z:-0.02 [[ 9.71824520e-01 2.35672549e-01 -3.94351051e-03 5.61342851e+01] [-2.35671104e-01 9.71832514e-01 8.33882007e-04 -2.94392207e+00] [ 4.02895483e-03 1.18984494e-04 9.99991877e-01 -1.52667508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790888479 meters 0.02166048401035343 Centerline is valid? [True, True] Translation: X:56.17, Y:-2.95, Z:-0.02 [[ 9.71755465e-01 2.35952826e-01 -4.19287369e-03 5.61665185e+01] [-2.35951190e-01 9.71764502e-01 8.87860728e-04 -2.95074201e+00] [ 4.28397906e-03 1.26530022e-04 9.99990816e-01 -1.53687672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.820888479 meters 0.022434814434518446 Centerline is valid? [True, True] Translation: X:56.20, Y:-2.96, Z:-0.01 [[ 9.71884441e-01 2.35435484e-01 -3.28118112e-03 5.61973059e+01] [-2.35434477e-01 9.71889975e-01 6.95188423e-04 -2.95560288e+00] [ 3.35261906e-03 9.68603499e-05 9.99994375e-01 -1.49714447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850888479 meters 0.02132033115411463 Centerline is valid? [True, True] Translation: X:56.23, Y:-2.96, Z:-0.01 [[ 9.71984250e-01 2.35034281e-01 -2.34621514e-03 5.62281240e+01] [-2.35033763e-01 9.71987079e-01 4.97868813e-04 -2.96445818e+00] [ 2.39750704e-03 6.75191304e-05 9.99997124e-01 -1.41390229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.880888479 meters 0.021437427279733707 Centerline is valid? [True, True] Translation: X:56.26, Y:-2.97, Z:-0.01 [[ 9.72160326e-01 2.34313018e-01 -1.30789374e-03 5.62585839e+01] [-2.34312856e-01 9.72161205e-01 2.77947988e-04 -2.97099505e+00] [ 1.33661039e-03 3.62463104e-05 9.99999106e-01 -1.27030628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.910888479 meters 0.02182795300464729 Centerline is valid? [True, True] Translation: X:56.29, Y:-2.98, Z:-0.01 [[ 9.72077057e-01 2.34658380e-01 -1.28091240e-03 5.62899548e+01] [-2.34658225e-01 9.72077900e-01 2.72389632e-04 -2.97710153e+00] [ 1.30906515e-03 3.57929179e-05 9.99999143e-01 -1.28402270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.940888479 meters 0.02170394247267958 Centerline is valid? [True, True] Translation: X:56.32, Y:-2.98, Z:-0.01 [[ 9.71993312e-01 2.35004711e-01 -1.33719197e-03 5.63219455e+01] [-2.35004541e-01 9.71994231e-01 2.84858005e-04 -2.98284161e+00] [ 1.36668585e-03 3.73661086e-05 9.99999065e-01 -1.37828703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970888479 meters 0.021925293722591326 Centerline is valid? [True, True] Translation: X:56.35, Y:-2.99, Z:-0.02 [[ 9.71705616e-01 2.36188870e-01 -1.73575205e-03 5.63533078e+01] [-2.36188586e-01 9.71707165e-01 3.70059489e-04 -2.98796888e+00] [ 1.77404664e-03 5.03759383e-05 9.99998425e-01 -1.53789426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.000888479 meters 0.022994173851663954 Centerline is valid? [True, True] Translation: X:56.38, Y:-2.99, Z:-0.02 [[ 9.71239837e-01 2.38079706e-01 -3.35162205e-03 5.63848412e+01] [-2.38078655e-01 9.71245614e-01 7.15051344e-04 -2.99060399e+00] [ 3.42548743e-03 1.03463320e-04 9.99994128e-01 -1.76059703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030888479 meters 0.02340805482642233 Centerline is valid? [True, True] Translation: X:56.42, Y:-3.00, Z:-0.02 [[ 9.70913540e-01 2.39396937e-01 -4.00047509e-03 5.64159066e+01] [-2.39395447e-01 9.70921773e-01 8.54346717e-04 -2.99631194e+00] [ 4.08867636e-03 1.28198726e-04 9.99991633e-01 -1.82096802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.060888479 meters 0.023872993466619356 Centerline is valid? [True, True] Translation: X:56.45, Y:-3.00, Z:-0.02 [[ 9.70703062e-01 2.40240223e-01 -4.49461426e-03 5.64476791e+01] [-2.40238346e-01 9.70713456e-01 9.60965084e-04 -3.00211384e+00] [ 4.59384500e-03 1.46966944e-04 9.99989437e-01 -1.83065816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.090888479 meters 0.024845938175556633 Centerline is valid? [True, True] Translation: X:56.48, Y:-3.01, Z:-0.02 [[ 9.70379834e-01 2.41534776e-01 -4.89173986e-03 5.64791227e+01] [-2.41532563e-01 9.70392150e-01 1.04693427e-03 -3.00579129e+00] [ 4.99977700e-03 1.65590566e-04 9.99987487e-01 -1.88178719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.120888479 meters 0.023706101816755136 Centerline is valid? [True, True] Translation: X:56.51, Y:-3.01, Z:-0.02 [[ 9.70259454e-01 2.42008834e-01 -5.32128770e-03 5.65111897e+01] [-2.42006215e-01 9.70274029e-01 1.14044456e-03 -3.01412923e+00] [ 5.43910492e-03 1.81257578e-04 9.99985192e-01 -1.83294479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.150888479 meters 0.022857007954279317 Centerline is valid? [True, True] Translation: X:56.54, Y:-3.02, Z:-0.02 [[ 9.70225971e-01 2.42094979e-01 -7.18239353e-03 5.65435529e+01] [-2.42090195e-01 9.70252525e-01 1.54132468e-03 -3.02154548e+00] [ 7.34188242e-03 2.43353816e-04 9.99973018e-01 -1.95722688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.180888479 meters 0.024945824764658023 Centerline is valid? [True, True] Translation: X:56.58, Y:-3.02, Z:-0.02 [[ 9.70141958e-01 2.42400896e-01 -8.14780530e-03 5.65757706e+01] [-2.42394732e-01 9.70176133e-01 1.75066441e-03 -3.02423783e+00] [ 8.32916886e-03 2.76592082e-04 9.99965274e-01 -2.19007213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210888479 meters 0.025022261576341867 Centerline is valid? [True, True] Translation: X:56.61, Y:-3.03, Z:-0.02 [[ 9.70071386e-01 2.42654661e-01 -8.95660471e-03 5.66078440e+01] [-2.42647201e-01 9.70112686e-01 1.92689012e-03 -3.03105775e+00] [ 9.15648472e-03 3.04074093e-04 9.99958032e-01 -2.22958759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.240888479 meters 0.023436461394690432 Centerline is valid? [True, True] Translation: X:56.64, Y:-3.04, Z:-0.02 [[ 9.70216186e-01 2.42081380e-01 -8.78390513e-03 5.66388026e+01] [-2.42074162e-01 9.70255905e-01 1.89190988e-03 -3.04125043e+00] [ 8.98063197e-03 2.90794887e-04 9.99959631e-01 -2.06513333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.270888479 meters 0.023525957048182666 Centerline is valid? [True, True] Translation: X:56.67, Y:-3.05, Z:-0.02 [[ 9.70384851e-01 2.41394061e-01 -9.06358438e-03 5.66694631e+01] [-2.41386327e-01 9.70427134e-01 1.95421225e-03 -3.04774856e+00] [ 9.26728345e-03 2.91487375e-04 9.99957015e-01 -2.01080693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.300888479 meters 0.02264752820114102 Centerline is valid? [True, True] Translation: X:56.70, Y:-3.06, Z:-0.02 [[ 9.70579347e-01 2.40619311e-01 -8.83620721e-03 5.67004059e+01] [-2.40611907e-01 9.70619530e-01 1.90741960e-03 -3.05621968e+00] [ 9.03555728e-03 2.74794596e-04 9.99959141e-01 -1.91778068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.330888479 meters 0.02200262798925298 Centerline is valid? [True, True] Translation: X:56.73, Y:-3.06, Z:-0.02 [[ 9.70685390e-01 2.40209153e-01 -8.33278799e-03 5.67317374e+01] [-2.40202536e-01 9.70721123e-01 1.80088534e-03 -3.06429303e+00] [ 8.52140245e-03 2.53463724e-04 9.99963660e-01 -1.77174717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.360888479 meters 0.022196145221997417 Centerline is valid? [True, True] Translation: X:56.76, Y:-3.07, Z:-0.02 [[ 9.70834875e-01 2.39631886e-01 -7.49701569e-03 5.67619137e+01] [-2.39626505e-01 9.70863796e-01 1.62125134e-03 -3.07025046e+00] [ 7.66708463e-03 2.22516319e-04 9.99970583e-01 -1.57903380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390888479 meters 0.022204096021868697 Centerline is valid? [True, True] Translation: X:56.79, Y:-3.08, Z:-0.02 [[ 9.70777434e-01 2.39868339e-01 -7.37249619e-03 5.67940427e+01] [-2.39863125e-01 9.70805404e-01 1.59657225e-03 -3.07738411e+00] [ 7.54022628e-03 2.18473665e-04 9.99971548e-01 -1.50067134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.420888479 meters 0.0222248741530234 Centerline is valid? [True, True] Translation: X:56.82, Y:-3.08, Z:-0.01 [[ 9.70816202e-01 2.39714076e-01 -7.28447084e-03 5.68245965e+01] [-2.39708970e-01 9.70843508e-01 1.57911628e-03 -3.08368467e+00] [ 7.45061762e-03 2.13121334e-04 9.99972221e-01 -1.48744742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.450888479 meters 0.02114862978654356 Centerline is valid? [True, True] Translation: X:56.86, Y:-3.09, Z:-0.01 [[ 9.70741349e-01 2.40010508e-01 -7.49600839e-03 5.68562918e+01] [-2.40005092e-01 9.70770265e-01 1.62722561e-03 -3.09318668e+00] [ 7.66745330e-03 2.19465003e-04 9.99970581e-01 -1.39788850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.480888479 meters 0.0220867394441674 Centerline is valid? [True, True] Translation: X:56.89, Y:-3.10, Z:-0.01 [[ 9.70754152e-01 2.39941440e-01 -8.03006676e-03 5.68881374e+01] [-2.39935205e-01 9.70787336e-01 1.74529194e-03 -3.09655506e+00] [ 8.21425498e-03 2.32446320e-04 9.99966235e-01 -1.46771590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.510888479 meters 0.02223352554116474 Centerline is valid? [True, True] Translation: X:56.92, Y:-3.10, Z:-0.02 [[ 9.70535819e-01 2.40826379e-01 -7.92958044e-03 5.69198113e+01] [-2.40820313e-01 9.70568184e-01 1.72537767e-03 -3.10154664e+00] [ 8.11171495e-03 2.35063220e-04 9.99967072e-01 -1.55692245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.540888479 meters 0.0227553154740048 Centerline is valid? [True, True] Translation: X:56.95, Y:-3.11, Z:-0.02 [[ 9.70289711e-01 2.41803732e-01 -8.29654037e-03 5.69508055e+01] [-2.41797112e-01 9.70325147e-01 1.80706649e-03 -3.10590337e+00] [ 8.48729718e-03 2.52701477e-04 9.99963950e-01 -1.64004504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570888479 meters 0.021961746604031815 Centerline is valid? [True, True] Translation: X:56.98, Y:-3.11, Z:-0.02 [[ 9.70069273e-01 2.42659835e-01 -9.04486284e-03 5.69814984e+01] [-2.42651993e-01 9.70111398e-01 1.97116916e-03 -3.11343980e+00] [ 9.25284812e-03 2.82583358e-04 9.99957152e-01 -1.58827431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.600888479 meters 0.023433102076311045 Centerline is valid? [True, True] Translation: X:57.01, Y:-3.12, Z:-0.02 [[ 9.69484296e-01 2.44901015e-01 -1.11217518e-02 5.70123481e+01] [-2.44889275e-01 9.69548016e-01 2.42644580e-03 -3.11756304e+00] [ 1.13773115e-02 3.71196649e-04 9.99935207e-01 -1.62572565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630888479 meters 0.02380674051526868 Centerline is valid? [True, True] Translation: X:57.04, Y:-3.12, Z:-0.02 [[ 9.69094813e-01 2.46381728e-01 -1.22999185e-02 5.70439788e+01] [-2.46367450e-01 9.69172772e-01 2.68651679e-03 -3.12334068e+00] [ 1.25826547e-02 4.26810063e-04 9.99920744e-01 -1.67435696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.660888479 meters 0.024627091163688573 Centerline is valid? [True, True] Translation: X:57.07, Y:-3.13, Z:-0.02 [[ 9.68262703e-01 2.49501374e-01 -1.47106265e-02 5.70746350e+01] [-2.49481311e-01 9.68374283e-01 3.21300857e-03 -3.12651271e+00] [ 1.50470424e-02 5.58990016e-04 9.99886631e-01 -1.89136387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.690888479 meters 0.024461281685617873 Centerline is valid? [True, True] Translation: X:57.11, Y:-3.13, Z:-0.02 [[ 9.67873426e-01 2.50967233e-01 -1.53778547e-02 5.71058317e+01] [-2.50945460e-01 9.67995393e-01 3.36087890e-03 -3.13168784e+00] [ 1.57291630e-02 6.06097450e-04 9.99876105e-01 -1.98329086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.720888479 meters 0.026562861947137976 Centerline is valid? [True, True] Translation: X:57.14, Y:-3.13, Z:-0.02 [[ 9.67466135e-01 2.52499874e-01 -1.59088622e-02 5.71373118e+01] [-2.52476745e-01 9.67596708e-01 3.47898487e-03 -3.13321806e+00] [ 1.62718059e-02 6.50817694e-04 9.99867394e-01 -2.23431903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750888479 meters 0.025858290113572865 Centerline is valid? [True, True] Translation: X:57.17, Y:-3.14, Z:-0.02 [[ 9.66978068e-01 2.54440974e-01 -1.46015906e-02 5.71694414e+01] [-2.54421654e-01 9.67088104e-01 3.19694167e-03 -3.13828576e+00] [ 1.49344575e-02 6.23588331e-04 9.99888280e-01 -2.21483442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.780888479 meters 0.02609037190663727 Centerline is valid? [True, True] Translation: X:57.20, Y:-3.14, Z:-0.02 [[ 9.66844959e-01 2.54949139e-01 -1.45520432e-02 5.72003617e+01] [-2.54929957e-01 9.66954262e-01 3.18947601e-03 -3.14486684e+00] [ 1.48843144e-02 6.26022941e-04 9.99889026e-01 -2.10922927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810888479 meters 0.026952206022408123 Centerline is valid? [True, True] Translation: X:57.23, Y:-3.15, Z:-0.02 [[ 9.66758796e-01 2.55300071e-01 -1.41175240e-02 5.72312404e+01] [-2.55281999e-01 9.66861677e-01 3.09807079e-03 -3.15118446e+00] [ 1.44406306e-02 6.08862566e-04 9.99895543e-01 -2.01390504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.840888479 meters 0.02662266297487564 Centerline is valid? [True, True] Translation: X:57.26, Y:-3.16, Z:-0.02 [[ 9.67001201e-01 2.54400599e-01 -1.37482029e-02 5.72628191e+01] [-2.54383355e-01 9.67098754e-01 3.01804235e-03 -3.15963564e+00] [ 1.40636617e-02 5.78863388e-04 9.99900934e-01 -1.73279947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.870888479 meters 0.027141596660252044 Centerline is valid? [True, True] Translation: X:57.29, Y:-3.16, Z:-0.02 [[ 9.67100932e-01 2.54038656e-01 -1.34219635e-02 5.72932744e+01] [-2.54022159e-01 9.67193905e-01 2.94837595e-03 -3.16420318e+00] [ 1.37306427e-02 5.58099016e-04 9.99905575e-01 -1.76971817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.900888479 meters 0.027334278956520824 Centerline is valid? [True, True] Translation: X:57.33, Y:-3.17, Z:-0.02 [[ 9.67030747e-01 2.54310834e-01 -1.33242203e-02 5.73261564e+01] [-2.54294550e-01 9.67122377e-01 2.93074047e-03 -3.16816086e+00] [ 1.36314707e-02 5.54160469e-04 9.99906934e-01 -1.95323629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.930888479 meters 0.02680070975139102 Centerline is valid? [True, True] Translation: X:57.36, Y:-3.17, Z:-0.02 [[ 9.67087577e-01 2.54084283e-01 -1.35201886e-02 5.73580181e+01] [-2.54067449e-01 9.67181921e-01 2.97710181e-03 -3.17485492e+00] [ 1.38329168e-02 5.55921659e-04 9.99904166e-01 -2.00556639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.960888479 meters 0.02680070975139102 Centerline is valid? [True, True] Translation: X:57.39, Y:-3.18, Z:-0.02 [[ 9.67019675e-01 2.54342631e-01 -1.35193844e-02 5.73896885e+01] [-2.54325772e-01 9.67114014e-01 2.98075199e-03 -3.18192744e+00] [ 1.38329184e-02 5.55882048e-04 9.99904166e-01 -2.00930929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990888479 meters 0.02595521762809284 Centerline is valid? [True, True] Translation: X:57.42, Y:-3.19, Z:-0.02 [[ 9.67002195e-01 2.54425472e-01 -1.32073306e-02 5.74208806e+01] [-2.54409345e-01 9.67092233e-01 2.91520121e-03 -3.18983816e+00] [ 1.35144083e-02 5.41062362e-04 9.99908530e-01 -1.96999056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.020888479 meters 0.023663737269605144 Centerline is valid? [True, True] Translation: X:57.45, Y:-3.20, Z:-0.02 [[ 9.67278977e-01 2.53362896e-01 -1.33650406e-02 5.74520704e+01] [-2.53346257e-01 9.67371160e-01 2.95174972e-03 -3.19988865e+00] [ 1.36768187e-02 5.30817552e-04 9.99906327e-01 -1.81647789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.050888479 meters 0.024066047785379758 Centerline is valid? [True, True] Translation: X:57.48, Y:-3.21, Z:-0.02 [[ 9.67440320e-01 2.52723627e-01 -1.37838659e-02 5.74830398e+01] [-2.52705836e-01 9.67538361e-01 3.04625553e-03 -3.20563547e+00] [ 1.41062797e-02 5.36192923e-04 9.99900358e-01 -1.84840023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.080888479 meters 0.025142416905358317 Centerline is valid? [True, True] Translation: X:57.51, Y:-3.21, Z:-0.02 [[ 9.67876670e-01 2.50957972e-01 -1.53247688e-02 5.75146459e+01] [-2.50935697e-01 9.67997819e-01 3.39076775e-03 -3.20896806e+00] [ 1.56852830e-02 5.63686564e-04 9.99876819e-01 -2.10679888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110888479 meters 0.024688744996570453 Centerline is valid? [True, True] Translation: X:57.55, Y:-3.22, Z:-0.02 [[ 9.68032432e-01 2.50358630e-01 -1.52894478e-02 5.75461015e+01] [-2.50336326e-01 9.68153012e-01 3.38664349e-03 -3.21539968e+00] [ 1.56504004e-02 5.49123452e-04 9.99877374e-01 -2.12506049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.140888479 meters 0.025335089014949862 Centerline is valid? [True, True] Translation: X:57.58, Y:-3.22, Z:-0.02 [[ 9.68121970e-01 2.50013526e-01 -1.52672470e-02 5.75768603e+01] [-2.49991212e-01 9.68242193e-01 3.38370327e-03 -3.22025633e+00] [ 1.56283643e-02 5.40840129e-04 9.99877723e-01 -2.14990389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170888479 meters 0.02393930985344867 Centerline is valid? [True, True] Translation: X:57.61, Y:-3.23, Z:-0.02 [[ 9.68342646e-01 2.49056423e-01 -1.68350495e-02 5.76076500e+01] [-2.49029074e-01 9.68488806e-01 3.73535278e-03 -3.22871087e+00] [ 1.72348706e-02 5.75315396e-04 9.99851303e-01 -2.08650350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.200888479 meters 0.022608671172531215 Centerline is valid? [True, True] Translation: X:57.64, Y:-3.24, Z:-0.02 [[ 9.68415096e-01 2.48676368e-01 -1.82281729e-02 5.76395335e+01] [-2.48644141e-01 9.68586440e-01 4.04968343e-03 -3.23770013e+00] [ 1.86626216e-02 6.10553824e-04 9.99825652e-01 -2.08750697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.230888479 meters 0.022602569104857695 Centerline is valid? [True, True] Translation: X:57.67, Y:-3.24, Z:-0.02 [[ 9.68584973e-01 2.47914334e-01 -1.95354444e-02 5.76706310e+01] [-2.47877060e-01 9.68781751e-01 4.34526022e-03 -3.24381954e+00] [ 2.00028344e-02 6.33634788e-04 9.99799723e-01 -2.26433079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.260888479 meters 0.02227612294082795 Centerline is valid? [True, True] Translation: X:57.70, Y:-3.25, Z:-0.02 [[ 9.68912888e-01 2.46624404e-01 -1.96015285e-02 5.77007168e+01] [-2.46586525e-01 9.69110952e-01 4.36437641e-03 -3.25042973e+00] [ 2.00724177e-02 6.04772263e-04 9.99798346e-01 -2.34755073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290888479 meters 0.020672090787891423 Centerline is valid? [True, True] Translation: X:57.73, Y:-3.26, Z:-0.02 [[ 9.69712376e-01 2.43439848e-01 -1.98733252e-02 5.77310414e+01] [-2.43400225e-01 9.69915843e-01 4.42575743e-03 -3.26119933e+00] [ 2.03528586e-02 5.45460071e-04 9.99792710e-01 -2.12728605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.320888479 meters 0.020894827829738036 Centerline is valid? [True, True] Translation: X:57.76, Y:-3.27, Z:-0.02 [[ 9.69997201e-01 2.42217736e-01 -2.08805901e-02 5.77611192e+01] [-2.42173606e-01 9.70221766e-01 4.65505731e-03 -3.26887530e+00] [ 2.13863405e-02 5.41335247e-04 9.99771140e-01 -2.11924998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350888479 meters 0.02032622887161557 Centerline is valid? [True, True] Translation: X:57.79, Y:-3.28, Z:-0.02 [[ 9.70209379e-01 2.41328739e-01 -2.13119739e-02 5.77915872e+01] [-2.41282439e-01 9.70443281e-01 4.75641644e-03 -3.27793560e+00] [ 2.18299218e-02 5.27485192e-04 9.99761560e-01 -1.95300447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.380888479 meters 0.0199517304171799 Centerline is valid? [True, True] Translation: X:57.82, Y:-3.29, Z:-0.02 [[ 9.70697435e-01 2.39396482e-01 -2.08761661e-02 5.78216913e+01] [-2.39351509e-01 9.70921781e-01 4.66381482e-03 -3.28535104e+00] [ 2.13856252e-02 4.69588761e-04 9.99771191e-01 -1.84836538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.410888479 meters 0.018542944240698418 Centerline is valid? [True, True] Translation: X:57.85, Y:-3.29, Z:-0.02 [[ 9.70851657e-01 2.38801599e-01 -2.05148056e-02 5.78527288e+01] [-2.38757928e-01 9.71068278e-01 4.58828779e-03 -3.29434769e+00] [ 2.10169674e-02 4.43525660e-04 9.99779021e-01 -1.61698023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.440888479 meters 0.018879670653463965 Centerline is valid? [True, True] Translation: X:57.88, Y:-3.30, Z:-0.02 [[ 9.70987231e-01 2.38312107e-01 -1.97771978e-02 5.78833407e+01] [-2.38271326e-01 9.71188534e-01 4.42789008e-03 -3.30004342e+00] [ 2.02626075e-02 4.12914407e-04 9.99794607e-01 -1.75062026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.470888479 meters 0.018574163497039806 Centerline is valid? [True, True] Translation: X:57.91, Y:-3.31, Z:-0.02 [[ 9.71087908e-01 2.37952016e-01 -1.91602033e-02 5.79145541e+01] [-2.37913576e-01 9.71276834e-01 4.29453990e-03 -3.30819330e+00] [ 1.96317560e-02 3.88096709e-04 9.99807203e-01 -1.69856463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.500888479 meters 0.018543155266087994 Centerline is valid? [True, True] Translation: X:57.95, Y:-3.32, Z:-0.02 [[ 9.71340735e-01 2.36783412e-01 -2.07555221e-02 5.79452717e+01] [-2.36737919e-01 9.71562383e-01 4.65760034e-03 -3.31821185e+00] [ 2.12681270e-02 3.89502170e-04 9.99773732e-01 -1.73689339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530888479 meters 0.01822158144972243 Centerline is valid? [True, True] Translation: X:57.98, Y:-3.33, Z:-0.02 [[ 9.71480479e-01 2.36162585e-01 -2.12817548e-02 5.79769963e+01] [-2.36114478e-01 9.71713481e-01 4.78165868e-03 -3.32730378e+00] [ 2.18090169e-02 3.79642339e-04 9.99762083e-01 -1.76477395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.560888479 meters 0.017592564726739795 Centerline is valid? [True, True] Translation: X:58.01, Y:-3.34, Z:-0.02 [[ 9.71591948e-01 2.35644062e-01 -2.19308573e-02 5.80081523e+01] [-2.35592700e-01 9.71839358e-01 4.93382629e-03 -3.33691213e+00] [ 2.24758971e-02 3.73083989e-04 9.99747316e-01 -1.65152754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.590888479 meters 0.017596247356176122 Centerline is valid? [True, True] Translation: X:58.04, Y:-3.35, Z:-0.02 [[ 9.71619720e-01 2.35489130e-01 -2.23604669e-02 5.80395130e+01] [-2.35435556e-01 9.71876912e-01 5.03650758e-03 -3.34521497e+00] [ 2.29176644e-02 3.70878897e-04 9.99737287e-01 -1.66507671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.620888479 meters 0.017419198090624533 Centerline is valid? [True, True] Translation: X:58.07, Y:-3.35, Z:-0.02 [[ 9.71507516e-01 2.36079704e-01 -2.09647123e-02 5.80704478e+01] [-2.36032635e-01 9.71733629e-01 4.72743933e-03 -3.35269855e+00] [ 2.14881684e-02 3.55613429e-04 9.99769039e-01 -1.52849405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.650888479 meters 0.017513672458371193 Centerline is valid? [True, True] Translation: X:58.10, Y:-3.36, Z:-0.01 [[ 9.71389065e-01 2.36640274e-01 -2.01163089e-02 5.81007629e+01] [-2.36596960e-01 9.71597272e-01 4.54081549e-03 -3.35932892e+00] [ 2.06194906e-02 3.48559023e-04 9.99787335e-01 -1.45090940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.680888479 meters 0.018374175113656778 Centerline is valid? [True, True] Translation: X:58.13, Y:-3.37, Z:-0.02 [[ 9.71229019e-01 2.37353387e-01 -1.94309791e-02 5.81318025e+01] [-2.37313013e-01 9.71423311e-01 4.39134969e-03 -3.36542185e+00] [ 1.99180078e-02 3.46217950e-04 9.99801557e-01 -1.65987589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710888479 meters 0.017293471259448995 Centerline is valid? [True, True] Translation: X:58.16, Y:-3.38, Z:-0.01 [[ 9.71048044e-01 2.38091311e-01 -1.94479558e-02 5.81633358e+01] [-2.38050902e-01 9.71242709e-01 4.40081779e-03 -3.37561320e+00] [ 1.99364817e-02 3.56197912e-04 9.99801185e-01 -1.46265218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.740888479 meters 0.017479692921747794 Centerline is valid? [True, True] Translation: X:58.19, Y:-3.39, Z:-0.01 [[ 9.70697369e-01 2.39547179e-01 -1.90726856e-02 5.81943419e+01] [-2.39508502e-01 9.70884653e-01 4.32068419e-03 -3.38516001e+00] [ 1.95523855e-02 3.73993591e-04 9.99808764e-01 -1.48911220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.770888479 meters 0.01751677547595748 Centerline is valid? [True, True] Translation: X:58.23, Y:-3.39, Z:-0.01 [[ 9.70376337e-01 2.40864115e-01 -1.88213556e-02 5.82258518e+01] [-2.40826606e-01 9.70558770e-01 4.26854698e-03 -3.39317968e+00] [ 1.92953716e-02 3.90586201e-04 9.99813751e-01 -1.42928760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.800888479 meters 0.0177489124985504 Centerline is valid? [True, True] Translation: X:58.26, Y:-3.40, Z:-0.01 [[ 9.69929102e-01 2.42661028e-01 -1.87926375e-02 5.82570298e+01] [-2.42623878e-01 9.70111049e-01 4.26682019e-03 -3.39989681e+00] [ 1.92663362e-02 4.21029504e-04 9.99814298e-01 -1.43683315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.830888479 meters 0.018891745326394867 Centerline is valid? [True, True] Translation: X:58.29, Y:-3.41, Z:-0.02 [[ 9.69500166e-01 2.44429791e-01 -1.79862783e-02 5.82875366e+01] [-2.44396021e-01 9.69666896e-01 4.08610968e-03 -3.40516337e+00] [ 1.84394656e-02 4.34290842e-04 9.99829884e-01 -1.55145457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.860888479 meters 0.020194552254252103 Centerline is valid? [True, True] Translation: X:58.32, Y:-3.41, Z:-0.01 [[ 9.68605588e-01 2.48113361e-01 -1.55876461e-02 5.83180844e+01] [-2.48088415e-01 9.68730908e-01 3.54486347e-03 -3.41110104e+00] [ 1.59797625e-02 4.33539850e-04 9.99872221e-01 -1.46897797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890888479 meters 0.021123640649951404 Centerline is valid? [True, True] Translation: X:58.35, Y:-3.42, Z:-0.01 [[ 9.68102336e-01 2.50127800e-01 -1.46270374e-02 5.83497288e+01] [-2.50106010e-01 9.68212732e-01 3.33001008e-03 -3.41763850e+00] [ 1.49950119e-02 4.34519434e-04 9.99887474e-01 -1.37179277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.920888479 meters 0.021726833558615453 Centerline is valid? [True, True] Translation: X:58.38, Y:-3.42, Z:-0.01 [[ 9.67475486e-01 2.52601191e-01 -1.35581315e-02 5.83814570e+01] [-2.52582665e-01 9.67570385e-01 3.09001958e-03 -3.42436114e+00] [ 1.38989891e-02 4.35030796e-04 9.99903310e-01 -1.34626437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.950888479 meters 0.024226465814006858 Centerline is valid? [True, True] Translation: X:58.41, Y:-3.43, Z:-0.02 [[ 9.66441151e-01 2.56554242e-01 -1.30928176e-02 5.84111853e+01] [-2.56537315e-01 9.66529718e-01 2.98492330e-03 -3.42777373e+00] [ 1.34203920e-02 4.74043555e-04 9.99909830e-01 -1.57108928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.980888479 meters 0.02763442230124527 Centerline is valid? [True, True] Translation: X:58.44, Y:-3.43, Z:-0.02 [[ 9.66124324e-01 2.57790715e-01 -1.21547130e-02 5.84429080e+01] [-2.57776189e-01 9.66200674e-01 2.77390621e-03 -3.42992661e+00] [ 1.24589791e-02 4.53257321e-04 9.99922281e-01 -1.78254662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.010888479 meters 0.023946759497869084 Centerline is valid? [True, True] Translation: X:58.47, Y:-3.44, Z:-0.02 [[ 9.65801150e-01 2.59088521e-01 -1.00636195e-02 5.84729977e+01] [-2.59078607e-01 9.65853503e-01 2.29924029e-03 -3.44375636e+00] [ 1.03156889e-02 3.86659601e-04 9.99946717e-01 -1.55033990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.040888479 meters 0.02323904352392697 Centerline is valid? [True, True] Translation: X:58.50, Y:-3.45, Z:-0.02 [[ 9.65574542e-01 2.59934926e-01 -9.98191535e-03 5.85037603e+01] [-2.59925192e-01 9.65626057e-01 2.28309503e-03 -3.45282016e+00] [ 1.02322537e-02 3.90052827e-04 9.99947573e-01 -1.54922093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070888479 meters 0.02244812739947461 Centerline is valid? [True, True] Translation: X:58.54, Y:-3.46, Z:-0.02 [[ 9.65424852e-01 2.60492923e-01 -9.91424781e-03 5.85355237e+01] [-2.60483320e-01 9.65475678e-01 2.27058777e-03 -3.46194032e+00] [ 1.01634372e-02 3.90414318e-04 9.99948275e-01 -1.56592015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.100888479 meters 0.02600008004691875 Centerline is valid? [True, True] Translation: X:58.57, Y:-3.46, Z:-0.02 [[ 9.65198968e-01 2.61324157e-01 -1.00317782e-02 5.85671062e+01] [-2.61314346e-01 9.65251016e-01 2.29981837e-03 -3.46428906e+00] [ 1.02841822e-02 4.01665230e-04 9.99947036e-01 -1.75127497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130888479 meters 0.02531525778491612 Centerline is valid? [True, True] Translation: X:58.60, Y:-3.47, Z:-0.02 [[ 9.64898162e-01 2.62440418e-01 -9.82674069e-03 5.85977707e+01] [-2.62431036e-01 9.64948115e-01 2.25526775e-03 -3.47368708e+00] [ 1.00741683e-02 4.02738038e-04 9.99949173e-01 -1.70072977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.160888479 meters 0.02591964282453987 Centerline is valid? [True, True] Translation: X:58.63, Y:-3.48, Z:-0.02 [[ 9.64686505e-01 2.63155981e-01 -1.13524376e-02 5.86280913e+01] [-2.63143480e-01 9.64753185e-01 2.60796233e-03 -3.48219168e+00] [ 1.16386012e-02 4.71453858e-04 9.99932158e-01 -1.83538099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.190888479 meters 0.02503900276695876 Centerline is valid? [True, True] Translation: X:58.66, Y:-3.49, Z:-0.02 [[ 9.64705761e-01 2.63070957e-01 -1.16818631e-02 5.86591827e+01] [-2.63057679e-01 9.64776368e-01 2.68656350e-03 -3.49077402e+00] [ 1.19771423e-02 4.81260514e-04 9.99928156e-01 -1.99165695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.220888479 meters 0.02391449326280268 Centerline is valid? [True, True] Translation: X:58.69, Y:-3.50, Z:-0.02 [[ 9.64897824e-01 2.62355151e-01 -1.19148661e-02 5.86901818e+01] [-2.62341246e-01 9.64971267e-01 2.74315805e-03 -3.49909419e+00] [ 1.22171850e-02 4.78893583e-04 9.99925253e-01 -2.17559380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250888479 meters 0.023096052974672435 Centerline is valid? [True, True] Translation: X:58.72, Y:-3.51, Z:-0.02 [[ 9.65200025e-01 2.61261984e-01 -1.14493145e-02 5.87208446e+01] [-2.61249034e-01 9.65267827e-01 2.63889179e-03 -3.50730475e+00] [ 1.17410970e-02 4.44063919e-04 9.99930972e-01 -2.30941179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.280888479 meters 0.021312656660484555 Centerline is valid? [True, True] Translation: X:58.75, Y:-3.52, Z:-0.02 [[ 9.66060347e-01 2.58097202e-01 -1.06414262e-02 5.87499061e+01] [-2.58085821e-01 9.66118881e-01 2.45285921e-03 -3.51980901e+00] [ 1.09139589e-02 3.76791202e-04 9.99940370e-01 -2.29303479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310888479 meters 0.02212950809294355 Centerline is valid? [True, True] Translation: X:58.78, Y:-3.53, Z:-0.02 [[ 9.66499475e-01 2.56449828e-01 -1.05948088e-02 5.87800243e+01] [-2.56438429e-01 9.66557479e-01 2.44380695e-03 -3.52730431e+00] [ 1.08672055e-02 3.54977980e-04 9.99940887e-01 -2.31371078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.340888479 meters 0.021960200259449274 Centerline is valid? [True, True] Translation: X:58.81, Y:-3.54, Z:-0.02 [[ 9.66943416e-01 2.54778488e-01 -1.04092687e-02 5.88099875e+01] [-2.54767373e-01 9.66999387e-01 2.40247774e-03 -3.53638265e+00] [ 1.06778561e-02 3.28882020e-04 9.99942936e-01 -2.31879849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.370888479 meters 0.019656949991855757 Centerline is valid? [True, True] Translation: X:58.84, Y:-3.55, Z:-0.02 [[ 9.68000850e-01 2.50753047e-01 -9.86223431e-03 5.88391464e+01] [-2.50742858e-01 9.68051051e-01 2.27646556e-03 -3.54984817e+00] [ 1.01179770e-02 2.69264217e-04 9.99948776e-01 -2.18013776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.400888479 meters 0.018816963665034055 Centerline is valid? [True, True] Translation: X:58.87, Y:-3.56, Z:-0.02 [[ 9.68677320e-01 2.48171914e-01 -8.65744133e-03 5.88694062e+01] [-2.48163955e-01 9.68715983e-01 1.99885922e-03 -3.55967422e+00] [ 8.88266251e-03 2.12215286e-04 9.99960526e-01 -2.10471754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.430888479 meters 0.01751725265478223 Centerline is valid? [True, True] Translation: X:58.90, Y:-3.57, Z:-0.02 [[ 9.69281571e-01 2.45842868e-01 -7.38374379e-03 5.89003643e+01] [-2.45837002e-01 9.69309681e-01 1.70593156e-03 -3.57021450e+00] [ 7.57652545e-03 1.61669419e-04 9.99971285e-01 -1.96422635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.460888479 meters 0.0169010656471537 Centerline is valid? [True, True] Translation: X:58.93, Y:-3.58, Z:-0.02 [[ 9.70661355e-01 2.40383958e-01 -5.66442756e-03 5.89296396e+01] [-2.40380412e-01 9.70677879e-01 1.30883142e-03 -3.58071463e+00] [ 5.81295660e-03 9.11853524e-05 9.99983100e-01 -1.90039165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490888479 meters 0.016563475191244906 Centerline is valid? [True, True] Translation: X:58.96, Y:-3.59, Z:-0.02 [[ 9.71244253e-01 2.38033693e-01 -4.95606103e-03 5.89594328e+01] [-2.38030941e-01 9.71256895e-01 1.14649920e-03 -3.58955238e+00] [ 5.08651389e-03 6.61651137e-05 9.99987061e-01 -1.90868661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.520888479 meters 0.015503745542064127 Centerline is valid? [True, True] Translation: X:58.99, Y:-3.60, Z:-0.02 [[ 9.72281992e-01 2.33771871e-01 -4.29429897e-03 5.89893064e+01] [-2.33769758e-01 9.72291474e-01 9.94526375e-04 -3.60235500e+00] [ 4.40780257e-03 3.69171472e-05 9.99990285e-01 -1.89255247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.550888479 meters 0.015196942832229164 Centerline is valid? [True, True] Translation: X:59.02, Y:-3.61, Z:-0.02 [[ 9.72721950e-01 2.31938815e-01 -4.04900909e-03 5.90199123e+01] [-2.31936917e-01 9.72730377e-01 9.38757573e-04 -3.61132994e+00] [ 4.15632846e-03 2.59645870e-05 9.99991362e-01 -1.89496617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.580888479 meters 0.015032871193112578 Centerline is valid? [True, True] Translation: X:59.05, Y:-3.62, Z:-0.02 [[ 9.72983286e-01 2.30840522e-01 -4.02232354e-03 5.90521480e+01] [-2.30838634e-01 9.72991600e-01 9.33765908e-04 -3.61977137e+00] [ 4.12923803e-03 1.99690501e-05 9.99991474e-01 -1.95709968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.610888478999996 meters 0.014853508111023025 Centerline is valid? [True, True] Translation: X:59.08, Y:-3.63, Z:-0.02 [[ 9.73275169e-01 2.29618382e-01 -3.29301459e-03 5.90835872e+01] [-2.29617107e-01 9.73280740e-01 7.65299701e-04 -3.62792296e+00] [ 3.38075456e-03 1.12852864e-05 9.99994285e-01 -1.97931279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.640888479 meters 0.014826419509625545 Centerline is valid? [True, True] Translation: X:59.11, Y:-3.64, Z:-0.02 [[ 9.73849140e-01 2.27182749e-01 -2.41881330e-03 5.91134731e+01] [-2.27182052e-01 9.73852144e-01 5.62743409e-04 -3.63691018e+00] [ 2.48341211e-03 1.48378484e-06 9.99996916e-01 -1.80934193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670888479 meters 0.014727683878844697 Centerline is valid? [True, True] Translation: X:59.15, Y:-3.64, Z:-0.02 [[ 9.73997054e-01 2.26547951e-01 -2.40100340e-03 5.91451968e+01] [-2.26547260e-01 9.74000013e-01 5.59316870e-04 -3.64498884e+00] [ 2.46528943e-03 -8.32241986e-07 9.99996961e-01 -1.73659753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.700888479 meters 0.014750023848836296 Centerline is valid? [True, True] Translation: X:59.18, Y:-3.65, Z:-0.02 [[ 9.74186968e-01 2.25731637e-01 -2.23164511e-03 5.91766625e+01] [-2.25731037e-01 9.74189524e-01 5.20438824e-04 -3.65225281e+00] [ 2.29152479e-03 -3.25315625e-06 9.99997374e-01 -1.75434531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.730888479 meters 0.014756634930031124 Centerline is valid? [True, True] Translation: X:59.21, Y:-3.66, Z:-0.02 [[ 9.74490469e-01 2.24403444e-01 -3.37950789e-03 5.92082656e+01] [-2.24402057e-01 9.74496328e-01 7.88946019e-04 -3.66034054e+00] [ 3.47036024e-03 -1.04518509e-05 9.99993978e-01 -1.82478041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.760888479 meters 0.014741033479436859 Centerline is valid? [True, True] Translation: X:59.24, Y:-3.67, Z:-0.02 [[ 9.74521772e-01 2.24256383e-01 -4.04858290e-03 5.92401598e+01] [-2.24254387e-01 9.74530181e-01 9.46216249e-04 -3.66822584e+00] [ 4.15766126e-03 -1.41958567e-05 9.99991357e-01 -1.88912982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790888479 meters 0.014653855808709955 Centerline is valid? [True, True] Translation: X:59.27, Y:-3.68, Z:-0.02 [[ 9.74626429e-01 2.23795691e-01 -4.33729907e-03 5.92723314e+01] [-2.23793391e-01 9.74636080e-01 1.01487662e-03 -3.67536757e+00] [ 4.45441318e-03 -1.84667093e-05 9.99990079e-01 -1.97059113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.820888479 meters 0.014483155519029813 Centerline is valid? [True, True] Translation: X:59.30, Y:-3.68, Z:-0.02 [[ 9.74688255e-01 2.23540262e-01 -3.54346110e-03 5.93044581e+01] [-2.23538722e-01 9.74694696e-01 8.30082677e-04 -3.68005753e+00] [ 3.63934964e-03 -1.69710704e-05 9.99993377e-01 -2.05509240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850888479 meters 0.014483155519029813 Centerline is valid? [True, True] Translation: X:59.34, Y:-3.69, Z:-0.02 [[ 9.74629737e-01 2.23795268e-01 -3.54323970e-03 5.93359912e+01] [-2.23793726e-01 9.74636177e-01 8.31027393e-04 -3.68753673e+00] [ 3.63934960e-03 -1.69891940e-05 9.99993377e-01 -2.05883258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.880888479 meters 0.014444828767491057 Centerline is valid? [True, True] Translation: X:59.37, Y:-3.69, Z:-0.02 [[ 9.74629948e-01 2.23812806e-01 -2.07175385e-03 5.93682507e+01] [-2.23812278e-01 9.74632150e-01 4.86606453e-04 -3.69386002e+00] [ 2.12810667e-03 -1.05772742e-05 9.99997736e-01 -2.05080478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.910888479 meters 0.014196354735241898 Centerline is valid? [True, True] Translation: X:59.40, Y:-3.70, Z:-0.02 [[ 9.74716827e-01 2.23442575e-01 7.23863365e-04 5.94006885e+01] [-2.23442510e-01 9.74717095e-01 -1.69798534e-04 -3.70098433e+00] [-7.43502218e-04 3.76364061e-06 9.99999724e-01 -1.72278029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.940888479 meters 0.014118011369405976 Centerline is valid? [True, True] Translation: X:59.43, Y:-3.71, Z:-0.02 [[ 9.74759562e-01 2.23255329e-01 9.23742188e-04 5.94331179e+01] [-2.23255224e-01 9.74760000e-01 -2.17033011e-04 -3.70883104e+00] [-9.48880711e-04 5.32473407e-06 9.99999550e-01 -1.53511282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.970888479 meters 0.01404463953445814 Centerline is valid? [True, True] Translation: X:59.47, Y:-3.72, Z:-0.01 [[ 9.74579774e-01 2.24035120e-01 1.59026080e-03 5.94656237e+01] [-2.24034808e-01 9.74581071e-01 -3.74316308e-04 -3.71588195e+00] [-1.63369807e-03 8.52733113e-06 9.99998665e-01 -1.46718934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.000888479 meters 0.013928303220555435 Centerline is valid? [True, True] Translation: X:59.50, Y:-3.72, Z:-0.01 [[ 9.74201691e-01 2.25673509e-01 1.59140052e-03 5.94979665e+01] [-2.25673198e-01 9.74202991e-01 -3.75041398e-04 -3.72151628e+00] [-1.63498405e-03 6.22952076e-06 9.99998663e-01 -1.47461218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030888479 meters 0.0138458026969512 Centerline is valid? [True, True] Translation: X:59.53, Y:-3.72, Z:-0.02 [[ 9.72893271e-01 2.31249820e-01 1.48467239e-03 5.95303657e+01] [-2.31249555e-01 9.72894404e-01 -3.50290281e-04 -3.72178821e+00] [-1.52543402e-03 -2.53477209e-06 9.99998837e-01 -1.59916010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.060888479 meters 0.013951849560109003 Centerline is valid? [True, True] Translation: X:59.56, Y:-3.72, Z:-0.02 [[ 9.72022463e-01 2.34884617e-01 1.24414807e-03 5.95632191e+01] [-2.34884433e-01 9.72023259e-01 -2.93830164e-04 -3.72455559e+00] [-1.27835705e-03 -6.62149538e-06 9.99999183e-01 -1.71139506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.090888479 meters 0.014342706574310093 Centerline is valid? [True, True] Translation: X:59.60, Y:-3.73, Z:-0.02 [[ 9.71033230e-01 2.38942410e-01 9.95132270e-04 5.95950395e+01] [-2.38942295e-01 9.71033740e-01 -2.35256412e-04 -3.72754869e+00] [-1.02251974e-03 -9.33739481e-06 9.99999477e-01 -1.82648108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.120888479 meters 0.015427907032174575 Centerline is valid? [True, True] Translation: X:59.63, Y:-3.73, Z:-0.02 [[ 9.69268360e-01 2.46005770e-01 -8.79603305e-05 5.96285191e+01] [-2.46005769e-01 9.69268364e-01 2.08966206e-05 -3.72684441e+00] [ 9.03978549e-05 1.38431556e-06 9.99999996e-01 -1.96038750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.150888479 meters 0.016581085057253975 Centerline is valid? [True, True] Translation: X:59.66, Y:-3.73, Z:-0.02 [[ 9.68505580e-01 2.48987816e-01 -1.41742428e-03 5.96594579e+01] [-2.48987591e-01 9.68506617e-01 3.36014856e-04 -3.72970743e+00] [ 1.45644840e-03 2.74887933e-05 9.99998939e-01 -2.05624182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.180888479 meters 0.01696394246049277 Centerline is valid? [True, True] Translation: X:59.69, Y:-3.73, Z:-0.02 [[ 9.67805821e-01 2.51688554e-01 -2.18297666e-03 5.96913994e+01] [-2.51688025e-01 9.67808281e-01 5.17924595e-04 -3.73459229e+00] [ 2.24305858e-03 4.81786463e-05 9.99997483e-01 -2.11701882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210888479 meters 0.018151268161208284 Centerline is valid? [True, True] Translation: X:59.72, Y:-3.74, Z:-0.02 [[ 9.66928575e-01 2.55021146e-01 -3.65311540e-03 5.97234908e+01] [-2.55019690e-01 9.66935472e-01 8.66831016e-04 -3.73662036e+00] [ 3.75338710e-03 9.34526763e-05 9.99992952e-01 -2.22222236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.240888479 meters 0.018890111398415663 Centerline is valid? [True, True] Translation: X:59.75, Y:-3.74, Z:-0.02 [[ 9.66564271e-01 2.56397547e-01 -3.71585255e-03 5.97538417e+01] [-2.56396047e-01 9.66571409e-01 8.82530480e-04 -3.74117715e+00] [ 3.81791549e-03 9.97074776e-05 9.99992707e-01 -2.23656509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.270888479 meters 0.02000751811243435 Centerline is valid? [True, True] Translation: X:59.79, Y:-3.74, Z:-0.02 [[ 9.65988338e-01 2.58552974e-01 -4.10985318e-03 5.97851705e+01] [-2.58551155e-01 9.65997073e-01 9.77062016e-04 -3.74434740e+00] [ 4.22272843e-03 1.18776775e-04 9.99991077e-01 -2.26694578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.300888479 meters 0.019729040694377552 Centerline is valid? [True, True] Translation: X:59.82, Y:-3.75, Z:-0.02 [[ 9.65779952e-01 2.59332484e-01 -3.96811825e-03 5.98165501e+01] [-2.59330791e-01 9.65788097e-01 9.44388436e-04 -3.75156478e+00] [ 4.07727198e-03 1.16983828e-04 9.99991681e-01 -2.21771887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.330888479 meters 0.019870755663687536 Centerline is valid? [True, True] Translation: X:59.85, Y:-3.76, Z:-0.02 [[ 9.65634573e-01 2.59880394e-01 -3.47148637e-03 5.98486305e+01] [-2.59879098e-01 9.65640808e-01 8.27256402e-04 -3.75809377e+00] [ 3.56719662e-03 1.03339364e-04 9.99993632e-01 -2.14088574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.360888478999996 meters 0.01861891117556674 Centerline is valid? [True, True] Translation: X:59.88, Y:-3.77, Z:-0.02 [[ 9.65522995e-01 2.60298224e-01 -3.19086632e-03 5.98806728e+01] [-2.60297128e-01 9.65528262e-01 7.61375659e-04 -3.76748129e+00] [ 3.27905635e-03 9.54476341e-05 9.99994619e-01 -2.07890839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390888479 meters 0.020992653974504692 Centerline is valid? [True, True] Translation: X:59.91, Y:-3.77, Z:-0.02 [[ 9.65678294e-01 2.59714487e-01 -3.71732226e-03 5.99118864e+01] [-2.59712993e-01 9.65685442e-01 8.87318419e-04 -3.76986328e+00] [ 3.82021344e-03 1.08572755e-04 9.99992697e-01 -2.25508990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.420888479 meters 0.018588965036003362 Centerline is valid? [True, True] Translation: X:59.94, Y:-3.78, Z:-0.02 [[ 9.65763294e-01 2.59388453e-01 -4.34637918e-03 5.99420273e+01] [-2.59386403e-01 9.65773066e-01 1.03868878e-03 -3.78168327e+00] [ 4.46703982e-03 1.24264166e-04 9.99990015e-01 -2.22312112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.450888479 meters 0.01852302819797615 Centerline is valid? [True, True] Translation: X:59.97, Y:-3.79, Z:-0.02 [[ 9.65928947e-01 2.58766141e-01 -4.62109392e-03 5.99731783e+01] [-2.58763811e-01 9.65939992e-01 1.10549903e-03 -3.78993183e+00] [ 4.74976514e-03 1.27938359e-04 9.99988712e-01 -2.24104505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.480888479 meters 0.01912959247981168 Centerline is valid? [True, True] Translation: X:60.00, Y:-3.80, Z:-0.02 [[ 9.66026136e-01 2.58407703e-01 -4.35477177e-03 6.00034218e+01] [-2.58405626e-01 9.66035944e-01 1.04280547e-03 -3.79598585e+00] [ 4.47633503e-03 1.17920190e-04 9.99989974e-01 -2.25215848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.510888479 meters 0.01839875784421735 Centerline is valid? [True, True] Translation: X:60.03, Y:-3.81, Z:-0.02 [[ 9.66022310e-01 2.58422500e-01 -4.32530142e-03 6.00349195e+01] [-2.58420445e-01 9.66031986e-01 1.03707060e-03 -3.80531039e+00] [ 4.44638189e-03 1.15912986e-04 9.99990108e-01 -2.17280934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.540888479 meters 0.0187355134561308 Centerline is valid? [True, True] Translation: X:60.07, Y:-3.81, Z:-0.02 [[ 9.65956354e-01 2.58680915e-01 -3.53640903e-03 6.00675176e+01] [-2.58679539e-01 9.65962823e-01 8.48997539e-04 -3.81250287e+00] [ 3.63565911e-03 9.47020925e-05 9.99993386e-01 -2.10981947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570888479 meters 0.018993138829292003 Centerline is valid? [True, True] Translation: X:60.10, Y:-3.82, Z:-0.02 [[ 9.65813277e-01 2.59217326e-01 -3.33047620e-03 6.00997961e+01] [-2.59216105e-01 9.65819015e-01 8.00536997e-04 -3.81997187e+00] [ 3.42415030e-03 9.01438077e-05 9.99994134e-01 -2.08832548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.600888479 meters 0.019077238678744137 Centerline is valid? [True, True] Translation: X:60.13, Y:-3.83, Z:-0.02 [[ 9.65636491e-01 2.59872597e-01 -3.52152722e-03 6.01314455e+01] [-2.59871233e-01 9.65642907e-01 8.47457862e-04 -3.82765391e+00] [ 3.62076886e-03 9.68073851e-05 9.99993440e-01 -2.05528712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630888479 meters 0.01963727683250546 Centerline is valid? [True, True] Translation: X:60.16, Y:-3.83, Z:-0.02 [[ 9.65413965e-01 2.60692889e-01 -3.88508445e-03 6.01616166e+01] [-2.60691232e-01 9.65421776e-01 9.35759318e-04 -3.83429699e+00] [ 3.99469093e-03 1.09412339e-04 9.99992015e-01 -2.07752113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.660888479 meters 0.019126023796407467 Centerline is valid? [True, True] Translation: X:60.19, Y:-3.84, Z:-0.02 [[ 9.65437580e-01 2.60600169e-01 -4.22267812e-03 6.01931866e+01] [-2.60598206e-01 9.65446807e-01 1.01832768e-03 -3.84307508e+00] [ 4.34214748e-03 1.17290532e-04 9.99990566e-01 -2.04164486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.690888479 meters 0.019844706595725015 Centerline is valid? [True, True] Translation: X:60.22, Y:-3.85, Z:-0.02 [[ 9.65493198e-01 2.60400477e-01 -3.80485385e-03 6.02238627e+01] [-2.60398878e-01 9.65500689e-01 9.18419286e-04 -3.84920624e+00] [ 3.91274583e-03 1.04052100e-04 9.99992340e-01 -2.04742257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.720888479 meters 0.01942540218264868 Centerline is valid? [True, True] Translation: X:60.25, Y:-3.86, Z:-0.02 [[ 9.65933057e-01 2.58762312e-01 -3.92362619e-03 6.02536740e+01] [-2.58760595e-01 9.65941021e-01 9.47956852e-04 -3.85692099e+00] [ 4.03528699e-03 9.96169847e-05 9.99991853e-01 -2.05837630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750888479 meters 0.01764385778963254 Centerline is valid? [True, True] Translation: X:60.28, Y:-3.87, Z:-0.02 [[ 9.66207353e-01 2.57741294e-01 -3.57428320e-03 6.02838364e+01] [-2.57739858e-01 9.66213961e-01 8.64532151e-04 -3.86743541e+00] [ 3.67634796e-03 8.59179253e-05 9.99993239e-01 -2.01627318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.780888479 meters 0.01738682677092332 Centerline is valid? [True, True] Translation: X:60.31, Y:-3.87, Z:-0.02 [[ 9.66849357e-01 2.55341496e-01 -1.74371715e-03 6.03145890e+01] [-2.55341149e-01 9.66850929e-01 4.22353256e-04 -3.87434993e+00] [ 1.79375886e-03 3.68907672e-05 9.99998391e-01 -1.93822225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810888479 meters 0.01660245140283737 Centerline is valid? [True, True] Translation: X:60.35, Y:-3.88, Z:-0.02 [[ 9.67230594e-01 2.53896081e-01 -1.32605657e-03 6.03454621e+01] [-2.53895879e-01 9.67231502e-01 3.21595446e-04 -3.88385969e+00] [ 1.36425551e-03 2.56233430e-05 9.99999069e-01 -1.89051007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.840888479 meters 0.016125904437996483 Centerline is valid? [True, True] Translation: X:60.38, Y:-3.89, Z:-0.02 [[ 9.67766375e-01 2.51843029e-01 -1.82535243e-03 6.03761651e+01] [-2.51842641e-01 9.67768096e-01 4.43038054e-04 -3.89329237e+00] [ 1.87809389e-03 3.09442463e-05 9.99998236e-01 -1.81176111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.870888479 meters 0.014951693535913264 Centerline is valid? [True, True] Translation: X:60.41, Y:-3.90, Z:-0.02 [[ 9.68918498e-01 2.47366259e-01 -2.62248192e-03 6.04068451e+01] [-2.47365443e-01 9.68922047e-01 6.36448557e-04 -3.90478292e+00] [ 2.69841645e-03 3.20446212e-05 9.99996359e-01 -1.81061627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.900888479 meters 0.014749409979940835 Centerline is valid? [True, True] Translation: X:60.44, Y:-3.91, Z:-0.02 [[ 9.69383930e-01 2.45532817e-01 -2.90381673e-03 6.04378299e+01] [-2.45531805e-01 9.69388279e-01 7.05648946e-04 -3.91323130e+00] [ 2.98818587e-03 2.89346123e-05 9.99995535e-01 -1.85323432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.930888479 meters 0.014530390240089936 Centerline is valid? [True, True] Translation: X:60.47, Y:-3.92, Z:-0.02 [[ 9.69762909e-01 2.44031719e-01 -2.90167690e-03 6.04681492e+01] [-2.44030700e-01 9.69767250e-01 7.05795646e-04 -3.92090227e+00] [ 2.98618775e-03 2.36438054e-05 9.99995541e-01 -1.87738540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.960888479 meters 0.014277954559963373 Centerline is valid? [True, True] Translation: X:60.50, Y:-3.93, Z:-0.02 [[ 9.70314975e-01 2.41840132e-01 -1.48349228e-03 6.04995480e+01] [-2.41839862e-01 9.70316109e-01 3.61365894e-04 -3.92882737e+00] [ 1.52684923e-03 8.12882903e-06 9.99998834e-01 -1.86056992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990888479 meters 0.014351346876682259 Centerline is valid? [True, True] Translation: X:60.53, Y:-3.94, Z:-0.02 [[ 9.70421038e-01 2.41415613e-01 -1.22924452e-03 6.05304121e+01] [-2.41415427e-01 9.70421816e-01 2.99833079e-04 -3.93632193e+00] [ 1.26527009e-03 5.79426356e-06 9.99999200e-01 -1.84156018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.020888479 meters 0.014231907967519426 Centerline is valid? [True, True] Translation: X:60.56, Y:-3.94, Z:-0.02 [[ 9.70297940e-01 2.41905401e-01 -1.91945691e-03 6.05619841e+01] [-2.41904947e-01 9.70299839e-01 4.68598553e-04 -3.94392991e+00] [ 1.97580525e-03 9.64591098e-06 9.99998048e-01 -1.86127722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.050888479 meters 0.014421961671670673 Centerline is valid? [True, True] Translation: X:60.59, Y:-3.95, Z:-0.02 [[ 9.69991223e-01 2.43119294e-01 -3.16814349e-03 6.05924392e+01] [-2.43118064e-01 9.69996396e-01 7.73503205e-04 -3.94915215e+00] [ 3.26114132e-03 1.99415918e-05 9.99994682e-01 -1.99786042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.080888479 meters 0.014532438091616752 Centerline is valid? [True, True] Translation: X:60.63, Y:-3.96, Z:-0.02 [[ 9.69636556e-01 2.44524696e-01 -3.55286352e-03 6.06251029e+01] [-2.44523155e-01 9.69643064e-01 8.68623578e-04 -3.95608913e+00] [ 3.65740939e-03 2.65082221e-05 9.99993311e-01 -2.02295638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.110888478999996 meters 0.014699200326086187 Centerline is valid? [True, True] Translation: X:60.66, Y:-3.96, Z:-0.02 [[ 9.69158754e-01 2.46395058e-01 -4.55900568e-03 6.06557823e+01] [-2.46392537e-01 9.69169476e-01 1.11552875e-03 -3.96138041e+00] [ 4.69330992e-03 4.21805207e-05 9.99988985e-01 -2.11167080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.140888479 meters 0.015159433181705869 Centerline is valid? [True, True] Translation: X:60.69, Y:-3.96, Z:-0.02 [[ 9.68228048e-01 2.50021968e-01 -4.84387419e-03 6.06881229e+01] [-2.50019161e-01 9.68240162e-01 1.18645866e-03 -3.96473319e+00] [ 4.98667426e-03 6.22988040e-05 9.99987565e-01 -2.25931193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170888479 meters 0.015399377365025195 Centerline is valid? [True, True] Translation: X:60.72, Y:-3.97, Z:-0.02 [[ 9.67697624e-01 2.52050782e-01 -5.63133046e-03 6.07195498e+01] [-2.52047014e-01 9.67714005e-01 1.38078928e-03 -3.97141201e+00] [ 5.79754637e-03 8.31735164e-05 9.99983191e-01 -2.25922399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.200888479 meters 0.01626570819081586 Centerline is valid? [True, True] Translation: X:60.75, Y:-3.98, Z:-0.02 [[ 9.67122694e-01 2.54255040e-01 -5.29802676e-03 6.07501343e+01] [-2.54251732e-01 9.67137202e-01 1.30011310e-03 -3.97543588e+00] [ 5.45447908e-03 8.96635956e-05 9.99985120e-01 -2.31341740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.230888479 meters 0.016516270125005148 Centerline is valid? [True, True] Translation: X:60.78, Y:-3.98, Z:-0.02 [[ 9.66520024e-01 2.56542979e-01 -4.97428475e-03 6.07811211e+01] [-2.56540086e-01 9.66532819e-01 1.22199920e-03 -3.98243898e+00] [ 5.12130478e-03 9.50167419e-05 9.99986882e-01 -2.22697775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.260888479 meters 0.018681021478891717 Centerline is valid? [True, True] Translation: X:60.81, Y:-3.99, Z:-0.02 [[ 9.65207988e-01 2.61443178e-01 -4.58312941e-03 6.08122491e+01] [-2.61440778e-01 9.65218862e-01 1.12585205e-03 -3.98516538e+00] [ 4.71806930e-03 1.11535522e-04 9.99988864e-01 -2.18854957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290888479 meters 0.018951963104685964 Centerline is valid? [True, True] Translation: X:60.84, Y:-3.99, Z:-0.02 [[ 9.64480152e-01 2.64115821e-01 -4.56834902e-03 6.08433329e+01] [-2.64113462e-01 9.64490963e-01 1.12291400e-03 -3.99164963e+00] [ 4.70271070e-03 1.23534213e-04 9.99988935e-01 -2.13299349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.320888479 meters 0.02049344624693993 Centerline is valid? [True, True] Translation: X:60.87, Y:-4.00, Z:-0.02 [[ 9.63287192e-01 2.68447711e-01 -3.68951159e-03 6.08746659e+01] [-2.68446205e-01 9.63294250e-01 9.06950565e-04 -3.99514808e+00] [ 3.79755410e-03 1.16781521e-04 9.99992782e-01 -2.07906325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350888479 meters 0.02198736670068282 Centerline is valid? [True, True] Translation: X:60.91, Y:-4.00, Z:-0.02 [[ 9.62745348e-01 2.70382635e-01 -3.82423863e-03 6.09052308e+01] [-2.70381027e-01 9.62752935e-01 9.41182550e-04 -4.00013884e+00] [ 3.93627639e-03 1.27882449e-04 9.99992245e-01 -2.13446035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.380888479 meters 0.022715899066707877 Centerline is valid? [True, True] Translation: X:60.94, Y:-4.01, Z:-0.02 [[ 9.62233769e-01 2.72188008e-01 -4.45670485e-03 6.09366709e+01] [-2.72185839e-01 9.62244077e-01 1.09791961e-03 -4.00720000e+00] [ 4.58727840e-03 1.56596619e-04 9.99989466e-01 -2.19174203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.410888479 meters 0.024325801228095918 Centerline is valid? [True, True] Translation: X:60.97, Y:-4.01, Z:-0.02 [[ 9.61539417e-01 2.74606852e-01 -5.74687271e-03 6.09664263e+01] [-2.74603288e-01 9.61556566e-01 1.41564097e-03 -4.01399556e+00] [ 5.91468790e-03 2.16915552e-04 9.99982485e-01 -2.20425019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.440888479 meters 0.02434103784386843 Centerline is valid? [True, True] Translation: X:61.00, Y:-4.02, Z:-0.02 [[ 9.61298391e-01 2.75451414e-01 -5.64993078e-03 6.09975949e+01] [-2.75447975e-01 9.61314970e-01 1.39338752e-03 -4.02234284e+00] [ 5.81517360e-03 2.16800809e-04 9.99983068e-01 -2.19811756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.470888479 meters 0.024865825169275765 Centerline is valid? [True, True] Translation: X:61.03, Y:-4.03, Z:-0.02 [[ 9.61047098e-01 2.76334714e-01 -5.25361733e-03 6.10285126e+01] [-2.76331747e-01 9.61061436e-01 1.29695707e-03 -4.02970395e+00] [ 5.40744327e-03 2.05304423e-04 9.99985359e-01 -2.17053692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.500888479 meters 0.02499571940522507 Centerline is valid? [True, True] Translation: X:61.06, Y:-4.04, Z:-0.02 [[ 9.60923170e-01 2.76762712e-01 -5.39087687e-03 6.10604051e+01] [-2.76759586e-01 9.60938269e-01 1.33238703e-03 -4.03759571e+00] [ 5.54905493e-03 2.11655276e-04 9.99984581e-01 -2.23342752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530888479 meters 0.02572376023585732 Centerline is valid? [True, True] Translation: X:61.09, Y:-4.05, Z:-0.02 [[ 9.60661717e-01 2.77661218e-01 -5.77176002e-03 6.10916169e+01] [-2.77657643e-01 9.60679028e-01 1.42786658e-03 -4.04535737e+00] [ 5.94127198e-03 2.30876519e-04 9.99982324e-01 -2.29995649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.560888479 meters 0.02648988610332865 Centerline is valid? [True, True] Translation: X:61.12, Y:-4.05, Z:-0.02 [[ 9.60330438e-01 2.78788546e-01 -6.51123276e-03 6.11226177e+01] [-2.78784011e-01 9.60352475e-01 1.61234305e-03 -4.05299038e+00] [ 6.70258127e-03 2.66845473e-04 9.99977502e-01 -2.30398165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.590888479 meters 0.02749034793748728 Centerline is valid? [True, True] Translation: X:61.15, Y:-4.06, Z:-0.02 [[ 9.59863585e-01 2.80364966e-01 -7.57522063e-03 6.11531957e+01] [-2.80358872e-01 9.59893422e-01 1.87651047e-03 -4.06126318e+00] [ 7.79751225e-03 3.22586246e-04 9.99969547e-01 -2.40793349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.620888479 meters 0.029226266424894672 Centerline is valid? [True, True] Translation: X:61.18, Y:-4.07, Z:-0.03 [[ 9.59412565e-01 2.81864712e-01 -8.93384454e-03 6.11835455e+01] [-2.81856291e-01 9.59454079e-01 2.21407755e-03 -4.06814216e+00] [ 9.19568392e-03 3.93846467e-04 9.99957641e-01 -2.70412881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.650888479 meters 0.029620636181042884 Centerline is valid? [True, True] Translation: X:61.22, Y:-4.08, Z:-0.03 [[ 9.59359243e-01 2.82023245e-01 -9.62974480e-03 6.12157076e+01] [-2.82013442e-01 9.59407479e-01 2.38931477e-03 -4.07682806e+00] [ 9.91269148e-03 4.23506263e-04 9.99950778e-01 -2.81239118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.680888479 meters 0.02960765377946731 Centerline is valid? [True, True] Translation: X:61.25, Y:-4.09, Z:-0.03 [[ 9.59391951e-01 2.81920884e-01 -9.36477309e-03 6.12470113e+01] [-2.81911587e-01 9.59437568e-01 2.32574744e-03 -4.08584499e+00] [ 9.64059190e-03 4.08734669e-04 9.99953445e-01 -2.84826995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710888479 meters 0.02972816128498768 Centerline is valid? [True, True] Translation: X:61.28, Y:-4.10, Z:-0.03 [[ 9.59368629e-01 2.81997360e-01 -9.45108241e-03 6.12786825e+01] [-2.81987869e-01 9.59415093e-01 2.34975179e-03 -4.09521072e+00] [ 9.73013491e-03 4.10812440e-04 9.99952577e-01 -2.81675409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.740888479 meters 0.03041274691611215 Centerline is valid? [True, True] Translation: X:61.31, Y:-4.11, Z:-0.03 [[ 9.59360583e-01 2.82024868e-01 -9.44694835e-03 6.13079436e+01] [-2.82015368e-01 9.59407008e-01 2.35070610e-03 -4.10558458e+00] [ 9.72642603e-03 4.09009842e-04 9.99952614e-01 -2.71183848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.770888479 meters 0.03041274691611215 Centerline is valid? [True, True] Translation: X:61.34, Y:-4.11, Z:-0.03 [[ 9.59290296e-01 2.82263874e-01 -9.44634976e-03 6.13394133e+01] [-2.82254362e-01 9.59336718e-01 2.35311057e-03 -4.11353562e+00] [ 9.72642827e-03 4.08957290e-04 9.99952614e-01 -2.71558097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.800888479 meters 0.03049928038729439 Centerline is valid? [True, True] Translation: X:61.37, Y:-4.12, Z:-0.03 [[ 9.59172536e-01 2.82645732e-01 -9.97177708e-03 6.13703131e+01] [-2.82635130e-01 9.59224271e-01 2.48625287e-03 -4.12379120e+00] [ 1.02678994e-02 4.33629040e-04 9.99947190e-01 -2.64523870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.830888479 meters 0.03068621752888679 Centerline is valid? [True, True] Translation: X:61.40, Y:-4.13, Z:-0.03 [[ 9.59127107e-01 2.82794265e-01 -1.01290225e-02 6.14018887e+01] [-2.82783306e-01 9.59180489e-01 2.52817117e-03 -4.13371082e+00] [ 1.04305130e-02 4.39480959e-04 9.99945504e-01 -2.60830240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.860888478999996 meters 0.03126124892549899 Centerline is valid? [True, True] Translation: X:61.43, Y:-4.14, Z:-0.03 [[ 9.59026339e-01 2.83150589e-01 -9.70696700e-03 6.14326067e+01] [-2.83140518e-01 9.59075370e-01 2.42521293e-03 -4.14362293e+00] [ 9.99641344e-03 4.22592589e-04 9.99949945e-01 -2.59985354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890888479 meters 0.03156956701038429 Centerline is valid? [True, True] Translation: X:61.46, Y:-4.15, Z:-0.03 [[ 9.58924741e-01 2.83513399e-01 -9.13751913e-03 6.14646905e+01] [-2.83504469e-01 9.58968192e-01 2.28535630e-03 -4.15257950e+00] [ 9.41051934e-03 3.99042817e-04 9.99955640e-01 -2.55189506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.920888479 meters 0.032650498230457535 Centerline is valid? [True, True] Translation: X:61.49, Y:-4.16, Z:-0.03 [[ 9.58717426e-01 2.84222528e-01 -8.85726358e-03 6.14941870e+01] [-2.84214153e-01 9.58758260e-01 2.21676416e-03 -4.16083725e+00] [ 9.12202892e-03 3.92109241e-04 9.99958317e-01 -2.66001843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.950888479 meters 0.025269962675392117 Centerline is valid? [True, True] Translation: X:61.52, Y:-4.18, Z:-0.02 [[ 9.58645503e-01 2.84446599e-01 -9.43033184e-03 6.15229980e+01] [-2.84437089e-01 9.58691795e-01 2.36306767e-03 -4.18022417e+00] [ 9.71294832e-03 4.16991943e-04 9.99952741e-01 -2.45772468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.980888479 meters 0.02720093020115388 Centerline is valid? [True, True] Translation: X:61.55, Y:-4.19, Z:-0.03 [[ 9.58575271e-01 2.84670238e-01 -9.81353456e-03 6.15546046e+01] [-2.84659934e-01 9.58625405e-01 2.46074962e-03 -4.18656508e+00] [ 1.01080057e-02 4.34706369e-04 9.99948818e-01 -2.58123518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.010888479 meters 0.024823635298791467 Centerline is valid? [True, True] Translation: X:61.58, Y:-4.20, Z:-0.02 [[ 9.58557375e-01 2.84703560e-01 -1.05660339e-02 6.15847960e+01] [-2.84691582e-01 9.58615494e-01 2.65267637e-03 -4.19978932e+00] [ 1.08839902e-02 4.65318404e-04 9.99940659e-01 -2.47708412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.040888479 meters 0.025515599748577988 Centerline is valid? [True, True] Translation: X:61.61, Y:-4.21, Z:-0.02 [[ 9.58988893e-01 2.83260517e-01 -1.01873778e-02 6.16142194e+01] [-2.83249287e-01 9.59042905e-01 2.55895406e-03 -4.21089414e+00] [ 1.04949830e-02 4.31558971e-04 9.99944833e-01 -2.34406812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070888479 meters 0.024365251959299082 Centerline is valid? [True, True] Translation: X:61.64, Y:-4.22, Z:-0.02 [[ 9.60044211e-01 2.79688072e-01 -9.47073742e-03 6.16431946e+01] [-2.79678190e-01 9.60090855e-01 2.37922604e-03 -4.22447996e+00] [ 9.75820953e-03 3.64596518e-04 9.99952321e-01 -2.23608652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.100888479 meters 0.024365251959299082 Centerline is valid? [True, True] Translation: X:61.67, Y:-4.23, Z:-0.02 [[ 9.59969225e-01 2.79945362e-01 -9.47003519e-03 6.16746308e+01] [-2.79935465e-01 9.60015865e-01 2.38201980e-03 -4.23247419e+00] [ 9.75821942e-03 3.64333000e-04 9.99952321e-01 -2.23981976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130888479 meters 0.02188177081354424 Centerline is valid? [True, True] Translation: X:61.70, Y:-4.25, Z:-0.02 [[ 9.61411947e-01 2.74989325e-01 -8.24248732e-03 6.17023074e+01] [-2.74981647e-01 9.61447240e-01 2.07304810e-03 -4.24819761e+00] [ 8.49478278e-03 2.73479533e-04 9.99963881e-01 -2.11504675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.160888479 meters 0.020924722818007873 Centerline is valid? [True, True] Translation: X:61.73, Y:-4.26, Z:-0.02 [[ 9.62122745e-01 2.72526109e-01 -7.02454145e-03 6.17316100e+01] [-2.72520465e-01 9.62148364e-01 1.76701058e-03 -4.25970287e+00] [ 7.24020758e-03 2.14250235e-04 9.99973766e-01 -1.96988485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.190888479 meters 0.019506290787732982 Centerline is valid? [True, True] Translation: X:61.76, Y:-4.27, Z:-0.02 [[ 9.62639371e-01 2.70740657e-01 -4.99380403e-03 6.17614058e+01] [-2.70737772e-01 9.62652314e-01 1.25772476e-03 -4.27278074e+00] [ 5.14781423e-03 1.41276010e-04 9.99986740e-01 -1.74103734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.220888479 meters 0.01834164148740839 Centerline is valid? [True, True] Translation: X:61.79, Y:-4.29, Z:-0.02 [[ 9.63612416e-01 2.67279444e-01 -3.57922761e-03 6.17902521e+01] [-2.67277939e-01 9.63619059e-01 9.01423162e-04 -4.28624006e+00] [ 3.68994383e-03 8.80260280e-05 9.99993188e-01 -1.51657260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250888479 meters 0.018211686298611425 Centerline is valid? [True, True] Translation: X:61.82, Y:-4.30, Z:-0.02 [[ 9.63791518e-01 2.66623433e-01 -4.22552358e-03 6.18208030e+01] [-2.66621322e-01 9.63800776e-01 1.06552545e-03 -4.29603936e+00] [ 4.35665696e-03 9.96702964e-05 9.99990505e-01 -1.58690270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.280888479 meters 0.018916872889376584 Centerline is valid? [True, True] Translation: X:61.85, Y:-4.31, Z:-0.02 [[ 9.63824244e-01 2.66460883e-01 -6.43622523e-03 6.18514674e+01] [-2.66455972e-01 9.63845722e-01 1.62463351e-03 -4.30546150e+00] [ 6.63642944e-03 1.49109482e-04 9.99977968e-01 -1.81798861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310888479 meters 0.01868765977424763 Centerline is valid? [True, True] Translation: X:61.88, Y:-4.32, Z:-0.02 [[ 9.63615882e-01 2.67187582e-01 -7.43155074e-03 6.18820527e+01] [-2.67181042e-01 9.63644522e-01 1.87767545e-03 -4.31523604e+00] [ 7.66306472e-03 1.76211585e-04 9.99970623e-01 -1.89463024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.340888479 meters 0.01886325462772345 Centerline is valid? [True, True] Translation: X:61.91, Y:-4.32, Z:-0.02 [[ 9.63509471e-01 2.67545170e-01 -8.31153701e-03 6.19138290e+01] [-2.67536982e-01 9.63545299e-01 2.10240875e-03 -4.32392340e+00] [ 8.57103172e-03 1.97952783e-04 9.99963248e-01 -2.00614657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.370888479 meters 0.0194655496664385 Centerline is valid? [True, True] Translation: X:61.94, Y:-4.33, Z:-0.02 [[ 9.63388064e-01 2.67978968e-01 -8.40899621e-03 6.19445691e+01] [-2.67970585e-01 9.63424741e-01 2.12928728e-03 -4.33181991e+00] [ 8.67203920e-03 2.02033679e-04 9.99962377e-01 -2.18367752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.400888479 meters 0.018462932931933997 Centerline is valid? [True, True] Translation: X:61.98, Y:-4.34, Z:-0.02 [[ 9.63344461e-01 2.68134330e-01 -8.45169508e-03 6.19762142e+01] [-2.68125845e-01 9.63381513e-01 2.14260591e-03 -4.34227082e+00] [ 8.71671300e-03 2.02050347e-04 9.99961988e-01 -2.14219693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.430888479 meters 0.01848763009604533 Centerline is valid? [True, True] Translation: X:62.01, Y:-4.35, Z:-0.02 [[ 9.63297965e-01 2.68304316e-01 -8.35614180e-03 6.20077387e+01] [-2.68296008e-01 9.63334186e-01 2.12084063e-03 -4.35084515e+00] [ 8.61878776e-03 1.98918020e-04 9.99962838e-01 -2.16416400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.460888479 meters 0.01906768146103639 Centerline is valid? [True, True] Translation: X:62.04, Y:-4.36, Z:-0.02 [[ 9.63128981e-01 2.68948945e-01 -7.00226423e-03 6.20384124e+01] [-2.68943114e-01 9.63154420e-01 1.77916658e-03 -4.36073383e+00] [ 7.22276671e-03 1.69643847e-04 9.99973901e-01 -2.00063629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490888479 meters 0.018396684104511167 Centerline is valid? [True, True] Translation: X:62.07, Y:-4.37, Z:-0.02 [[ 9.63091954e-01 2.69094344e-01 -6.49021175e-03 6.20694942e+01] [-2.69089324e-01 9.63113809e-01 1.65103379e-03 -4.37195652e+00] [ 6.69509642e-03 1.56349333e-04 9.99977575e-01 -1.79516834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.520888479 meters 0.01829364194182669 Centerline is valid? [True, True] Translation: X:62.10, Y:-4.38, Z:-0.02 [[ 9.63164243e-01 2.68845475e-01 -6.06235958e-03 6.21000533e+01] [-2.68841081e-01 9.63183311e-01 1.54373082e-03 -4.38032107e+00] [ 6.25418862e-03 1.42944980e-04 9.99980432e-01 -1.69788619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.550888479 meters 0.018634003191267783 Centerline is valid? [True, True] Translation: X:62.13, Y:-4.39, Z:-0.02 [[ 9.63195545e-01 2.68724519e-01 -6.44005005e-03 6.21317749e+01] [-2.68719546e-01 9.63217063e-01 1.64167348e-03 -4.38632143e+00] [ 6.64432401e-03 1.49314743e-04 9.99977915e-01 -1.90005688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.580888479 meters 0.01885029472153085 Centerline is valid? [True, True] Translation: X:62.16, Y:-4.39, Z:-0.02 [[ 9.63057208e-01 2.69183329e-01 -7.81983927e-03 6.21633643e+01] [-2.69175997e-01 9.63088938e-01 1.99525681e-03 -4.39273358e+00] [ 8.06829057e-03 1.83366581e-04 9.99967434e-01 -2.15843920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.610888478999996 meters 0.01838817083174341 Centerline is valid? [True, True] Translation: X:62.19, Y:-4.40, Z:-0.02 [[ 9.62938154e-01 2.69555431e-01 -9.48586394e-03 6.21939657e+01] [-2.69544638e-01 9.62984849e-01 2.42252568e-03 -4.40062275e+00] [ 9.78774821e-03 2.24121354e-04 9.99952074e-01 -2.35817221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.640888479 meters 0.01940013706892005 Centerline is valid? [True, True] Translation: X:62.22, Y:-4.41, Z:-0.03 [[ 9.62711872e-01 2.70266639e-01 -1.19078312e-02 6.22240712e+01] [-2.70249652e-01 9.62785470e-01 3.04378304e-03 -4.40703945e+00] [ 1.22873199e-02 2.87801163e-04 9.99924467e-01 -2.63106167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670888479 meters 0.01803351940081355 Centerline is valid? [True, True] Translation: X:62.25, Y:-4.42, Z:-0.02 [[ 9.62770397e-01 2.70044426e-01 -1.22135162e-02 6.22547843e+01] [-2.70026491e-01 9.62847820e-01 3.12561082e-03 -4.41901280e+00] [ 1.26038112e-02 2.88727347e-04 9.99920527e-01 -2.42832948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.700888479 meters 0.018165236250090554 Centerline is valid? [True, True] Translation: X:62.29, Y:-4.43, Z:-0.02 [[ 9.62728621e-01 2.70177724e-01 -1.25538461e-02 6.22857488e+01] [-2.70158743e-01 9.62810423e-01 3.21614643e-03 -4.42832065e+00] [ 1.29559050e-02 2.95255061e-04 9.99916025e-01 -2.30804877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.730888479 meters 0.017836187206587268 Centerline is valid? [True, True] Translation: X:62.32, Y:-4.44, Z:-0.02 [[ 9.63002700e-01 2.69250208e-01 -1.14072622e-02 6.23167693e+01] [-2.69234435e-01 9.63070226e-01 2.92535135e-03 -4.43784301e+00] [ 1.17736461e-02 2.54106562e-04 9.99930656e-01 -2.14384423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.760888479 meters 0.017354144990287864 Centerline is valid? [True, True] Translation: X:62.35, Y:-4.45, Z:-0.02 [[ 9.63542041e-01 2.67401561e-01 -9.11818942e-03 6.23472333e+01] [-2.67391378e-01 9.63585166e-01 2.34070825e-03 -4.44583628e+00] [ 9.41206111e-03 1.82754431e-04 9.99955689e-01 -2.00743192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.790888479 meters 0.017392847319717155 Centerline is valid? [True, True] Translation: X:62.38, Y:-4.45, Z:-0.02 [[ 9.63624222e-01 2.67145001e-01 -7.86809125e-03 6.23779967e+01] [-2.67137395e-01 9.63656331e-01 2.02181782e-03 -4.45295967e+00] [ 8.12225447e-03 1.53588774e-04 9.99967002e-01 -2.00747411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.820888479 meters 0.01651579607223493 Centerline is valid? [True, True] Translation: X:62.41, Y:-4.46, Z:-0.02 [[ 9.63891026e-01 2.66184618e-01 -7.73562829e-03 6.24086084e+01] [-2.66177218e-01 9.63922056e-01 1.98978992e-03 -4.46288055e+00] [ 7.98619420e-03 1.41107366e-04 9.99968100e-01 -1.95438597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850888479 meters 0.01646455207677637 Centerline is valid? [True, True] Translation: X:62.44, Y:-4.47, Z:-0.02 [[ 9.64085003e-01 2.65466557e-01 -8.22278540e-03 6.24378799e+01] [-2.65458154e-01 9.64120058e-01 2.11701051e-03 -4.47195075e+00] [ 8.48974783e-03 1.41827350e-04 9.99963951e-01 -1.93392445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.880888479 meters 0.016037758945649194 Centerline is valid? [True, True] Translation: X:62.47, Y:-4.48, Z:-0.02 [[ 9.64303284e-01 2.64646783e-01 -9.01428509e-03 6.24682790e+01] [-2.64636626e-01 9.64345404e-01 2.32312279e-03 -4.48265533e+00] [ 9.30769138e-03 1.45315065e-04 9.99956672e-01 -1.82874269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.910888479 meters 0.015706684857019006 Centerline is valid? [True, True] Translation: X:62.50, Y:-4.49, Z:-0.02 [[ 9.65203059e-01 2.61360946e-01 -8.57388269e-03 6.24980285e+01] [-2.61351610e-01 9.65241133e-01 2.21166663e-03 -4.49149505e+00] [ 8.85390753e-03 1.06090651e-04 9.99960798e-01 -1.76977373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.940888479 meters 0.015364679849033612 Centerline is valid? [True, True] Translation: X:62.53, Y:-4.50, Z:-0.02 [[ 9.65605827e-01 2.59882992e-01 -8.13737839e-03 6.25292572e+01] [-2.59874512e-01 9.65640110e-01 2.10116470e-03 -4.50019115e+00] [ 8.40383594e-03 8.58003604e-05 9.99964683e-01 -1.77665589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.970888479 meters 0.015097647009112918 Centerline is valid? [True, True] Translation: X:62.56, Y:-4.51, Z:-0.02 [[ 9.66088129e-01 2.58103106e-01 -7.51760802e-03 6.25590395e+01] [-2.58095801e-01 9.66117375e-01 1.94289429e-03 -4.50817483e+00] [ 7.76435878e-03 6.32559469e-05 9.99969855e-01 -1.83428929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.000888479 meters 0.014504743565613574 Centerline is valid? [True, True] Translation: X:62.59, Y:-4.52, Z:-0.02 [[ 9.67120554e-01 2.54228155e-01 -6.77348472e-03 6.25891948e+01] [-2.54222117e-01 9.67144273e-01 1.75232054e-03 -4.51924803e+00] [ 6.99642617e-03 2.72644182e-05 9.99975524e-01 -1.70327296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030888479 meters 0.014424363768758735 Centerline is valid? [True, True] Translation: X:62.62, Y:-4.53, Z:-0.02 [[ 9.67509241e-01 2.52763305e-01 -6.04810412e-03 6.26202182e+01] [-2.52758453e-01 9.67528145e-01 1.56624094e-03 -4.52859452e+00] [ 6.24759919e-03 1.33568617e-05 9.99980483e-01 -1.61448315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.060888479 meters 0.014346518272969887 Centerline is valid? [True, True] Translation: X:62.65, Y:-4.54, Z:-0.02 [[ 9.67748848e-01 2.51852237e-01 -5.71112435e-03 6.26522226e+01] [-2.51847884e-01 9.67765700e-01 1.48076727e-03 -4.53768630e+00] [ 5.89996480e-03 5.32376105e-06 9.99982595e-01 -1.51484029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.090888479 meters 0.01429490938974031 Centerline is valid? [True, True] Translation: X:62.68, Y:-4.54, Z:-0.01 [[ 9.67920903e-01 2.51215880e-01 -4.43921504e-03 6.26829362e+01] [-2.51213239e-01 9.67931083e-01 1.15208104e-03 -4.54450463e+00] [ 4.58627528e-03 6.62637945e-08 9.99989483e-01 -1.45329839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.120888479 meters 0.014288921752207624 Centerline is valid? [True, True] Translation: X:62.72, Y:-4.55, Z:-0.01 [[ 9.67774647e-01 2.51782673e-01 -4.20924438e-03 6.27154384e+01] [-2.51780297e-01 9.67783801e-01 1.09370939e-03 -4.55110483e+00] [ 4.34901560e-03 1.34058113e-06 9.99990543e-01 -1.46902701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.150888479 meters 0.014277633453446549 Centerline is valid? [True, True] Translation: X:62.75, Y:-4.56, Z:-0.02 [[ 9.67485532e-01 2.52895078e-01 -3.97806903e-03 6.27467616e+01] [-2.52892961e-01 9.67493710e-01 1.03472837e-03 -4.55688626e+00] [ 4.11043447e-03 4.94093122e-06 9.99991552e-01 -1.50715195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.180888479 meters 0.01432534084568835 Centerline is valid? [True, True] Translation: X:62.78, Y:-4.56, Z:-0.02 [[ 9.67006097e-01 2.54723147e-01 -3.91488824e-03 6.27788613e+01] [-2.54721107e-01 9.67014022e-01 1.01945414e-03 -4.56273145e+00] [ 4.04543039e-03 1.13863003e-05 9.99991817e-01 -1.51554247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210888479 meters 0.014763683536041858 Centerline is valid? [True, True] Translation: X:62.81, Y:-4.57, Z:-0.02 [[ 9.65858726e-01 2.59022279e-01 -4.93765479e-03 6.28104785e+01] [-2.59019088e-01 9.65871346e-01 1.28620900e-03 -4.56567750e+00] [ 5.10229607e-03 3.66506580e-05 9.99986983e-01 -1.51962601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.240888479 meters 0.015030353509596087 Centerline is valid? [True, True] Translation: X:62.84, Y:-4.57, Z:-0.02 [[ 9.65232240e-01 2.61326722e-01 -5.92168864e-03 6.28420539e+01] [-2.61322166e-01 9.65250403e-01 1.54409254e-03 -4.57173498e+00] [ 6.11942499e-03 5.70605998e-05 9.99981275e-01 -1.51753631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.270888479 meters 0.015565360392743302 Centerline is valid? [True, True] Translation: X:62.87, Y:-4.57, Z:-0.02 [[ 9.64025298e-01 2.65737137e-01 -6.24490275e-03 6.28739052e+01] [-2.65732154e-01 9.64045521e-01 1.62983716e-03 -4.57450961e+00] [ 6.45347878e-03 8.82671981e-05 9.99979172e-01 -1.65712429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.300888479 meters 0.016404054410503723 Centerline is valid? [True, True] Translation: X:62.91, Y:-4.58, Z:-0.02 [[ 9.63514778e-01 2.67596331e-01 -5.61040638e-03 6.29051385e+01] [-2.67592332e-01 9.63531108e-01 1.46571229e-03 -4.57829735e+00] [ 5.79802031e-03 8.90662730e-05 9.99983187e-01 -1.78583031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.330888479 meters 0.016368363065235515 Centerline is valid? [True, True] Translation: X:62.94, Y:-4.58, Z:-0.02 [[ 9.63047872e-01 2.69287607e-01 -4.79374696e-03 6.29363707e+01] [-2.69284702e-01 9.63059800e-01 1.25363780e-03 -4.58456308e+00] [ 4.95425411e-03 8.35695066e-05 9.99987724e-01 -1.72345686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.360888478999996 meters 0.016715961624250472 Centerline is valid? [True, True] Translation: X:62.97, Y:-4.59, Z:-0.02 [[ 9.62787252e-01 2.70242923e-01 -3.07742926e-03 6.29683059e+01] [-2.70241728e-01 9.62792168e-01 8.05836852e-04 -4.59155910e+00] [ 3.18069650e-03 5.58003521e-05 9.99994940e-01 -1.63070434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390888479 meters 0.01641652705238451 Centerline is valid? [True, True] Translation: X:63.00, Y:-4.60, Z:-0.02 [[ 9.62783662e-01 2.70259197e-01 -2.75430559e-03 6.29997812e+01] [-2.70258236e-01 9.62787601e-01 7.22082309e-04 -4.60085300e+00] [ 2.84696066e-03 4.91647213e-05 9.99995946e-01 -1.52169292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.420888479 meters 0.016762051723359334 Centerline is valid? [True, True] Translation: X:63.03, Y:-4.61, Z:-0.01 [[ 9.62738439e-01 2.70421226e-01 -2.65675879e-03 6.30305417e+01] [-2.70420331e-01 9.62742104e-01 6.97232430e-04 -4.60855334e+00] [ 2.74632000e-03 4.71891312e-05 9.99996228e-01 -1.47657475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.450888479 meters 0.01660468407725112 Centerline is valid? [True, True] Translation: X:63.06, Y:-4.62, Z:-0.02 [[ 9.62807995e-01 2.70179956e-01 -1.88597685e-03 6.30622234e+01] [-2.70179504e-01 9.62809841e-01 4.95508110e-04 -4.61552985e+00] [ 1.94971343e-03 3.24731185e-05 9.99998099e-01 -1.55046793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.480888479 meters 0.016851089245514986 Centerline is valid? [True, True] Translation: X:63.09, Y:-4.62, Z:-0.02 [[ 9.62805348e-01 2.70192605e-01 -1.34834000e-03 6.30937322e+01] [-2.70192373e-01 9.62806292e-01 3.54722610e-04 -4.62208113e+00] [ 1.39403366e-03 2.27823584e-05 9.99999028e-01 -1.57073730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.510888479 meters 0.0167401271805038 Centerline is valid? [True, True] Translation: X:63.13, Y:-4.63, Z:-0.02 [[ 9.62732518e-01 2.70450813e-01 -1.56742121e-03 6.31256988e+01] [-2.70450499e-01 9.62733793e-01 4.12782883e-04 -4.63059603e+00] [ 1.62064683e-03 2.65103435e-05 9.99998686e-01 -1.54225275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.540888479 meters 0.016800017451765882 Centerline is valid? [True, True] Translation: X:63.16, Y:-4.64, Z:-0.02 [[ 9.62996658e-01 2.69510050e-01 -1.32998245e-03 6.31560935e+01] [-2.69509823e-01 9.62997577e-01 3.50550250e-04 -4.63808588e+00] [ 1.37524670e-03 2.08646169e-05 9.99999054e-01 -1.66631524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570888479 meters 0.01660843385040392 Centerline is valid? [True, True] Translation: X:63.19, Y:-4.65, Z:-0.02 [[ 9.63196168e-01 2.68796775e-01 -1.19851897e-03 6.31867422e+01] [-2.68796589e-01 9.63196913e-01 3.16235404e-04 -4.64678367e+00] [ 1.23941283e-03 1.75610809e-05 9.99999232e-01 -1.76464597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.600888479 meters 0.016004553179160618 Centerline is valid? [True, True] Translation: X:63.22, Y:-4.66, Z:-0.02 [[ 9.63412497e-01 2.68019973e-01 -1.28619530e-03 6.32171382e+01] [-2.68019758e-01 9.63413356e-01 3.39696938e-04 -4.65722137e+00] [ 1.33018330e-03 1.74574788e-05 9.99999115e-01 -1.81168419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630888479 meters 0.015846384042360443 Centerline is valid? [True, True] Translation: X:63.25, Y:-4.67, Z:-0.02 [[ 9.63620376e-01 2.67273123e-01 -9.21597886e-04 6.32468862e+01] [-2.67273012e-01 9.63620816e-01 2.43682476e-04 -4.66592788e+00] [ 9.53200684e-04 1.15008439e-05 9.99999546e-01 -1.77749811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.660888479 meters 0.015719932931272173 Centerline is valid? [True, True] Translation: X:63.28, Y:-4.68, Z:-0.02 [[ 9.63823404e-01 2.66539781e-01 9.95945180e-04 6.32777088e+01] [-2.66539652e-01 9.63823918e-01 -2.63023672e-04 -4.67517060e+00] [-1.03002206e-03 -1.19505109e-05 9.99999469e-01 -1.62161810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.690888479 meters 0.015719932931272173 Centerline is valid? [True, True] Translation: X:63.31, Y:-4.68, Z:-0.02 [[ 9.63750016e-01 2.66805013e-01 9.95882992e-04 6.33090171e+01] [-2.66804883e-01 9.63750531e-01 -2.63258911e-04 -4.68352791e+00] [-1.03002156e-03 -1.19906652e-05 9.99999469e-01 -1.62535754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.720888479 meters 0.015691173900682927 Centerline is valid? [True, True] Translation: X:63.34, Y:-4.69, Z:-0.02 [[ 9.63745361e-01 2.66815631e-01 2.07299398e-03 6.33405837e+01] [-2.66815068e-01 9.63747591e-01 -5.48953236e-04 -4.69206711e+00] [-2.14431226e-03 -2.40548947e-05 9.99997701e-01 -1.55775624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750888479 meters 0.01585564352642349 Centerline is valid? [True, True] Translation: X:63.37, Y:-4.70, Z:-0.02 [[ 9.63633935e-01 2.67212783e-01 2.63980091e-03 6.33725671e+01] [-2.67211868e-01 9.63637550e-01 -6.99909499e-04 -4.70033813e+00] [-2.73083605e-03 -3.09295880e-05 9.99996271e-01 -1.50426474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.780888479 meters 0.015876440455501326 Centerline is valid? [True, True] Translation: X:63.40, Y:-4.71, Z:-0.02 [[ 9.63462542e-01 2.67831882e-01 2.45221453e-03 6.34049552e+01] [-2.67831093e-01 9.63465662e-01 -6.50861081e-04 -4.70803104e+00] [-2.53694584e-03 -2.96990266e-05 9.99996782e-01 -1.60099165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810888479 meters 0.016106003708964773 Centerline is valid? [True, True] Translation: X:63.44, Y:-4.72, Z:-0.02 [[ 9.63067511e-01 2.69257053e-01 1.26863438e-03 6.34365253e+01] [-2.69256843e-01 9.63068346e-01 -3.36924109e-04 -4.71576590e+00] [-1.31250080e-03 -1.71078234e-05 9.99999139e-01 -1.72716863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.840888479 meters 0.01670515939352132 Centerline is valid? [True, True] Translation: X:63.47, Y:-4.72, Z:-0.02 [[ 9.62522851e-01 2.71200593e-01 -1.74630658e-05 6.34666145e+01] [-2.71200593e-01 9.62522851e-01 4.90571334e-06 -4.72223789e+00] [ 1.81390322e-05 1.41326153e-08 1.00000000e+00 -1.94957384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.870888479 meters 0.016661562358496577 Centerline is valid? [True, True] Translation: X:63.50, Y:-4.73, Z:-0.02 [[ 9.62197956e-01 2.72349682e-01 -8.62694622e-04 6.34977581e+01] [-2.72349585e-01 9.62198343e-01 2.30009009e-04 -4.73059694e+00] [ 8.92726216e-04 1.36403244e-05 9.99999601e-01 -1.99898049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.900888479 meters 0.01701613776166809 Centerline is valid? [True, True] Translation: X:63.53, Y:-4.74, Z:-0.02 [[ 9.61816076e-01 2.73695466e-01 -7.92883699e-04 6.35276306e+01] [-2.73695385e-01 9.61816402e-01 2.11376105e-04 -4.73742747e+00] [ 8.20461228e-04 1.37036727e-05 9.99999663e-01 -2.05445461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.930888479 meters 0.01724059700351565 Centerline is valid? [True, True] Translation: X:63.56, Y:-4.75, Z:-0.02 [[ 9.61627167e-01 2.74359126e-01 -5.12117805e-04 6.35593196e+01] [-2.74359092e-01 9.61627303e-01 1.36899186e-04 -4.74501867e+00] [ 5.30026004e-04 8.85819913e-06 9.99999860e-01 -2.14190512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.960888479 meters 0.016826695472815862 Centerline is valid? [True, True] Translation: X:63.59, Y:-4.75, Z:-0.02 [[ 9.61421568e-01 2.75078897e-01 4.10648489e-04 6.35905200e+01] [-2.75078875e-01 9.61421656e-01 -1.09314474e-04 -4.75426764e+00] [-4.24876455e-04 -7.86343193e-06 9.99999910e-01 -2.06625610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990888479 meters 0.01749191960857807 Centerline is valid? [True, True] Translation: X:63.62, Y:-4.76, Z:-0.02 [[ 9.61442681e-01 2.75000719e-01 1.60481428e-03 6.36211064e+01] [-2.75000386e-01 9.61444020e-01 -4.28566902e-04 -4.76236284e+00] [-1.66079530e-03 -2.92820369e-05 9.99998620e-01 -1.90119153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.020888479 meters 0.016465022515419224 Centerline is valid? [True, True] Translation: X:63.65, Y:-4.77, Z:-0.02 [[ 9.61652436e-01 2.74263223e-01 2.06806553e-03 6.36512541e+01] [-2.74262669e-01 9.61654659e-01 -5.52786429e-04 -4.77343759e+00] [-2.14037384e-03 -3.56047553e-05 9.99997709e-01 -1.85229022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.050888479 meters 0.01692079867993883 Centerline is valid? [True, True] Translation: X:63.68, Y:-4.78, Z:-0.02 [[ 9.61829887e-01 2.73632106e-01 2.95611256e-03 6.36814833e+01] [-2.73630966e-01 9.61834429e-01 -7.91005353e-04 -4.78138211e+00] [-3.05973529e-03 -4.80713466e-05 9.99995318e-01 -1.78584929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.080888479 meters 0.015824788233377268 Centerline is valid? [True, True] Translation: X:63.71, Y:-4.79, Z:-0.02 [[ 9.62142872e-01 2.72524249e-01 3.40982829e-03 6.37114327e+01] [-2.72522723e-01 9.62148913e-01 -9.13318482e-04 -4.79323658e+00] [-3.52966401e-03 -5.05128216e-05 9.99993769e-01 -1.78354176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.110888478999996 meters 0.0154668213209985 Centerline is valid? [True, True] Translation: X:63.74, Y:-4.80, Z:-0.02 [[ 9.62524106e-01 2.71176522e-01 3.26183951e-03 6.37417618e+01] [-2.71175115e-01 9.62529632e-01 -8.74522576e-04 -4.80358178e+00] [-3.37676717e-03 -4.27806426e-05 9.99994298e-01 -1.81342867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.140888479 meters 0.015736457544526797 Centerline is valid? [True, True] Translation: X:63.77, Y:-4.81, Z:-0.02 [[ 9.62618292e-01 2.70850154e-01 2.49347947e-03 6.37720033e+01] [-2.70849329e-01 9.62621521e-01 -6.69076038e-04 -4.81101408e+00] [-2.58149635e-03 -3.12924086e-05 9.99996667e-01 -1.97088089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170888479 meters 0.015830801733109804 Centerline is valid? [True, True] Translation: X:63.80, Y:-4.82, Z:-0.02 [[ 9.62597710e-01 2.70930459e-01 1.52797214e-03 6.38034322e+01] [-2.70930149e-01 9.62598923e-01 -4.10284176e-04 -4.81948592e+00] [-1.58198282e-03 -1.90351121e-05 9.99998748e-01 -2.15207391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.200888479 meters 0.015525160531195542 Centerline is valid? [True, True] Translation: X:63.83, Y:-4.83, Z:-0.02 [[ 9.62382423e-01 2.71698466e-01 -1.21368682e-04 6.38346909e+01] [-2.71698464e-01 9.62382431e-01 3.29792963e-05 -4.82959471e+00] [ 1.25763512e-04 1.23698937e-06 9.99999992e-01 -2.41599397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.230888479 meters 0.015653643229847337 Centerline is valid? [True, True] Translation: X:63.87, Y:-4.84, Z:-0.02 [[ 9.62284288e-01 2.72045855e-01 -4.04523297e-05 6.38662654e+01] [-2.72045855e-01 9.62284289e-01 1.12278453e-05 -4.83920329e+00] [ 4.19811302e-05 2.00509458e-07 9.99999999e-01 -2.45540719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.260888479 meters 0.015681763093912893 Centerline is valid? [True, True] Translation: X:63.90, Y:-4.85, Z:-0.02 [[ 9.62248890e-01 2.72170939e-01 -2.31354965e-04 6.38970279e+01] [-2.72170932e-01 9.62248918e-01 6.26829892e-05 -4.84750818e+00] [ 2.39681553e-04 2.65145968e-06 9.99999971e-01 -2.43600014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.290888479 meters 0.015719889198044214 Centerline is valid? [True, True] Translation: X:63.93, Y:-4.86, Z:-0.02 [[ 9.62298668e-01 2.71994902e-01 -2.14535307e-04 6.39285816e+01] [-2.71994896e-01 9.62298692e-01 5.82277417e-05 -4.85724881e+00] [ 2.22284695e-04 2.32003033e-06 9.99999975e-01 -2.46070987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.320888479 meters 0.016062464031125937 Centerline is valid? [True, True] Translation: X:63.96, Y:-4.87, Z:-0.02 [[ 9.62271836e-01 2.72088724e-01 -8.00176972e-04 6.39595984e+01] [-2.72088638e-01 9.62272169e-01 2.16311618e-04 -4.86594984e+00] [ 8.28843982e-04 9.56848487e-06 9.99999656e-01 -2.47243075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350888479 meters 0.01577790381319526 Centerline is valid? [True, True] Translation: X:63.99, Y:-4.88, Z:-0.02 [[ 9.62190994e-01 2.72374131e-01 -9.07317061e-04 6.39909207e+01] [-2.72374021e-01 9.62191422e-01 2.45634523e-04 -4.87665525e+00] [ 9.39917183e-04 1.07822699e-05 9.99999558e-01 -2.39757583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.380888479 meters 0.01600424582466553 Centerline is valid? [True, True] Translation: X:64.02, Y:-4.88, Z:-0.02 [[ 9.62126078e-01 2.72604728e-01 -2.70110325e-04 6.40216121e+01] [-2.72604718e-01 9.62126115e-01 7.32798125e-05 -4.88495063e+00] [ 2.79856621e-04 3.12893059e-06 9.99999961e-01 -2.40898567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.410888479 meters 0.016234644400476672 Centerline is valid? [True, True] Translation: X:64.05, Y:-4.89, Z:-0.02 [[ 9.61894131e-01 2.73421937e-01 3.54743932e-04 6.40531310e+01] [-2.73421920e-01 9.61894196e-01 -9.57588355e-05 -4.89289783e+00] [-3.67408695e-04 -4.88490515e-06 9.99999932e-01 -2.41030130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.440888479 meters 0.01625781595548961 Centerline is valid? [True, True] Translation: X:64.09, Y:-4.90, Z:-0.02 [[ 9.61615615e-01 2.74399791e-01 4.05179242e-04 6.40850748e+01] [-2.74399769e-01 9.61615700e-01 -1.09535192e-04 -4.90046600e+00] [-4.19683154e-04 -5.85033944e-06 9.99999912e-01 -2.44374835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.470888479 meters 0.017013913492660855 Centerline is valid? [True, True] Translation: X:64.12, Y:-4.91, Z:-0.03 [[ 9.60978265e-01 2.76623882e-01 -4.24792459e-05 6.41157523e+01] [-2.76623881e-01 9.60978266e-01 1.16723879e-05 -4.90626325e+00] [ 4.40504934e-05 5.33862792e-07 9.99999999e-01 -2.50050153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.500888479 meters 0.017413329171829306 Centerline is valid? [True, True] Translation: X:64.15, Y:-4.91, Z:-0.03 [[ 9.60492184e-01 2.78306815e-01 -2.85963333e-04 6.41466979e+01] [-2.78306804e-01 9.60492226e-01 7.79135558e-05 -4.91442730e+00] [ 2.96349432e-04 4.75017991e-06 9.99999956e-01 -2.52266952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530888479 meters 0.017839910739731405 Centerline is valid? [True, True] Translation: X:64.18, Y:-4.92, Z:-0.02 [[ 9.60029527e-01 2.79898493e-01 3.76447032e-04 6.41775997e+01] [-2.79898474e-01 9.60029600e-01 -1.02027235e-04 -4.92240341e+00] [-3.89957563e-04 -7.41779181e-06 9.99999924e-01 -2.44316186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.560888479 meters 0.018712868861340676 Centerline is valid? [True, True] Translation: X:64.21, Y:-4.93, Z:-0.02 [[ 9.59488249e-01 2.81747741e-01 7.14727636e-04 6.42079524e+01] [-2.81747674e-01 9.59488515e-01 -1.94137062e-04 -4.92987312e+00] [-7.40470636e-04 -1.51006196e-05 9.99999726e-01 -2.34472064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.590888479 meters 0.01808089624034674 Centerline is valid? [True, True] Translation: X:64.24, Y:-4.94, Z:-0.02 [[ 9.58648652e-01 2.84587677e-01 1.61760320e-03 6.42383713e+01] [-2.84587339e-01 9.58650016e-01 -4.40079976e-04 -4.93966804e+00] [-1.67595667e-03 -3.84673147e-05 9.99998595e-01 -2.20755027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.620888479 meters 0.01888766623752352 Centerline is valid? [True, True] Translation: X:64.27, Y:-4.95, Z:-0.02 [[ 9.58177040e-01 2.86173522e-01 1.21441712e-03 6.42690539e+01] [-2.86173332e-01 9.58177810e-01 -3.30632803e-04 -4.94576709e+00] [-1.25824589e-03 -3.07290331e-05 9.99999208e-01 -2.25872058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.650888479 meters 0.02042371153329203 Centerline is valid? [True, True] Translation: X:64.30, Y:-4.95, Z:-0.03 [[ 9.57357245e-01 2.88906522e-01 -3.56265065e-04 6.43000131e+01] [-2.88906506e-01 9.57357311e-01 9.72619543e-05 -4.94925637e+00] [ 3.69172578e-04 9.81285857e-06 9.99999932e-01 -2.57584263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.680888479 meters 0.022459193789774394 Centerline is valid? [True, True] Translation: X:64.33, Y:-4.95, Z:-0.03 [[ 9.56878221e-01 2.90484777e-01 -1.63235755e-03 6.43310518e+01] [-2.90484440e-01 9.56879612e-01 4.45619120e-04 -4.95358396e+00] [ 1.69141523e-03 4.77712381e-05 9.99998568e-01 -2.78943223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710888479 meters 0.01984870179962534 Centerline is valid? [True, True] Translation: X:64.36, Y:-4.97, Z:-0.03 [[ 9.56463908e-01 2.91825357e-01 -3.84115581e-03 6.43611310e+01] [-2.91823494e-01 9.56471613e-01 1.04929237e-03 -4.96672066e+00] [ 3.98016662e-03 1.17329231e-04 9.99992072e-01 -2.86122535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.740888479 meters 0.01998113196159857 Centerline is valid? [True, True] Translation: X:64.39, Y:-4.98, Z:-0.03 [[ 9.56188798e-01 2.92699404e-01 -5.48100207e-03 6.43917650e+01] [-2.92695618e-01 9.56204491e-01 1.49856222e-03 -4.97538138e+00] [ 5.67958706e-03 1.71356875e-04 9.99983856e-01 -2.97183955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.770888479 meters 0.022651037494532605 Centerline is valid? [True, True] Translation: X:64.42, Y:-4.98, Z:-0.03 [[ 9.56031458e-01 2.93200797e-01 -6.09454947e-03 6.44227748e+01] [-2.93196117e-01 9.56050865e-01 1.66773360e-03 -4.98126142e+00] [ 6.31568011e-03 1.92492453e-04 9.99980037e-01 -3.09353243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.800888479 meters 0.02233550101159619 Centerline is valid? [True, True] Translation: X:64.45, Y:-4.99, Z:-0.03 [[ 9.56073843e-01 2.93068943e-01 -5.77944650e-03 6.44532718e+01] [-2.93064723e-01 9.56091294e-01 1.58293704e-03 -4.99079552e+00] [ 5.98958816e-03 1.80347194e-04 9.99982046e-01 -3.00537103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.830888479 meters 0.019674694090495153 Centerline is valid? [True, True] Translation: X:64.48, Y:-5.00, Z:-0.03 [[ 9.56680794e-01 2.91093746e-01 -5.12730447e-03 6.44824609e+01] [-2.91090389e-01 9.56694522e-01 1.40569220e-03 -5.00467356e+00] [ 5.31445231e-03 1.47710322e-04 9.99985867e-01 -2.79411051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.860888478999996 meters 0.01943048742295993 Centerline is valid? [True, True] Translation: X:64.51, Y:-5.01, Z:-0.03 [[ 9.56974249e-01 2.90139340e-01 -4.41018569e-03 6.45136211e+01] [-2.90136845e-01 9.56984404e-01 1.20935163e-03 -5.01435015e+00] [ 4.57135941e-03 1.22238991e-04 9.99989544e-01 -2.72972921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890888479 meters 0.02133785416064483 Centerline is valid? [True, True] Translation: X:64.54, Y:-5.02, Z:-0.03 [[ 9.57351924e-01 2.88900564e-01 -3.70922094e-03 6.45446942e+01] [-2.88898786e-01 9.57359104e-01 1.01819276e-03 -5.01978350e+00] [ 3.84521290e-03 9.68206285e-05 9.99992602e-01 -2.76191066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.920888479 meters 0.018443125090983014 Centerline is valid? [True, True] Translation: X:64.57, Y:-5.04, Z:-0.02 [[ 9.58013502e-01 2.86717148e-01 -1.84583672e-03 6.45738502e+01] [-2.86716702e-01 9.58015279e-01 5.07309618e-04 -5.03529962e+00] [ 1.91379414e-03 4.32227530e-05 9.99998168e-01 -2.41613019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.950888479 meters 0.017857680982074842 Centerline is valid? [True, True] Translation: X:64.60, Y:-5.05, Z:-0.02 [[ 9.58191639e-01 2.86122915e-01 -1.56850721e-03 6.46042868e+01] [-2.86122591e-01 9.58192922e-01 4.31545799e-04 -5.04615713e+00] [ 1.62640765e-03 3.52817700e-05 9.99998677e-01 -2.35532455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.980888479 meters 0.018732000810260288 Centerline is valid? [True, True] Translation: X:64.63, Y:-5.05, Z:-0.02 [[ 9.58253351e-01 2.85915809e-01 -1.63287825e-03 6.46345553e+01] [-2.85915458e-01 9.58254741e-01 4.49356854e-04 -5.05345174e+00] [ 1.69319155e-03 3.62674225e-05 9.99998566e-01 -2.33588898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.010888479 meters 0.0188884887736012 Centerline is valid? [True, True] Translation: X:64.67, Y:-5.06, Z:-0.02 [[ 9.58168105e-01 2.86199110e-01 -1.98823492e-03 6.46651776e+01] [-2.86198589e-01 9.58170166e-01 5.47773424e-04 -5.06245622e+00] [ 2.06183965e-03 4.41710058e-05 9.99997873e-01 -2.34791613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.040888479 meters 0.018839063689430356 Centerline is valid? [True, True] Translation: X:64.70, Y:-5.07, Z:-0.02 [[ 9.57844698e-01 2.87273729e-01 -2.70899616e-03 6.46966527e+01] [-2.87272765e-01 9.57848527e-01 7.46901471e-04 -5.07020583e+00] [ 2.80937315e-03 6.28052027e-05 9.99996052e-01 -2.39689744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070888479 meters 0.01779640622825139 Centerline is valid? [True, True] Translation: X:64.73, Y:-5.08, Z:-0.02 [[ 9.57600264e-01 2.88089023e-01 -2.53945095e-03 6.47273369e+01] [-2.88088177e-01 9.57603630e-01 7.00858311e-04 -5.07979011e+00] [ 2.63369703e-03 6.04436907e-05 9.99996530e-01 -2.36074892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.100888479 meters 0.01823533724978954 Centerline is valid? [True, True] Translation: X:64.76, Y:-5.09, Z:-0.02 [[ 9.57127170e-01 2.89648476e-01 -3.36759993e-03 6.47584178e+01] [-2.89646995e-01 9.57133091e-01 9.30200624e-04 -5.08655273e+00] [ 3.49267252e-03 8.50949098e-05 9.99993897e-01 -2.38705751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130888479 meters 0.01931791019010595 Centerline is valid? [True, True] Translation: X:64.79, Y:-5.09, Z:-0.02 [[ 9.56896263e-01 2.90406817e-01 -3.66357252e-03 6.47885847e+01] [-2.90405067e-01 9.56903272e-01 1.01261875e-03 -5.09234989e+00] [ 3.79975592e-03 9.49489291e-05 9.99992776e-01 -2.45591159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.160888479 meters 0.02006393232662546 Centerline is valid? [True, True] Translation: X:64.82, Y:-5.10, Z:-0.03 [[ 9.56343888e-01 2.92203286e-01 -4.85870405e-03 6.48196542e+01] [-2.92200226e-01 9.56356221e-01 1.34404903e-03 -5.09804494e+00] [ 5.03938739e-03 1.34341343e-04 9.99987293e-01 -2.55761483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.190888479 meters 0.019367971904740034 Centerline is valid? [True, True] Translation: X:64.85, Y:-5.11, Z:-0.03 [[ 9.55900180e-01 2.93631968e-01 -5.92567364e-03 6.48507880e+01] [-2.93627434e-01 9.55918531e-01 1.64072446e-03 -5.10697047e+00] [ 6.14623039e-03 1.71571538e-04 9.99981097e-01 -2.60357076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.220888479 meters 0.021331132749304007 Centerline is valid? [True, True] Translation: X:64.88, Y:-5.11, Z:-0.03 [[ 9.55547612e-01 2.94766382e-01 -6.44528143e-03 6.48816309e+01] [-2.94761034e-01 9.55569329e-01 1.78609960e-03 -5.11074475e+00] [ 6.68539536e-03 1.93114612e-04 9.99977634e-01 -2.79576182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250888479 meters 0.019885648916379107 Centerline is valid? [True, True] Translation: X:64.91, Y:-5.12, Z:-0.03 [[ 9.55212734e-01 2.95830737e-01 -7.26685735e-03 6.49125550e+01] [-2.95823955e-01 9.55240349e-01 2.01564393e-03 -5.12075325e+00] [ 7.53788478e-03 2.24341730e-04 9.99971565e-01 -2.75994839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.280888479 meters 0.02152085351773099 Centerline is valid? [True, True] Translation: X:64.94, Y:-5.12, Z:-0.03 [[ 9.55012527e-01 2.96467572e-01 -7.61925067e-03 6.49442381e+01] [-2.96460129e-01 9.55042890e-01 2.11431749e-03 -5.12470094e+00] [ 7.90353775e-03 2.39604349e-04 9.99968738e-01 -2.79863760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310888479 meters 0.02217212716514077 Centerline is valid? [True, True] Translation: X:64.97, Y:-5.13, Z:-0.03 [[ 9.55077105e-01 2.96273550e-01 -7.05034323e-03 6.49743455e+01] [-2.96267160e-01 9.55103102e-01 1.95818924e-03 -5.13083053e+00] [ 7.31396437e-03 2.18563456e-04 9.99973229e-01 -2.83130494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.340888479 meters 0.022171433727253418 Centerline is valid? [True, True] Translation: X:65.00, Y:-5.14, Z:-0.03 [[ 9.55271367e-01 2.95663011e-01 -6.32445888e-03 6.50049155e+01] [-2.95657846e-01 9.55292284e-01 1.75801760e-03 -5.13808694e+00] [ 6.56148755e-03 1.90492011e-04 9.99978455e-01 -2.75880817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.370888479 meters 0.02147037428200445 Centerline is valid? [True, True] Translation: X:65.03, Y:-5.15, Z:-0.03 [[ 9.55877827e-01 2.93725132e-01 -4.80897438e-03 6.50348049e+01] [-2.93722116e-01 9.55889915e-01 1.33788424e-03 -5.14578176e+00] [ 4.98982033e-03 1.33648248e-04 9.99987542e-01 -2.60832746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.400888479 meters 0.021099168647210193 Centerline is valid? [True, True] Translation: X:65.07, Y:-5.15, Z:-0.03 [[ 9.56319799e-01 2.92282315e-01 -4.84674121e-03 6.50650782e+01] [-2.92279229e-01 9.56332072e-01 1.34895318e-03 -5.15437046e+00] [ 5.02936922e-03 1.26571149e-04 9.99987345e-01 -2.55423857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.430888479 meters 0.017239011024135255 Centerline is valid? [True, True] Translation: X:65.09, Y:-5.17, Z:-0.02 [[ 9.57354174e-01 2.88887627e-01 -4.11389242e-03 6.50934139e+01] [-2.88885373e-01 9.57363009e-01 1.14505677e-03 -5.16882525e+00] [ 4.26928116e-03 9.22184635e-05 9.99990882e-01 -2.39443659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.460888479 meters 0.017563617395293874 Centerline is valid? [True, True] Translation: X:65.12, Y:-5.18, Z:-0.02 [[ 9.57737912e-01 2.87609651e-01 -4.33368480e-03 6.51241964e+01] [-2.87607130e-01 9.57747712e-01 1.20751514e-03 -5.17572819e+00] [ 4.49786972e-03 8.99156171e-05 9.99989880e-01 -2.45871270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490888479 meters 0.01654713164872473 Centerline is valid? [True, True] Translation: X:65.15, Y:-5.19, Z:-0.02 [[ 9.58219375e-01 2.86004885e-01 -4.10297367e-03 6.51544074e+01] [-2.86002606e-01 9.58228157e-01 1.14434270e-03 -5.18561463e+00] [ 4.25887250e-03 7.69298172e-05 9.99990928e-01 -2.46639823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.520888479 meters 0.016099551002013587 Centerline is valid? [True, True] Translation: X:65.18, Y:-5.19, Z:-0.03 [[ 9.59216654e-01 2.82642766e-01 -4.05914723e-03 6.51846426e+01] [-2.82640501e-01 9.59225241e-01 1.13308064e-03 -5.19309788e+00] [ 4.21389352e-03 6.04095889e-05 9.99991120e-01 -2.55948892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.550888479 meters 0.015740712734938336 Centerline is valid? [True, True] Translation: X:65.22, Y:-5.20, Z:-0.03 [[ 9.59672072e-01 2.81092731e-01 -4.04847527e-03 6.52153643e+01] [-2.81090460e-01 9.59680610e-01 1.13114888e-03 -5.20202399e+00] [ 4.20320095e-03 5.24557871e-05 9.99991165e-01 -2.55180379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.580888479 meters 0.015347957614944643 Centerline is valid? [True, True] Translation: X:65.25, Y:-5.21, Z:-0.03 [[ 9.60113778e-01 2.79576305e-01 -4.31541367e-03 6.52456336e+01] [-2.79573704e-01 9.60123475e-01 1.20684652e-03 -5.21125241e+00] [ 4.48073566e-03 4.77662159e-05 9.99989960e-01 -2.52785790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.610888478999996 meters 0.015347957614944643 Centerline is valid? [True, True] Translation: X:65.28, Y:-5.22, Z:-0.03 [[ 9.60036322e-01 2.79842171e-01 -4.31506856e-03 6.52768213e+01] [-2.79839568e-01 9.60046018e-01 1.20808003e-03 -5.22004946e+00] [ 4.48073613e-03 4.77262112e-05 9.99989960e-01 -2.53159734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.640888479 meters 0.015172850453061423 Centerline is valid? [True, True] Translation: X:65.31, Y:-5.23, Z:-0.03 [[ 9.60978583e-01 2.76572776e-01 -5.25943985e-03 6.53069516e+01] [-2.76568857e-01 9.60992975e-01 1.47301659e-03 -5.22922758e+00] [ 5.46168104e-03 3.90598694e-05 9.99985084e-01 -2.53480293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670888479 meters 0.015016158822067778 Centerline is valid? [True, True] Translation: X:65.34, Y:-5.24, Z:-0.03 [[ 9.61462875e-01 2.74877225e-01 -5.62596624e-03 6.53368708e+01] [-2.74872703e-01 9.61479334e-01 1.57710000e-03 -5.23746122e+00] [ 5.84275915e-03 3.01014488e-05 9.99982930e-01 -2.63609531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.700888479 meters 0.014952217001325235 Centerline is valid? [True, True] Translation: X:65.37, Y:-5.25, Z:-0.03 [[ 9.61892613e-01 2.73361850e-01 -5.99170485e-03 6.53673518e+01] [-2.73356681e-01 9.61911274e-01 1.68126208e-03 -5.24587081e+00] [ 6.22308136e-03 2.06789712e-05 9.99980636e-01 -2.76924598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.730888479 meters 0.014917750125191542 Centerline is valid? [True, True] Translation: X:65.40, Y:-5.26, Z:-0.03 [[ 9.62951111e-01 2.69598092e-01 -6.48282647e-03 6.53992311e+01] [-2.69591943e-01 9.62972932e-01 1.82095043e-03 -5.25502257e+00] [ 6.73371117e-03 -5.76845710e-06 9.99977328e-01 -2.85130265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.760888479 meters 0.015035271731501423 Centerline is valid? [True, True] Translation: X:65.43, Y:-5.26, Z:-0.03 [[ 9.63257362e-01 2.68479089e-01 -7.36435930e-03 6.54295726e+01] [-2.68471106e-01 9.63285512e-01 2.07048498e-03 -5.26371243e+00] [ 7.64986255e-03 -1.72922094e-05 9.99970739e-01 -2.90499875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.790888479 meters 0.015193921647497886 Centerline is valid? [True, True] Translation: X:65.46, Y:-5.27, Z:-0.03 [[ 9.63576593e-01 2.67326961e-01 -7.51300653e-03 6.54614935e+01] [-2.67318600e-01 9.63605882e-01 2.11446494e-03 -5.27286864e+00] [ 7.80483077e-03 -2.90825387e-05 9.99969541e-01 -2.93275264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.820888479 meters 0.015418149739730155 Centerline is valid? [True, True] Translation: X:65.49, Y:-5.28, Z:-0.03 [[ 9.64091080e-01 2.65488286e-01 -6.66022631e-03 6.54924708e+01] [-2.65481659e-01 9.64114085e-01 1.87626460e-03 -5.28077720e+00] [ 6.91934426e-03 -4.07220306e-05 9.99976060e-01 -2.89047847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850888479 meters 0.015553240825543938 Centerline is valid? [True, True] Translation: X:65.52, Y:-5.29, Z:-0.03 [[ 9.64288345e-01 2.64793559e-01 -5.68847764e-03 6.55241981e+01] [-2.64788703e-01 9.64305123e-01 1.60418205e-03 -5.28883273e+00] [ 5.91020520e-03 -4.06494364e-05 9.99982534e-01 -2.81269903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.880888479 meters 0.015617096471638775 Centerline is valid? [True, True] Translation: X:65.56, Y:-5.30, Z:-0.03 [[ 9.64310655e-01 2.64727696e-01 -4.92012924e-03 6.55558871e+01] [-2.64724055e-01 9.64323206e-01 1.38892873e-03 -5.29628455e+00] [ 5.11228271e-03 -3.68822137e-05 9.99986932e-01 -2.77050448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.910888479 meters 0.015412233350669128 Centerline is valid? [True, True] Translation: X:65.59, Y:-5.30, Z:-0.03 [[ 9.64093471e-01 2.65537798e-01 -3.66829089e-03 6.55877587e+01] [-2.65535776e-01 9.64100450e-01 1.03653537e-03 -5.30018915e+00] [ 3.81184022e-03 -2.52545169e-05 9.99992735e-01 -2.71337191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.940888479 meters 0.015304525168455055 Centerline is valid? [True, True] Translation: X:65.62, Y:-5.31, Z:-0.03 [[ 9.63790695e-01 2.66631918e-01 -3.86220513e-03 6.56195853e+01] [-2.66629681e-01 9.63798433e-01 1.09249700e-03 -5.30694473e+00] [ 4.01368182e-03 -2.31599218e-05 9.99991945e-01 -2.75432295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.970888479 meters 0.015390966327843002 Centerline is valid? [True, True] Translation: X:65.65, Y:-5.31, Z:-0.03 [[ 9.63450311e-01 2.67853276e-01 -4.25677925e-03 6.56505994e+01] [-2.67850567e-01 9.63459715e-01 1.20473446e-03 -5.31362005e+00] [ 4.42392740e-03 -2.05210538e-05 9.99990214e-01 -2.81469652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.000888479 meters 0.015454468546413897 Centerline is valid? [True, True] Translation: X:65.68, Y:-5.32, Z:-0.03 [[ 9.62568339e-01 2.70982140e-01 -5.55639114e-03 6.56828083e+01] [-2.70977568e-01 9.62584375e-01 1.57409109e-03 -5.31601244e+00] [ 5.77504587e-03 -9.51288383e-06 9.99983324e-01 -3.07397118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.030888479 meters 0.015588482693531676 Centerline is valid? [True, True] Translation: X:65.72, Y:-5.32, Z:-0.03 [[ 9.61996545e-01 2.72982109e-01 -6.58899873e-03 6.57155981e+01] [-2.72975714e-01 9.62019110e-01 1.86854259e-03 -5.32123815e+00] [ 6.84882139e-03 1.10511680e-06 9.99976547e-01 -3.16617246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.060888479 meters 0.015677833634696874 Centerline is valid? [True, True] Translation: X:65.75, Y:-5.33, Z:-0.03 [[ 9.61508637e-01 2.74661195e-01 -7.89738481e-03 6.57464121e+01] [-2.74652057e-01 9.61541069e-01 2.24046267e-03 -5.32647989e+00] [ 8.20902799e-03 1.48087834e-05 9.99966305e-01 -3.35198130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090888479 meters 0.015827794296153358 Centerline is valid? [True, True] Translation: X:65.78, Y:-5.33, Z:-0.03 [[ 9.61060206e-01 2.76203218e-01 -8.66387622e-03 6.57778427e+01] [-2.76192261e-01 9.61099257e-01 2.46036069e-03 -5.33283514e+00] [ 9.00640454e-03 2.83408028e-05 9.99959441e-01 -3.45267381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.120888479 meters 0.01598823952835798 Centerline is valid? [True, True] Translation: X:65.81, Y:-5.34, Z:-0.03 [[ 9.60532873e-01 2.78032819e-01 -8.62273126e-03 6.58102314e+01] [-2.78022018e-01 9.60571574e-01 2.45115799e-03 -5.33794015e+00] [ 8.96425291e-03 4.28913108e-05 9.99959819e-01 -3.32275417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150888479 meters 0.016076062260162408 Centerline is valid? [True, True] Translation: X:65.84, Y:-5.35, Z:-0.03 [[ 9.60309492e-01 2.78811850e-01 -8.34453377e-03 6.58423845e+01] [-2.78801742e-01 9.60345745e-01 2.37460633e-03 -5.34527230e+00] [ 8.67570588e-03 4.61135538e-05 9.99962364e-01 -3.24210807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.180888479 meters 0.016318984267660236 Centerline is valid? [True, True] Translation: X:65.87, Y:-5.35, Z:-0.03 [[ 9.60225534e-01 2.79126880e-01 -7.42356371e-03 6.58729021e+01] [-2.79118875e-01 9.60254229e-01 2.11429137e-03 -5.35105506e+00] [ 7.71866399e-03 4.18601922e-05 9.99970210e-01 -3.29838346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210888479 meters 0.016121795592042295 Centerline is valid? [True, True] Translation: X:65.90, Y:-5.36, Z:-0.03 [[ 9.60157806e-01 2.79393144e-01 -6.03816325e-03 6.59041956e+01] [-2.79387843e-01 9.60176791e-01 1.72141140e-03 -5.35892142e+00] [ 6.27865475e-03 3.41628168e-05 9.99980288e-01 -3.11437189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.240888479 meters 0.016386294244762116 Centerline is valid? [True, True] Translation: X:65.94, Y:-5.36, Z:-0.03 [[ 9.59823542e-01 2.80558267e-01 -5.08202496e-03 6.59356613e+01] [-2.80554521e-01 9.59836995e-01 1.45034291e-03 -5.36485460e+00] [ 5.28482126e-03 3.37118042e-05 9.99986035e-01 -3.03355956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27088847899999 meters 0.016603054912421512 Centerline is valid? [True, True] Translation: X:65.97, Y:-5.37, Z:-0.03 [[ 9.59453137e-01 2.81827776e-01 -4.77317994e-03 6.59673418e+01] [-2.81824479e-01 9.59465009e-01 1.36364971e-03 -5.37204818e+00] [ 4.96401350e-03 3.68409552e-05 9.99987679e-01 -3.00589904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.300888479 meters 0.016562130390210466 Centerline is valid? [True, True] Translation: X:66.00, Y:-5.38, Z:-0.03 [[ 9.59084837e-01 2.83089965e-01 -4.04304629e-03 6.59999133e+01] [-2.83087606e-01 9.59093358e-01 1.15632032e-03 -5.37903214e+00] [ 4.20500153e-03 3.55270150e-05 9.99991158e-01 -2.95939780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.330888479 meters 0.01726813167226652 Centerline is valid? [True, True] Translation: X:66.03, Y:-5.38, Z:-0.03 [[ 9.57939617e-01 2.86949399e-01 -3.42526127e-03 6.60325470e+01] [-2.86947727e-01 9.57945740e-01 9.80551770e-04 -5.38224220e+00] [ 3.56258318e-03 4.35615491e-05 9.99993653e-01 -3.00072440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.360888479 meters 0.017632966385340874 Centerline is valid? [True, True] Translation: X:66.06, Y:-5.39, Z:-0.03 [[ 9.57334511e-01 2.88956468e-01 -3.84615269e-03 6.60629688e+01] [-2.88954374e-01 9.57342236e-01 1.10173914e-03 -5.38732293e+00] [ 4.00043906e-03 5.66297375e-05 9.99991997e-01 -3.10057871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.390888479 meters 0.01852273984907772 Centerline is valid? [True, True] Translation: X:66.10, Y:-5.39, Z:-0.03 [[ 9.55997436e-01 2.93311920e-01 -6.08445995e-03 6.60953984e+01] [-2.93306765e-01 9.56016790e-01 1.74308469e-03 -5.39076979e+00] [ 6.32811339e-03 1.18228769e-04 9.99979970e-01 -3.31375045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.420888479 meters 0.018981107156698835 Centerline is valid? [True, True] Translation: X:66.13, Y:-5.40, Z:-0.03 [[ 9.55239450e-01 2.95754240e-01 -6.85725872e-03 6.61264856e+01] [-2.95747741e-01 9.55264051e-01 1.96647655e-03 -5.39748088e+00] [ 7.13208652e-03 1.49562793e-04 9.99974555e-01 -3.36340413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.450888479 meters 0.019526388082225794 Centerline is valid? [True, True] Translation: X:66.16, Y:-5.40, Z:-0.03 [[ 9.54613724e-01 2.97762030e-01 -7.10017318e-03 6.61578174e+01] [-2.97755103e-01 9.54640113e-01 2.03798741e-03 -5.40448074e+00] [ 7.38494539e-03 1.68622045e-04 9.99972717e-01 -3.38674515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.480888479 meters 0.020892113373906944 Centerline is valid? [True, True] Translation: X:66.19, Y:-5.41, Z:-0.03 [[ 9.53563511e-01 3.01106160e-01 -7.19102858e-03 6.61891589e+01] [-3.01099145e-01 9.53590605e-01 2.06481965e-03 -5.40816504e+00] [ 7.47902721e-03 1.96275880e-04 9.99972012e-01 -3.34615850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510888479 meters 0.021665428593327388 Centerline is valid? [True, True] Translation: X:66.22, Y:-5.41, Z:-0.03 [[ 9.53179438e-01 3.02316077e-01 -7.34500237e-03 6.62197212e+01] [-3.02308779e-01 9.53207714e-01 2.11089554e-03 -5.41287652e+00] [ 7.63947058e-03 2.08396473e-04 9.99970797e-01 -3.48044810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.540888479 meters 0.020770543948129938 Centerline is valid? [True, True] Translation: X:66.25, Y:-5.42, Z:-0.04 [[ 9.52709003e-01 3.03785318e-01 -7.74824116e-03 6.62501503e+01] [-3.03777230e-01 9.52740483e-01 2.22868227e-03 -5.42169999e+00] [ 8.05910398e-03 2.30453578e-04 9.99967498e-01 -3.53211499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570888479 meters 0.02164538683542883 Centerline is valid? [True, True] Translation: X:66.28, Y:-5.43, Z:-0.04 [[ 9.52317425e-01 3.05006296e-01 -7.91712012e-03 6.62812656e+01] [-3.04997878e-01 9.52350303e-01 2.27918025e-03 -5.42733127e+00] [ 8.23503607e-03 2.44201775e-04 9.99966062e-01 -3.69715695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.600888479 meters 0.02246464304871485 Centerline is valid? [True, True] Translation: X:66.31, Y:-5.43, Z:-0.04 [[ 9.51989752e-01 3.06043309e-01 -7.28050654e-03 6.63120416e+01] [-3.06036208e-01 9.52017563e-01 2.09767693e-03 -5.43367177e+00] [ 7.57315008e-03 2.31131672e-04 9.99971297e-01 -3.62847785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630888479 meters 0.021316751710384538 Centerline is valid? [True, True] Translation: X:66.34, Y:-5.44, Z:-0.03 [[ 9.52107559e-01 3.05695072e-01 -6.45896661e-03 6.63421369e+01] [-3.05689463e-01 9.52129446e-01 1.86271824e-03 -5.44470584e+00] [ 6.71919609e-03 2.00929920e-04 9.99977406e-01 -3.43574657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.660888479 meters 0.02131573381203461 Centerline is valid? [True, True] Translation: X:66.37, Y:-5.45, Z:-0.03 [[ 9.52365093e-01 3.04905161e-01 -5.79425546e-03 6.63718029e+01] [-3.04900624e-01 9.52382703e-01 1.67242448e-03 -5.45286491e+00] [ 6.02827953e-03 1.73913413e-04 9.99981815e-01 -3.37448843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.690888479 meters 0.02161297442223127 Centerline is valid? [True, True] Translation: X:66.40, Y:-5.46, Z:-0.03 [[ 9.52480285e-01 3.04541095e-01 -6.00230285e-03 6.64021026e+01] [-3.04536214e-01 9.52499181e-01 1.73323791e-03 -5.46008835e+00] [ 6.24503072e-03 1.77043648e-04 9.99980484e-01 -3.39102600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.720888479 meters 0.02239458549050335 Centerline is valid? [True, True] Translation: X:66.43, Y:-5.47, Z:-0.03 [[ 9.52516352e-01 3.04437072e-01 -5.53794144e-03 6.64326272e+01] [-3.04432908e-01 9.52532437e-01 1.60056036e-03 -5.46675271e+00] [ 5.76233876e-03 1.61371698e-04 9.99983385e-01 -3.47238290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.750888479 meters 0.021777716134834594 Centerline is valid? [True, True] Translation: X:66.46, Y:-5.48, Z:-0.03 [[ 9.52617852e-01 3.04121453e-01 -5.41940841e-03 6.64637573e+01] [-3.04117458e-01 9.52633254e-01 1.56663347e-03 -5.47667639e+00] [ 5.63915551e-03 1.55733697e-04 9.99984088e-01 -3.44582673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.780888479 meters 0.0207772992859036 Centerline is valid? [True, True] Translation: X:66.49, Y:-5.49, Z:-0.03 [[ 9.52707803e-01 3.03836184e-01 -5.60502513e-03 6.64939091e+01] [-3.03831895e-01 9.52724277e-01 1.62192151e-03 -5.48842720e+00] [ 5.83284196e-03 1.57768129e-04 9.99982976e-01 -3.39685523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.810888479 meters 0.01996622976160702 Centerline is valid? [True, True] Translation: X:66.52, Y:-5.50, Z:-0.03 [[ 9.52696477e-01 3.03876433e-01 -5.34195982e-03 6.65247644e+01] [-3.03872529e-01 9.52711442e-01 1.54749069e-03 -5.49904157e+00] [ 5.55959219e-03 1.48985916e-04 9.99984534e-01 -3.38243272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.840888479 meters 0.02073739225787117 Centerline is valid? [True, True] Translation: X:66.55, Y:-5.51, Z:-0.03 [[ 9.52694664e-01 3.03893794e-01 -4.63015642e-03 6.65549662e+01] [-3.03890859e-01 9.52705907e-01 1.34185538e-03 -5.50508004e+00] [ 4.81895889e-03 1.28683752e-04 9.99988380e-01 -3.38781047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870888479 meters 0.02119753461303694 Centerline is valid? [True, True] Translation: X:66.59, Y:-5.51, Z:-0.04 [[ 9.52612240e-01 3.04152897e-01 -4.57547421e-03 6.65863905e+01] [-3.04150027e-01 9.52623220e-01 1.32739513e-03 -5.51205554e+00] [ 4.76243404e-03 1.27137758e-04 9.99988651e-01 -3.56626905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.900888479 meters 0.020108277964116735 Centerline is valid? [True, True] Translation: X:66.62, Y:-5.52, Z:-0.04 [[ 9.52537538e-01 3.04367742e-01 -5.70235414e-03 6.66174716e+01] [-3.04363278e-01 9.52554593e-01 1.65598827e-03 -5.52365521e+00] [ 5.93583304e-03 1.58196212e-04 9.99982370e-01 -3.62723634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930888479 meters 0.02147816335614811 Centerline is valid? [True, True] Translation: X:66.65, Y:-5.53, Z:-0.04 [[ 9.52497464e-01 3.04473073e-01 -6.68795856e-03 6.66482594e+01] [-3.04466928e-01 9.52520925e-01 1.94327794e-03 -5.53101213e+00] [ 6.96209628e-03 1.85294887e-04 9.99975747e-01 -3.81638546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.960888479 meters 0.020373510484536502 Centerline is valid? [True, True] Translation: X:66.68, Y:-5.54, Z:-0.04 [[ 9.52422415e-01 3.04654204e-01 -8.79546941e-03 6.66779091e+01] [-3.04643563e-01 9.52462995e-01 2.55792851e-03 -5.54364749e+00] [ 9.15664281e-03 2.43254691e-04 9.99958047e-01 -3.77805375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990888479 meters 0.02244670692449713 Centerline is valid? [True, True] Translation: X:66.71, Y:-5.55, Z:-0.04 [[ 9.52378952e-01 3.04784049e-01 -9.00084068e-03 6.67093150e+01] [-3.04772887e-01 9.52421452e-01 2.62013669e-03 -5.54957242e+00] [ 9.37116962e-03 2.47849162e-04 9.99956059e-01 -3.96486371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02088847899999 meters 0.020802690207075102 Centerline is valid? [True, True] Translation: X:66.74, Y:-5.56, Z:-0.04 [[ 9.52419346e-01 3.04654918e-01 -9.09781118e-03 6.67391128e+01] [-3.04643487e-01 9.52462766e-01 2.65063383e-03 -5.56178237e+00] [ 9.47285503e-03 2.47073988e-04 9.99955101e-01 -3.89445219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.050888479 meters 0.02053374552794375 Centerline is valid? [True, True] Translation: X:66.77, Y:-5.57, Z:-0.04 [[ 9.52456535e-01 3.04564146e-01 -8.19937793e-03 6.67698021e+01] [-3.04554840e-01 9.52491802e-01 2.39098736e-03 -5.57171685e+00] [ 8.53804928e-03 2.19848699e-04 9.99963526e-01 -3.80946456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.080888479 meters 0.022283108106075318 Centerline is valid? [True, True] Translation: X:66.80, Y:-5.58, Z:-0.04 [[ 9.52520789e-01 3.04388304e-01 -7.20465152e-03 6.68002507e+01] [-3.04381101e-01 9.52548017e-01 2.10261666e-03 -5.57802142e+00] [ 7.50278843e-03 1.90173678e-04 9.99971836e-01 -3.86590966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.110888479 meters 0.02232370785906498 Centerline is valid? [True, True] Translation: X:66.83, Y:-5.59, Z:-0.04 [[ 9.52705700e-01 3.03831511e-01 -6.18565781e-03 6.68293265e+01] [-3.03826181e-01 9.52725768e-01 1.80660001e-03 -5.58796033e+00] [ 6.44213759e-03 1.58206660e-04 9.99979237e-01 -3.78323724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.140888479 meters 0.018922164919039433 Centerline is valid? [True, True] Translation: X:66.86, Y:-5.61, Z:-0.03 [[ 9.53222727e-01 3.02225022e-01 -5.14485054e-03 6.68574972e+01] [-3.02221304e-01 9.53236603e-01 1.50403154e-03 -5.60687023e+00] [ 5.35881582e-03 1.21206395e-04 9.99985634e-01 -3.44007858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.170888479 meters 0.019174214668815946 Centerline is valid? [True, True] Translation: X:66.89, Y:-5.62, Z:-0.03 [[ 9.53352275e-01 3.01813849e-01 -5.27632407e-03 6.68869830e+01] [-3.01809926e-01 9.53366868e-01 1.54369346e-03 -5.61631423e+00] [ 5.49618062e-03 1.20763306e-04 9.99984889e-01 -3.48340854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.200888479 meters 0.018543404357768776 Centerline is valid? [True, True] Translation: X:66.92, Y:-5.63, Z:-0.04 [[ 9.53326768e-01 3.01888992e-01 -5.57766012e-03 6.69180452e+01] [-3.01884598e-01 9.53343076e-01 1.63358033e-03 -5.62762576e+00] [ 5.81058357e-03 1.26473826e-04 9.99983110e-01 -3.51551175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230888479 meters 0.018111373495895918 Centerline is valid? [True, True] Translation: X:66.95, Y:-5.64, Z:-0.04 [[ 9.53302893e-01 3.01963167e-01 -5.64265478e-03 6.69491410e+01] [-3.01958662e-01 9.53319584e-01 1.65433214e-03 -5.63809472e+00] [ 5.87880068e-03 1.26768873e-04 9.99982712e-01 -3.55189929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.260888479 meters 0.01857767621031168 Centerline is valid? [True, True] Translation: X:66.98, Y:-5.65, Z:-0.04 [[ 9.53172859e-01 3.02379454e-01 -5.30725655e-03 6.69797227e+01] [-3.02375467e-01 9.53187626e-01 1.55749792e-03 -5.64715350e+00] [ 5.52976665e-03 1.20219439e-04 9.99984704e-01 -3.54678702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290888479 meters 0.018674302480356106 Centerline is valid? [True, True] Translation: X:67.01, Y:-5.66, Z:-0.03 [[ 9.52754529e-01 3.03701680e-01 -4.90893668e-03 6.70103986e+01] [-3.03698280e-01 9.52767168e-01 1.44189014e-03 -5.65786072e+00] [ 5.11497815e-03 1.17068259e-04 9.99986912e-01 -3.41100839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.320888479 meters 0.018598704211508714 Centerline is valid? [True, True] Translation: X:67.04, Y:-5.67, Z:-0.03 [[ 9.52440796e-01 3.04677036e-01 -5.33244020e-03 6.70412676e+01] [-3.04673031e-01 9.52455714e-01 1.56768727e-03 -5.66820354e+00] [ 5.55655145e-03 1.31521408e-04 9.99984554e-01 -3.40684057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350888479 meters 0.019095744683235313 Centerline is valid? [True, True] Translation: X:67.07, Y:-5.68, Z:-0.03 [[ 9.52105837e-01 3.05717644e-01 -5.58541368e-03 6.70706901e+01] [-3.05713265e-01 9.52122209e-01 1.64263853e-03 -5.67670944e+00] [ 5.82017999e-03 1.43569319e-04 9.99983052e-01 -3.47876189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.380888479 meters 0.019339710650530997 Centerline is valid? [True, True] Translation: X:67.10, Y:-5.69, Z:-0.04 [[ 9.51687661e-01 3.06983052e-01 -7.21125409e-03 6.71012426e+01] [-3.06975774e-01 9.51714962e-01 2.12279526e-03 -5.68602762e+00] [ 7.51472057e-03 1.93442248e-04 9.99971745e-01 -3.78586714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.410888479 meters 0.01976702252010362 Centerline is valid? [True, True] Translation: X:67.13, Y:-5.69, Z:-0.04 [[ 9.51415191e-01 3.07806533e-01 -8.01697306e-03 6.71311612e+01] [-3.07797551e-01 9.51448942e-01 2.36186539e-03 -5.69444407e+00] [ 8.35473814e-03 2.20490056e-04 9.99965074e-01 -3.91887080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.440888479 meters 0.019922682935285364 Centerline is valid? [True, True] Translation: X:67.16, Y:-5.70, Z:-0.04 [[ 9.51266712e-01 3.08256679e-01 -8.33443942e-03 6.71606275e+01] [-3.08246979e-01 9.51303194e-01 2.45646887e-03 -5.70319422e+00] [ 8.68580177e-03 2.32308699e-04 9.99962251e-01 -3.98132044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.470888479 meters 0.019922682935285364 Centerline is valid? [True, True] Translation: X:67.19, Y:-5.71, Z:-0.04 [[ 9.51182671e-01 3.08515925e-01 -8.33372394e-03 6.71917145e+01] [-3.08506213e-01 9.51219149e-01 2.45889526e-03 -5.71244328e+00] [ 8.68580614e-03 2.32147057e-04 9.99962251e-01 -3.98505700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.500888479 meters 0.019957787713997435 Centerline is valid? [True, True] Translation: X:67.22, Y:-5.72, Z:-0.04 [[ 9.51059660e-01 3.08900283e-01 -8.13252250e-03 6.72222895e+01] [-3.08891029e-01 9.51094403e-01 2.40195455e-03 -5.72370325e+00] [ 8.47676107e-03 2.27661163e-04 9.99964046e-01 -3.97734394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.530888479 meters 0.0202611367793412 Centerline is valid? [True, True] Translation: X:67.25, Y:-5.73, Z:-0.04 [[ 9.51056735e-01 3.08911817e-01 -8.03593270e-03 6.72529872e+01] [-3.08902762e-01 9.51090658e-01 2.37562883e-03 -5.73370588e+00] [ 8.37676034e-03 2.22964005e-04 9.99964889e-01 -3.94464895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.560888479 meters 0.020358312221066256 Centerline is valid? [True, True] Translation: X:67.28, Y:-5.74, Z:-0.04 [[ 9.51106477e-01 3.08761498e-01 -7.92507452e-03 6.72826625e+01] [-3.08752672e-01 9.51139469e-01 2.34469305e-03 -5.74354322e+00] [ 8.26180211e-03 2.16835179e-04 9.99965847e-01 -3.91059281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590888479 meters 0.02065498182988941 Centerline is valid? [True, True] Translation: X:67.31, Y:-5.75, Z:-0.04 [[ 9.51079076e-01 3.08854367e-01 -7.58759548e-03 6.73133267e+01] [-3.08846269e-01 9.51109319e-01 2.24616785e-03 -5.75311699e+00] [ 7.91037152e-03 2.07117311e-04 9.99968691e-01 -3.85700888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.620888479 meters 0.020501509385696413 Centerline is valid? [True, True] Translation: X:67.34, Y:-5.76, Z:-0.04 [[ 9.50735546e-01 3.09948632e-01 -5.81086172e-03 6.73441648e+01] [-3.09943892e-01 9.50753290e-01 1.72193319e-03 -5.76320287e+00] [ 6.05840673e-03 1.63938003e-04 9.99981634e-01 -3.71823205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650888479 meters 0.020693762654106097 Centerline is valid? [True, True] Translation: X:67.38, Y:-5.77, Z:-0.04 [[ 9.50495159e-01 3.10694686e-01 -5.26923500e-03 6.73756904e+01] [-3.10690791e-01 9.50509752e-01 1.56301289e-03 -5.77302869e+00] [ 5.49407905e-03 1.51466601e-04 9.99984896e-01 -3.68716190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.680888479 meters 0.021447833132887523 Centerline is valid? [True, True] Translation: X:67.41, Y:-5.78, Z:-0.04 [[ 9.50152103e-01 3.11741728e-01 -5.29868024e-03 6.74054246e+01] [-3.11737800e-01 9.50166864e-01 1.57292167e-03 -5.78170152e+00] [ 5.52497571e-03 1.57284092e-04 9.99984725e-01 -3.69258723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710888479 meters 0.02146595451863861 Centerline is valid? [True, True] Translation: X:67.44, Y:-5.79, Z:-0.04 [[ 9.49610121e-01 3.13379748e-01 -5.80962637e-03 6.74356016e+01] [-3.13375047e-01 9.49627875e-01 1.72607194e-03 -5.79257371e+00] [ 6.05789914e-03 1.81496552e-04 9.99981634e-01 -3.77842013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.740888479 meters 0.021524673638814627 Centerline is valid? [True, True] Translation: X:67.47, Y:-5.80, Z:-0.04 [[ 9.49297003e-01 3.14319010e-01 -6.22576006e-03 6.74657461e+01] [-3.14313622e-01 9.49317397e-01 1.85114981e-03 -5.80217819e+00] [ 6.49207391e-03 1.99550226e-04 9.99978906e-01 -3.86089653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77088847899999 meters 0.022200135936535546 Centerline is valid? [True, True] Translation: X:67.50, Y:-5.81, Z:-0.04 [[ 9.48846082e-01 3.15671063e-01 -6.54917766e-03 6.74954765e+01] [-3.15665123e-01 9.48868659e-01 1.94884633e-03 -5.81076352e+00] [ 6.82950381e-03 2.18191761e-04 9.99976655e-01 -3.91297622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.800888479 meters 0.023204799521598127 Centerline is valid? [True, True] Translation: X:67.53, Y:-5.82, Z:-0.04 [[ 9.48478008e-01 3.16777721e-01 -6.42992265e-03 6.75252390e+01] [-3.16772011e-01 9.48499777e-01 1.91486823e-03 -5.81912831e+00] [ 6.70536779e-03 2.20609120e-04 9.99977494e-01 -3.95865446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.830888479 meters 0.023220533848871915 Centerline is valid? [True, True] Translation: X:67.56, Y:-5.83, Z:-0.04 [[ 9.47746672e-01 3.18976845e-01 -5.47884378e-03 6.75554597e+01] [-3.18972727e-01 9.47762487e-01 1.63309341e-03 -5.83065905e+00] [ 5.71356159e-03 1.99842894e-04 9.99983658e-01 -3.78538947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.860888479 meters 0.024133215987392556 Centerline is valid? [True, True] Translation: X:67.59, Y:-5.84, Z:-0.04 [[ 9.47496021e-01 3.19726755e-01 -5.10816775e-03 6.75856346e+01] [-3.19723183e-01 9.47509771e-01 1.52320179e-03 -5.83885940e+00] [ 5.32704722e-03 1.89972016e-04 9.99985793e-01 -3.75245895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.890888479 meters 0.023588374658070756 Centerline is valid? [True, True] Translation: X:67.62, Y:-5.85, Z:-0.04 [[ 9.47249157e-01 3.20464638e-01 -4.63138960e-03 6.76160079e+01] [-3.20461704e-01 9.47260463e-01 1.38236435e-03 -5.84990076e+00] [ 4.83013114e-03 1.74739537e-04 9.99988320e-01 -3.73519559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.920888479 meters 0.02269996987914217 Centerline is valid? [True, True] Translation: X:67.65, Y:-5.86, Z:-0.04 [[ 9.47191448e-01 3.20640830e-01 -4.22123579e-03 6.76463491e+01] [-3.20638389e-01 9.47200841e-01 1.26128176e-03 -5.86368822e+00] [ 4.40277652e-03 1.58814944e-04 9.99990295e-01 -3.72802627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.950888479 meters 0.023160092716740237 Centerline is valid? [True, True] Translation: X:67.68, Y:-5.87, Z:-0.04 [[ 9.47304916e-01 3.20297144e-01 -4.80996744e-03 6.76762501e+01] [-3.20293965e-01 9.47317110e-01 1.43824620e-03 -5.87344943e+00] [ 5.01723061e-03 1.78145845e-04 9.99987398e-01 -3.78661268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.980888479 meters 0.022040902603056887 Centerline is valid? [True, True] Translation: X:67.71, Y:-5.89, Z:-0.04 [[ 9.47446827e-01 3.19875870e-01 -4.89256559e-03 6.77063198e+01] [-3.19872568e-01 9.47459443e-01 1.46424137e-03 -5.88588529e+00] [ 5.10388295e-03 1.77706680e-04 9.99986959e-01 -3.78082392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010888479 meters 0.02389180700243167 Centerline is valid? [True, True] Translation: X:67.74, Y:-5.89, Z:-0.04 [[ 9.47646759e-01 3.19285039e-01 -4.76268971e-03 6.77361273e+01] [-3.19281897e-01 9.47658712e-01 1.42650662e-03 -5.89343135e+00] [ 4.96886662e-03 1.68816232e-04 9.99987641e-01 -3.85874521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.040888479 meters 0.022350823398946774 Centerline is valid? [True, True] Translation: X:67.76, Y:-5.91, Z:-0.04 [[ 9.48329673e-01 3.17244452e-01 -5.17573042e-03 6.77649062e+01] [-3.17240704e-01 9.48343782e-01 1.55151334e-03 -5.90903008e+00] [ 5.40058076e-03 1.70606226e-04 9.99985402e-01 -3.73113617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070888479 meters 0.02110001048653538 Centerline is valid? [True, True] Translation: X:67.79, Y:-5.92, Z:-0.04 [[ 9.48623022e-01 3.16367812e-01 -5.07635298e-03 6.77944233e+01] [-3.16364187e-01 9.48636591e-01 1.52303755e-03 -5.92239223e+00] [ 5.29745424e-03 1.61187799e-04 9.99985955e-01 -3.63226173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.100888479 meters 0.02026123281128272 Centerline is valid? [True, True] Translation: X:67.82, Y:-5.94, Z:-0.04 [[ 9.48983360e-01 3.15296596e-01 -4.31726160e-03 6.78246550e+01] [-3.15293961e-01 9.48993171e-01 1.29581170e-03 -5.93504900e+00] [ 4.50561679e-03 1.31502771e-04 9.99989841e-01 -3.56756332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130888479 meters 0.02163282847006266 Centerline is valid? [True, True] Translation: X:67.85, Y:-5.94, Z:-0.04 [[ 9.49218610e-01 3.14594906e-01 -3.75162395e-03 6.78547036e+01] [-3.14592907e-01 9.49226018e-01 1.12706216e-03 -5.94302560e+00] [ 3.91570708e-03 1.10405907e-04 9.99992327e-01 -3.55199206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.160888479 meters 0.02114901160739839 Centerline is valid? [True, True] Translation: X:67.88, Y:-5.96, Z:-0.03 [[ 9.49435946e-01 3.13939167e-01 -3.68563103e-03 6.78842919e+01] [-3.13937229e-01 9.49443094e-01 1.10815894e-03 -5.95628986e+00] [ 3.84719143e-03 1.04930863e-04 9.99992594e-01 -3.44099078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.190888479 meters 0.02131921260311582 Centerline is valid? [True, True] Translation: X:67.91, Y:-5.97, Z:-0.03 [[ 9.49349068e-01 3.14199622e-01 -3.86570673e-03 6.79149196e+01] [-3.14197488e-01 9.49356932e-01 1.16340806e-03 -5.96737599e+00] [ 4.03547785e-03 1.10114988e-04 9.99991851e-01 -3.40930085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.220888479 meters 0.020950839470866792 Centerline is valid? [True, True] Translation: X:67.94, Y:-5.98, Z:-0.03 [[ 9.49365977e-01 3.14146254e-01 -4.04632059e-03 6.79449546e+01] [-3.14143910e-01 9.49374593e-01 1.21889071e-03 -5.98047338e+00] [ 4.22438391e-03 1.13953604e-04 9.99991071e-01 -3.30502729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.250888479 meters 0.01908452622565132 Centerline is valid? [True, True] Translation: X:67.97, Y:-5.99, Z:-0.03 [[ 9.49494830e-01 3.13757419e-01 -3.98116487e-03 6.79738719e+01] [-3.13755143e-01 9.49503170e-01 1.20027491e-03 -5.99438618e+00] [ 4.15672382e-03 1.09456124e-04 9.99991355e-01 -3.15596642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.280888479 meters 0.018325498202145626 Centerline is valid? [True, True] Translation: X:68.00, Y:-6.01, Z:-0.03 [[ 9.49526650e-01 3.13648762e-01 -4.85738680e-03 6.80046038e+01] [-3.13645364e-01 9.49539065e-01 1.46590600e-03 -6.00708570e+00] [ 5.07205812e-03 1.31580035e-04 9.99987128e-01 -3.12503999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.310888479 meters 0.01828319698055639 Centerline is valid? [True, True] Translation: X:68.04, Y:-6.02, Z:-0.03 [[ 9.49587667e-01 3.13442357e-01 -6.09518112e-03 6.80353851e+01] [-3.13436991e-01 9.49607215e-01 1.84121898e-03 -6.01815537e+00] [ 6.36514398e-03 1.62056399e-04 9.99979729e-01 -3.22286481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.340888479 meters 0.01747947057801846 Centerline is valid? [True, True] Translation: X:68.07, Y:-6.03, Z:-0.03 [[ 9.50103342e-01 3.11839173e-01 -7.74399605e-03 6.80652074e+01] [-3.11830442e-01 9.50134882e-01 2.34123210e-03 -6.03132619e+00] [ 8.08792866e-03 1.90401272e-04 9.99967274e-01 -3.31721138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370888479 meters 0.020040797708090023 Centerline is valid? [True, True] Translation: X:68.10, Y:-6.04, Z:-0.04 [[ 9.50352432e-01 3.11087612e-01 -7.39948649e-03 6.80957646e+01] [-3.11079604e-01 9.50381222e-01 2.23888178e-03 -6.03719242e+00] [ 7.72882141e-03 1.74102583e-04 9.99970117e-01 -3.51663273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.400888479 meters 0.01796363102402233 Centerline is valid? [True, True] Translation: X:68.12, Y:-6.05, Z:-0.03 [[ 9.50623753e-01 3.10254358e-01 -7.53082835e-03 6.81249697e+01] [-3.10246022e-01 9.50653567e-01 2.28053023e-03 -6.05228750e+00] [ 7.86675328e-03 1.68483330e-04 9.99969042e-01 -3.31679281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430888479 meters 0.01641635451836668 Centerline is valid? [True, True] Translation: X:68.15, Y:-6.07, Z:-0.03 [[ 9.51408991e-01 3.07842983e-01 -7.32329283e-03 6.81536577e+01] [-3.07835014e-01 9.51437164e-01 2.21963641e-03 -6.06873954e+00] [ 7.65095245e-03 1.42583910e-04 9.99970721e-01 -2.96266903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.460888479 meters 0.016550267734654053 Centerline is valid? [True, True] Translation: X:68.18, Y:-6.08, Z:-0.03 [[ 9.51806649e-01 3.06613977e-01 -7.20914913e-03 6.81833723e+01] [-3.06606206e-01 9.51833942e-01 2.18677403e-03 -6.07839431e+00] [ 7.53240831e-03 1.28983797e-04 9.99971623e-01 -2.97340448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490888479 meters 0.015676392259311552 Centerline is valid? [True, True] Translation: X:68.21, Y:-6.09, Z:-0.03 [[ 9.52238048e-01 3.05281689e-01 -6.76691060e-03 6.82131994e+01] [-3.05274796e-01 9.52262085e-01 2.05444320e-03 -6.09088130e+00] [ 7.07105629e-03 1.09448269e-04 9.99974994e-01 -2.80757431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52088847899999 meters 0.01541418961094029 Centerline is valid? [True, True] Translation: X:68.24, Y:-6.10, Z:-0.03 [[ 9.52590132e-01 3.04189959e-01 -6.36474902e-03 6.82429863e+01] [-3.04183825e-01 9.52611390e-01 1.93403814e-03 -6.10216332e+00] [ 6.65144739e-03 9.37080547e-05 9.99977874e-01 -2.73930124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.550888479 meters 0.015013880236056688 Centerline is valid? [True, True] Translation: X:68.27, Y:-6.12, Z:-0.03 [[ 9.53360365e-01 3.01778533e-01 -5.80795872e-03 6.82718220e+01] [-3.01773372e-01 9.53378053e-01 1.76625740e-03 -6.11516060e+00] [ 6.07019894e-03 6.88074894e-05 9.99981574e-01 -2.56378883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.580888479 meters 0.015043521972975857 Centerline is valid? [True, True] Translation: X:68.30, Y:-6.13, Z:-0.03 [[ 9.53503444e-01 3.01324706e-01 -5.88250692e-03 6.83016533e+01] [-3.01319393e-01 9.53521587e-01 1.79058559e-03 -6.12575858e+00] [ 6.14864501e-03 6.51838898e-05 9.99981095e-01 -2.53210803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.610888479 meters 0.014986784747215168 Centerline is valid? [True, True] Translation: X:68.33, Y:-6.14, Z:-0.03 [[ 9.53642402e-01 3.00889264e-01 -5.64096287e-03 6.83317905e+01] [-3.00884362e-01 9.53659083e-01 1.71848819e-03 -6.13604195e+00] [ 5.89663013e-03 5.84543070e-05 9.99982613e-01 -2.50324218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.640888479 meters 0.014795540325308281 Centerline is valid? [True, True] Translation: X:68.36, Y:-6.15, Z:-0.03 [[ 9.53736510e-01 3.00587975e-01 -5.79125821e-03 6.83629893e+01] [-3.00582792e-01 9.53754091e-01 1.76599977e-03 -6.14659710e+00] [ 6.05427451e-03 5.64541057e-05 9.99981671e-01 -2.50094745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.670888479 meters 0.014703508797199625 Centerline is valid? [True, True] Translation: X:68.39, Y:-6.16, Z:-0.02 [[ 9.53854490e-01 3.00205339e-01 -6.19404350e-03 6.83931629e+01] [-3.00199390e-01 9.53874599e-01 1.89064675e-03 -6.15878839e+00] [ 6.47592301e-03 5.60461894e-05 9.99979029e-01 -2.47234109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.700888479 meters 0.01466714887540076 Centerline is valid? [True, True] Translation: X:68.42, Y:-6.17, Z:-0.02 [[ 9.53817142e-01 3.00315864e-01 -6.57591287e-03 6.84232411e+01] [-3.00309150e-01 9.53839808e-01 2.00897959e-03 -6.16896069e+00] [ 6.87569590e-03 5.86076299e-05 9.99976360e-01 -2.46903560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730888479 meters 0.014559296346714464 Centerline is valid? [True, True] Translation: X:68.45, Y:-6.18, Z:-0.03 [[ 9.53798711e-01 3.00372388e-01 -6.66688975e-03 6.84545065e+01] [-3.00365475e-01 9.53822009e-01 2.03876401e-03 -6.17931409e+00] [ 6.97141459e-03 5.79330161e-05 9.99975698e-01 -2.52470963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.760888479 meters 0.014707893091382273 Centerline is valid? [True, True] Translation: X:68.49, Y:-6.19, Z:-0.03 [[ 9.53691996e-01 3.00700236e-01 -7.13752097e-03 6.84859114e+01] [-3.00692305e-01 9.53718703e-01 2.18476518e-03 -6.19040424e+00] [ 7.46414665e-03 6.26045701e-05 9.99972141e-01 -2.52354801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790888479 meters 0.014743814958455373 Centerline is valid? [True, True] Translation: X:68.52, Y:-6.20, Z:-0.03 [[ 9.53614068e-01 3.00942545e-01 -7.33447453e-03 6.85174580e+01] [-3.00934172e-01 9.53642271e-01 2.24581657e-03 -6.20057522e+00] [ 7.67032670e-03 6.55517474e-05 9.99970580e-01 -2.52875951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.820888479 meters 0.014754638824386724 Centerline is valid? [True, True] Translation: X:68.55, Y:-6.21, Z:-0.03 [[ 9.53504245e-01 3.01280286e-01 -7.73587360e-03 6.85480635e+01] [-3.01270964e-01 9.53535623e-01 2.37103201e-03 -6.20996394e+00] [ 8.09077626e-03 6.98050104e-05 9.99967267e-01 -2.54714662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850888479 meters 0.014919601999394932 Centerline is valid? [True, True] Translation: X:68.58, Y:-6.22, Z:-0.03 [[ 9.53291395e-01 3.01952663e-01 -7.75273637e-03 6.85788132e+01] [-3.01943312e-01 9.53322917e-01 2.37749691e-03 -6.21888357e+00] [ 8.10875278e-03 7.44395520e-05 9.99967121e-01 -2.56461873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.880888479 meters 0.014869830116351035 Centerline is valid? [True, True] Translation: X:68.61, Y:-6.23, Z:-0.02 [[ 9.52923131e-01 3.03096452e-01 -8.36944480e-03 6.86096932e+01] [-3.03085579e-01 9.52959880e-01 2.56884918e-03 -6.22786092e+00] [ 8.75435419e-03 8.87422173e-05 9.99961676e-01 -2.47665373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.910888479 meters 0.014962699905927499 Centerline is valid? [True, True] Translation: X:68.64, Y:-6.24, Z:-0.02 [[ 9.52672104e-01 3.03886644e-01 -8.29272392e-03 6.86415897e+01] [-3.03875977e-01 9.52708192e-01 2.54781064e-03 -6.23769459e+00] [ 8.67479164e-03 9.27314617e-05 9.99962369e-01 -2.41811698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.940888479 meters 0.015017179499900583 Centerline is valid? [True, True] Translation: X:68.67, Y:-6.25, Z:-0.02 [[ 9.52451841e-01 3.04580167e-01 -8.14936104e-03 6.86726655e+01] [-3.04569871e-01 9.52486699e-01 2.50619667e-03 -6.24739631e+00] [ 8.52549580e-03 9.50182042e-05 9.99963653e-01 -2.33067716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.970888479 meters 0.01500928408588109 Centerline is valid? [True, True] Translation: X:68.70, Y:-6.26, Z:-0.02 [[ 9.52392488e-01 3.04774830e-01 -7.80079436e-03 6.87043338e+01] [-3.04765384e-01 9.52424430e-01 2.40133184e-03 -6.25759861e+00] [ 8.16153263e-03 9.04016847e-05 9.99966690e-01 -2.26208244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.000888479 meters 0.014789262306420648 Centerline is valid? [True, True] Translation: X:68.74, Y:-6.27, Z:-0.02 [[ 9.52451257e-01 3.04603894e-01 -7.28502138e-03 6.87351334e+01] [-3.04595636e-01 9.52479113e-01 2.24446606e-03 -6.26769310e+00] [ 7.62250381e-03 8.12412022e-05 9.99970945e-01 -2.21325341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.030888479 meters 0.014955400208683453 Centerline is valid? [True, True] Translation: X:68.77, Y:-6.28, Z:-0.02 [[ 9.52622897e-01 3.04070440e-01 -7.12623347e-03 6.87653802e+01] [-3.04062510e-01 9.52649548e-01 2.19726335e-03 -6.27639027e+00] [ 7.45692593e-03 7.36570534e-05 9.99972194e-01 -2.28650092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.060888479 meters 0.01477217596988235 Centerline is valid? [True, True] Translation: X:68.80, Y:-6.29, Z:-0.02 [[ 9.52694651e-01 3.03859173e-01 -6.51958631e-03 6.87960936e+01] [-3.03852518e-01 9.52716956e-01 2.01197275e-03 -6.28676151e+00] [ 6.82267680e-03 6.41970392e-05 9.99976723e-01 -2.20969768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090888479 meters 0.014845237224161974 Centerline is valid? [True, True] Translation: X:68.83, Y:-6.30, Z:-0.02 [[ 9.52601955e-01 3.04145827e-01 -6.69563694e-03 6.88266544e+01] [-3.04138808e-01 9.52625483e-01 2.06746323e-03 -6.29583457e+00] [ 7.00724469e-03 6.69335272e-05 9.99975447e-01 -2.15256497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.120888479 meters 0.014991540683278015 Centerline is valid? [True, True] Translation: X:68.86, Y:-6.30, Z:-0.02 [[ 9.52321608e-01 3.05011715e-01 -7.16995020e-03 6.88575986e+01] [-3.05003686e-01 9.52348596e-01 2.21447607e-03 -6.30498950e+00] [ 7.50373314e-03 7.79678335e-05 9.99971844e-01 -2.15940694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150888479 meters 0.015114618449541602 Centerline is valid? [True, True] Translation: X:68.89, Y:-6.31, Z:-0.02 [[ 9.52053654e-01 3.05826401e-01 -8.00328692e-03 6.88880186e+01] [-3.05816407e-01 9.52087288e-01 2.47414260e-03 -6.31436613e+00] [ 8.37648587e-03 9.20199489e-05 9.99964912e-01 -2.18320313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.180888479 meters 0.015911276945198585 Centerline is valid? [True, True] Translation: X:68.92, Y:-6.32, Z:-0.02 [[ 9.51813405e-01 3.06565949e-01 -8.28019910e-03 6.89195837e+01] [-3.06555259e-01 9.51849415e-01 2.56205760e-03 -6.32164231e+00] [ 8.66694229e-03 9.97378119e-05 9.99962436e-01 -2.39288974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210888479 meters 0.015362433088420795 Centerline is valid? [True, True] Translation: X:68.95, Y:-6.33, Z:-0.02 [[ 9.51539355e-01 3.07404468e-01 -8.68039679e-03 6.89505404e+01] [-3.07392731e-01 9.51578941e-01 2.68849573e-03 -6.33245601e+00] [ 9.08653838e-03 1.10081384e-04 9.99958711e-01 -2.23568283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.240888479 meters 0.015710919754156175 Centerline is valid? [True, True] Translation: X:68.98, Y:-6.34, Z:-0.03 [[ 9.51216127e-01 3.08380903e-01 -9.43917705e-03 6.89820565e+01] [-3.08367049e-01 9.51262951e-01 2.92588144e-03 -6.33962506e+00] [ 9.88142538e-03 1.27585555e-04 9.99951169e-01 -2.51863542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27088847899999 meters 0.015902687855111362 Centerline is valid? [True, True] Translation: X:69.01, Y:-6.35, Z:-0.03 [[ 9.51056991e-01 3.08844567e-01 -1.02778070e-02 6.90129825e+01] [-3.08828141e-01 9.51112513e-01 3.18846476e-03 -6.34841848e+00] [ 1.07600909e-02 1.41664330e-04 9.99942099e-01 -2.62148072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.300888479 meters 0.01640144151148942 Centerline is valid? [True, True] Translation: X:69.04, Y:-6.36, Z:-0.03 [[ 9.50927000e-01 3.09211950e-01 -1.12165317e-02 6.90433641e+01] [-3.09192380e-01 9.50993136e-01 3.48230483e-03 -6.35683192e+00] [ 1.17436149e-02 1.56648441e-04 9.99931029e-01 -2.81819409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.330888479 meters 0.015975105303654626 Centerline is valid? [True, True] Translation: X:69.07, Y:-6.37, Z:-0.03 [[ 9.50916804e-01 3.09224990e-01 -1.17105674e-02 6.90746678e+01] [-3.09203617e-01 9.50988896e-01 3.63917104e-03 -6.36844512e+00] [ 1.22619422e-02 1.60400908e-04 9.99924807e-01 -2.68211174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.360888479 meters 0.015937489834176973 Centerline is valid? [True, True] Translation: X:69.10, Y:-6.38, Z:-0.03 [[ 9.51011988e-01 3.08967725e-01 -1.07304643e-02 6.91046399e+01] [-3.08949735e-01 9.51072513e-01 3.33710541e-03 -6.37817654e+00] [ 1.12365076e-02 1.41546866e-04 9.99936858e-01 -2.55620697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.390888479 meters 0.015937489834176973 Centerline is valid? [True, True] Translation: X:69.14, Y:-6.39, Z:-0.03 [[ 9.50930634e-01 3.09218054e-01 -1.07295696e-02 6.91355586e+01] [-3.09200047e-01 9.50991154e-01 3.33998125e-03 -6.38788961e+00] [ 1.12365083e-02 1.41492937e-04 9.99936858e-01 -2.55994605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.420888479 meters 0.015462166406638165 Centerline is valid? [True, True] Translation: X:69.17, Y:-6.40, Z:-0.02 [[ 9.50983435e-01 3.09099009e-01 -9.39727558e-03 6.91658254e+01] [-3.09085179e-01 9.51029857e-01 2.92647928e-03 -6.39839729e+00] [ 9.84166149e-03 1.21525287e-04 9.99951562e-01 -2.41957242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.450888479 meters 0.01537692053927614 Centerline is valid? [True, True] Translation: X:69.20, Y:-6.41, Z:-0.02 [[ 9.51000148e-01 3.09060683e-01 -8.95612126e-03 6.91965266e+01] [-3.09048092e-01 9.51042313e-01 2.79204982e-03 -6.40897834e+00] [ 9.38056311e-03 1.12632395e-04 9.99955995e-01 -2.31658619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.480888479 meters 0.015370284232503284 Centerline is valid? [True, True] Translation: X:69.23, Y:-6.42, Z:-0.02 [[ 9.51231416e-01 3.08399181e-01 -6.98133196e-03 6.92263982e+01] [-3.08391499e-01 9.51257031e-01 2.17829389e-03 -6.41928286e+00] [ 7.31282516e-03 8.09218453e-05 9.99973258e-01 -2.24180666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510888479 meters 0.015456157515033157 Centerline is valid? [True, True] Translation: X:69.26, Y:-6.43, Z:-0.02 [[ 9.51359378e-01 3.07993750e-01 -7.42857527e-03 6.92570126e+01] [-3.07985023e-01 9.51388377e-01 2.31993435e-03 -6.42952117e+00] [ 7.78198545e-03 8.07986201e-05 9.99969717e-01 -2.23600259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.540888479 meters 0.01539715020211613 Centerline is valid? [True, True] Translation: X:69.29, Y:-6.44, Z:-0.02 [[ 9.51355731e-01 3.08013611e-01 -7.06318077e-03 6.92880764e+01] [-3.08005706e-01 9.51381947e-01 2.20796736e-03 -6.43949242e+00] [ 7.39986667e-03 7.49375766e-05 9.99972618e-01 -2.29629658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570888479 meters 0.0155363184799803 Centerline is valid? [True, True] Translation: X:69.32, Y:-6.45, Z:-0.02 [[ 9.51232435e-01 3.08383692e-01 -7.50685411e-03 6.93188554e+01] [-3.08374759e-01 9.51262052e-01 2.34870702e-03 -6.44943076e+00] [ 7.86528839e-03 8.07580286e-05 9.99969065e-01 -2.39249368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.600888479 meters 0.015450476239846257 Centerline is valid? [True, True] Translation: X:69.35, Y:-6.46, Z:-0.02 [[ 9.50810974e-01 3.09663841e-01 -8.17291810e-03 6.93490563e+01] [-3.09653281e-01 9.50846095e-01 2.55921066e-03 -6.45915447e+00] [ 8.56368226e-03 9.74453170e-05 9.99963326e-01 -2.48699153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630888479 meters 0.01567659457369613 Centerline is valid? [True, True] Translation: X:69.38, Y:-6.47, Z:-0.03 [[ 9.50433252e-01 3.10805391e-01 -8.75451999e-03 6.93801448e+01] [-3.10793302e-01 9.50473564e-01 2.74361315e-03 -6.46845740e+00] [ 9.17366958e-03 1.13225000e-04 9.99957915e-01 -2.50500411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.660888479 meters 0.016022447029153244 Centerline is valid? [True, True] Translation: X:69.41, Y:-6.48, Z:-0.03 [[ 9.50009300e-01 3.12100912e-01 -8.68048872e-03 6.94107627e+01] [-3.12089060e-01 9.50048949e-01 2.72269496e-03 -6.47757841e+00] [ 9.09664477e-03 1.22500027e-04 9.99958617e-01 -2.56363204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.690888479 meters 0.016169560640211265 Centerline is valid? [True, True] Translation: X:69.44, Y:-6.49, Z:-0.03 [[ 9.49429291e-01 3.13851004e-01 -9.03154799e-03 6.94410231e+01] [-3.13838232e-01 9.49472236e-01 2.83499680e-03 -6.48657243e+00] [ 9.46497066e-03 1.42816049e-04 9.99955196e-01 -2.58328986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.720888479 meters 0.01638192850420738 Centerline is valid? [True, True] Translation: X:69.47, Y:-6.50, Z:-0.03 [[ 9.49073067e-01 3.14914957e-01 -9.42777462e-03 6.94712968e+01] [-3.14901069e-01 9.49119879e-01 2.96166779e-03 -6.49555231e+00] [ 9.88076180e-03 1.57977179e-04 9.99951172e-01 -2.65970601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.750888479 meters 0.016532829020730142 Centerline is valid? [True, True] Translation: X:69.50, Y:-6.50, Z:-0.03 [[ 9.48917979e-01 3.15391688e-01 -9.09688546e-03 6.95020990e+01] [-3.15378755e-01 9.48961569e-01 2.86034239e-03 -6.50467066e+00] [ 9.53472291e-03 1.54734096e-04 9.99954532e-01 -2.74813359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.780888479 meters 0.01714082613010152 Centerline is valid? [True, True] Translation: X:69.53, Y:-6.51, Z:-0.03 [[ 9.48379759e-01 3.17039532e-01 -7.85926600e-03 6.95320437e+01] [-3.17029920e-01 9.48412312e-01 2.47307112e-03 -6.51335041e+00] [ 8.23788595e-03 1.46211878e-04 9.99966057e-01 -2.70229504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.810888479 meters 0.016959481291662633 Centerline is valid? [True, True] Translation: X:69.56, Y:-6.52, Z:-0.03 [[ 9.47969436e-01 3.18284435e-01 -6.99766680e-03 6.95629565e+01] [-3.18276832e-01 9.47995253e-01 2.20416164e-03 -6.52443313e+00] [ 7.33530525e-03 1.37717352e-04 9.99973087e-01 -2.54474385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.840888479 meters 0.01727020965702166 Centerline is valid? [True, True] Translation: X:69.59, Y:-6.53, Z:-0.02 [[ 9.47533893e-01 3.19587915e-01 -6.56394013e-03 6.95932791e+01] [-3.19581246e-01 9.47556619e-01 2.06924833e-03 -6.53407243e+00] [ 6.88101168e-03 1.37029239e-04 9.99976316e-01 -2.45199353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870888479 meters 0.018307922980335477 Centerline is valid? [True, True] Translation: X:69.62, Y:-6.54, Z:-0.02 [[ 9.47168017e-01 3.20687424e-01 -5.68542046e-03 6.96247393e+01] [-3.20682430e-01 9.47185072e-01 1.79395767e-03 -6.54194629e+00] [ 5.96044505e-03 1.24035119e-04 9.99982229e-01 -2.43907355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.900888479 meters 0.01808221088325846 Centerline is valid? [True, True] Translation: X:69.65, Y:-6.55, Z:-0.03 [[ 9.47211343e-01 3.20561651e-01 -5.55877091e-03 6.96549812e+01] [-3.20556867e-01 9.47227646e-01 1.75538648e-03 -6.55131419e+00] [ 5.82813107e-03 1.19180200e-04 9.99983009e-01 -2.55648849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930888479 meters 0.017811554148792593 Centerline is valid? [True, True] Translation: X:69.69, Y:-6.56, Z:-0.03 [[ 9.47262592e-01 3.20412882e-01 -5.40060438e-03 6.96853380e+01] [-3.20408356e-01 9.47277980e-01 1.70685457e-03 -6.56198755e+00] [ 5.66277180e-03 1.13559287e-04 9.99983960e-01 -2.60715067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.960888479 meters 0.017486779166899825 Centerline is valid? [True, True] Translation: X:69.72, Y:-6.57, Z:-0.03 [[ 9.47383871e-01 3.20046255e-01 -5.84770873e-03 6.97159098e+01] [-3.20040932e-01 9.47401911e-01 1.84965591e-03 -6.57242858e+00] [ 6.13210587e-03 1.19171980e-04 9.99981191e-01 -2.64810202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990888479 meters 0.01727996753833311 Centerline is valid? [True, True] Translation: X:69.75, Y:-6.58, Z:-0.03 [[ 9.47789857e-01 3.18832993e-01 -6.31746075e-03 6.97456259e+01] [-3.18826743e-01 9.47810903e-01 1.99985008e-03 -6.58389153e+00] [ 6.62537636e-03 1.18737813e-04 9.99978045e-01 -2.70157612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02088847899999 meters 0.0171308608921318 Centerline is valid? [True, True] Translation: X:69.78, Y:-6.60, Z:-0.03 [[ 9.47925158e-01 3.18433481e-01 -6.16545848e-03 6.97762064e+01] [-3.18427509e-01 9.47945202e-01 1.95334299e-03 -6.59503358e+00] [ 6.46652659e-03 1.11628629e-04 9.99979086e-01 -2.69798848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.050888479 meters 0.01666868350514905 Centerline is valid? [True, True] Translation: X:69.81, Y:-6.61, Z:-0.03 [[ 9.48039229e-01 3.18098223e-01 -5.92790470e-03 6.98061544e+01] [-3.18092687e-01 9.48057756e-01 1.87966490e-03 -6.60619434e+00] [ 6.21791409e-03 1.03627068e-04 9.99980663e-01 -2.59505480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.080888479 meters 0.016437842128924723 Centerline is valid? [True, True] Translation: X:69.84, Y:-6.62, Z:-0.03 [[ 9.48190779e-01 3.17655499e-01 -5.40647884e-03 6.98364317e+01] [-3.17650878e-01 9.48206188e-01 1.71579540e-03 -6.61684972e+00] [ 5.67148854e-03 9.04713713e-05 9.99983913e-01 -2.57224242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.110888479 meters 0.016517769708708597 Centerline is valid? [True, True] Translation: X:69.87, Y:-6.63, Z:-0.03 [[ 9.48370720e-01 3.17120750e-01 -5.23525186e-03 6.98660472e+01] [-3.17116401e-01 9.48385166e-01 1.66271948e-03 -6.62610432e+00] [ 5.49231805e-03 8.33097592e-05 9.99984914e-01 -2.62091959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.140888479 meters 0.016188289788648898 Centerline is valid? [True, True] Translation: X:69.90, Y:-6.64, Z:-0.03 [[ 9.48488350e-01 3.16775122e-01 -4.83436312e-03 6.98965503e+01] [-3.16771403e-01 9.48500668e-01 1.53672912e-03 -6.63610707e+00] [ 5.07219420e-03 7.38183180e-05 9.99987134e-01 -2.68765657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.170888479 meters 0.016256695030766894 Centerline is valid? [True, True] Translation: X:69.93, Y:-6.65, Z:-0.03 [[ 9.48414439e-01 3.16997802e-01 -4.73764703e-03 6.99277099e+01] [-3.16994226e-01 9.48426269e-01 1.50749950e-03 -6.64576862e+00] [ 4.97118292e-03 7.20724584e-05 9.99987641e-01 -2.70814977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.200888479 meters 0.01624686630856697 Centerline is valid? [True, True] Translation: X:69.96, Y:-6.66, Z:-0.03 [[ 9.48484654e-01 3.16790179e-01 -4.56554809e-03 6.99579280e+01] [-3.16786849e-01 9.48495639e-01 1.45404246e-03 -6.65507294e+00] [ 4.79102883e-03 6.71686323e-05 9.99988521e-01 -2.73769829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230888479 meters 0.01628205732098625 Centerline is valid? [True, True] Translation: X:69.99, Y:-6.66, Z:-0.03 [[ 9.48521027e-01 3.16680621e-01 -4.60919661e-03 6.99883135e+01] [-3.16677220e-01 9.48532224e-01 1.46923129e-03 -6.66454206e+00] [ 4.83724859e-03 6.60307952e-05 9.99988298e-01 -2.76635837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.260888479 meters 0.01615025252264288 Centerline is valid? [True, True] Translation: X:70.02, Y:-6.68, Z:-0.03 [[ 9.49097374e-01 3.14947065e-01 -4.74564520e-03 7.00186875e+01] [-3.14943431e-01 9.49109237e-01 1.51390342e-03 -6.67555889e+00] [ 4.98093514e-03 5.77680228e-05 9.99987593e-01 -2.76180235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290888479 meters 0.015591307189039559 Centerline is valid? [True, True] Translation: X:70.05, Y:-6.69, Z:-0.03 [[ 9.49544121e-01 3.13614261e-01 -3.47253024e-03 7.00490827e+01] [-3.13612303e-01 9.49550470e-01 1.10875973e-03 -6.68679863e+00] [ 3.64506558e-03 3.62119210e-05 9.99993356e-01 -2.69456172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.320888479 meters 0.01553076776171062 Centerline is valid? [True, True] Translation: X:70.08, Y:-6.70, Z:-0.03 [[ 9.50008211e-01 3.12213039e-01 -2.72336917e-03 7.00785164e+01] [-3.12211827e-01 9.50012115e-01 8.70253986e-04 -6.69699695e+00] [ 2.85893835e-03 2.35196317e-05 9.99995913e-01 -2.70190288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350888479 meters 0.015424531837554588 Centerline is valid? [True, True] Translation: X:70.11, Y:-6.71, Z:-0.03 [[ 9.50859039e-01 3.09620926e-01 -1.40379642e-03 7.01093988e+01] [-3.09620601e-01 9.50860075e-01 4.48679662e-04 -6.70769247e+00] [ 1.47373458e-03 8.01317780e-06 9.99998914e-01 -2.59033780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.380888479 meters 0.015216038676217616 Centerline is valid? [True, True] Translation: X:70.14, Y:-6.72, Z:-0.03 [[ 9.51209576e-01 3.08544205e-01 -9.03446039e-04 7.01410187e+01] [-3.08544069e-01 9.51210005e-01 2.89289005e-04 -6.71777292e+00] [ 9.48625357e-04 3.57844541e-06 9.99999550e-01 -2.63110983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.410888479 meters 0.015337633039806134 Centerline is valid? [True, True] Translation: X:70.17, Y:-6.73, Z:-0.03 [[ 9.51339756e-01 3.08142840e-01 -8.12109467e-04 7.01723101e+01] [-3.08142730e-01 9.51340102e-01 2.60318043e-04 -6.72773044e+00] [ 8.52807445e-04 2.59472451e-06 9.99999636e-01 -2.67218359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.440888479 meters 0.015409550670854096 Centerline is valid? [True, True] Translation: X:70.20, Y:-6.74, Z:-0.03 [[ 9.51489202e-01 3.07680626e-01 -9.65042101e-04 7.02032684e+01] [-3.07680470e-01 9.51489691e-01 3.09572318e-04 -6.73804835e+00] [ 1.01347702e-03 2.36988916e-06 9.99999486e-01 -2.69261767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.470888479 meters 0.015391128364802265 Centerline is valid? [True, True] Translation: X:70.23, Y:-6.75, Z:-0.03 [[ 9.51835528e-01 3.06608260e-01 -7.08245259e-04 7.02342015e+01] [-3.06608176e-01 9.51835792e-01 2.27495201e-04 -6.74790575e+00] [ 7.43885095e-04 6.15772185e-07 9.99999723e-01 -2.75568780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.500888479 meters 0.015331108215052477 Centerline is valid? [True, True] Translation: X:70.27, Y:-6.76, Z:-0.03 [[ 9.51944388e-01 3.06270857e-01 2.12120504e-04 7.02658099e+01] [-3.06270849e-01 9.51944411e-01 -6.77692902e-05 -6.75651023e+00] [-2.22682686e-04 -4.53731244e-07 9.99999975e-01 -2.79982894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.530888479 meters 0.015402358555267752 Centerline is valid? [True, True] Translation: X:70.30, Y:-6.76, Z:-0.03 [[ 9.51892767e-01 3.06430250e-01 8.13720080e-04 7.02964322e+01] [-3.06430139e-01 9.51893115e-01 -2.61163339e-04 -6.76423492e+00] [-8.54602889e-04 -7.48863771e-07 9.99999635e-01 -2.87744885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.560888479 meters 0.015391940836988425 Centerline is valid? [True, True] Translation: X:70.33, Y:-6.77, Z:-0.03 [[ 9.51759542e-01 3.06840139e-01 1.70377826e-03 7.03282565e+01] [-3.06839650e-01 9.51761067e-01 -5.47654016e-04 -6.77219770e+00] [-1.78963205e-03 -1.55179087e-06 9.99998399e-01 -2.86789111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590888479 meters 0.015392313598341983 Centerline is valid? [True, True] Translation: X:70.36, Y:-6.78, Z:-0.03 [[ 9.51751314e-01 3.06862543e-01 2.19457319e-03 7.03585322e+01] [-3.06861731e-01 9.51753844e-01 -7.06136742e-04 -6.78136593e+00] [-2.30538039e-03 -1.36395581e-06 9.99997343e-01 -2.79760347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.620888479 meters 0.015521847208456067 Centerline is valid? [True, True] Translation: X:70.39, Y:-6.79, Z:-0.03 [[ 9.51676042e-01 3.07090243e-01 2.87998797e-03 7.03899380e+01] [-3.07088842e-01 9.51680399e-01 -9.27609265e-04 -6.79100180e+00] [-3.02568786e-03 -1.62865669e-06 9.99995423e-01 -2.74831826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650888479 meters 0.015535155487970504 Centerline is valid? [True, True] Translation: X:70.42, Y:-6.80, Z:-0.03 [[ 9.51611308e-01 3.07283429e-01 3.57955857e-03 7.04205856e+01] [-3.07281262e-01 9.51618040e-01 -1.15402405e-03 -6.79990361e+00] [-3.76098497e-03 -1.74893710e-06 9.99992927e-01 -2.68341477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.680888479 meters 0.01552212562383061 Centerline is valid? [True, True] Translation: X:70.45, Y:-6.81, Z:-0.03 [[ 9.51510637e-01 3.07594217e-01 3.64751827e-03 7.04520884e+01] [-3.07591966e-01 9.51517629e-01 -1.17699207e-03 -6.80871408e+00] [-3.83271389e-03 -2.02684166e-06 9.99992655e-01 -2.71825043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710888479 meters 0.015645364494605445 Centerline is valid? [True, True] Translation: X:70.48, Y:-6.82, Z:-0.03 [[ 9.51245294e-01 3.08410287e-01 3.93508718e-03 7.04831345e+01] [-3.08407669e-01 9.51253434e-01 -1.27091170e-03 -6.81522096e+00] [-4.13522743e-03 -4.66229118e-06 9.99991450e-01 -2.80651316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.740888479 meters 0.015665502168647857 Centerline is valid? [True, True] Translation: X:70.52, Y:-6.82, Z:-0.03 [[ 9.51030202e-01 3.09062021e-01 4.71408961e-03 7.05150211e+01] [-3.09058263e-01 9.51041885e-01 -1.52392963e-03 -6.82353445e+00] [-4.95428544e-03 -7.62524749e-06 9.99987727e-01 -2.85263347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77088847899999 meters 0.015725189666197112 Centerline is valid? [True, True] Translation: X:70.55, Y:-6.83, Z:-0.03 [[ 9.50794347e-01 3.09772483e-01 5.57835483e-03 7.05468074e+01] [-3.09767224e-01 9.50810711e-01 -1.80507576e-03 -6.83222027e+00] [-5.86312233e-03 -1.17356570e-05 9.99982812e-01 -2.90404626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.800888479 meters 0.0159199359450441 Centerline is valid? [True, True] Translation: X:70.58, Y:-6.84, Z:-0.03 [[ 9.50287021e-01 3.11317703e-01 5.98878092e-03 7.05777596e+01] [-3.11311664e-01 9.50305891e-01 -1.93917648e-03 -6.83999177e+00] [-6.29487376e-03 -2.16031140e-05 9.99980187e-01 -2.88490733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.830888479 meters 0.01597424348847129 Centerline is valid? [True, True] Translation: X:70.61, Y:-6.85, Z:-0.03 [[ 9.50006305e-01 3.12171908e-01 6.05981680e-03 7.06083347e+01] [-3.12165732e-01 9.50025631e-01 -1.96376137e-03 -6.84927971e+00] [-6.37001241e-03 -2.60814664e-05 9.99979711e-01 -2.82678114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.860888479 meters 0.015985316023621677 Centerline is valid? [True, True] Translation: X:70.64, Y:-6.86, Z:-0.03 [[ 9.49585068e-01 3.13458612e-01 5.64772114e-03 7.06398405e+01] [-3.13453261e-01 9.49601863e-01 -1.83189490e-03 -6.85909276e+00] [-5.93730975e-03 -3.07565612e-05 9.99982374e-01 -2.87788258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.890888479 meters 0.016287614863204142 Centerline is valid? [True, True] Translation: X:70.67, Y:-6.87, Z:-0.03 [[ 9.48587198e-01 3.16483997e-01 4.49534470e-03 7.06717073e+01] [-3.16480635e-01 9.48597849e-01 -1.45928631e-03 -6.86500508e+00] [-4.72611508e-03 -3.84292326e-05 9.99988831e-01 -3.10259727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.920888479 meters 0.01649200263513908 Centerline is valid? [True, True] Translation: X:70.70, Y:-6.87, Z:-0.03 [[ 9.47961363e-01 3.18364241e-01 3.66940988e-03 7.07016103e+01] [-3.18362012e-01 9.47968464e-01 -1.19194859e-03 -6.87204759e+00] [-3.85795866e-03 -3.82795046e-05 9.99992557e-01 -3.15206567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.950888479 meters 0.01675799612044035 Centerline is valid? [True, True] Translation: X:70.73, Y:-6.88, Z:-0.03 [[ 9.47410570e-01 3.19998947e-01 3.72641483e-03 7.07328983e+01] [-3.19996657e-01 9.47417897e-01 -1.21140558e-03 -6.88054493e+00] [-3.91812061e-03 -4.47418361e-05 9.99992323e-01 -3.17823552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.980888479 meters 0.017587536937974064 Centerline is valid? [True, True] Translation: X:70.76, Y:-6.89, Z:-0.03 [[ 9.46811726e-01 3.21772615e-01 3.15281793e-03 7.07636365e+01] [-3.21770983e-01 9.46816974e-01 -1.02569796e-03 -6.88692856e+00] [-3.31518305e-03 -4.33424686e-05 9.99994504e-01 -3.17831469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010888479 meters 0.017678831172485185 Centerline is valid? [True, True] Translation: X:70.79, Y:-6.89, Z:-0.03 [[ 9.46027716e-01 3.24077094e-01 2.36594534e-03 7.07944349e+01] [-3.24076181e-01 9.46030674e-01 -7.70222814e-04 -6.89456279e+00] [-2.48786844e-03 -3.80944030e-05 9.99996905e-01 -3.35390069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.040888479 meters 0.017845711819142684 Centerline is valid? [True, True] Translation: X:70.83, Y:-6.90, Z:-0.03 [[ 9.45807958e-01 3.24722326e-01 1.64863853e-03 7.08264114e+01] [-3.24721884e-01 9.45809394e-01 -5.37059459e-04 -6.90329918e+00] [-1.73369301e-03 -2.73939004e-05 9.99998497e-01 -3.46935634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070888479 meters 0.01759449668716667 Centerline is valid? [True, True] Translation: X:70.86, Y:-6.91, Z:-0.04 [[ 9.45705143e-01 3.25023876e-01 1.12387012e-03 7.08579946e+01] [-3.25023670e-01 9.45705810e-01 -3.66343297e-04 -6.91391638e+00] [-1.18192082e-03 -1.88316521e-05 9.99999301e-01 -3.53025018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.100888479 meters 0.017521693894406044 Centerline is valid? [True, True] Translation: X:70.89, Y:-6.92, Z:-0.04 [[ 9.45708485e-01 3.25013577e-01 1.27886076e-03 7.08897282e+01] [-3.25013310e-01 9.45709350e-01 -4.17304384e-04 -6.92388201e+00] [-1.34506017e-03 -2.09984720e-05 9.99999095e-01 -3.58121255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130888479 meters 0.017339999942554796 Centerline is valid? [True, True] Translation: X:70.92, Y:-6.93, Z:-0.04 [[ 9.46204108e-01 3.23563858e-01 2.05329361e-03 7.09200099e+01] [-3.23563164e-01 9.46206335e-01 -6.70805883e-04 -6.93477225e+00] [-2.15988797e-03 -2.96508966e-05 9.99997667e-01 -3.50913623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.160888479 meters 0.017282041542868123 Centerline is valid? [True, True] Translation: X:70.95, Y:-6.95, Z:-0.03 [[ 9.46550192e-01 3.22551090e-01 1.87820790e-03 7.09496820e+01] [-3.22550507e-01 9.46552055e-01 -6.14066505e-04 -6.94517041e+00] [-1.97588937e-03 -2.45721420e-05 9.99998048e-01 -3.41331579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.190888479 meters 0.017201830101716536 Centerline is valid? [True, True] Translation: X:70.98, Y:-6.96, Z:-0.03 [[ 9.46949771e-01 3.21376110e-01 1.87800116e-03 7.09790370e+01] [-3.21375524e-01 9.46951633e-01 -6.14382536e-04 -6.95600956e+00] [-1.97582414e-03 -2.17542051e-05 9.99998048e-01 -3.33803086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.220888479 meters 0.016965121845129695 Centerline is valid? [True, True] Translation: X:71.01, Y:-6.97, Z:-0.03 [[ 9.47304183e-01 3.20328090e-01 2.16792086e-03 7.10093857e+01] [-3.20327304e-01 9.47306663e-01 -7.09692571e-04 -6.96695510e+00] [-2.28102034e-03 -2.21495036e-05 9.99997398e-01 -3.31285996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.250888479 meters 0.016846987436163943 Centerline is valid? [True, True] Translation: X:71.04, Y:-6.98, Z:-0.03 [[ 9.47238545e-01 3.20522608e-01 2.09691076e-03 7.10407103e+01] [-3.20521872e-01 9.47240866e-01 -6.87028760e-04 -6.97687625e+00] [-2.20648781e-03 -2.13256381e-05 9.99997565e-01 -3.32668250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.280888479 meters 0.016846987436163943 Centerline is valid? [True, True] Translation: X:71.07, Y:-6.99, Z:-0.03 [[ 9.47149932e-01 3.20784368e-01 2.09672090e-03 7.10714797e+01] [-3.20783632e-01 9.47152252e-01 -6.87607810e-04 -6.98704281e+00] [-2.20648776e-03 -2.13260566e-05 9.99997565e-01 -3.33042351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.310888479 meters 0.01696937605062392 Centerline is valid? [True, True] Translation: X:71.10, Y:-7.00, Z:-0.03 [[ 9.46954691e-01 3.21359550e-01 2.20306062e-03 7.11026113e+01] [-3.21358737e-01 9.46957253e-01 -7.23149146e-04 -6.99593381e+00] [-2.31859512e-03 -2.31833045e-05 9.99997312e-01 -3.31340271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.340888479 meters 0.017027512820540863 Centerline is valid? [True, True] Translation: X:71.13, Y:-7.01, Z:-0.03 [[ 9.46857211e-01 3.21639925e-01 3.02984497e-03 7.11342926e+01] [-3.21638386e-01 9.46862058e-01 -9.95542192e-04 -7.00560504e+00] [-3.18905136e-03 -3.18781420e-05 9.99994914e-01 -3.27002463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370888479 meters 0.017054895388002922 Centerline is valid? [True, True] Translation: X:71.17, Y:-7.02, Z:-0.03 [[ 9.46739108e-01 3.21992964e-01 2.36466714e-03 7.11660392e+01] [-3.21992026e-01 9.46742061e-01 -7.77617150e-04 -7.01532888e+00] [-2.48911710e-03 -2.52033974e-05 9.99996902e-01 -3.29662011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.400888479 meters 0.017090422282477605 Centerline is valid? [True, True] Translation: X:71.20, Y:-7.02, Z:-0.03 [[ 9.46682513e-01 3.22163280e-01 1.74350249e-03 7.11960128e+01] [-3.22162769e-01 9.46684119e-01 -5.73775141e-04 -7.02493180e+00] [-1.83539540e-03 -1.85086982e-05 9.99998315e-01 -3.35510112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430888479 meters 0.016960123528939972 Centerline is valid? [True, True] Translation: X:71.23, Y:-7.04, Z:-0.03 [[ 9.46799036e-01 3.21822319e-01 1.40744518e-03 7.12267327e+01] [-3.21821986e-01 9.46800082e-01 -4.63522330e-04 -7.03618431e+00] [-1.48174104e-03 -1.40843064e-05 9.99998902e-01 -3.38809082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.460888479 meters 0.016687413034688077 Centerline is valid? [True, True] Translation: X:71.26, Y:-7.05, Z:-0.03 [[ 9.47416258e-01 3.20001997e-01 1.07542039e-03 7.12559861e+01] [-3.20001801e-01 9.47416868e-01 -3.54417268e-04 -7.04930335e+00] [-1.13228565e-03 -8.35577801e-06 9.99999359e-01 -3.30224435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490888479 meters 0.01669432883992908 Centerline is valid? [True, True] Translation: X:71.29, Y:-7.06, Z:-0.03 [[ 9.47652635e-01 3.19299528e-01 1.51477875e-03 7.12857416e+01] [-3.19299137e-01 9.47653846e-01 -4.99743716e-04 -7.05964799e+00] [-1.59505384e-03 -1.00840979e-05 9.99998728e-01 -3.27180131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52088847899999 meters 0.016437455511230246 Centerline is valid? [True, True] Translation: X:71.32, Y:-7.07, Z:-0.03 [[ 9.48015083e-01 3.18221035e-01 1.66577487e-03 7.13165930e+01] [-3.18220559e-01 9.48016547e-01 -5.50075281e-04 -7.07012090e+00] [-1.75422766e-03 -8.60414630e-06 9.99998461e-01 -3.25729210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.550888479 meters 0.016472606336920905 Centerline is valid? [True, True] Translation: X:71.35, Y:-7.08, Z:-0.03 [[ 9.48381962e-01 3.17120033e-01 2.55706626e-03 7.13479354e+01] [-3.17118907e-01 9.48385409e-01 -8.45358422e-04 -7.07969065e+00] [-2.69316442e-03 -9.17137788e-06 9.99996373e-01 -3.33074867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.580888479 meters 0.016365989540199844 Centerline is valid? [True, True] Translation: X:71.38, Y:-7.09, Z:-0.03 [[ 9.48468797e-01 3.16863642e-01 2.09129112e-03 7.13782489e+01] [-3.16862887e-01 9.48471103e-01 -6.91935078e-04 -7.08983027e+00] [-2.20277827e-03 -6.37371123e-06 9.99997574e-01 -3.32244992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.610888479 meters 0.016363376071498455 Centerline is valid? [True, True] Translation: X:71.41, Y:-7.10, Z:-0.03 [[ 9.48645178e-01 3.16336426e-01 1.89530345e-03 7.14082645e+01] [-3.16335803e-01 9.48647071e-01 -6.27589632e-04 -7.10029755e+00] [-1.99650353e-03 -4.19245975e-06 9.99998007e-01 -3.34066051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.640888479 meters 0.016303993288005816 Centerline is valid? [True, True] Translation: X:71.44, Y:-7.11, Z:-0.03 [[ 9.48745941e-01 3.16031454e-01 2.29354515e-03 7.14392177e+01] [-3.16030540e-01 9.48748713e-01 -7.60171822e-04 -7.11159791e+00] [-2.41623622e-03 -3.62038288e-06 9.99997081e-01 -3.30458182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.670888479 meters 0.016390878069783787 Centerline is valid? [True, True] Translation: X:71.47, Y:-7.12, Z:-0.03 [[ 9.49186201e-01 3.14710465e-01 1.69658450e-03 7.14704277e+01] [-3.14709962e-01 9.49187718e-01 -5.62739990e-04 -7.12344165e+00] [-1.78747733e-03 2.12990433e-07 9.99998402e-01 -3.19887599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.700888479 meters 0.01639326359064612 Centerline is valid? [True, True] Translation: X:71.50, Y:-7.13, Z:-0.03 [[ 9.49204836e-01 3.14651249e-01 2.18424878e-03 7.15007112e+01] [-3.14650414e-01 9.49207349e-01 -7.25233337e-04 -7.13325462e+00] [-2.30150057e-03 1.12021017e-06 9.99997352e-01 -3.19981354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730888479 meters 0.01640801452333201 Centerline is valid? [True, True] Translation: X:71.53, Y:-7.14, Z:-0.03 [[ 9.49188214e-01 3.14702944e-01 1.94726136e-03 7.15324096e+01] [-3.14702279e-01 9.49190211e-01 -6.47084443e-04 -7.14238193e+00] [-2.05196080e-03 1.39733776e-06 9.99997895e-01 -3.27351969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.760888479 meters 0.016476928827804587 Centerline is valid? [True, True] Translation: X:71.56, Y:-7.15, Z:-0.03 [[ 9.48692672e-01 3.16195856e-01 1.54714423e-03 7.15635863e+01] [-3.16195438e-01 9.48693934e-01 -5.14474658e-04 -7.14870928e+00] [-1.63044110e-03 -1.12160983e-06 9.99998671e-01 -3.41183662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790888479 meters 0.01648592586111478 Centerline is valid? [True, True] Translation: X:71.60, Y:-7.16, Z:-0.03 [[ 9.48296884e-01 3.17379529e-01 1.80403998e-03 7.15956054e+01] [-3.17378961e-01 9.48298600e-01 -6.00362032e-04 -7.15826346e+00] [-1.90131121e-03 -3.24289256e-06 9.99998193e-01 -3.41981200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.820888479 meters 0.016593213218222942 Centerline is valid? [True, True] Translation: X:71.63, Y:-7.17, Z:-0.03 [[ 9.48017542e-01 3.18214368e-01 1.53508052e-03 7.16261538e+01] [-3.18213958e-01 9.48018784e-01 -5.11227534e-04 -7.16720063e+00] [-1.61796512e-03 -3.83137771e-06 9.99998691e-01 -3.32402533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850888479 meters 0.01665658685429768 Centerline is valid? [True, True] Translation: X:71.66, Y:-7.18, Z:-0.03 [[ 9.47388023e-01 3.20078100e-01 2.43816833e-03 7.16585145e+01] [-3.20077068e-01 9.47391160e-01 -8.12733327e-04 -7.17544518e+00] [-2.57003726e-03 -1.04279515e-05 9.99996697e-01 -3.21564697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88088847899999 meters 0.016859568827798384 Centerline is valid? [True, True] Translation: X:71.69, Y:-7.18, Z:-0.03 [[ 9.46997985e-01 3.21231241e-01 2.30367054e-03 7.16892263e+01] [-3.21230322e-01 9.47000787e-01 -7.68571108e-04 -7.18321757e+00] [-2.42846687e-03 -1.21735395e-05 9.99997051e-01 -3.20704004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.910888479 meters 0.016961809349552676 Centerline is valid? [True, True] Translation: X:71.72, Y:-7.19, Z:-0.03 [[ 9.46551125e-01 3.22545746e-01 2.28249128e-03 7.17208485e+01] [-3.22544846e-01 9.46553877e-01 -7.62172012e-04 -7.19201380e+00] [-2.40633631e-03 -1.47710228e-05 9.99997105e-01 -3.26015692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.940888479 meters 0.017043849186334673 Centerline is valid? [True, True] Translation: X:71.75, Y:-7.20, Z:-0.03 [[ 9.46102513e-01 3.23862134e-01 1.83093236e-03 7.17521071e+01] [-3.23861557e-01 9.46104285e-01 -6.11788017e-04 -7.20087080e+00] [-1.93038793e-03 -1.41544256e-05 9.99998137e-01 -3.23500690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.970888479 meters 0.017215366926008255 Centerline is valid? [True, True] Translation: X:71.78, Y:-7.21, Z:-0.03 [[ 9.45696194e-01 3.25047613e-01 1.66105331e-03 7.17826156e+01] [-3.25047139e-01 9.45697652e-01 -5.55295329e-04 -7.20757662e+00] [-1.75135163e-03 -1.47799454e-05 9.99998466e-01 -3.28103849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.000888479 meters 0.017237342059811204 Centerline is valid? [True, True] Translation: X:71.81, Y:-7.22, Z:-0.03 [[ 9.45685428e-01 3.25080252e-01 1.37879191e-03 7.18134515e+01] [-3.25079925e-01 9.45686433e-01 -4.61145856e-04 -7.21691119e+00] [-1.45381422e-03 -1.21186562e-05 9.99998943e-01 -3.31357074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.030888479 meters 0.01700841340900629 Centerline is valid? [True, True] Translation: X:71.84, Y:-7.23, Z:-0.03 [[ 9.45874154e-01 3.24531628e-01 1.14365586e-03 7.18447264e+01] [-3.24531403e-01 9.45874845e-01 -3.82772840e-04 -7.22777212e+00] [-1.20597720e-03 -9.09730387e-06 9.99999273e-01 -3.31205180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.060888479 meters 0.016966747093536263 Centerline is valid? [True, True] Translation: X:71.87, Y:-7.24, Z:-0.03 [[ 9.46736334e-01 3.22008226e-01 1.00790531e-03 7.18746939e+01] [-3.22008049e-01 9.46736871e-01 -3.37619448e-04 -7.23681444e+00] [-1.06293736e-03 -4.91702427e-06 9.99999435e-01 -3.37895955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.090888479 meters 0.016825792873837463 Centerline is valid? [True, True] Translation: X:71.91, Y:-7.25, Z:-0.03 [[ 9.47351974e-01 3.20193118e-01 7.77191641e-04 7.19063093e+01] [-3.20193012e-01 9.47352293e-01 -2.60456470e-04 -7.24731953e+00] [-8.19670652e-04 -2.10738078e-06 9.99999664e-01 -3.44706363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.120888479 meters 0.01656183391689326 Centerline is valid? [True, True] Translation: X:71.94, Y:-7.26, Z:-0.03 [[ 9.48012740e-01 3.18231641e-01 6.84361762e-04 7.19372930e+01] [-3.18231558e-01 9.48012987e-01 -2.29509371e-04 -7.25790658e+00] [-7.21820982e-04 -2.07702294e-07 9.99999739e-01 -3.49026618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150888479 meters 0.016794476375538908 Centerline is valid? [True, True] Translation: X:71.97, Y:-7.27, Z:-0.04 [[ 9.49451379e-01 3.13914032e-01 2.44742378e-04 7.19661927e+01] [-3.13914022e-01 9.49451410e-01 -8.19888588e-05 -7.27037551e+00] [-2.58108449e-04 1.01637080e-06 9.99999967e-01 -3.58711847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.180888479 meters 0.016983278337440424 Centerline is valid? [True, True] Translation: X:72.00, Y:-7.28, Z:-0.04 [[ 9.50195884e-01 3.11653302e-01 -3.67636757e-05 7.19966622e+01] [-3.11653301e-01 9.50195885e-01 1.26559668e-05 -7.28140045e+00] [ 3.88769672e-05 -5.68126629e-07 9.99999999e-01 -3.55824322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210888479 meters 0.017208481407100757 Centerline is valid? [True, True] Translation: X:72.03, Y:-7.29, Z:-0.04 [[ 9.50799445e-01 3.09806921e-01 -2.94911209e-04 7.20269650e+01] [-3.09806905e-01 9.50799491e-01 9.95653875e-05 -7.29203803e+00] [ 3.11247473e-04 -3.30118647e-06 9.99999952e-01 -3.54683983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.240888479 meters 0.017393959037985216 Centerline is valid? [True, True] Translation: X:72.06, Y:-7.30, Z:-0.04 [[ 9.51365646e-01 3.08063943e-01 1.20905740e-04 7.20575650e+01] [-3.08063940e-01 9.51365654e-01 -4.04408876e-05 -7.30173024e+00] [-1.27483948e-04 1.22737250e-06 9.99999992e-01 -3.54645260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27088847899999 meters 0.017690840925761772 Centerline is valid? [True, True] Translation: X:72.09, Y:-7.31, Z:-0.04 [[ 9.52028281e-01 3.06010042e-01 8.44690754e-05 7.20883710e+01] [-3.06010041e-01 9.52028284e-01 -2.81854688e-05 -7.30952476e+00] [-8.90419854e-05 9.84978211e-07 9.99999996e-01 -3.61613745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.300888479 meters 0.017965336990345818 Centerline is valid? [True, True] Translation: X:72.12, Y:-7.32, Z:-0.04 [[ 9.52188448e-01 3.05511307e-01 2.31684083e-05 7.21175695e+01] [-3.05511307e-01 9.52188448e-01 -7.66862268e-06 -7.31878030e+00] [-2.44035417e-05 2.23763230e-07 1.00000000e+00 -3.66029908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.330888479 meters 0.01813420085708331 Centerline is valid? [True, True] Translation: X:72.15, Y:-7.33, Z:-0.04 [[ 9.52265346e-01 3.05271309e-01 -3.73827718e-04 7.21476995e+01] [-3.05271283e-01 9.52265419e-01 1.26505237e-04 -7.32782894e+00] [ 3.94601628e-04 -6.34768593e-06 9.99999922e-01 -3.69424450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.360888479 meters 0.01810157283463923 Centerline is valid? [True, True] Translation: X:72.18, Y:-7.33, Z:-0.04 [[ 9.51939625e-01 3.06283757e-01 -1.10008102e-03 7.21776151e+01] [-3.06283532e-01 9.51940261e-01 3.71897473e-04 -7.33496635e+00] [ 1.16111757e-03 -1.70872404e-05 9.99999326e-01 -3.74383572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.390888479 meters 0.01823125605131398 Centerline is valid? [True, True] Translation: X:72.21, Y:-7.34, Z:-0.04 [[ 9.51590001e-01 3.07367859e-01 -1.21214082e-03 7.22082368e+01] [-3.07367586e-01 9.51590773e-01 4.10086235e-04 -7.34352217e+00] [ 1.27950935e-03 -1.76611629e-05 9.99999181e-01 -3.77518636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.420888479 meters 0.018015770469774133 Centerline is valid? [True, True] Translation: X:72.24, Y:-7.35, Z:-0.04 [[ 9.51089732e-01 3.08911645e-01 -1.38472628e-03 7.22391750e+01] [-3.08911290e-01 9.51090740e-01 4.68802306e-04 -7.35164188e+00] [ 1.46181883e-03 -1.81154789e-05 9.99998931e-01 -3.75996545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.450888479 meters 0.017770351289487427 Centerline is valid? [True, True] Translation: X:72.27, Y:-7.36, Z:-0.04 [[ 9.50698155e-01 3.10114708e-01 -1.37315673e-03 7.22702644e+01] [-3.10114359e-01 9.50699147e-01 4.65259204e-04 -7.35917017e+00] [ 1.44974266e-03 -1.64854460e-05 9.99998949e-01 -3.74178486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.480888479 meters 0.01770180993623945 Centerline is valid? [True, True] Translation: X:72.30, Y:-7.37, Z:-0.04 [[ 9.49985054e-01 3.12292659e-01 -1.30068117e-03 7.23014085e+01] [-3.12292347e-01 9.49985945e-01 4.41066081e-04 -7.36675519e+00] [ 1.37337053e-03 -1.28134096e-05 9.99999057e-01 -3.78130263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510888479 meters 0.017545651384194356 Centerline is valid? [True, True] Translation: X:72.33, Y:-7.37, Z:-0.04 [[ 9.48534379e-01 3.16670365e-01 -1.55287834e-03 7.23338770e+01] [-3.16669927e-01 9.48535650e-01 5.26965285e-04 -7.37003540e+00] [ 1.63983476e-03 -8.09481883e-06 9.99998655e-01 -3.83407570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.540888479 meters 0.017512054548266574 Centerline is valid? [True, True] Translation: X:72.37, Y:-7.38, Z:-0.04 [[ 9.47506958e-01 3.19727688e-01 -2.18410271e-03 7.23652355e+01] [-3.19726828e-01 9.47509475e-01 7.41706815e-04 -7.37746942e+00] [ 2.30660222e-03 -4.45613662e-06 9.99997340e-01 -3.89730089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570888479 meters 0.01742959180909642 Centerline is valid? [True, True] Translation: X:72.40, Y:-7.39, Z:-0.04 [[ 9.46585985e-01 3.22443216e-01 -2.31219124e-03 7.23972739e+01] [-3.22442258e-01 9.46588808e-01 7.85929062e-04 -7.38529839e+00] [ 2.44211184e-03 1.59873026e-06 9.99997018e-01 -3.85448835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.600888479 meters 0.017619400209401292 Centerline is valid? [True, True] Translation: X:72.43, Y:-7.39, Z:-0.04 [[ 9.44790037e-01 3.27671021e-01 -1.86784227e-03 7.24288052e+01] [-3.27670406e-01 9.44791883e-01 6.35056933e-04 -7.38882010e+00] [ 1.97281197e-03 1.20411725e-05 9.99998054e-01 -3.81581443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63088847899999 meters 0.01774907356546144 Centerline is valid? [True, True] Translation: X:72.46, Y:-7.40, Z:-0.04 [[ 9.43865259e-01 3.30326899e-01 -1.58518299e-03 7.24606010e+01] [-3.30326459e-01 9.43866590e-01 5.39520598e-04 -7.39633233e+00] [ 1.67441943e-03 1.43931338e-05 9.99998598e-01 -3.80363147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.660888479 meters 0.017830501084397876 Centerline is valid? [True, True] Translation: X:72.49, Y:-7.40, Z:-0.04 [[ 9.43184180e-01 3.32266579e-01 -1.58861319e-03 7.24921137e+01] [-3.32266139e-01 9.43185517e-01 5.41136919e-04 -7.40447272e+00] [ 1.67815867e-03 1.74505893e-05 9.99998592e-01 -3.80476880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.690888479 meters 0.018274273917111686 Centerline is valid? [True, True] Translation: X:72.52, Y:-7.41, Z:-0.04 [[ 9.41934278e-01 3.35794167e-01 -1.44662734e-03 7.25238896e+01] [-3.35793805e-01 9.41935389e-01 4.93141479e-04 -7.40885477e+00] [ 1.52822352e-03 2.12616350e-05 9.99998832e-01 -3.90937875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.720888479 meters 0.01861497908582598 Centerline is valid? [True, True] Translation: X:72.55, Y:-7.42, Z:-0.04 [[ 9.41491846e-01 3.37032076e-01 -1.57559504e-03 7.25538800e+01] [-3.37031649e-01 9.41493165e-01 5.37472195e-04 -7.41659200e+00] [ 1.66455733e-03 2.49997047e-05 9.99998614e-01 -3.97538043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.750888479 meters 0.018477029358503694 Centerline is valid? [True, True] Translation: X:72.58, Y:-7.43, Z:-0.04 [[ 9.41194847e-01 3.37862308e-01 -1.14953708e-03 7.25849140e+01] [-3.37862080e-01 9.41195549e-01 3.92633923e-04 -7.42633292e+00] [ 1.21459539e-03 1.88399641e-05 9.99999262e-01 -3.90482972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.780888479 meters 0.018533838977518955 Centerline is valid? [True, True] Translation: X:72.62, Y:-7.44, Z:-0.04 [[ 9.40998985e-01 3.38408624e-01 -7.15859522e-04 7.26162711e+01] [-3.38408536e-01 9.40999258e-01 2.44859194e-04 -7.43627409e+00] [ 7.56485742e-04 1.18407197e-05 9.99999714e-01 -3.85022815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.810888479 meters 0.019028059779978526 Centerline is valid? [True, True] Translation: X:72.65, Y:-7.44, Z:-0.04 [[ 9.40734113e-01 3.39144946e-01 -1.83435577e-04 7.26464312e+01] [-3.39144941e-01 9.40734131e-01 6.28293485e-05 -7.44271971e+00] [ 1.93872364e-04 3.10553635e-06 9.99999981e-01 -3.81048788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.840888479 meters 0.01863233918419036 Centerline is valid? [True, True] Translation: X:72.68, Y:-7.45, Z:-0.04 [[ 9.40640571e-01 3.39404163e-01 3.62359114e-04 7.26779331e+01] [-3.39404140e-01 9.40640640e-01 -1.23599628e-04 -7.45232239e+00] [-3.82799937e-04 -6.72335904e-06 9.99999927e-01 -3.78509497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870888479 meters 0.01909830931239133 Centerline is valid? [True, True] Translation: X:72.71, Y:-7.46, Z:-0.04 [[ 9.40518323e-01 3.39741313e-01 1.06004380e-03 7.27086813e+01] [-3.39741120e-01 9.40518920e-01 -3.62543870e-04 -7.46065121e+00] [-1.12016238e-03 -1.91613164e-05 9.99999372e-01 -3.78522257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.900888479 meters 0.018197981154878244 Centerline is valid? [True, True] Translation: X:72.74, Y:-7.47, Z:-0.04 [[ 9.40811099e-01 3.38926994e-01 1.72312599e-03 7.27389855e+01] [-3.38926481e-01 9.40812676e-01 -5.90001042e-04 -7.47261436e+00] [-1.82110606e-03 -2.89335008e-05 9.99998341e-01 -3.73827048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930888479 meters 0.018442190392208898 Centerline is valid? [True, True] Translation: X:72.77, Y:-7.48, Z:-0.04 [[ 9.40885265e-01 3.38724270e-01 8.87229086e-04 7.27691248e+01] [-3.38724134e-01 9.40885683e-01 -3.03883460e-04 -7.48247178e+00] [-9.37713847e-04 -1.46064333e-05 9.99999560e-01 -3.80414661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.960888479 meters 0.018348430331576484 Centerline is valid? [True, True] Translation: X:72.80, Y:-7.49, Z:-0.04 [[ 9.40961510e-01 3.38513520e-01 1.84565477e-04 7.28004986e+01] [-3.38513515e-01 9.40961528e-01 -6.30102401e-05 -7.49372235e+00] [-1.94998832e-04 -3.18769784e-06 9.99999981e-01 -3.85209885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990888479 meters 0.0178607664477275 Centerline is valid? [True, True] Translation: X:72.83, Y:-7.50, Z:-0.04 [[ 9.41181174e-01 3.37900726e-01 -1.04693635e-03 7.28310016e+01] [-3.37900535e-01 9.41181757e-01 3.59847296e-04 -7.50439170e+00] [ 1.10695005e-03 1.50788513e-05 9.99999387e-01 -4.01798445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02088847899999 meters 0.017674438872537224 Centerline is valid? [True, True] Translation: X:72.86, Y:-7.51, Z:-0.04 [[ 9.41152595e-01 3.37978677e-01 -1.48590793e-03 7.28626658e+01] [-3.37978291e-01 9.41153767e-01 5.11108836e-04 -7.51457092e+00] [ 1.57121173e-03 2.11732142e-05 9.99998765e-01 -4.10885375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.050888479 meters 0.01773496142874939 Centerline is valid? [True, True] Translation: X:72.89, Y:-7.52, Z:-0.04 [[ 9.41004350e-01 3.38389732e-01 -1.78954379e-03 7.28944604e+01] [-3.38389172e-01 9.41006051e-01 6.16033136e-04 -7.52483727e+00] [ 1.89243082e-03 2.58723796e-05 9.99998209e-01 -4.19227213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.080888479 meters 0.01769108035819002 Centerline is valid? [True, True] Translation: X:72.93, Y:-7.54, Z:-0.04 [[ 9.40872400e-01 3.38758901e-01 -1.23861444e-03 7.29253428e+01] [-3.38758632e-01 9.40873215e-01 4.26867356e-04 -7.53592581e+00] [ 1.30998426e-03 1.79636181e-05 9.99999142e-01 -4.12167692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.110888479 meters 0.01748489687917059 Centerline is valid? [True, True] Translation: X:72.96, Y:-7.55, Z:-0.04 [[ 9.40671500e-01 3.39317144e-01 -1.00225212e-03 7.29561868e+01] [-3.39316969e-01 9.40672034e-01 3.45793319e-04 -7.54804395e+00] [ 1.06012414e-03 1.48032304e-05 9.99999438e-01 -3.98334624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.140888479 meters 0.01779358767177097 Centerline is valid? [True, True] Translation: X:72.99, Y:-7.56, Z:-0.04 [[ 9.40547147e-01 3.39662096e-01 -8.51581108e-04 7.29859427e+01] [-3.39661969e-01 9.40547532e-01 2.94086353e-04 -7.55826749e+00] [ 9.00842496e-04 1.26476354e-05 9.99999594e-01 -3.91561853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.170888479 meters 0.018049707861940746 Centerline is valid? [True, True] Translation: X:73.02, Y:-7.57, Z:-0.04 [[ 9.40211482e-01 3.40590970e-01 -4.00830623e-04 7.30167308e+01] [-3.40590942e-01 9.40211567e-01 1.38726985e-04 -7.56854685e+00] [ 4.24114747e-04 6.08657485e-06 9.99999910e-01 -3.88827048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.200888479 meters 0.018049707861940746 Centerline is valid? [True, True] Translation: X:73.05, Y:-7.58, Z:-0.04 [[ 9.40118692e-01 3.40847009e-01 -4.00792784e-04 7.30473577e+01] [-3.40846981e-01 9.40118778e-01 1.38836398e-04 -7.57920837e+00] [ 4.24114793e-04 6.08631764e-06 9.99999910e-01 -3.89201176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230888479 meters 0.01865306598684598 Centerline is valid? [True, True] Translation: X:73.08, Y:-7.59, Z:-0.04 [[ 9.39382199e-01 3.42871790e-01 -1.42461171e-04 7.30781452e+01] [-3.42871787e-01 9.39382209e-01 4.94095015e-05 -7.58713920e+00] [ 1.50766614e-04 2.43151018e-06 9.99999989e-01 -3.96731015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.260888479 meters 0.019099455796740206 Centerline is valid? [True, True] Translation: X:73.11, Y:-7.60, Z:-0.04 [[ 9.38783235e-01 3.44508333e-01 -2.16760586e-04 7.31082374e+01] [-3.44508324e-01 9.38783260e-01 7.52610714e-05 -7.59564168e+00] [ 2.29419276e-04 4.02199432e-06 9.99999974e-01 -4.04685551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290888479 meters 0.019328145951417935 Centerline is valid? [True, True] Translation: X:73.14, Y:-7.61, Z:-0.04 [[ 9.38236959e-01 3.45992947e-01 -5.38584258e-04 7.31390895e+01] [-3.45992897e-01 9.38237113e-01 1.86765297e-04 -7.60543255e+00] [ 5.69939215e-04 1.11162229e-05 9.99999838e-01 -4.07280063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.320888479 meters 0.020106572115326782 Centerline is valid? [True, True] Translation: X:73.17, Y:-7.62, Z:-0.04 [[ 9.36954495e-01 3.49449173e-01 -1.24476188e-03 7.31690427e+01] [-3.49448908e-01 9.36955322e-01 4.31157491e-04 -7.61639463e+00] [ 1.31695390e-03 3.10057298e-05 9.99999132e-01 -3.93684314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350888479 meters 0.02092973981060358 Centerline is valid? [True, True] Translation: X:73.20, Y:-7.63, Z:-0.04 [[ 9.36353530e-01 3.51056547e-01 -1.16942859e-03 7.31988231e+01] [-3.51056315e-01 9.36354260e-01 4.05539133e-04 -7.62529961e+00] [ 1.23736661e-03 3.08072934e-05 9.99999234e-01 -3.86318228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38088847899999 meters 0.020735928403346527 Centerline is valid? [True, True] Translation: X:73.23, Y:-7.64, Z:-0.04 [[ 9.35820457e-01 3.52475788e-01 -9.43827417e-04 7.32290125e+01] [-3.52475637e-01 9.35820933e-01 3.27633542e-04 -7.63584891e+00] [ 9.98736345e-04 2.60699990e-05 9.99999501e-01 -3.87462583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.410888479 meters 0.021453449569725676 Centerline is valid? [True, True] Translation: X:73.26, Y:-7.64, Z:-0.04 [[ 9.35135666e-01 3.54288251e-01 -1.05918989e-03 7.32591495e+01] [-3.54288062e-01 9.35136265e-01 3.67638375e-04 -7.64246899e+00] [ 1.12073683e-03 3.14665754e-05 9.99999371e-01 -4.04307930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.440888479 meters 0.02180436674897859 Centerline is valid? [True, True] Translation: X:73.29, Y:-7.65, Z:-0.04 [[ 9.34801762e-01 3.55164960e-01 -1.87518470e-03 7.32896799e+01] [-3.55164368e-01 9.34803641e-01 6.51390984e-04 -7.65231278e+00] [ 1.98428074e-03 5.70773500e-05 9.99998030e-01 -4.14591974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.470888479 meters 0.022351107915711307 Centerline is valid? [True, True] Translation: X:73.32, Y:-7.66, Z:-0.04 [[ 9.34457234e-01 3.56067171e-01 -2.41805625e-03 7.33187282e+01] [-3.56066188e-01 9.34460360e-01 8.40452825e-04 -7.66263338e+00] [ 2.55883537e-03 7.56208472e-05 9.99996723e-01 -4.21608629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.500888479 meters 0.02265101144181427 Centerline is valid? [True, True] Translation: X:73.35, Y:-7.67, Z:-0.04 [[ 9.34146369e-01 3.56872877e-01 -3.50871642e-03 7.33484950e+01] [-3.56870808e-01 9.34152952e-01 1.22035131e-03 -7.67419774e+00] [ 3.71318809e-03 1.12171724e-04 9.99993100e-01 -4.20719616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.530888479 meters 0.022958022585135126 Centerline is valid? [True, True] Translation: X:73.38, Y:-7.69, Z:-0.04 [[ 9.33952804e-01 3.57368528e-01 -4.46045930e-03 7.33771681e+01] [-3.57365188e-01 9.33963444e-01 1.55180014e-03 -7.68541459e+00] [ 4.72047046e-03 1.44704791e-04 9.99988848e-01 -4.19233572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.560888479 meters 0.02325169503014733 Centerline is valid? [True, True] Translation: X:73.41, Y:-7.70, Z:-0.04 [[ 9.33801972e-01 3.57764665e-01 -4.28032526e-03 7.34087592e+01] [-3.57761587e-01 9.33811772e-01 1.49055874e-03 -7.69536179e+00] [ 4.53028736e-03 1.39449268e-04 9.99989728e-01 -4.24976308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.590888479 meters 0.023216538728802933 Centerline is valid? [True, True] Translation: X:73.44, Y:-7.71, Z:-0.04 [[ 9.33773500e-01 3.57837898e-01 -4.36917633e-03 7.34399064e+01] [-3.57834686e-01 9.33783711e-01 1.52277438e-03 -7.70579556e+00] [ 4.62477207e-03 1.41516474e-04 9.99989296e-01 -4.28747629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.620888479 meters 0.023211870186189844 Centerline is valid? [True, True] Translation: X:73.47, Y:-7.72, Z:-0.04 [[ 9.34111601e-01 3.56965241e-01 -3.36661375e-03 7.34693366e+01] [-3.56963325e-01 9.34117662e-01 1.17424175e-03 -7.71733187e+00] [ 3.56397685e-03 1.04884799e-04 9.99993644e-01 -4.20138758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650888479 meters 0.022708820993245685 Centerline is valid? [True, True] Translation: X:73.50, Y:-7.73, Z:-0.04 [[ 9.34363227e-01 3.56309792e-01 -2.94845324e-03 7.34990653e+01] [-3.56308316e-01 9.34367874e-01 1.02916982e-03 -7.73000408e+00] [ 3.12164327e-03 8.89399747e-05 9.99995124e-01 -4.06031961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.680888479 meters 0.02081202147873668 Centerline is valid? [True, True] Translation: X:73.53, Y:-7.74, Z:-0.04 [[ 9.34758573e-01 3.55273463e-01 -2.67901291e-03 7.35279207e+01] [-3.55272238e-01 9.34762409e-01 9.35867220e-04 -7.74498774e+00] [ 2.83672934e-03 7.69690052e-05 9.99995974e-01 -3.95922300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710888479 meters 0.019954922117573257 Centerline is valid? [True, True] Translation: X:73.56, Y:-7.76, Z:-0.04 [[ 9.35272429e-01 3.53919748e-01 -2.50917762e-03 7.35575329e+01] [-3.53918668e-01 9.35275792e-01 8.77232024e-04 -7.75789709e+00] [ 2.65724282e-03 6.75938752e-05 9.99996467e-01 -3.96370556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.740888479 meters 0.018199625283285465 Centerline is valid? [True, True] Translation: X:73.59, Y:-7.77, Z:-0.04 [[ 9.36375230e-01 3.50980863e-01 -3.72310682e-03 7.35860250e+01] [-3.50978457e-01 9.36382628e-01 1.30254766e-03 -7.77271166e+00] [ 3.94342185e-03 8.70569220e-05 9.99992221e-01 -4.07567256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77088847899999 meters 0.01816856129896862 Centerline is valid? [True, True] Translation: X:73.62, Y:-7.78, Z:-0.04 [[ 9.37010039e-01 3.49273020e-01 -4.53251287e-03 7.36152513e+01] [-3.49269429e-01 9.37020997e-01 1.58680104e-03 -7.78313469e+00] [ 4.80128652e-03 9.62196769e-05 9.99988469e-01 -4.21525776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.800888479 meters 0.018056001616061825 Centerline is valid? [True, True] Translation: X:73.64, Y:-7.79, Z:-0.04 [[ 9.37703210e-01 3.47393970e-01 -5.48818227e-03 7.36445052e+01] [-3.47388669e-01 9.37719264e-01 1.92204688e-03 -7.79481980e+00] [ 5.81408174e-03 1.04222807e-04 9.99983093e-01 -4.33651478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.830888479 meters 0.01696504840948444 Centerline is valid? [True, True] Translation: X:73.67, Y:-7.81, Z:-0.04 [[ 9.39029422e-01 3.43766887e-01 -6.93337123e-03 7.36734526e+01] [-3.43758322e-01 9.39055013e-01 2.42874282e-03 -7.81062529e+00] [ 7.34573836e-03 1.02743096e-04 9.99973014e-01 -4.37730087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.860888479 meters 0.01662741509638201 Centerline is valid? [True, True] Translation: X:73.70, Y:-7.82, Z:-0.04 [[ 9.39533431e-01 3.42387398e-01 -6.91391230e-03 7.37032655e+01] [-3.42378829e-01 9.39558865e-01 2.42402471e-03 -7.82338658e+00] [ 7.32598311e-03 8.97249506e-05 9.99973161e-01 -4.31488281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.890888479 meters 0.01647387346257761 Centerline is valid? [True, True] Translation: X:73.73, Y:-7.84, Z:-0.04 [[ 9.40064004e-01 3.40927246e-01 -6.94843673e-03 7.37320047e+01] [-3.40918538e-01 9.40089680e-01 2.43786571e-03 -7.83511314e+00] [ 7.36328850e-03 7.71010940e-05 9.99972888e-01 -4.31656123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.920888479 meters 0.01641876718335588 Centerline is valid? [True, True] Translation: X:73.76, Y:-7.85, Z:-0.04 [[ 9.40513586e-01 3.39686102e-01 -6.89545762e-03 7.37613227e+01] [-3.39677480e-01 9.40538860e-01 2.42114606e-03 -7.84694494e+00] [ 7.30787552e-03 6.51109022e-05 9.99973295e-01 -4.34913253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.950888479 meters 0.015972620906534733 Centerline is valid? [True, True] Translation: X:73.79, Y:-7.86, Z:-0.04 [[ 9.41785266e-01 3.36123601e-01 -7.83827964e-03 7.37907311e+01] [-3.36112331e-01 9.41817882e-01 2.75273948e-03 -7.86160557e+00] [ 8.30749264e-03 4.20529601e-05 9.99965491e-01 -4.32577073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.980888479 meters 0.015990251897037823 Centerline is valid? [True, True] Translation: X:73.82, Y:-7.87, Z:-0.04 [[ 9.42164863e-01 3.35059319e-01 -7.78613194e-03 7.38206434e+01] [-3.35048142e-01 9.42197034e-01 2.73691978e-03 -7.87364973e+00] [ 8.25310090e-03 3.00993889e-05 9.99965942e-01 -4.40015328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010888479 meters 0.015919563675357587 Centerline is valid? [True, True] Translation: X:73.85, Y:-7.89, Z:-0.04 [[ 9.42578580e-01 3.33897792e-01 -7.60817086e-03 7.38512536e+01] [-3.33887063e-01 9.42609285e-01 2.67673589e-03 -7.88617541e+00] [ 8.06528870e-03 1.72359059e-05 9.99967475e-01 -4.35306225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.040888479 meters 0.015864527555192468 Centerline is valid? [True, True] Translation: X:73.88, Y:-7.90, Z:-0.04 [[ 9.42908345e-01 3.32974992e-01 -7.17687150e-03 7.38819128e+01] [-3.32965401e-01 9.42935658e-01 2.52724250e-03 -7.89836224e+00] [ 7.60883660e-03 6.69185089e-06 9.99971052e-01 -4.32420238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070888479 meters 0.015627006468484354 Centerline is valid? [True, True] Translation: X:73.91, Y:-7.91, Z:-0.04 [[ 9.43232698e-01 3.32058468e-01 -7.01798149e-03 7.39122788e+01] [-3.32049255e-01 9.43258805e-01 2.47347780e-03 -7.91046617e+00] [ 7.44111208e-03 -2.74960831e-06 9.99972315e-01 -4.27962658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.100888479 meters 0.015522078513162448 Centerline is valid? [True, True] Translation: X:73.94, Y:-7.92, Z:-0.04 [[ 9.43180540e-01 3.32208013e-01 -6.95013129e-03 7.39428316e+01] [-3.32198966e-01 9.43206147e-01 2.45171656e-03 -7.92151038e+00] [ 7.36988644e-03 -3.58492296e-06 9.99972842e-01 -4.29119474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13088847899999 meters 0.01552005620995636 Centerline is valid? [True, True] Translation: X:73.97, Y:-7.93, Z:-0.04 [[ 9.42879797e-01 3.33054372e-01 -7.24382254e-03 7.39733423e+01] [-3.33044554e-01 9.42907623e-01 2.55736619e-03 -7.93246786e+00] [ 7.68199748e-03 1.22673357e-06 9.99970493e-01 -4.31298804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.160888479 meters 0.015556284121982802 Centerline is valid? [True, True] Translation: X:74.00, Y:-7.94, Z:-0.04 [[ 9.42512661e-01 3.34100671e-01 -6.82835959e-03 7.40041175e+01] [-3.34091958e-01 9.42537395e-01 2.41282073e-03 -7.94329395e+00] [ 7.24210929e-03 7.18594472e-06 9.99973776e-01 -4.23463319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.190888479 meters 0.01556151905173058 Centerline is valid? [True, True] Translation: X:74.04, Y:-7.95, Z:-0.04 [[ 9.41511264e-01 3.36927762e-01 -6.01860010e-03 7.40359144e+01] [-3.36921039e-01 9.41530500e-01 2.12857462e-03 -7.95262722e+00] [ 6.38387145e-03 2.37160201e-05 9.99979623e-01 -4.18826678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.220888479 meters 0.01543784709148355 Centerline is valid? [True, True] Translation: X:74.07, Y:-7.96, Z:-0.04 [[ 9.40868832e-01 3.38722769e-01 -5.72071959e-03 7.40677419e+01] [-3.38716717e-01 9.40886223e-01 2.02507398e-03 -7.96217544e+00] [ 6.06848491e-03 3.23743709e-05 9.99981586e-01 -4.14128976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.250888479 meters 0.015466506412020681 Centerline is valid? [True, True] Translation: X:74.10, Y:-7.97, Z:-0.04 [[ 9.40304328e-01 3.40294973e-01 -5.20603049e-03 7.40982038e+01] [-3.40289980e-01 9.40318738e-01 1.84380962e-03 -7.97070870e+00] [ 5.52276717e-03 3.78178452e-05 9.99984749e-01 -4.16292884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.280888479 meters 0.015848460215018036 Centerline is valid? [True, True] Translation: X:74.13, Y:-7.98, Z:-0.04 [[ 9.38762642e-01 3.44527737e-01 -5.03396901e-03 7.41295273e+01] [-3.44523121e-01 9.38776137e-01 1.78434805e-03 -7.97885502e+00] [ 5.34052737e-03 5.92394264e-05 9.99985738e-01 -4.16624511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.310888479 meters 0.015992066103242216 Centerline is valid? [True, True] Translation: X:74.16, Y:-7.99, Z:-0.04 [[ 9.38072546e-01 3.46397559e-01 -5.35058063e-03 7.41596304e+01] [-3.46392367e-01 9.38087803e-01 1.89804361e-03 -7.98866306e+00] [ 5.67679210e-03 7.28976827e-05 9.99983884e-01 -4.14897241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.340888479 meters 0.016682872771645887 Centerline is valid? [True, True] Translation: X:74.19, Y:-8.00, Z:-0.04 [[ 9.36916173e-01 3.49506925e-01 -5.74410981e-03 7.41898963e+01] [-3.49500991e-01 9.36933776e-01 2.03906435e-03 -7.99545346e+00] [ 6.09451760e-03 9.71397039e-05 9.99981424e-01 -4.27500440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370888479 meters 0.0164700579179811 Centerline is valid? [True, True] Translation: X:74.22, Y:-8.01, Z:-0.04 [[ 9.36272120e-01 3.51227512e-01 -5.80966349e-03 7.42205708e+01] [-3.51221464e-01 9.36290138e-01 2.06397192e-03 -8.00607648e+00] [ 6.16445435e-03 1.08039150e-04 9.99980994e-01 -4.27011900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.400888479 meters 0.017424003046376986 Centerline is valid? [True, True] Translation: X:74.25, Y:-8.01, Z:-0.04 [[ 9.35618118e-01 3.52972019e-01 -5.43055931e-03 7.42510726e+01] [-3.52966756e-01 9.35633872e-01 1.93067795e-03 -8.01354793e+00] [ 5.76249053e-03 1.10429630e-04 9.99983391e-01 -4.36202870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430888479 meters 0.017431432423910043 Centerline is valid? [True, True] Translation: X:74.28, Y:-8.02, Z:-0.04 [[ 9.34987072e-01 3.54641387e-01 -5.35373826e-03 7.42814120e+01] [-3.54636291e-01 9.35002392e-01 1.90483266e-03 -8.02321143e+00] [ 5.68129058e-03 1.17635964e-04 9.99983854e-01 -4.35965153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.460888479 meters 0.018598772831109053 Centerline is valid? [True, True] Translation: X:74.31, Y:-8.03, Z:-0.04 [[ 9.34183105e-01 3.56755190e-01 -5.25929722e-03 7.43112784e+01] [-3.56750298e-01 9.34197901e-01 1.87252541e-03 -8.03111217e+00] [ 5.58125758e-03 1.26974248e-04 9.99984417e-01 -4.39506039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490888479 meters 0.019648181235022336 Centerline is valid? [True, True] Translation: X:74.34, Y:-8.04, Z:-0.04 [[ 9.32904533e-01 3.60078815e-01 -5.69027826e-03 7.43417696e+01] [-3.60073142e-01 9.32921874e-01 2.02733500e-03 -8.04020356e+00] [ 6.03858544e-03 1.57606356e-04 9.99981755e-01 -4.37462883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52088847899999 meters 0.018773018628745954 Centerline is valid? [True, True] Translation: X:74.37, Y:-8.05, Z:-0.04 [[ 9.32219438e-01 3.61839050e-01 -6.27871823e-03 7.43717108e+01] [-3.61832171e-01 9.32240563e-01 2.23873036e-03 -8.05291422e+00] [ 6.66333589e-03 1.84854292e-04 9.99977783e-01 -4.32615037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.550888479 meters 0.020841720999134988 Centerline is valid? [True, True] Translation: X:74.40, Y:-8.06, Z:-0.04 [[ 9.31837291e-01 3.62813974e-01 -6.72932839e-03 7.44021470e+01] [-3.62806086e-01 9.31861566e-01 2.40107125e-03 -8.05981782e+00] [ 7.14194470e-03 2.04033562e-04 9.99974475e-01 -4.47032877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.580888479 meters 0.0197553760751696 Centerline is valid? [True, True] Translation: X:74.43, Y:-8.07, Z:-0.04 [[ 9.31013005e-01 3.64923345e-01 -6.76297106e-03 7.44314733e+01] [-3.64915420e-01 9.31037542e-01 2.41496026e-03 -8.07255025e+00] [ 7.17785533e-03 2.19553017e-04 9.99974215e-01 -4.48590098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.610888479 meters 0.02132719788607069 Centerline is valid? [True, True] Translation: X:74.46, Y:-8.08, Z:-0.05 [[ 9.30872133e-01 3.65282360e-01 -6.77269387e-03 7.44626147e+01] [-3.65274413e-01 9.30896744e-01 2.41967342e-03 -8.08071589e+00] [ 7.18854269e-03 2.21485225e-04 9.99974138e-01 -4.60903154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.640888479 meters 0.02003153878298899 Centerline is valid? [True, True] Translation: X:74.49, Y:-8.09, Z:-0.05 [[ 9.30527585e-01 3.66157740e-01 -6.85007396e-03 7.44914091e+01] [-3.66149621e-01 9.30552770e-01 2.44913506e-03 -8.09412270e+00] [ 7.27112506e-03 2.29164253e-04 9.99973539e-01 -4.53259035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.670888479 meters 0.02023943317524857 Centerline is valid? [True, True] Translation: X:74.52, Y:-8.11, Z:-0.05 [[ 9.30314848e-01 3.66700673e-01 -6.70079622e-03 7.45224541e+01] [-3.66692902e-01 9.30338952e-01 2.39794675e-03 -8.10625029e+00] [ 7.11334042e-03 2.26288950e-04 9.99974674e-01 -4.51538679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.700888479 meters 0.01986304161066897 Centerline is valid? [True, True] Translation: X:74.55, Y:-8.12, Z:-0.04 [[ 9.30154192e-01 3.67112099e-01 -6.47198057e-03 7.45524481e+01] [-3.67104846e-01 9.30176681e-01 2.31814735e-03 -8.12112081e+00] [ 6.87110535e-03 2.19660953e-04 9.99976370e-01 -4.39693345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730888479 meters 0.022302067506767186 Centerline is valid? [True, True] Translation: X:74.58, Y:-8.13, Z:-0.05 [[ 9.30006315e-01 3.67479057e-01 -6.88447665e-03 7.45832541e+01] [-3.67470845e-01 9.30031767e-01 2.46789716e-03 -8.12938912e+00] [ 7.30968250e-03 2.34684507e-04 9.99973256e-01 -4.51865269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.760888479 meters 0.02234683079163831 Centerline is valid? [True, True] Translation: X:74.61, Y:-8.14, Z:-0.05 [[ 9.29779092e-01 3.68040755e-01 -7.53944842e-03 7.46131418e+01] [-3.68030909e-01 9.29809623e-01 2.70459273e-03 -8.14115873e+00] [ 8.00565205e-03 2.60076282e-04 9.99967920e-01 -4.58326532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790888479 meters 0.0205639205406933 Centerline is valid? [True, True] Translation: X:74.64, Y:-8.16, Z:-0.05 [[ 9.29874325e-01 3.67803836e-01 -7.35377643e-03 7.46416461e+01] [-3.67794446e-01 9.29903369e-01 2.64002274e-03 -8.15712970e+00] [ 7.80931196e-03 2.49788764e-04 9.99969476e-01 -4.51933477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.820888479 meters 0.020280638346753317 Centerline is valid? [True, True] Translation: X:74.67, Y:-8.17, Z:-0.04 [[ 9.29881291e-01 3.67797488e-01 -6.76702494e-03 7.46706003e+01] [-3.67789523e-01 9.29905886e-01 2.43127817e-03 -8.17026893e+00] [ 7.18691432e-03 2.28040788e-04 9.99974148e-01 -4.40502954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850888479 meters 0.021281928079366633 Centerline is valid? [True, True] Translation: X:74.70, Y:-8.18, Z:-0.04 [[ 9.29978295e-01 3.67562903e-01 -6.15489464e-03 7.47002129e+01] [-3.67556298e-01 9.29998640e-01 2.21292725e-03 -8.18106158e+00] [ 6.53743360e-03 2.04295982e-04 9.99978610e-01 -4.31584244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88088847899999 meters 0.01995412218829075 Centerline is valid? [True, True] Translation: X:74.73, Y:-8.20, Z:-0.04 [[ 9.30130949e-01 3.67189763e-01 -5.30054465e-03 7.47284505e+01] [-3.67184850e-01 9.30146036e-01 1.90727513e-03 -8.19762469e+00] [ 5.63061250e-03 1.72264062e-04 9.99984133e-01 -4.14887369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.910888479 meters 0.021954263995099605 Centerline is valid? [True, True] Translation: X:74.76, Y:-8.21, Z:-0.04 [[ 9.30050114e-01 3.67399323e-01 -4.95202059e-03 7.47591238e+01] [-3.67395030e-01 9.30063284e-01 1.78336207e-03 -8.20663416e+00] [ 5.26089855e-03 1.60731660e-04 9.99986148e-01 -4.21113270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.940888479 meters 0.020329494093547413 Centerline is valid? [True, True] Translation: X:74.79, Y:-8.22, Z:-0.04 [[ 9.29999057e-01 3.67531387e-01 -4.73645827e-03 7.47887846e+01] [-3.67527453e-01 9.30011106e-01 1.70724244e-03 -8.22175119e+00] [ 5.03242398e-03 1.53044587e-04 9.99987326e-01 -4.12186070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.970888479 meters 0.02105436765583397 Centerline is valid? [True, True] Translation: X:74.82, Y:-8.23, Z:-0.04 [[ 9.29817844e-01 3.67987962e-01 -4.86176020e-03 7.48179743e+01] [-3.67983817e-01 9.29830541e-01 1.75378411e-03 -8.23390681e+00] [ 5.16598456e-03 1.58349313e-04 9.99986644e-01 -4.13330021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.000888479 meters 0.0195939904569901 Centerline is valid? [True, True] Translation: X:74.85, Y:-8.25, Z:-0.04 [[ 9.29681878e-01 3.68333113e-01 -4.72473784e-03 7.48471574e+01] [-3.68329195e-01 9.29693871e-01 1.70591229e-03 -8.24904189e+00] [ 5.02090380e-03 1.54303142e-04 9.99987383e-01 -4.13163033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.030888479 meters 0.01944183387134659 Centerline is valid? [True, True] Translation: X:74.88, Y:-8.26, Z:-0.04 [[ 9.29612488e-01 3.68505272e-01 -4.94843905e-03 7.48773809e+01] [-3.68500968e-01 9.29625644e-01 1.78826186e-03 -8.26213217e+00] [ 5.25917976e-03 1.61114026e-04 9.99986157e-01 -4.13723904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.060888479 meters 0.019772577286387462 Centerline is valid? [True, True] Translation: X:74.91, Y:-8.28, Z:-0.04 [[ 9.29448580e-01 3.68916434e-01 -5.09922812e-03 7.49061524e+01] [-3.68911862e-01 9.29462553e-01 1.84425342e-03 -8.27608501e+00] [ 5.41991698e-03 1.67027019e-04 9.99985298e-01 -4.16647674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.090888479 meters 0.019772577286387462 Centerline is valid? [True, True] Translation: X:74.94, Y:-8.29, Z:-0.04 [[ 9.29344227e-01 3.69179238e-01 -5.09869990e-03 7.49366234e+01] [-3.69174662e-01 9.29358199e-01 1.84571340e-03 -8.28718117e+00] [ 5.41991762e-03 1.67007723e-04 9.99985298e-01 -4.17021871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.120888479 meters 0.020241151695730333 Centerline is valid? [True, True] Translation: X:74.97, Y:-8.30, Z:-0.04 [[ 9.29295401e-01 3.69293354e-01 -5.69875911e-03 7.49662826e+01] [-3.69287630e-01 9.29312856e-01 2.06456435e-03 -8.29947374e+00] [ 6.05836000e-03 1.85891086e-04 9.99981631e-01 -4.22619446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150888479 meters 0.021376215287692697 Centerline is valid? [True, True] Translation: X:75.00, Y:-8.31, Z:-0.04 [[ 9.29265216e-01 3.69362450e-01 -6.12693198e-03 7.49966895e+01] [-3.69355823e-01 9.29285393e-01 2.22143933e-03 -8.31062144e+00] [ 6.51418467e-03 1.98711712e-04 9.99978763e-01 -4.27932748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.180888479 meters 0.01985347408210637 Centerline is valid? [True, True] Translation: X:75.03, Y:-8.33, Z:-0.04 [[ 9.29321348e-01 3.69219926e-01 -6.20314379e-03 7.50253458e+01] [-3.69213119e-01 9.29342029e-01 2.25075561e-03 -8.32628622e+00] [ 6.59586606e-03 1.98606827e-04 9.99978227e-01 -4.24865852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210888479 meters 0.019921253150636364 Centerline is valid? [True, True] Translation: X:75.05, Y:-8.34, Z:-0.04 [[ 9.29338551e-01 3.69177370e-01 -6.15848014e-03 7.50540834e+01] [-3.69170648e-01 9.29358936e-01 2.23623153e-03 -8.34137273e+00] [ 6.54900462e-03 1.95313931e-04 9.99978536e-01 -4.22768657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.240888479 meters 0.02084735401749445 Centerline is valid? [True, True] Translation: X:75.08, Y:-8.35, Z:-0.04 [[ 9.29224846e-01 3.69454588e-01 -6.67036256e-03 7.50842175e+01] [-3.69446701e-01 9.29248762e-01 2.42328898e-03 -8.35306712e+00] [ 7.09372138e-03 2.12563116e-04 9.99974817e-01 -4.25746032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27088847899999 meters 0.019922709905697163 Centerline is valid? [True, True] Translation: X:75.11, Y:-8.37, Z:-0.04 [[ 9.28974916e-01 3.70095771e-01 -5.89282785e-03 7.51140388e+01] [-3.70089616e-01 9.28993587e-01 2.14283062e-03 -8.36821467e+00] [ 6.26745183e-03 1.90238506e-04 9.99980341e-01 -4.20430015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.300888479 meters 0.019863739463754235 Centerline is valid? [True, True] Translation: X:75.14, Y:-8.38, Z:-0.04 [[ 9.28750737e-01 3.70664074e-01 -5.49669971e-03 7.51444136e+01] [-3.70658718e-01 9.28766985e-01 2.00055898e-03 -8.38185101e+00] [ 5.84668855e-03 1.79379047e-04 9.99982892e-01 -4.14071973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.330888479 meters 0.021900675763812515 Centerline is valid? [True, True] Translation: X:75.17, Y:-8.39, Z:-0.04 [[ 9.28392232e-01 3.71578040e-01 -4.19806669e-03 7.51734699e+01] [-3.71574923e-01 9.28401713e-01 1.52845059e-03 -8.39192995e+00] [ 4.46543098e-03 1.40894650e-04 9.99990020e-01 -4.18258469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.360888479 meters 0.020241332421684157 Centerline is valid? [True, True] Translation: X:75.20, Y:-8.41, Z:-0.04 [[ 9.28125341e-01 3.72244810e-01 -4.14149048e-03 7.52017935e+01] [-3.72241778e-01 9.28134571e-01 1.50914000e-03 -8.40699432e+00] [ 4.40563002e-03 1.40964700e-04 9.99990285e-01 -4.15274856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.390888479 meters 0.021203501087663067 Centerline is valid? [True, True] Translation: X:75.23, Y:-8.42, Z:-0.04 [[ 9.28030495e-01 3.72484520e-01 -3.83178720e-03 7.52318927e+01] [-3.72481922e-01 9.28038396e-01 1.39745682e-03 -8.41822137e+00] [ 4.07657668e-03 1.30388920e-04 9.99991682e-01 -4.17091908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.420888479 meters 0.0204678221074343 Centerline is valid? [True, True] Translation: X:75.26, Y:-8.43, Z:-0.04 [[ 9.27862373e-01 3.72901478e-01 -3.98797937e-03 7.52614612e+01] [-3.72898661e-01 9.27870934e-01 1.45569006e-03 -8.43306503e+00] [ 4.24315912e-03 1.36432139e-04 9.99990988e-01 -4.11757654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.450888479 meters 0.020724287922046305 Centerline is valid? [True, True] Translation: X:75.29, Y:-8.45, Z:-0.04 [[ 9.27544251e-01 3.73686034e-01 -4.51780290e-03 7.52904110e+01] [-3.73682423e-01 9.27555240e-01 1.65024595e-03 -8.44726798e+00] [ 4.80718561e-03 1.57547391e-04 9.99988433e-01 -4.16404426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.480888479 meters 0.020961690994567465 Centerline is valid? [True, True] Translation: X:75.32, Y:-8.46, Z:-0.04 [[ 9.27237344e-01 3.74443592e-01 -4.78580663e-03 7.53203681e+01] [-3.74439544e-01 9.27249679e-01 1.74944370e-03 -8.45930722e+00] [ 5.09270564e-03 1.69845725e-04 9.99987018e-01 -4.20716570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510888479 meters 0.02361228397295775 Centerline is valid? [True, True] Translation: X:75.35, Y:-8.47, Z:-0.04 [[ 9.26984912e-01 3.75065024e-01 -5.01994569e-03 7.53508646e+01] [-3.75060572e-01 9.26998487e-01 1.83626802e-03 -8.46715950e+00] [ 5.34220197e-03 1.80590950e-04 9.99985714e-01 -4.30043928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.540888479 meters 0.021160098654703335 Centerline is valid? [True, True] Translation: X:75.38, Y:-8.48, Z:-0.04 [[ 9.26556642e-01 3.76124872e-01 -4.78220907e-03 7.53787671e+01] [-3.76120839e-01 9.26568967e-01 1.75068444e-03 -8.48438258e+00] [ 5.08952248e-03 1.76580185e-04 9.99987033e-01 -4.21457512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570888479 meters 0.022029226134437127 Centerline is valid? [True, True] Translation: X:75.41, Y:-8.49, Z:-0.04 [[ 9.26450426e-01 3.76392228e-01 -4.30095412e-03 7.54089668e+01] [-3.76388962e-01 9.26460396e-01 1.57584356e-03 -8.49491111e+00] [ 4.57779893e-03 1.58890719e-04 9.99989509e-01 -4.28119718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.600888479 meters 0.020459113741263937 Centerline is valid? [True, True] Translation: X:75.44, Y:-8.51, Z:-0.04 [[ 9.26466778e-01 3.76346280e-01 -4.77356905e-03 7.54385435e+01] [-3.76342250e-01 9.26479059e-01 1.75054141e-03 -8.50933987e+00] [ 5.08142150e-03 1.74677257e-04 9.99987074e-01 -4.28366425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63088847899999 meters 0.022082648431759153 Centerline is valid? [True, True] Translation: X:75.47, Y:-8.52, Z:-0.04 [[ 9.26705711e-01 3.75763745e-01 -4.25824898e-03 7.54675664e+01] [-3.75760529e-01 9.26715482e-01 1.56211111e-03 -8.51947408e+00] [ 4.53316997e-03 1.52464600e-04 9.99989714e-01 -4.37255512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.660888479 meters 0.021824090352300384 Centerline is valid? [True, True] Translation: X:75.50, Y:-8.53, Z:-0.04 [[ 9.26806778e-01 3.75513203e-01 -4.36248521e-03 7.54966043e+01] [-3.75509819e-01 9.26817032e-01 1.60164507e-03 -8.53260077e+00] [ 4.64466447e-03 1.53740530e-04 9.99989202e-01 -4.33973269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.690888479 meters 0.02081595347333148 Centerline is valid? [True, True] Translation: X:75.53, Y:-8.55, Z:-0.04 [[ 9.26965226e-01 3.75120008e-01 -4.52203189e-03 7.55256120e+01] [-3.75116361e-01 9.26976243e-01 1.66146119e-03 -8.54702011e+00] [ 4.81506346e-03 1.56171396e-04 9.99988395e-01 -4.33572975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.720888479 meters 0.02011438798889408 Centerline is valid? [True, True] Translation: X:75.55, Y:-8.56, Z:-0.05 [[ 9.27924736e-01 3.72731453e-01 -5.19110565e-03 7.55539399e+01] [-3.72726603e-01 9.27939242e-01 1.90854276e-03 -8.56013351e+00] [ 5.52840456e-03 1.63879140e-04 9.99984705e-01 -4.51272709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.750888479 meters 0.019656363603051036 Centerline is valid? [True, True] Translation: X:75.58, Y:-8.57, Z:-0.05 [[ 9.28433018e-01 3.71460739e-01 -5.38989556e-03 7.55836647e+01] [-3.71455480e-01 9.28448649e-01 1.98309377e-03 -8.57232508e+00] [ 5.74088273e-03 1.60936510e-04 9.99983508e-01 -4.59565180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.780888479 meters 0.02021845750699103 Centerline is valid? [True, True] Translation: X:75.61, Y:-8.58, Z:-0.05 [[ 9.28685524e-01 3.70822902e-01 -5.79417670e-03 7.56128812e+01] [-3.70816803e-01 9.28703584e-01 2.13323890e-03 -8.58269696e+00] [ 6.17212651e-03 1.67469994e-04 9.99980938e-01 -4.62220149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.810888479 meters 0.01926810106924309 Centerline is valid? [True, True] Translation: X:75.64, Y:-8.60, Z:-0.05 [[ 9.29230848e-01 3.69466687e-01 -4.93936966e-03 7.56418926e+01] [-3.69462229e-01 9.29243966e-01 1.81989823e-03 -8.59750741e+00] [ 5.26227122e-03 1.33804952e-04 9.99986145e-01 -4.52520496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.840888479 meters 0.019201513860152546 Centerline is valid? [True, True] Translation: X:75.67, Y:-8.61, Z:-0.04 [[ 9.29342516e-01 3.69184600e-01 -5.02191933e-03 7.56718984e+01] [-3.69179981e-01 9.29356075e-01 1.85163699e-03 -8.61006965e+00] [ 5.35074710e-03 1.33187103e-04 9.99985676e-01 -4.43483852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870888479 meters 0.01919056459055532 Centerline is valid? [True, True] Translation: X:75.70, Y:-8.62, Z:-0.04 [[ 9.29402387e-01 3.69042914e-01 -4.30471008e-03 7.57018830e+01] [-3.69039513e-01 9.29412349e-01 1.58838143e-03 -8.62192625e+00] [ 4.58703162e-03 1.12362614e-04 9.99989473e-01 -4.44215800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.900888479 meters 0.01875124098994325 Centerline is valid? [True, True] Translation: X:75.73, Y:-8.63, Z:-0.05 [[ 9.29457913e-01 3.68885763e-01 -5.59306124e-03 7.57328524e+01] [-3.68880008e-01 9.29474730e-01 2.06545005e-03 -8.63443495e+00] [ 5.96052420e-03 1.43419579e-04 9.99982226e-01 -4.51818428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930888479 meters 0.018422977029995014 Centerline is valid? [True, True] Translation: X:75.76, Y:-8.65, Z:-0.05 [[ 9.29354492e-01 3.69136364e-01 -6.21064742e-03 7.57635284e+01] [-3.69129261e-01 9.29375231e-01 2.29543277e-03 -8.64629578e+00] [ 6.61934959e-03 1.59260942e-04 9.99978079e-01 -4.56028387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.960888479 meters 0.018444344110743714 Centerline is valid? [True, True] Translation: X:75.79, Y:-8.66, Z:-0.05 [[ 9.29100678e-01 3.69775945e-01 -6.13847539e-03 7.57942152e+01] [-3.69769008e-01 9.29120942e-01 2.27071280e-03 -8.65767562e+00] [ 6.54304101e-03 1.60097151e-04 9.99978581e-01 -4.66019294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990888479 meters 0.018161120649167375 Centerline is valid? [True, True] Translation: X:75.82, Y:-8.67, Z:-0.05 [[ 9.29145004e-01 3.69666230e-01 -6.03661175e-03 7.58243045e+01] [-3.69659508e-01 9.29164600e-01 2.23468005e-03 -8.66998748e+00] [ 6.43509170e-03 1.55149122e-04 9.99979283e-01 -4.57876990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02088847899999 meters 0.01821000702741977 Centerline is valid? [True, True] Translation: X:75.85, Y:-8.68, Z:-0.05 [[ 9.29201987e-01 3.69527406e-01 -5.75876496e-03 7.58531700e+01] [-3.69521277e-01 9.29219821e-01 2.13328458e-03 -8.68111544e+00] [ 6.13946566e-03 1.45733905e-04 9.99981143e-01 -4.51673144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.050888479 meters 0.01875033607109803 Centerline is valid? [True, True] Translation: X:75.88, Y:-8.69, Z:-0.04 [[ 9.29414254e-01 3.68998478e-01 -5.40997103e-03 7.58825342e+01] [-3.68993052e-01 9.29429990e-01 2.00546429e-03 -8.69122743e+00] [ 5.76820259e-03 1.32334628e-04 9.99983355e-01 -4.47841992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.080888479 meters 0.018585155933550767 Centerline is valid? [True, True] Translation: X:75.91, Y:-8.70, Z:-0.04 [[ 9.29690052e-01 3.68307372e-01 -5.10753741e-03 7.59124300e+01] [-3.68302517e-01 9.29704074e-01 1.89474099e-03 -8.70278273e+00] [ 5.44634542e-03 1.19597036e-04 9.99985161e-01 -4.46279747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.110888479 meters 0.01792431747480507 Centerline is valid? [True, True] Translation: X:75.94, Y:-8.72, Z:-0.04 [[ 9.30120184e-01 3.67221486e-01 -4.98234893e-03 7.59415832e+01] [-3.67216844e-01 9.30133522e-01 1.84964856e-03 -8.71525878e+00] [ 5.31348045e-03 1.09206987e-04 9.99985877e-01 -4.49775602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.140888479 meters 0.017816787920505874 Centerline is valid? [True, True] Translation: X:75.97, Y:-8.73, Z:-0.04 [[ 9.30293046e-01 3.66784112e-01 -4.92593703e-03 7.59717982e+01] [-3.66779561e-01 9.30306081e-01 1.83002796e-03 -8.72699451e+00] [ 5.25385436e-03 1.04270734e-04 9.99986193e-01 -4.49314808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.170888479 meters 0.01713442524758799 Centerline is valid? [True, True] Translation: X:76.00, Y:-8.74, Z:-0.04 [[ 9.30436090e-01 3.66421132e-01 -4.92302861e-03 7.60008877e+01] [-3.66416574e-01 9.30449109e-01 1.83031698e-03 -8.73952784e+00] [ 5.25129440e-03 1.00886303e-04 9.99986207e-01 -4.45772313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.200888479 meters 0.017326264647213787 Centerline is valid? [True, True] Translation: X:76.03, Y:-8.75, Z:-0.04 [[ 9.30603978e-01 3.65998229e-01 -4.64028123e-03 7.60299979e+01] [-3.65994169e-01 9.30615542e-01 1.72636369e-03 -8.74938817e+00] [ 4.95016389e-03 9.17549621e-05 9.99987744e-01 -4.47849105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230888479 meters 0.017565275908248638 Centerline is valid? [True, True] Translation: X:76.06, Y:-8.76, Z:-0.05 [[ 9.30669153e-01 3.65832485e-01 -4.63902642e-03 7.60594603e+01] [-3.65828422e-01 9.30680710e-01 1.72648628e-03 -8.75906994e+00] [ 4.94905717e-03 9.03001873e-05 9.99987749e-01 -4.55071114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.260888479 meters 0.017522350965548383 Centerline is valid? [True, True] Translation: X:76.09, Y:-8.77, Z:-0.05 [[ 9.30565934e-01 3.66095788e-01 -4.57331646e-03 7.60899326e+01] [-3.66091835e-01 9.30577168e-01 1.70360122e-03 -8.77095859e+00] [ 4.87950512e-03 8.89405552e-05 9.99988091e-01 -4.54800289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290888479 meters 0.017170960845309755 Centerline is valid? [True, True] Translation: X:76.12, Y:-8.78, Z:-0.04 [[ 9.30664040e-01 3.65842480e-01 -4.87076849e-03 7.61201042e+01] [-3.65837985e-01 9.30676781e-01 1.81591312e-03 -8.78387900e+00] [ 5.19744930e-03 9.19070917e-05 9.99986489e-01 -4.38676484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.320888479 meters 0.01686875657653776 Centerline is valid? [True, True] Translation: X:76.15, Y:-8.80, Z:-0.04 [[ 9.30813269e-01 3.65462790e-01 -4.85879761e-03 7.61495543e+01] [-3.65458305e-01 9.30825946e-01 1.81274452e-03 -8.79535703e+00] [ 5.18518555e-03 8.83612902e-05 9.99986553e-01 -4.34109326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350888479 meters 0.017028811261564376 Centerline is valid? [True, True] Translation: X:76.18, Y:-8.81, Z:-0.04 [[ 9.30949301e-01 3.65110313e-01 -5.27808204e-03 7.61796485e+01] [-3.65105006e-01 9.30964258e-01 1.97071251e-03 -8.80638325e+00] [ 5.63323320e-03 9.24207434e-05 9.99984129e-01 -4.37153496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38088847899999 meters 0.01667339343005184 Centerline is valid? [True, True] Translation: X:76.21, Y:-8.82, Z:-0.04 [[ 9.31518766e-01 3.63663260e-01 -4.67130628e-03 7.62094523e+01] [-3.63659079e-01 9.31530476e-01 1.74544084e-03 -8.81795656e+00] [ 4.98621687e-03 7.28520441e-05 9.99987566e-01 -4.48249613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.410888479 meters 0.01672633185992296 Centerline is valid? [True, True] Translation: X:76.24, Y:-8.83, Z:-0.04 [[ 9.31826189e-01 3.62883660e-01 -3.92457904e-03 7.62387520e+01] [-3.62880698e-01 9.31834452e-01 1.46743008e-03 -8.82871510e+00] [ 4.18956436e-03 5.67642025e-05 9.99991222e-01 -4.49008140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.440888479 meters 0.016562283255637043 Centerline is valid? [True, True] Translation: X:76.27, Y:-8.84, Z:-0.04 [[ 9.32264206e-01 3.61751740e-01 -4.37364778e-03 7.62672458e+01] [-3.61748043e-01 9.32274464e-01 1.63636722e-03 -8.84029573e+00] [ 4.66939882e-03 5.66319363e-05 9.99989097e-01 -4.46490630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.470888479 meters 0.015885109109221692 Centerline is valid? [True, True] Translation: X:76.30, Y:-8.86, Z:-0.04 [[ 9.33273105e-01 3.59151558e-01 -3.38657188e-03 7.62962888e+01] [-3.59149324e-01 9.33279249e-01 1.26729323e-03 -8.85573243e+00] [ 3.61576760e-03 3.35543080e-05 9.99993463e-01 -4.28472736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.500888479 meters 0.015605298183248403 Centerline is valid? [True, True] Translation: X:76.33, Y:-8.87, Z:-0.04 [[ 9.33700638e-01 3.58040792e-01 -3.14801562e-03 7.63260661e+01] [-3.58038851e-01 9.33705944e-01 1.17908102e-03 -8.86808017e+00] [ 3.36148000e-03 2.62031964e-05 9.99994350e-01 -4.21323304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.530888479 meters 0.015579619799030182 Centerline is valid? [True, True] Translation: X:76.36, Y:-8.88, Z:-0.04 [[ 9.33926625e-01 3.57452220e-01 -2.99476147e-03 7.63569936e+01] [-3.57450458e-01 9.33931427e-01 1.12266920e-03 -8.88027874e+00] [ 3.19820245e-03 2.19882071e-05 9.99994886e-01 -4.15538042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.560888479 meters 0.015522300243949225 Centerline is valid? [True, True] Translation: X:76.39, Y:-8.89, Z:-0.04 [[ 9.34304716e-01 3.56464128e-01 -2.83241790e-03 7.63860024e+01] [-3.56462545e-01 9.34309009e-01 1.06247576e-03 -8.89035257e+00] [ 3.02508806e-03 1.69747783e-05 9.99995424e-01 -4.19553269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.590888479 meters 0.0155663128052803 Centerline is valid? [True, True] Translation: X:76.42, Y:-8.90, Z:-0.04 [[ 9.34141854e-01 3.56892482e-01 -2.59858462e-03 7.64166739e+01] [-3.56891149e-01 9.34145468e-01 9.75668848e-04 -8.90154453e+00] [ 2.77566492e-03 1.59987430e-05 9.99996148e-01 -4.23436821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.620888479 meters 0.01555393474076587 Centerline is valid? [True, True] Translation: X:76.45, Y:-8.91, Z:-0.04 [[ 9.33956273e-01 3.57375947e-01 -2.84822812e-03 7.64474787e+01] [-3.57374345e-01 9.33960616e-01 1.07025946e-03 -8.91251906e+00] [ 3.04261788e-03 1.83081206e-05 9.99995371e-01 -4.22025850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650888479 meters 0.015623065768159064 Centerline is valid? [True, True] Translation: X:76.48, Y:-8.92, Z:-0.04 [[ 9.33725243e-01 3.57979945e-01 -2.74413279e-03 7.64774699e+01] [-3.57978458e-01 9.33729275e-01 1.03193747e-03 -8.92343810e+00] [ 2.93169004e-03 1.87943564e-05 9.99995702e-01 -4.23294954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.680888479 meters 0.015915469049607844 Centerline is valid? [True, True] Translation: X:76.51, Y:-8.93, Z:-0.04 [[ 9.33292088e-01 3.59106092e-01 -2.94839408e-03 7.65081448e+01] [-3.59104379e-01 9.33296745e-01 1.10958328e-03 -8.93356648e+00] [ 3.15018471e-03 2.32159269e-05 9.99995038e-01 -4.20526249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710888479 meters 0.016200316553749608 Centerline is valid? [True, True] Translation: X:76.54, Y:-8.94, Z:-0.04 [[ 9.33049352e-01 3.59737955e-01 -2.74049703e-03 7.65386988e+01] [-3.59736475e-01 9.33053376e-01 1.03212083e-03 -8.94350604e+00] [ 2.92832304e-03 2.28370758e-05 9.99995712e-01 -4.28459136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.740888479 meters 0.01637534200658031 Centerline is valid? [True, True] Translation: X:76.57, Y:-8.95, Z:-0.04 [[ 9.32730651e-01 3.60562039e-01 -2.92374055e-03 7.65701126e+01] [-3.60560356e-01 9.32735233e-01 1.10196629e-03 -8.95433308e+00] [ 3.12440304e-03 2.63471967e-05 9.99995119e-01 -4.33763082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77088847899999 meters 0.016530298003843185 Centerline is valid? [True, True] Translation: X:76.60, Y:-8.96, Z:-0.04 [[ 9.32253071e-01 3.61788196e-01 -3.67614337e-03 7.66002922e+01] [-3.61785541e-01 9.32260318e-01 1.38640852e-03 -8.96438445e+00] [ 3.92870883e-03 3.74919192e-05 9.99992282e-01 -4.38039258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.800888479 meters 0.016338410316251068 Centerline is valid? [True, True] Translation: X:76.63, Y:-8.98, Z:-0.04 [[ 9.32055598e-01 3.62302827e-01 -3.00397003e-03 7.66309700e+01] [-3.62301054e-01 9.32060438e-01 1.13396202e-03 -8.97626250e+00] [ 3.21071927e-03 3.14258593e-05 9.99994845e-01 -4.32647200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.830888479 meters 0.01661318381299596 Centerline is valid? [True, True] Translation: X:76.66, Y:-8.99, Z:-0.04 [[ 9.31833291e-01 3.62874845e-01 -2.92644340e-03 7.66614547e+01] [-3.62873162e-01 9.31837886e-01 1.10554397e-03 -8.98701139e+00] [ 3.12814493e-03 3.17450910e-05 9.99995107e-01 -4.30955818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.860888479 meters 0.01668349084021703 Centerline is valid? [True, True] Translation: X:76.69, Y:-9.00, Z:-0.04 [[ 9.31544048e-01 3.63621704e-01 -2.22326706e-03 7.66927106e+01] [-3.63620733e-01 9.31546701e-01 8.40692475e-04 -8.99815139e+00] [ 2.37677113e-03 2.52839287e-05 9.99997175e-01 -4.17830906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.890888479 meters 0.01685116663667586 Centerline is valid? [True, True] Translation: X:76.72, Y:-9.01, Z:-0.04 [[ 9.31564655e-01 3.63573080e-01 -1.38178747e-03 7.67227424e+01] [-3.63572704e-01 9.31565679e-01 5.23005290e-04 -9.00790756e+00] [ 1.47737643e-03 1.51669652e-05 9.99998909e-01 -4.20868070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.920888479 meters 0.01681063625357925 Centerline is valid? [True, True] Translation: X:76.75, Y:-9.02, Z:-0.04 [[ 9.31572691e-01 3.63554212e-01 -8.10551131e-04 7.67539319e+01] [-3.63554082e-01 9.31573043e-01 3.07186423e-04 -9.01860351e+00] [ 8.66766502e-04 8.51268931e-06 9.99999624e-01 -4.22653816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.950888479 meters 0.016668621772345127 Centerline is valid? [True, True] Translation: X:76.78, Y:-9.03, Z:-0.04 [[ 9.31708993e-01 3.63205567e-01 -2.62954836e-04 7.67849418e+01] [-3.63205554e-01 9.31709030e-01 9.99620859e-05 -9.03020572e+00] [ 2.81304181e-04 2.37108224e-06 9.99999960e-01 -4.21717507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.980888479 meters 0.01656965611626562 Centerline is valid? [True, True] Translation: X:76.81, Y:-9.04, Z:-0.04 [[ 9.32195829e-01 3.61954223e-01 -2.78491315e-04 7.68147844e+01] [-3.61954208e-01 9.32195870e-01 1.05888526e-04 -9.04240053e+00] [ 2.97935253e-04 2.09226119e-06 9.99999956e-01 -4.15027826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010888479 meters 0.01656965611626562 Centerline is valid? [True, True] Translation: X:76.85, Y:-9.05, Z:-0.04 [[ 9.32096481e-01 3.62209985e-01 -2.78448270e-04 7.68450543e+01] [-3.62209970e-01 9.32096522e-01 1.06001897e-04 -9.05396022e+00] [ 2.97935610e-04 2.05274422e-06 9.99999956e-01 -4.15401749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.040888479 meters 0.01651104556636463 Centerline is valid? [True, True] Translation: X:76.87, Y:-9.07, Z:-0.04 [[ 9.32226617e-01 3.61874978e-01 -1.86252394e-04 7.68749949e+01] [-3.61874971e-01 9.32226636e-01 7.09243459e-05 -9.06509218e+00] [ 1.99295188e-04 1.28251643e-06 9.99999980e-01 -4.11376111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070888479 meters 0.0164912432650571 Centerline is valid? [True, True] Translation: X:76.91, Y:-9.08, Z:-0.04 [[ 9.32463681e-01 3.61263730e-01 -1.76131343e-05 7.69053686e+01] [-3.61263730e-01 9.32463681e-01 7.03560422e-06 -9.07674253e+00] [ 1.89653167e-05 -1.97458808e-07 1.00000000e+00 -4.09379089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.100888479 meters 0.016543673762965113 Centerline is valid? [True, True] Translation: X:76.94, Y:-9.09, Z:-0.04 [[ 9.32735793e-01 3.60560584e-01 -7.54496084e-05 7.69359823e+01] [-3.60560583e-01 9.32735796e-01 2.90336394e-05 -9.08741912e+00] [ 8.08429366e-05 1.23440082e-07 9.99999997e-01 -4.13534154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13088847899999 meters 0.016500735960891657 Centerline is valid? [True, True] Translation: X:76.97, Y:-9.10, Z:-0.04 [[ 9.33389298e-01 3.58865281e-01 -3.58495304e-04 7.69656235e+01] [-3.58865255e-01 9.33389367e-01 1.36697811e-04 -9.09703841e+00] [ 3.83671803e-04 1.05923459e-06 9.99999926e-01 -4.21029238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.160888479 meters 0.016319887225560988 Centerline is valid? [True, True] Translation: X:77.00, Y:-9.11, Z:-0.04 [[ 9.33724488e-01 3.57992411e-01 -1.19227747e-04 7.69966879e+01] [-3.57992408e-01 9.33724495e-01 4.57467639e-05 -9.10830467e+00] [ 1.27702863e-04 -3.22452549e-08 9.99999992e-01 -4.21927299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.190888479 meters 0.016471438878266114 Centerline is valid? [True, True] Translation: X:77.03, Y:-9.12, Z:-0.04 [[ 9.33992789e-01 3.57291819e-01 1.62540171e-04 7.70275813e+01] [-3.57291814e-01 9.33992803e-01 -6.16198715e-05 -9.11945536e+00] [-1.73827626e-04 -5.21757022e-07 9.99999985e-01 -4.20660236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.220888479 meters 0.01639805898651956 Centerline is valid? [True, True] Translation: X:77.06, Y:-9.13, Z:-0.04 [[ 9.34715272e-01 3.55397409e-01 2.04880471e-04 7.70573417e+01] [-3.55397400e-01 9.34715294e-01 -7.78426545e-05 -9.12983919e+00] [-2.19169988e-04 -5.32689060e-08 9.99999976e-01 -4.19497818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.250888479 meters 0.016461136399861482 Centerline is valid? [True, True] Translation: X:77.09, Y:-9.14, Z:-0.04 [[ 9.34887680e-01 3.54943617e-01 2.35272447e-04 7.70883311e+01] [-3.54943605e-01 9.34887709e-01 -8.94894452e-05 -9.14123039e+00] [-2.51717027e-04 1.54128988e-07 9.99999968e-01 -4.17307277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.280888479 meters 0.01642438650448089 Centerline is valid? [True, True] Translation: X:77.12, Y:-9.15, Z:-0.04 [[ 9.34969396e-01 3.54728384e-01 3.98164236e-05 7.71195882e+01] [-3.54728384e-01 9.34969397e-01 -1.48685025e-05 -9.15186629e+00] [-4.25014174e-05 -2.22420792e-07 9.99999999e-01 -4.15502151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.310888479 meters 0.016411336598335373 Centerline is valid? [True, True] Translation: X:77.15, Y:-9.16, Z:-0.04 [[ 9.34779877e-01 3.55227487e-01 -1.17796345e-04 7.71498931e+01] [-3.55227484e-01 9.34779885e-01 4.52493377e-05 -9.16202569e+00] [ 1.26187462e-04 -4.53671033e-07 9.99999992e-01 -4.16419634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.340888479 meters 0.01650683252626479 Centerline is valid? [True, True] Translation: X:77.18, Y:-9.17, Z:-0.04 [[ 9.34090694e-01 3.57035805e-01 9.87743135e-05 7.71816873e+01] [-3.57035803e-01 9.34090699e-01 -3.74748709e-05 -9.16943641e+00] [-1.05644038e-04 -2.61038200e-07 9.99999994e-01 -4.17427427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370888479 meters 0.016460574576907173 Centerline is valid? [True, True] Translation: X:77.21, Y:-9.18, Z:-0.04 [[ 9.33502709e-01 3.58570222e-01 2.96518266e-04 7.72132762e+01] [-3.58570204e-01 9.33502756e-01 -1.13202627e-04 -9.17900186e+00] [-3.17391709e-04 -6.47656288e-07 9.99999950e-01 -4.11361533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.400888479 meters 0.01668560413850655 Centerline is valid? [True, True] Translation: X:77.24, Y:-9.19, Z:-0.04 [[ 9.32215199e-01 3.61902854e-01 1.07109888e-03 7.72445989e+01] [-3.61902622e-01 9.32215814e-01 -4.10144947e-04 -9.18516301e+00] [-1.14692794e-03 -5.29013966e-06 9.99999342e-01 -4.00743251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430888479 meters 0.016840014981542036 Centerline is valid? [True, True] Translation: X:77.28, Y:-9.19, Z:-0.04 [[ 9.31210486e-01 3.64478226e-01 1.62870846e-03 7.72757603e+01] [-3.64477692e-01 9.31211911e-01 -6.24067059e-04 -9.19405562e+00] [-1.74413157e-03 -1.24901108e-05 9.99998479e-01 -3.98566343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.460888479 meters 0.01697543920170109 Centerline is valid? [True, True] Translation: X:77.31, Y:-9.20, Z:-0.04 [[ 9.30159367e-01 3.67154441e-01 1.08044553e-03 7.73065395e+01] [-3.67154208e-01 9.30159995e-01 -4.14189849e-04 -9.20341938e+00] [-1.15705885e-03 -1.14275529e-05 9.99999331e-01 -3.99692096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490888479 meters 0.017891208054676987 Centerline is valid? [True, True] Translation: X:77.34, Y:-9.21, Z:-0.04 [[ 9.28164716e-01 3.72169391e-01 4.51635374e-04 7.73381743e+01] [-3.72169351e-01 9.28164826e-01 -1.73172711e-04 -9.20786943e+00] [-4.83641651e-04 -7.35204380e-06 9.99999883e-01 -4.06495704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52088847899999 meters 0.018761936136145997 Centerline is valid? [True, True] Translation: X:77.37, Y:-9.21, Z:-0.04 [[ 9.27361100e-01 3.74167173e-01 5.62320187e-04 7.73686892e+01] [-3.74167111e-01 9.27361271e-01 -2.15677655e-04 -9.21418638e+00] [-6.02173462e-04 -1.03906527e-05 9.99999819e-01 -4.09854141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.550888479 meters 0.01845204470378984 Centerline is valid? [True, True] Translation: X:77.40, Y:-9.22, Z:-0.04 [[ 9.26516707e-01 3.76252482e-01 9.28005973e-04 7.73984390e+01] [-3.76252313e-01 9.26517172e-01 -3.56349044e-04 -9.22471414e+00] [-9.93890682e-04 -1.90010510e-05 9.99999506e-01 -4.05570698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.580888479 meters 0.018704877222058013 Centerline is valid? [True, True] Translation: X:77.43, Y:-9.23, Z:-0.04 [[ 9.25880996e-01 3.77811144e-01 1.76624487e-03 7.74291027e+01] [-3.77810536e-01 9.25882680e-01 -6.78958513e-04 -9.23412220e+00] [-1.89185363e-03 -3.86711385e-05 9.99998210e-01 -3.97235923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.610888479 meters 0.020244661927059194 Centerline is valid? [True, True] Translation: X:77.46, Y:-9.24, Z:-0.04 [[ 9.24855160e-01 3.80314761e-01 1.90139033e-03 7.74598680e+01] [-3.80314061e-01 9.24857113e-01 -7.31452743e-04 -9.24017022e+00] [-2.03669665e-03 -4.66376336e-05 9.99997925e-01 -3.81745307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.640888479 meters 0.020264791807709383 Centerline is valid? [True, True] Translation: X:77.49, Y:-9.25, Z:-0.04 [[ 9.24431694e-01 3.81342520e-01 1.98143578e-03 7.74903968e+01] [-3.81341761e-01 9.24433816e-01 -7.62786185e-04 -9.24996554e+00] [-2.12258905e-03 -5.04604850e-05 9.99997746e-01 -3.80072991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.670888479 meters 0.020886350657829813 Centerline is valid? [True, True] Translation: X:77.52, Y:-9.26, Z:-0.04 [[ 9.24013140e-01 3.82354052e-01 2.25744463e-03 7.75213724e+01] [-3.82353067e-01 9.24015896e-01 -8.69672826e-04 -9.25678729e+00] [-2.41843765e-03 -5.95517614e-05 9.99997074e-01 -3.80402260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.700888479 meters 0.02067484700063514 Centerline is valid? [True, True] Translation: X:77.55, Y:-9.27, Z:-0.04 [[ 9.23998411e-01 3.82388156e-01 2.49699296e-03 7.75523710e+01] [-3.82386950e-01 9.24001782e-01 -9.62699198e-04 -9.26800254e+00] [-2.67535071e-03 -6.52849910e-05 9.99996419e-01 -3.87116883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730888479 meters 0.020763080927797155 Centerline is valid? [True, True] Translation: X:77.58, Y:-9.28, Z:-0.04 [[ 9.24075931e-01 3.82200126e-01 2.59559656e-03 7.75832074e+01] [-3.82198820e-01 9.24079574e-01 -1.00147213e-03 -9.27849516e+00] [-2.78130054e-03 -6.65976543e-05 9.99996130e-01 -3.89255453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.760888479 meters 0.02051615389100822 Centerline is valid? [True, True] Translation: X:77.61, Y:-9.29, Z:-0.04 [[ 9.24208939e-01 3.81882101e-01 1.97407100e-03 7.76134489e+01] [-3.81881344e-01 9.24211046e-01 -7.62131239e-04 -9.29047228e+00] [-2.11550250e-03 -4.94923815e-05 9.99997761e-01 -3.98844032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790888479 meters 0.02043382261937544 Centerline is valid? [True, True] Translation: X:77.64, Y:-9.30, Z:-0.04 [[ 9.24416082e-01 3.81382753e-01 1.45015522e-03 7.76428338e+01] [-3.81382344e-01 9.24417219e-01 -5.60171859e-04 -9.30106080e+00] [-1.55418834e-03 -3.52317209e-05 9.99998792e-01 -4.07190200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.820888479 meters 0.019570396045254693 Centerline is valid? [True, True] Translation: X:77.67, Y:-9.31, Z:-0.04 [[ 9.24960060e-01 3.80062212e-01 1.26587685e-03 7.76726462e+01] [-3.80061898e-01 9.24960926e-01 -4.89276319e-04 -9.31268008e+00] [-1.35684206e-03 -2.85505044e-05 9.99999079e-01 -4.11589409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850888479 meters 0.019798425016963748 Centerline is valid? [True, True] Translation: X:77.70, Y:-9.32, Z:-0.04 [[ 9.25314705e-01 3.79198551e-01 1.07489992e-03 7.77021033e+01] [-3.79198324e-01 9.25315329e-01 -4.15714454e-04 -9.32221401e+00] [-1.15225969e-03 -2.29335517e-05 9.99999336e-01 -4.12857441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88088847899999 meters 0.01865111481536857 Centerline is valid? [True, True] Translation: X:77.73, Y:-9.34, Z:-0.04 [[ 9.25884932e-01 3.77805608e-01 1.25935573e-04 7.77314744e+01] [-3.77805604e-01 9.25884940e-01 -4.84561643e-05 -9.33529619e+00] [-1.34908861e-04 -2.71433296e-06 9.99999991e-01 -4.14986145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.910888479 meters 0.018412006728396622 Centerline is valid? [True, True] Translation: X:77.76, Y:-9.35, Z:-0.04 [[ 9.26253609e-01 3.76900521e-01 -4.99452964e-04 7.77617534e+01] [-3.76900471e-01 9.26253744e-01 1.93827582e-04 -9.34682492e+00] [ 5.35673894e-04 8.71055999e-06 9.99999856e-01 -4.16440604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.940888479 meters 0.01834853605603097 Centerline is valid? [True, True] Translation: X:77.79, Y:-9.36, Z:-0.04 [[ 9.26506373e-01 3.76277854e-01 -9.57744924e-04 7.77918798e+01] [-3.76277671e-01 9.26506868e-01 3.71672154e-04 -9.35837268e+00] [ 1.02720925e-03 1.60214098e-05 9.99999472e-01 -4.19342589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.970888479 meters 0.018103278490693465 Centerline is valid? [True, True] Translation: X:77.82, Y:-9.37, Z:-0.04 [[ 9.27346167e-01 3.74199619e-01 -1.93196853e-03 7.78217659e+01] [-3.74198868e-01 9.27348179e-01 7.49910948e-04 -9.36843224e+00] [ 2.07222388e-03 2.75133929e-05 9.99997853e-01 -4.28850131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.000888479 meters 0.01772322940771051 Centerline is valid? [True, True] Translation: X:77.85, Y:-9.38, Z:-0.04 [[ 9.27836623e-01 3.72978139e-01 -2.55137445e-03 7.78519713e+01] [-3.72976824e-01 9.27840130e-01 9.90986085e-04 -9.38050064e+00] [ 2.73688375e-03 3.21303569e-05 9.99996254e-01 -4.30969425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.030888479 meters 0.017527437708881252 Centerline is valid? [True, True] Translation: X:77.88, Y:-9.39, Z:-0.04 [[ 9.28192914e-01 3.72089878e-01 -2.65260380e-03 7.78816062e+01] [-3.72088451e-01 9.28196704e-01 1.03104367e-03 -9.39200468e+00] [ 2.84577902e-03 2.99958074e-05 9.99995950e-01 -4.32176245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.060888479 meters 0.01759501446241525 Centerline is valid? [True, True] Translation: X:77.91, Y:-9.40, Z:-0.04 [[ 9.28880732e-01 3.70368725e-01 -2.75558461e-03 7.79106519e+01] [-3.70367175e-01 9.28884819e-01 1.07175302e-03 -9.40284795e+00] [ 2.95656451e-03 2.50473603e-05 9.99995629e-01 -4.29859034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.090888479 meters 0.017411759136924256 Centerline is valid? [True, True] Translation: X:77.94, Y:-9.41, Z:-0.04 [[ 9.29103299e-01 3.69814401e-01 -2.08993622e-03 7.79410200e+01] [-3.69813507e-01 9.29105650e-01 8.13534654e-04 -9.41430370e+00] [ 2.24262838e-03 1.70289101e-05 9.99997485e-01 -4.22266387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.120888479 meters 0.01736139991790547 Centerline is valid? [True, True] Translation: X:77.97, Y:-9.43, Z:-0.04 [[ 9.29271262e-01 3.69393123e-01 -1.90836882e-03 7.79715654e+01] [-3.69392375e-01 9.29273222e-01 7.43538286e-04 -9.42566195e+00] [ 2.04805397e-03 1.39881294e-05 9.99997903e-01 -4.17761594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150888479 meters 0.017329627086455367 Centerline is valid? [True, True] Translation: X:78.00, Y:-9.44, Z:-0.04 [[ 9.29229774e-01 3.69500128e-01 -1.29745519e-03 7.80023561e+01] [-3.69499782e-01 9.29230679e-01 5.06035682e-04 -9.43626939e+00] [ 1.39261541e-03 9.18598579e-06 9.99999030e-01 -4.00787336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.180888479 meters 0.017242361908580004 Centerline is valid? [True, True] Translation: X:78.03, Y:-9.45, Z:-0.04 [[ 9.28937441e-01 3.70230431e-01 -2.15836566e-03 7.80327644e+01] [-3.70229473e-01 9.28939948e-01 8.42200626e-04 -9.44711514e+00] [ 2.31680039e-03 1.67388866e-05 9.99997316e-01 -3.97927381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210888479 meters 0.017491700635054903 Centerline is valid? [True, True] Translation: X:78.06, Y:-9.46, Z:-0.04 [[ 9.28442058e-01 3.71469590e-01 -2.38508764e-03 7.80635259e+01] [-3.71468423e-01 9.28445121e-01 9.31402493e-04 -9.45764690e+00] [ 2.56041068e-03 2.12314971e-05 9.99996722e-01 -3.99820280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.240888479 meters 0.017521387215906816 Centerline is valid? [True, True] Translation: X:78.09, Y:-9.47, Z:-0.04 [[ 9.27984690e-01 3.72605121e-01 -3.13674100e-03 7.80940526e+01] [-3.72603107e-01 9.27989991e-01 1.22564446e-03 -9.46760405e+00] [ 3.36754566e-03 3.13801460e-05 9.99994329e-01 -4.05792476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27088847899999 meters 0.017843430347225454 Centerline is valid? [True, True] Translation: X:78.13, Y:-9.47, Z:-0.04 [[ 9.26670796e-01 3.75848668e-01 -4.36065008e-03 7.81252376e+01] [-3.75844806e-01 9.26681054e-01 1.70486230e-03 -9.47456975e+00] [ 4.68170203e-03 5.90815770e-05 9.99989039e-01 -4.25426094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.300888479 meters 0.01800350534849839 Centerline is valid? [True, True] Translation: X:78.16, Y:-9.48, Z:-0.04 [[ 9.25830234e-01 3.77902508e-01 -5.29830742e-03 7.81556804e+01] [-3.77896832e-01 9.25845391e-01 2.07290919e-03 -9.48440081e+00] [ 5.68877108e-03 8.30515855e-05 9.99983815e-01 -4.32328001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.330888479 meters 0.018071854968247935 Centerline is valid? [True, True] Translation: X:78.19, Y:-9.49, Z:-0.04 [[ 9.24954267e-01 3.80026469e-01 -6.28379111e-03 7.81859702e+01] [-3.80018523e-01 9.24975605e-01 2.46019089e-03 -9.49434771e+00] [ 6.74729114e-03 1.12392954e-04 9.99977230e-01 -4.40056872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.360888479 meters 0.019280843631427156 Centerline is valid? [True, True] Translation: X:78.22, Y:-9.50, Z:-0.05 [[ 9.24244387e-01 3.81726041e-01 -7.58563735e-03 7.82159831e+01] [-3.81714502e-01 9.24275504e-01 2.97177166e-03 -9.50189297e+00] [ 8.14562142e-03 1.48904502e-04 9.99966813e-01 -4.61021309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.390888479 meters 0.01956491269491298 Centerline is valid? [True, True] Translation: X:78.25, Y:-9.51, Z:-0.05 [[ 9.23097152e-01 3.84460403e-01 -9.04694467e-03 7.82469801e+01] [-3.84444117e-01 9.23141461e-01 3.54471406e-03 -9.51170145e+00] [ 9.71441191e-03 2.05929196e-04 9.99952793e-01 -4.63131936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.420888479 meters 0.019897464575179446 Centerline is valid? [True, True] Translation: X:78.28, Y:-9.52, Z:-0.05 [[ 9.22705824e-01 3.85403412e-01 -8.84144674e-03 7.82765492e+01] [-3.85387876e-01 9.22748160e-01 3.46682836e-03 -9.52299917e+00] [ 9.49455619e-03 2.08523657e-04 9.99954904e-01 -4.57722175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.450888479 meters 0.0192966308095555 Centerline is valid? [True, True] Translation: X:78.31, Y:-9.54, Z:-0.04 [[ 9.22570271e-01 3.85746414e-01 -7.98740336e-03 7.83066806e+01] [-3.85733724e-01 9.22604828e-01 3.13458369e-03 -9.53597052e+00] [ 8.57837132e-03 1.89137120e-04 9.99963187e-01 -4.39545900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.480888479 meters 0.01902408827363004 Centerline is valid? [True, True] Translation: X:78.34, Y:-9.55, Z:-0.04 [[ 9.22710654e-01 3.85422301e-01 -7.39587786e-03 7.83366542e+01] [-3.85411395e-01 9.22740278e-01 2.90449557e-03 -9.54739177e+00] [ 7.94393176e-03 1.70446591e-04 9.99968432e-01 -4.27852943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510888479 meters 0.018945873967350535 Centerline is valid? [True, True] Translation: X:78.37, Y:-9.56, Z:-0.04 [[ 9.22795351e-01 3.85212299e-01 -7.76041969e-03 7.83668811e+01] [-3.85200263e-01 9.22827965e-01 3.05017628e-03 -9.55988550e+00] [ 8.33649773e-03 1.74627217e-04 9.99965236e-01 -4.27424511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.540888479 meters 0.019488075529278334 Centerline is valid? [True, True] Translation: X:78.40, Y:-9.57, Z:-0.04 [[ 9.23067549e-01 3.84554130e-01 -8.02624814e-03 7.83958471e+01] [-3.84541213e-01 9.23102427e-01 3.15665016e-03 -9.57003919e+00] [ 8.62295199e-03 1.72621869e-04 9.99962807e-01 -4.37159263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570888479 meters 0.018804867452835217 Centerline is valid? [True, True] Translation: X:78.42, Y:-9.58, Z:-0.04 [[ 9.23515090e-01 3.83479072e-01 -7.97997600e-03 7.84249192e+01] [-3.83466244e-01 9.23549553e-01 3.14063943e-03 -9.58475731e+00] [ 8.57427276e-03 1.59623518e-04 9.99963228e-01 -4.30179264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.600888479 meters 0.018281593680718335 Centerline is valid? [True, True] Translation: X:78.46, Y:-9.60, Z:-0.04 [[ 9.23586202e-01 3.83295694e-01 -8.54038785e-03 7.84550714e+01] [-3.83280969e-01 9.23625673e-01 3.36395203e-03 -9.59871424e+00] [ 9.17750980e-03 1.66468448e-04 9.99957872e-01 -4.22078480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63088847899999 meters 0.017989087801415653 Centerline is valid? [True, True] Translation: X:78.49, Y:-9.61, Z:-0.04 [[ 9.23482316e-01 3.83552370e-01 -8.24570258e-03 7.84851087e+01] [-3.83538629e-01 9.23519114e-01 3.25062593e-03 -9.61212409e+00] [ 8.86184922e-03 1.60649897e-04 9.99960720e-01 -4.16562120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.660888479 meters 0.019203484209771218 Centerline is valid? [True, True] Translation: X:78.52, Y:-9.62, Z:-0.04 [[ 9.23432594e-01 3.83643674e-01 -9.47504563e-03 7.85165092e+01] [-3.83625506e-01 9.23481185e-01 3.73808941e-03 -9.62059615e+00] [ 1.01841207e-02 1.82995565e-04 9.99948124e-01 -4.49524713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.690888479 meters 0.018263667874147675 Centerline is valid? [True, True] Translation: X:78.55, Y:-9.63, Z:-0.04 [[ 9.23237510e-01 3.84109053e-01 -9.62995230e-03 7.85460376e+01] [-3.84090279e-01 9.23287712e-01 3.80232695e-03 -9.63475032e+00] [ 1.03517248e-02 1.88320204e-04 9.99946402e-01 -4.41951293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.720888479 meters 0.01867291762793977 Centerline is valid? [True, True] Translation: X:78.58, Y:-9.65, Z:-0.05 [[ 9.22932843e-01 3.84826573e-01 -1.01722859e-02 7.85755654e+01] [-3.84805640e-01 9.22988877e-01 4.01902878e-03 -9.64571979e+00] [ 1.09355358e-02 2.05059308e-04 9.99940184e-01 -4.51897237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.750888479 meters 0.019012480351212308 Centerline is valid? [True, True] Translation: X:78.60, Y:-9.66, Z:-0.05 [[ 9.22699526e-01 3.85350488e-01 -1.14274301e-02 7.86036276e+01] [-3.85324081e-01 9.22770256e-01 4.51731692e-03 -9.65805323e+00] [ 1.22856429e-02 2.35137821e-04 9.99924501e-01 -4.56067265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.780888479 meters 0.018565806073784184 Centerline is valid? [True, True] Translation: X:78.63, Y:-9.67, Z:-0.04 [[ 9.22453888e-01 3.85922366e-01 -1.19478451e-02 7.86320843e+01] [-3.85893504e-01 9.22531227e-01 4.72641967e-03 -9.67214100e+00] [ 1.28462912e-02 2.50691599e-04 9.99917452e-01 -4.45903976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.810888479 meters 0.01850075097810624 Centerline is valid? [True, True] Translation: X:78.66, Y:-9.68, Z:-0.04 [[ 9.22211926e-01 3.86508781e-01 -1.16673108e-02 7.86622915e+01] [-3.86481258e-01 9.22285693e-01 4.61922521e-03 -9.68493569e+00] [ 1.25459649e-02 2.49292366e-04 9.99921265e-01 -4.46741551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.840888479 meters 0.01848432969765026 Centerline is valid? [True, True] Translation: X:78.69, Y:-9.70, Z:-0.04 [[ 9.21960344e-01 3.87105055e-01 -1.17814005e-02 7.86929183e+01] [-3.87076992e-01 9.22035580e-01 4.66816322e-03 -9.69757532e+00] [ 1.26699400e-02 2.56447700e-04 9.99919700e-01 -4.46348600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870888479 meters 0.01874697873830329 Centerline is valid? [True, True] Translation: X:78.72, Y:-9.71, Z:-0.04 [[ 9.21587600e-01 3.88013989e-01 -1.10199418e-02 7.87227061e+01] [-3.87989459e-01 9.21653450e-01 4.36999759e-03 -9.71128613e+00] [ 1.18521876e-02 2.48285676e-04 9.99929730e-01 -4.44758070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.900888479 meters 0.01874697873830329 Centerline is valid? [True, True] Translation: X:78.75, Y:-9.72, Z:-0.04 [[ 9.21480369e-01 3.88268614e-01 -1.10187342e-02 7.87528240e+01] [-3.88244066e-01 9.21546212e-01 4.37304182e-03 -9.72331124e+00] [ 1.18521876e-02 2.48285984e-04 9.99929730e-01 -4.45132269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930888479 meters 0.018947714824466992 Centerline is valid? [True, True] Translation: X:78.78, Y:-9.74, Z:-0.04 [[ 9.21382306e-01 3.88510512e-01 -1.06877543e-02 7.87819493e+01] [-3.88487396e-01 9.21444260e-01 4.24485285e-03 -9.73518247e+00] [ 1.14973398e-02 2.40925518e-04 9.99933874e-01 -4.48387812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.960888479 meters 0.018682797296130895 Centerline is valid? [True, True] Translation: X:78.81, Y:-9.75, Z:-0.04 [[ 9.21286861e-01 3.88733670e-01 -1.08006525e-02 7.88120354e+01] [-3.88710039e-01 9.21350137e-01 4.29319836e-03 -9.74968645e+00] [ 1.16200934e-02 2.43054801e-04 9.99932455e-01 -4.43624852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990888479 meters 0.018521126879818293 Centerline is valid? [True, True] Translation: X:78.84, Y:-9.76, Z:-0.04 [[ 9.21321255e-01 3.88669553e-01 -1.01549956e-02 7.88411732e+01] [-3.88648627e-01 9.21377191e-01 4.03936359e-03 -9.76444188e+00] [ 1.09265589e-02 2.25173543e-04 9.99940278e-01 -4.35046266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02088847899999 meters 0.01858375556759905 Centerline is valid? [True, True] Translation: X:78.87, Y:-9.78, Z:-0.04 [[ 9.21204553e-01 3.88962284e-01 -9.51381121e-03 7.88708990e+01] [-3.88943901e-01 9.21253655e-01 3.78742410e-03 -9.77763403e+00] [ 1.02377985e-02 2.11346520e-04 9.99947570e-01 -4.31220857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.050888479 meters 0.0190809795102943 Centerline is valid? [True, True] Translation: X:78.90, Y:-9.79, Z:-0.04 [[ 9.21044720e-01 3.89357944e-01 -8.77579565e-03 7.89002231e+01] [-3.89342296e-01 9.21086507e-01 3.49624095e-03 -9.78973226e+00] [ 9.44455615e-03 1.96594169e-04 9.99955380e-01 -4.32484410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.080888479 meters 0.01830665023310813 Centerline is valid? [True, True] Translation: X:78.93, Y:-9.81, Z:-0.04 [[ 9.20863225e-01 3.89788241e-01 -8.72054843e-03 7.89296354e+01] [-3.89772782e-01 9.20904495e-01 3.47710885e-03 -9.80580943e+00] [ 9.38612839e-03 1.97090754e-04 9.99955930e-01 -4.19709635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.110888479 meters 0.01921863066663214 Centerline is valid? [True, True] Translation: X:78.96, Y:-9.82, Z:-0.04 [[ 9.20672217e-01 3.90235616e-01 -8.87878194e-03 7.89597066e+01] [-3.90219586e-01 9.20715006e-01 3.54285516e-03 -9.81614343e+00] [ 9.55737603e-03 2.02866291e-04 9.99954307e-01 -4.33926237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.140888479 meters 0.01835608168707282 Centerline is valid? [True, True] Translation: X:78.99, Y:-9.83, Z:-0.04 [[ 9.20513721e-01 3.90609958e-01 -8.85153963e-03 7.89893975e+01] [-3.90594016e-01 9.20556255e-01 3.53486839e-03 -9.83073013e+00] [ 9.52909497e-03 2.03463556e-04 9.99954576e-01 -4.28729765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.170888479 meters 0.018513346763430822 Centerline is valid? [True, True] Translation: X:79.02, Y:-9.84, Z:-0.04 [[ 9.20325114e-01 3.91058113e-01 -8.67396796e-03 7.90196746e+01] [-3.91042798e-01 9.20365966e-01 3.46675025e-03 -9.84351706e+00] [ 9.33892571e-03 2.01355378e-04 9.99956371e-01 -4.27951079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.200888479 meters 0.018700514232141564 Centerline is valid? [True, True] Translation: X:79.05, Y:-9.86, Z:-0.04 [[ 9.20126035e-01 3.91529195e-01 -8.54217131e-03 7.90483798e+01] [-3.91514339e-01 9.20165664e-01 3.41661145e-03 -9.85653407e+00] [ 9.19791587e-03 2.00669413e-04 9.99957678e-01 -4.23439546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.230888479 meters 0.01852317270766756 Centerline is valid? [True, True] Translation: X:79.08, Y:-9.87, Z:-0.04 [[ 9.20151751e-01 3.91474204e-01 -8.28870990e-03 7.90779998e+01] [-3.91460193e-01 9.20189063e-01 3.31755158e-03 -9.87018528e+00] [ 8.92591605e-03 1.92049082e-04 9.99960145e-01 -4.21342295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.260888479 meters 0.01836105362487136 Centerline is valid? [True, True] Translation: X:79.11, Y:-9.88, Z:-0.04 [[ 9.20414997e-01 3.90858485e-01 -8.11650982e-03 7.91060873e+01] [-3.90845009e-01 9.20450766e-01 3.25070760e-03 -9.88270513e+00] [ 8.74141433e-03 1.80297321e-04 9.99961777e-01 -4.22288207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290888479 meters 0.018333204815380942 Centerline is valid? [True, True] Translation: X:79.14, Y:-9.90, Z:-0.04 [[ 9.20631408e-01 3.90352867e-01 -7.90247145e-03 7.91352018e+01] [-3.90340054e-01 9.20665309e-01 3.16719677e-03 -9.89635848e+00] [ 8.51185566e-03 1.68830312e-04 9.99963759e-01 -4.21674632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.320888479 meters 0.0173732219313643 Centerline is valid? [True, True] Translation: X:79.16, Y:-9.91, Z:-0.04 [[ 9.21506205e-01 3.88278286e-01 -8.14166166e-03 7.91635183e+01] [-3.88264585e-01 9.21542158e-01 3.26536897e-03 -9.91212985e+00] [ 8.77075633e-03 1.52061114e-04 9.99961525e-01 -4.21431932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350888479 meters 0.017370992106510226 Centerline is valid? [True, True] Translation: X:79.19, Y:-9.92, Z:-0.04 [[ 9.21921106e-01 3.87301706e-01 -7.67218410e-03 7.91920113e+01] [-3.87289489e-01 9.21953020e-01 3.07907916e-03 -9.92450068e+00] [ 8.26592591e-03 1.32688195e-04 9.99965828e-01 -4.27700776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38088847899999 meters 0.016644833362523558 Centerline is valid? [True, True] Translation: X:79.22, Y:-9.94, Z:-0.04 [[ 9.23054890e-01 3.84604993e-01 -6.97635010e-03 7.92199033e+01] [-3.84594799e-01 9.23081248e-01 2.80183389e-03 -9.94112337e+00] [ 7.51733725e-03 9.68214943e-05 9.99971740e-01 -4.18435188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.410888479 meters 0.016565097228509282 Centerline is valid? [True, True] Translation: X:79.25, Y:-9.95, Z:-0.04 [[ 9.23643235e-01 3.83192330e-01 -6.84202081e-03 7.92478688e+01] [-3.83182479e-01 9.23668572e-01 2.74885439e-03 -9.95449878e+00] [ 7.37309951e-03 8.27817355e-05 9.99972815e-01 -4.13441927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.440888479 meters 0.016485161495026747 Centerline is valid? [True, True] Translation: X:79.28, Y:-9.97, Z:-0.04 [[ 9.24163410e-01 3.81940105e-01 -6.61419205e-03 7.92772922e+01] [-3.81930861e-01 9.24187076e-01 2.65829667e-03 -9.96870227e+00] [ 7.12806092e-03 6.94635464e-05 9.99974593e-01 -4.10811492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.470888479 meters 0.016146226063649235 Centerline is valid? [True, True] Translation: X:79.31, Y:-9.98, Z:-0.04 [[ 9.24845093e-01 3.80304258e-01 -5.49785031e-03 7.93058197e+01] [-3.80297831e-01 9.24861433e-01 2.21130441e-03 -9.98277336e+00] [ 5.92571819e-03 4.57065192e-05 9.99982442e-01 -4.09224373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.500888479 meters 0.016040343041477792 Centerline is valid? [True, True] Translation: X:79.34, Y:-10.00, Z:-0.04 [[ 9.24945944e-01 3.80054678e-01 -5.78290104e-03 7.93355371e+01] [-3.80047552e-01 9.24964021e-01 2.32783394e-03 -9.99599392e+00] [ 6.23367958e-03 4.46568201e-05 9.99980569e-01 -4.06300344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.530888479 meters 0.01627443969296902 Centerline is valid? [True, True] Translation: X:79.37, Y:-10.01, Z:-0.04 [[ 9.24958188e-01 3.80032828e-01 -5.23462455e-03 7.93653974e+01] [-3.80026979e-01 9.24972999e-01 2.10869705e-03 -1.00075337e+01] [ 5.64326047e-03 3.88419524e-05 9.99984076e-01 -4.20966922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.560888479 meters 0.016073877791709594 Centerline is valid? [True, True] Translation: X:79.40, Y:-10.02, Z:-0.04 [[ 9.24948217e-01 3.80062548e-01 -4.82247750e-03 7.93957934e+01] [-3.80057577e-01 9.24960788e-01 1.94421737e-03 -1.00212992e+01] [ 5.19952680e-03 3.45187291e-05 9.99986482e-01 -4.13100962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.590888479 meters 0.01602507786708699 Centerline is valid? [True, True] Translation: X:79.43, Y:-10.03, Z:-0.04 [[ 9.24671938e-01 3.80741377e-01 -4.22034504e-03 7.94257613e+01] [-3.80737570e-01 9.24681568e-01 1.70287508e-03 -1.00341089e+01] [ 4.55083027e-03 3.22431135e-05 9.99989644e-01 -4.15200685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.620888479 meters 0.0160944034399997 Centerline is valid? [True, True] Translation: X:79.45, Y:-10.05, Z:-0.04 [[ 9.24562192e-01 3.81007351e-01 -4.26033793e-03 7.94547765e+01] [-3.81003469e-01 9.24572008e-01 1.72026411e-03 -1.00463934e+01] [ 4.59442247e-03 3.27123709e-05 9.99989445e-01 -4.21108892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650888479 meters 0.01612129499739618 Centerline is valid? [True, True] Translation: X:79.48, Y:-10.06, Z:-0.04 [[ 9.24484880e-01 3.81199988e-01 -3.77832427e-03 7.94848028e+01] [-3.81196931e-01 9.24492600e-01 1.52688195e-03 -1.00596465e+01] [ 4.07508021e-03 2.87063380e-05 9.99991696e-01 -4.19516347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.680888479 meters 0.016578851112670503 Centerline is valid? [True, True] Translation: X:79.51, Y:-10.07, Z:-0.04 [[ 9.24089685e-01 3.82162120e-01 -3.21996495e-03 7.95145451e+01] [-3.82159902e-01 9.24095295e-01 1.30221524e-03 -1.00708987e+01] [ 3.47321180e-03 2.71778160e-05 9.99993968e-01 -4.22369144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710888479 meters 0.016280791785160183 Centerline is valid? [True, True] Translation: X:79.54, Y:-10.08, Z:-0.04 [[ 9.23738218e-01 3.83015393e-01 -2.62914455e-03 7.95447403e+01] [-3.83013916e-01 9.23741960e-01 1.06421810e-03 -1.00847061e+01] [ 2.83626305e-03 2.39400132e-05 9.99995978e-01 -4.15054448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.740888479 meters 0.0165152384032499 Centerline is valid? [True, True] Translation: X:79.57, Y:-10.10, Z:-0.04 [[ 9.23331152e-01 3.83995362e-01 -2.67293425e-03 7.95744875e+01] [-3.83993837e-01 9.23335021e-01 1.08272035e-03 -1.00963592e+01] [ 2.88377340e-03 2.66808553e-05 9.99995842e-01 -4.20698054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77088847899999 meters 0.01684605665808261 Centerline is valid? [True, True] Translation: X:79.60, Y:-10.11, Z:-0.04 [[ 9.22473129e-01 3.86055430e-01 -2.12870864e-03 7.96036666e+01] [-3.86054467e-01 9.22475584e-01 8.62840981e-04 -1.01077585e+01] [ 2.29678619e-03 2.58498603e-05 9.99997362e-01 -4.23049474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.800888479 meters 0.01694300305409644 Centerline is valid? [True, True] Translation: X:79.63, Y:-10.12, Z:-0.04 [[ 9.22056914e-01 3.87048242e-01 -2.16908177e-03 7.96335528e+01] [-3.87047243e-01 9.22059465e-01 8.79906680e-04 -1.01203691e+01] [ 2.34058871e-03 2.82130821e-05 9.99997260e-01 -4.26860080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.830888479 meters 0.017614777456795468 Centerline is valid? [True, True] Translation: X:79.66, Y:-10.13, Z:-0.04 [[ 9.21611921e-01 3.88106940e-01 -2.11451289e-03 7.96641385e+01] [-3.88105992e-01 9.21614346e-01 8.58415358e-04 -1.01304273e+01] [ 2.28192238e-03 2.95292974e-05 9.99997396e-01 -4.34356819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.860888479 meters 0.017301847304471398 Centerline is valid? [True, True] Translation: X:79.69, Y:-10.14, Z:-0.04 [[ 9.21222014e-01 3.89035314e-01 -1.23499207e-03 7.96937398e+01] [-3.89034991e-01 9.21222842e-01 5.01906371e-04 -1.01440752e+01] [ 1.33296221e-03 1.80879300e-05 9.99999111e-01 -4.35744722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.890888479 meters 0.017422810540587648 Centerline is valid? [True, True] Translation: X:79.72, Y:-10.16, Z:-0.04 [[ 9.21041705e-01 3.89460817e-01 -1.56501727e-03 7.97237847e+01] [-3.89460298e-01 9.21043034e-01 6.36439184e-04 -1.01569781e+01] [ 1.68931638e-03 2.33250605e-05 9.99998573e-01 -4.38359811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.920888479 meters 0.017827993187537614 Centerline is valid? [True, True] Translation: X:79.75, Y:-10.17, Z:-0.04 [[ 9.20883954e-01 3.89833573e-01 -1.58988116e-03 7.97537919e+01] [-3.89833037e-01 9.20885326e-01 6.46994715e-04 -1.01686844e+01] [ 1.71631849e-03 2.39811486e-05 9.99998527e-01 -4.45312044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.950888479 meters 0.01754145644313906 Centerline is valid? [True, True] Translation: X:79.78, Y:-10.18, Z:-0.04 [[ 9.20794786e-01 3.90045111e-01 -1.33137189e-03 7.97837718e+01] [-3.90044735e-01 9.20795749e-01 5.42288494e-04 -1.01825071e+01] [ 1.43743855e-03 1.99581780e-05 9.99998967e-01 -4.49474621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.980888479 meters 0.017576222584499444 Centerline is valid? [True, True] Translation: X:79.81, Y:-10.20, Z:-0.04 [[ 9.20682764e-01 3.90310637e-01 -9.24351199e-04 7.98132161e+01] [-3.90310455e-01 9.20683228e-01 3.76895099e-04 -1.01963348e+01] [ 9.98140812e-04 1.37831162e-05 9.99999502e-01 -4.45099528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010888479 meters 0.017718437971710112 Centerline is valid? [True, True] Translation: X:79.84, Y:-10.21, Z:-0.04 [[ 9.20558568e-01 3.90603882e-01 -7.27425893e-04 7.98427217e+01] [-3.90603770e-01 9.20558856e-01 2.96862178e-04 -1.02090054e+01] [ 7.85593867e-04 1.08562746e-05 9.99999691e-01 -4.39468761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.040888479 meters 0.017864501928942046 Centerline is valid? [True, True] Translation: X:79.87, Y:-10.22, Z:-0.04 [[ 9.20379995e-01 3.91025144e-01 4.44938515e-05 7.98729583e+01] [-3.91025143e-01 9.20379996e-01 -1.78243399e-05 -1.02218884e+01] [-4.79210159e-05 -9.93048758e-07 9.99999999e-01 -4.38296055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070888479 meters 0.018204825972117075 Centerline is valid? [True, True] Translation: X:79.90, Y:-10.23, Z:-0.04 [[ 9.20382132e-01 3.91019558e-01 -6.61174348e-04 7.99026204e+01] [-3.91019465e-01 9.20382369e-01 2.70241369e-04 -1.02335645e+01] [ 7.14202873e-04 9.80671240e-06 9.99999745e-01 -4.38736079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.100888479 meters 0.01770305406720981 Centerline is valid? [True, True] Translation: X:79.93, Y:-10.25, Z:-0.04 [[ 9.20185793e-01 3.91481766e-01 -3.65662113e-04 7.99317348e+01] [-3.91481738e-01 9.20185865e-01 1.49745339e-04 -1.02488909e+01] [ 3.95099678e-04 5.35650577e-06 9.99999922e-01 -4.40912113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13088847899999 meters 0.01779253591534475 Centerline is valid? [True, True] Translation: X:79.96, Y:-10.26, Z:-0.04 [[ 9.20157661e-01 3.91547228e-01 -8.04411955e-04 7.99622111e+01] [-3.91547090e-01 9.20158013e-01 3.29269204e-04 -1.02620042e+01] [ 8.69110550e-04 1.19855790e-05 9.99999622e-01 -4.42071044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.160888479 meters 0.018547197456287 Centerline is valid? [True, True] Translation: X:79.99, Y:-10.27, Z:-0.05 [[ 9.20248074e-01 3.91333390e-01 -1.28813015e-03 7.99925076e+01] [-3.91333035e-01 9.20248976e-01 5.27423357e-04 -1.02729514e+01] [ 1.39179882e-03 1.87275525e-05 9.99999031e-01 -4.52744004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.190888479 meters 0.017517700068657688 Centerline is valid? [True, True] Translation: X:80.02, Y:-10.29, Z:-0.05 [[ 9.20433306e-01 3.90893324e-01 -2.22244864e-03 8.00209102e+01] [-3.90892265e-01 9.20435988e-01 9.10488157e-04 -1.02895450e+01] [ 2.40152545e-03 3.06943576e-05 9.99997116e-01 -4.56490505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.220888479 meters 0.01737457617607443 Centerline is valid? [True, True] Translation: X:80.05, Y:-10.30, Z:-0.05 [[ 9.20423312e-01 3.90917294e-01 -2.14371568e-03 8.00508775e+01] [-3.90916308e-01 9.20425808e-01 8.78544586e-04 -1.03017398e+01] [ 2.31656951e-03 2.93804993e-05 9.99997316e-01 -4.56206544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.250888479 meters 0.01743241437328434 Centerline is valid? [True, True] Translation: X:80.08, Y:-10.31, Z:-0.05 [[ 9.20258743e-01 3.91305425e-01 -1.97745806e-03 8.00808830e+01] [-3.91304585e-01 9.20260867e-01 8.11177609e-04 -1.03146154e+01] [ 2.13719547e-03 2.72951175e-05 9.99997716e-01 -4.51679450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.280888479 meters 0.017294761733661155 Centerline is valid? [True, True] Translation: X:80.11, Y:-10.33, Z:-0.04 [[ 9.19913859e-01 3.92113391e-01 -2.36259330e-03 8.01105933e+01] [-3.92112193e-01 9.19916892e-01 9.69888368e-04 -1.03295712e+01] [ 2.55369570e-03 3.41878890e-05 9.99996739e-01 -4.43309818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.310888479 meters 0.017721365686929995 Centerline is valid? [True, True] Translation: X:80.14, Y:-10.34, Z:-0.04 [[ 9.19814152e-01 3.92346139e-01 -2.53649981e-03 8.01407394e+01] [-3.92344757e-01 9.19817648e-01 1.04200558e-03 -1.03410946e+01] [ 2.74194415e-03 3.67309241e-05 9.99996240e-01 -4.49339972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.340888479 meters 0.017529711869822998 Centerline is valid? [True, True] Translation: X:80.17, Y:-10.35, Z:-0.04 [[ 9.19942308e-01 3.92042084e-01 -3.02577106e-03 8.01712492e+01] [-3.92040112e-01 9.19947283e-01 1.24388640e-03 -1.03545179e+01] [ 3.27120568e-03 4.19198999e-05 9.99994649e-01 -4.48064233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370888479 meters 0.01684724752958518 Centerline is valid? [True, True] Translation: X:80.20, Y:-10.37, Z:-0.05 [[ 9.20363936e-01 3.91050397e-01 -3.13256711e-03 8.02002588e+01] [-3.91048276e-01 9.20369266e-01 1.28863023e-03 -1.03686691e+01] [ 3.38703786e-03 3.89761800e-05 9.99994263e-01 -4.50208537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.400888479 meters 0.016785314793839927 Centerline is valid? [True, True] Translation: X:80.23, Y:-10.38, Z:-0.05 [[ 9.20700036e-01 3.90259026e-01 -3.05547271e-03 8.02292144e+01] [-3.90257001e-01 9.20705105e-01 1.25777792e-03 -1.03818857e+01] [ 3.30404851e-03 3.43834418e-05 9.99994541e-01 -4.50303789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430888479 meters 0.016592659896363438 Centerline is valid? [True, True] Translation: X:80.26, Y:-10.40, Z:-0.05 [[ 9.21002766e-01 3.89542855e-01 -3.20454266e-03 8.02584169e+01] [-3.89540620e-01 9.21008340e-01 1.32002664e-03 -1.03953732e+01] [ 3.46561746e-03 3.25513447e-05 9.99993994e-01 -4.52716046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.460888479 meters 0.016298872897387764 Centerline is valid? [True, True] Translation: X:80.29, Y:-10.41, Z:-0.04 [[ 9.21874904e-01 3.87470493e-01 -3.64400432e-03 8.02858091e+01] [-3.87467585e-01 9.21882105e-01 1.50146018e-03 -1.04097674e+01] [ 3.94111389e-03 2.77750959e-05 9.99992233e-01 -4.49115864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.490888479 meters 0.016080788537310958 Centerline is valid? [True, True] Translation: X:80.31, Y:-10.42, Z:-0.04 [[ 9.22409161e-01 3.86196228e-01 -3.71663790e-03 8.03144676e+01] [-3.86193187e-01 9.22416648e-01 1.53254663e-03 -1.04242061e+01] [ 4.02015240e-03 2.17051881e-05 9.99991919e-01 -4.41630328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52088847899999 meters 0.015936272755233717 Centerline is valid? [True, True] Translation: X:80.34, Y:-10.44, Z:-0.04 [[ 9.23001478e-01 3.84783508e-01 -3.15013026e-03 8.03434753e+01] [-3.84781313e-01 9.23006854e-01 1.29988847e-03 -1.04387396e+01] [ 3.40776746e-03 1.23122773e-05 9.99994193e-01 -4.29589259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.550888479 meters 0.015760812929765573 Centerline is valid? [True, True] Translation: X:80.37, Y:-10.45, Z:-0.04 [[ 9.23891563e-01 3.82640887e-01 -3.21434931e-03 8.03732503e+01] [-3.82638585e-01 9.23897154e-01 1.32745923e-03 -1.04532670e+01] [ 3.47766836e-03 3.50569233e-06 9.99993953e-01 -4.34700802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.580888479 meters 0.01572663390195541 Centerline is valid? [True, True] Translation: X:80.40, Y:-10.47, Z:-0.04 [[ 9.24101419e-01 3.82128769e-01 -3.76460393e-03 8.04040192e+01] [-3.82125601e-01 9.24109087e-01 1.55584839e-03 -1.04661992e+01] [ 4.07343913e-03 7.89836531e-07 9.99991704e-01 -4.44232500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.610888479 meters 0.015837785428514325 Centerline is valid? [True, True] Translation: X:80.43, Y:-10.48, Z:-0.04 [[ 9.24167103e-01 3.81969131e-01 -3.84040480e-03 8.04344627e+01] [-3.81965829e-01 9.24175082e-01 1.58839693e-03 -1.04791081e+01] [ 4.15592502e-03 -1.04079013e-06 9.99991364e-01 -4.47374428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.640888479 meters 0.01566995689393062 Centerline is valid? [True, True] Translation: X:80.46, Y:-10.49, Z:-0.04 [[ 9.24225205e-01 3.81828642e-01 -3.82861851e-03 8.04638830e+01] [-3.81825354e-01 9.24233135e-01 1.58463999e-03 -1.04920493e+01] [ 4.14359703e-03 -2.70059833e-06 9.99991415e-01 -4.44482614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.670888479 meters 0.01577541907754455 Centerline is valid? [True, True] Translation: X:80.49, Y:-10.51, Z:-0.04 [[ 9.24496939e-01 3.81165539e-01 -4.27108110e-03 8.04925719e+01] [-3.81161437e-01 9.24506805e-01 1.76846796e-03 -1.05061285e+01] [ 4.62272258e-03 -6.97180809e-06 9.99989315e-01 -4.46002609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.700888479 meters 0.015723358146346577 Centerline is valid? [True, True] Translation: X:80.52, Y:-10.52, Z:-0.04 [[ 9.24709376e-01 3.80643876e-01 -4.77588621e-03 8.05225412e+01] [-3.80638732e-01 9.24721709e-01 1.97908046e-03 -1.05195439e+01] [ 5.16969052e-03 -1.21869899e-05 9.99986637e-01 -4.48530925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.730888479 meters 0.015953766221849703 Centerline is valid? [True, True] Translation: X:80.55, Y:-10.53, Z:-0.05 [[ 9.24852305e-01 3.80286977e-01 -5.47989114e-03 8.05524966e+01] [-3.80280188e-01 9.24868539e-01 2.27247332e-03 -1.05329885e+01] [ 5.93237093e-03 -1.78081547e-05 9.99982403e-01 -4.55094548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.760888479 meters 0.01592026953752832 Centerline is valid? [True, True] Translation: X:80.58, Y:-10.54, Z:-0.05 [[ 9.24748888e-01 3.80527547e-01 -6.18718030e-03 8.05834804e+01] [-3.80518884e-01 9.24769585e-01 2.56776746e-03 -1.05449927e+01] [ 6.69882242e-03 -2.02011646e-05 9.99977562e-01 -4.64239987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790888479 meters 0.01589885276908863 Centerline is valid? [True, True] Translation: X:80.61, Y:-10.56, Z:-0.05 [[ 9.24270342e-01 3.81676145e-01 -6.90327116e-03 8.06128682e+01] [-3.81665377e-01 9.24296121e-01 2.86699454e-03 -1.05562690e+01] [ 7.47493019e-03 -1.51384314e-05 9.99972062e-01 -4.74265174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.820888479 meters 0.0158834679953726 Centerline is valid? [True, True] Translation: X:80.64, Y:-10.57, Z:-0.05 [[ 9.23587114e-01 3.83320732e-01 -7.21527662e-03 8.06439453e+01] [-3.83309001e-01 9.23615297e-01 2.99884987e-03 -1.05681144e+01] [ 7.81366119e-03 -4.01862266e-06 9.99969473e-01 -4.79516543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850888479 meters 0.0158834679953726 Centerline is valid? [True, True] Translation: X:80.67, Y:-10.58, Z:-0.05 [[ 9.23483802e-01 3.83569575e-01 -7.21446837e-03 8.06738373e+01] [-3.83557836e-01 9.23511982e-01 3.00079391e-03 -1.05806270e+01] [ 7.81366123e-03 -4.01869572e-06 9.99969473e-01 -4.79890636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88088847899999 meters 0.01602668147331404 Centerline is valid? [True, True] Translation: X:80.70, Y:-10.59, Z:-0.05 [[ 9.22596612e-01 3.85669645e-01 -8.62650073e-03 8.07029192e+01] [-3.85652944e-01 9.22636941e-01 3.58917356e-03 -1.05912756e+01] [ 9.34336354e-03 1.54760383e-05 9.99956350e-01 -4.96145177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.910888479 meters 0.01594102720885645 Centerline is valid? [True, True] Translation: X:80.73, Y:-10.60, Z:-0.05 [[ 9.22161417e-01 3.86712992e-01 -8.44888609e-03 8.07337525e+01] [-3.86696989e-01 9.22200120e-01 3.51812761e-03 -1.06035727e+01] [ 9.15206942e-03 2.28772683e-05 9.99958119e-01 -4.84832756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.940888479 meters 0.015958792984456675 Centerline is valid? [True, True] Translation: X:80.76, Y:-10.62, Z:-0.05 [[ 9.21746812e-01 3.87704310e-01 -8.25724991e-03 8.07635543e+01] [-3.87689043e-01 9.21783796e-01 3.44074671e-03 -1.06150267e+01] [ 8.94539150e-03 2.97480037e-05 9.99959989e-01 -4.88182834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.970888479 meters 0.015959545290329058 Centerline is valid? [True, True] Translation: X:80.79, Y:-10.63, Z:-0.05 [[ 9.21504879e-01 3.88295504e-01 -7.44039048e-03 8.07939400e+01] [-3.88283108e-01 9.21534916e-01 3.10275262e-03 -1.06272113e+01] [ 8.06136450e-03 2.97762677e-05 9.99967506e-01 -4.77876066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.000888479 meters 0.015980018430287967 Centerline is valid? [True, True] Translation: X:80.82, Y:-10.64, Z:-0.05 [[ 9.20975288e-01 3.89577487e-01 -5.82236262e-03 8.08227296e+01] [-3.89569917e-01 9.20993692e-01 2.42880918e-03 -1.06382203e+01] [ 6.30856862e-03 3.13440915e-05 9.99980100e-01 -4.66458028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.030888479 meters 0.01597023794069447 Centerline is valid? [True, True] Translation: X:80.85, Y:-10.65, Z:-0.05 [[ 9.20484357e-01 3.90744035e-01 -5.25800747e-03 8.08531411e+01] [-3.90737870e-01 9.20499374e-01 2.19520133e-03 -1.06505676e+01] [ 5.69775441e-03 3.38541593e-05 9.99983767e-01 -4.63116820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.060888479 meters 0.016028192663367066 Centerline is valid? [True, True] Translation: X:80.88, Y:-10.66, Z:-0.05 [[ 9.20115229e-01 3.91609349e-01 -5.48484516e-03 8.08836744e+01] [-3.91602646e-01 9.20131576e-01 2.29165532e-03 -1.06634253e+01] [ 5.94421286e-03 3.92929145e-05 9.99982332e-01 -4.55809913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.090888479 meters 0.01637873254241293 Centerline is valid? [True, True] Translation: X:80.91, Y:-10.67, Z:-0.05 [[ 9.19444478e-01 3.93185485e-01 -5.19876741e-03 8.09140951e+01] [-3.93179479e-01 9.19459174e-01 2.17367022e-03 -1.06744430e+01] [ 5.63470997e-03 4.54795808e-05 9.99984124e-01 -4.59641720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.120888479 meters 0.01647619306319318 Centerline is valid? [True, True] Translation: X:80.94, Y:-10.69, Z:-0.05 [[ 9.19028337e-01 3.94148545e-01 -5.81729719e-03 8.09443721e+01] [-3.94141033e-01 9.19046746e-01 2.43407484e-03 -1.06863129e+01] [ 6.30575511e-03 5.58517737e-05 9.99980117e-01 -4.69451755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150888479 meters 0.01655751902467648 Centerline is valid? [True, True] Translation: X:80.97, Y:-10.70, Z:-0.05 [[ 9.18630153e-01 3.95070735e-01 -6.14463912e-03 8.09745571e+01] [-3.95062362e-01 9.18650701e-01 2.57299273e-03 -1.06987273e+01] [ 6.66129116e-03 6.38869415e-05 9.99977811e-01 -4.76949957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.180888479 meters 0.016932229286379084 Centerline is valid? [True, True] Translation: X:81.00, Y:-10.71, Z:-0.05 [[ 9.17937744e-01 3.96656046e-01 -7.36746278e-03 8.10036171e+01] [-3.96644045e-01 9.17967305e-01 3.08679420e-03 -1.07097905e+01] [ 7.98748554e-03 8.87753310e-05 9.99968096e-01 -4.98415661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210888479 meters 0.01719793969458023 Centerline is valid? [True, True] Translation: X:81.03, Y:-10.72, Z:-0.05 [[ 9.17380504e-01 3.97938433e-01 -7.61670343e-03 8.10332865e+01] [-3.97925634e-01 9.17412117e-01 3.19328415e-03 -1.07216578e+01] [ 8.25838651e-03 1.01424919e-04 9.99965894e-01 -5.03818603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.240888479 meters 0.017546824479565074 Centerline is valid? [True, True] Translation: X:81.06, Y:-10.73, Z:-0.05 [[ 9.16460432e-01 4.00027941e-01 -8.82736587e-03 8.10634386e+01] [-4.00010823e-01 9.16502934e-01 3.70321676e-03 -1.07331729e+01] [ 9.57169689e-03 1.37190245e-04 9.99954181e-01 -5.15569701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27088847899999 meters 0.017294536140023083 Centerline is valid? [True, True] Translation: X:81.09, Y:-10.75, Z:-0.05 [[ 9.16059071e-01 4.00940252e-01 -9.09358481e-03 8.10928205e+01] [-4.00922106e-01 9.16104193e-01 3.81746558e-03 -1.07458651e+01] [ 9.86124678e-03 1.48795202e-04 9.99951366e-01 -5.11217431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.300888479 meters 0.017715520597359386 Centerline is valid? [True, True] Translation: X:81.12, Y:-10.76, Z:-0.05 [[ 9.15670380e-01 4.01826893e-01 -9.10507961e-03 8.11224840e+01] [-4.01808717e-01 9.15715635e-01 3.82505116e-03 -1.07566905e+01] [ 9.87467218e-03 1.56014301e-04 9.99951232e-01 -5.18880191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.330888479 meters 0.0173686917327695 Centerline is valid? [True, True] Translation: X:81.15, Y:-10.77, Z:-0.05 [[ 9.15346007e-01 4.02570811e-01 -8.85600319e-03 8.11528490e+01] [-4.02553623e-01 9.15388834e-01 3.72335361e-03 -1.07703118e+01] [ 9.60559992e-03 1.56859303e-04 9.99953853e-01 -5.09143630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.360888479 meters 0.018079212259707603 Centerline is valid? [True, True] Translation: X:81.18, Y:-10.78, Z:-0.05 [[ 9.14982698e-01 4.03399142e-01 -8.70599434e-03 8.11826752e+01] [-4.03382543e-01 9.15024102e-01 3.66291838e-03 -1.07824190e+01] [ 9.44381278e-03 1.60339198e-04 9.99955393e-01 -5.09218923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.390888479 meters 0.0183873554657234 Centerline is valid? [True, True] Translation: X:81.21, Y:-10.80, Z:-0.05 [[ 9.14889165e-01 4.03609859e-01 -8.76911850e-03 8.12118155e+01] [-4.03593005e-01 9.14931175e-01 3.69201991e-03 -1.07951236e+01] [ 9.51327553e-03 1.61365876e-04 9.99954735e-01 -5.10207851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.420888479 meters 0.018442541761899963 Centerline is valid? [True, True] Translation: X:81.24, Y:-10.81, Z:-0.05 [[ 9.14854394e-01 4.03700668e-01 -8.19809973e-03 8.12416314e+01] [-4.03685922e-01 9.14891113e-01 3.45380809e-03 -1.08079328e+01] [ 8.89467322e-03 1.49725934e-04 9.99960430e-01 -5.05768220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.450888479 meters 0.017838881767738263 Centerline is valid? [True, True] Translation: X:81.27, Y:-10.82, Z:-0.05 [[ 9.14933907e-01 4.03531170e-01 -7.65117869e-03 8.12706725e+01] [-4.03518301e-01 9.14965888e-01 3.22555896e-03 -1.08212743e+01] [ 8.30218109e-03 1.36217365e-04 9.99965527e-01 -4.98014665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.480888479 meters 0.017891817824395667 Centerline is valid? [True, True] Translation: X:81.30, Y:-10.83, Z:-0.05 [[ 9.15381844e-01 4.02530666e-01 -6.71879053e-03 8.12990060e+01] [-4.02520703e-01 9.15406495e-01 2.83423432e-03 -1.08335669e+01] [ 7.29129071e-03 1.10045645e-04 9.99973412e-01 -5.01152797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510888479 meters 0.01777788439155339 Centerline is valid? [True, True] Translation: X:81.33, Y:-10.85, Z:-0.05 [[ 9.15622118e-01 4.01976591e-01 -7.13838850e-03 8.13270844e+01] [-4.01965314e-01 9.15649938e-01 3.01300896e-03 -1.08465223e+01] [ 7.74742405e-03 1.10606923e-04 9.99969982e-01 -5.03314192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.540888479 meters 0.017336348426082615 Centerline is valid? [True, True] Translation: X:81.36, Y:-10.86, Z:-0.05 [[ 9.15774517e-01 4.01628210e-01 -7.19830362e-03 8.13562997e+01] [-4.01616714e-01 9.15802801e-01 3.04066111e-03 -1.08611097e+01] [ 7.81344189e-03 1.06399088e-04 9.99969469e-01 -4.96302781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570888479 meters 0.016928358506233615 Centerline is valid? [True, True] Translation: X:81.38, Y:-10.88, Z:-0.05 [[ 9.16327915e-01 4.00356448e-01 -7.60705463e-03 8.13845322e+01] [-4.00343548e-01 9.16359484e-01 3.21542851e-03 -1.08762739e+01] [ 8.25811420e-03 9.90483452e-05 9.99965896e-01 -4.93573086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.600888479 meters 0.016746249396796302 Centerline is valid? [True, True] Translation: X:81.41, Y:-10.89, Z:-0.05 [[ 9.16719396e-01 3.99446577e-01 -8.24504117e-03 8.14144432e+01] [-3.99431361e-01 9.16756469e-01 3.48777839e-03 -1.08902507e+01] [ 8.95187597e-03 9.60139202e-05 9.99959927e-01 -4.98652830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63088847899999 meters 0.016784885822187803 Centerline is valid? [True, True] Translation: X:81.44, Y:-10.90, Z:-0.05 [[ 9.16926581e-01 3.98956317e-01 -8.91640724e-03 8.14441389e+01] [-3.98938472e-01 9.16969927e-01 3.77460768e-03 -1.09036712e+01] [ 9.68198088e-03 9.60597642e-05 9.99953124e-01 -5.05431748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.660888479 meters 0.016745616520426564 Centerline is valid? [True, True] Translation: X:81.47, Y:-10.92, Z:-0.05 [[ 9.17608469e-01 3.97367455e-01 -9.68516776e-03 8.14727362e+01] [-3.97346286e-01 9.17659577e-01 4.10245940e-03 -1.09159808e+01] [ 1.05178708e-02 8.39139550e-05 9.99944682e-01 -5.34993198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.690888479 meters 0.01651595289703182 Centerline is valid? [True, True] Translation: X:81.50, Y:-10.93, Z:-0.05 [[ 9.18071682e-01 3.96291562e-01 -9.86834052e-03 8.15021504e+01] [-3.96269488e-01 9.18124715e-01 4.18326087e-03 -1.09298186e+01] [ 1.07181583e-02 6.99889075e-05 9.99942556e-01 -5.32371879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.720888479 meters 0.016485970134698484 Centerline is valid? [True, True] Translation: X:81.53, Y:-10.94, Z:-0.05 [[ 9.18457021e-01 3.95391016e-01 -1.01313769e-02 8.15320094e+01] [-3.95367660e-01 9.18512896e-01 4.29798197e-03 -1.09441960e+01] [ 1.10051838e-02 5.81070522e-05 9.99939439e-01 -5.31584886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.750888479 meters 0.016345872295456594 Centerline is valid? [True, True] Translation: X:81.56, Y:-10.96, Z:-0.05 [[ 9.19701537e-01 3.92507216e-01 -9.33638807e-03 8.15598861e+01] [-3.92487207e-01 9.19748925e-01 3.96330036e-03 -1.09593302e+01] [ 1.01427569e-02 1.93594405e-05 9.99948561e-01 -5.28395572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.780888479 meters 0.016313868761189797 Centerline is valid? [True, True] Translation: X:81.59, Y:-10.97, Z:-0.05 [[ 9.20344206e-01 3.91011665e-01 -8.74192035e-03 8.15886474e+01] [-3.90994032e-01 9.20385722e-01 3.71333287e-03 -1.09733689e+01] [ 9.49789515e-03 4.94291919e-07 9.99954894e-01 -5.20401645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.810888479 meters 0.016341001168989247 Centerline is valid? [True, True] Translation: X:81.62, Y:-10.99, Z:-0.05 [[ 9.21933660e-01 3.87273745e-01 -7.57451077e-03 8.16177397e+01] [-3.87260361e-01 9.21964774e-01 3.21993332e-03 -1.09894777e+01] [ 8.23042775e-03 -3.52571333e-05 9.99966129e-01 -5.01955339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.840888479 meters 0.01675781817278314 Centerline is valid? [True, True] Translation: X:81.65, Y:-11.00, Z:-0.05 [[ 9.22711184e-01 3.85436850e-01 -6.51957094e-03 8.16459839e+01] [-3.85426875e-01 9.22734215e-01 2.77342291e-03 -1.10039315e+01] [ 7.08481057e-03 -4.62504824e-05 9.99974901e-01 -5.05062272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870888479 meters 0.01696921929707346 Centerline is valid? [True, True] Translation: X:81.68, Y:-11.02, Z:-0.05 [[ 9.23319807e-01 3.83983164e-01 -6.12081372e-03 8.16752488e+01] [-3.83974328e-01 9.23340093e-01 2.60549637e-03 -1.10174491e+01] [ 6.65205945e-03 -5.54710682e-05 9.99977873e-01 -5.00435190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.900888479 meters 0.016738433100007794 Centerline is valid? [True, True] Translation: X:81.71, Y:-11.03, Z:-0.05 [[ 9.23825465e-01 3.82768707e-01 -5.88449628e-03 8.17051244e+01] [-3.82760505e-01 9.23844204e-01 2.50657383e-03 -1.10288947e+01] [ 6.39579581e-03 -6.32839615e-05 9.99979545e-01 -4.87256260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930888479 meters 0.017840001046815247 Centerline is valid? [True, True] Translation: X:81.73, Y:-11.04, Z:-0.05 [[ 9.24708204e-01 3.80636483e-01 -5.53216398e-03 8.17326463e+01] [-3.80629191e-01 9.24724749e-01 2.35721699e-03 -1.10436442e+01] [ 6.01297174e-03 -7.40347889e-05 9.99981919e-01 -5.13704403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.960888479 meters 0.017122135622199306 Centerline is valid? [True, True] Translation: X:81.76, Y:-11.05, Z:-0.05 [[ 9.24973586e-01 3.79990462e-01 -5.57799323e-03 8.17629770e+01] [-3.79983027e-01 9.24990401e-01 2.37846095e-03 -1.10543666e+01] [ 6.06338267e-03 -8.04708053e-05 9.99981614e-01 -5.00827614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990888479 meters 0.017465050088875427 Centerline is valid? [True, True] Translation: X:81.79, Y:-11.07, Z:-0.05 [[ 9.25156836e-01 3.79546359e-01 -5.42123922e-03 8.17922922e+01] [-3.79539322e-01 9.25172716e-01 2.31264215e-03 -1.10671262e+01] [ 5.89333752e-03 -8.19832424e-05 9.99982631e-01 -5.03225160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02088847899999 meters 0.017609370074930616 Centerline is valid? [True, True] Translation: X:81.82, Y:-11.08, Z:-0.05 [[ 9.25210343e-01 3.79416520e-01 -5.37818144e-03 8.18221890e+01] [-3.79409582e-01 9.25225971e-01 2.29612912e-03 -1.10797993e+01] [ 5.84722246e-03 -8.38688386e-05 9.99982901e-01 -5.02247733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.050888479 meters 0.01755674232260006 Centerline is valid? [True, True] Translation: X:81.85, Y:-11.09, Z:-0.05 [[ 9.24982207e-01 3.79977902e-01 -4.97094591e-03 8.18527353e+01] [-3.79971974e-01 9.24995561e-01 2.12389191e-03 -1.10914180e+01] [ 5.40513490e-03 -7.57420910e-05 9.99985389e-01 -4.97801693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.080888479 meters 0.01748450861785768 Centerline is valid? [True, True] Translation: X:81.88, Y:-11.10, Z:-0.05 [[ 9.24675195e-01 3.80719540e-01 -5.33056216e-03 8.18837553e+01] [-3.80712726e-01 9.24690557e-01 2.27925659e-03 -1.11029059e+01] [ 5.79687801e-03 -7.81591851e-05 9.99983195e-01 -4.95376084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.110888479 meters 0.01766512619495531 Centerline is valid? [True, True] Translation: X:81.91, Y:-11.11, Z:-0.05 [[ 9.24261974e-01 3.81723608e-01 -5.18551108e-03 8.19130310e+01] [-3.81717172e-01 9.24276518e-01 2.21790136e-03 -1.11135397e+01] [ 5.63947143e-03 -7.05232714e-05 9.99984096e-01 -5.01389866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.140888479 meters 0.01732213798732954 Centerline is valid? [True, True] Translation: X:81.94, Y:-11.12, Z:-0.05 [[ 9.23326095e-01 3.83987528e-01 -4.74352867e-03 8.19446621e+01] [-3.83982164e-01 9.23338278e-01 2.03034837e-03 -1.11218731e+01] [ 5.15951004e-03 -5.32432267e-05 9.99986688e-01 -5.01887564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.170888479 meters 0.01730689774127553 Centerline is valid? [True, True] Translation: X:81.97, Y:-11.13, Z:-0.05 [[ 9.22755250e-01 3.85364231e-01 -4.14219591e-03 8.19741989e+01] [-3.85360149e-01 9.22764546e-01 1.77416196e-03 -1.11331386e+01] [ 4.50597009e-03 -4.08800342e-05 9.99989847e-01 -4.98443482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.200888479 meters 0.017186169983351235 Centerline is valid? [True, True] Translation: X:82.00, Y:-11.14, Z:-0.05 [[ 9.22058161e-01 3.87031199e-01 -3.94938384e-03 8.20041854e+01] [-3.87027499e-01 9.22066619e-01 1.69270395e-03 -1.11438639e+01] [ 4.29672424e-03 -3.22513414e-05 9.99990769e-01 -4.87883329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.230888479 meters 0.01705565524572704 Centerline is valid? [True, True] Translation: X:82.04, Y:-11.15, Z:-0.05 [[ 9.20868183e-01 3.89860432e-01 -3.26098328e-03 8.20359544e+01] [-3.89857925e-01 9.20873956e-01 1.39806370e-03 -1.11524995e+01] [ 3.54800429e-03 -1.61122073e-05 9.99993706e-01 -4.81752765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.260888479 meters 0.016964222298564518 Centerline is valid? [True, True] Translation: X:82.07, Y:-11.16, Z:-0.05 [[ 9.20157578e-01 3.91533716e-01 -3.37353118e-03 8.20671663e+01] [-3.91531041e-01 9.20163762e-01 1.44756404e-03 -1.11628643e+01] [ 3.67097127e-03 -1.11448505e-05 9.99993262e-01 -4.81478466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290888479 meters 0.016948430257937755 Centerline is valid? [True, True] Translation: X:82.10, Y:-11.17, Z:-0.05 [[ 9.19362546e-01 3.93400567e-01 -2.91600754e-03 8.20990324e+01] [-3.93398574e-01 9.19367170e-01 1.25224690e-03 -1.11728980e+01] [ 3.17351624e-03 -4.11569484e-06 9.99994964e-01 -4.76442553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.320888479 meters 0.017019538918904523 Centerline is valid? [True, True] Translation: X:82.13, Y:-11.18, Z:-0.05 [[ 9.18551895e-01 3.95290441e-01 -2.80762372e-03 8.21294973e+01] [-3.95288600e-01 9.18556186e-01 1.20654080e-03 -1.11826902e+01] [ 3.05589418e-03 1.55131197e-06 9.99995331e-01 -4.75469437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350888479 meters 0.01703173098989287 Centerline is valid? [True, True] Translation: X:82.16, Y:-11.19, Z:-0.05 [[ 9.16574684e-01 3.99837063e-01 -4.60122360e-03 8.21619183e+01] [-3.99832169e-01 9.16586233e-01 1.97839310e-03 -1.11890832e+01] [ 5.00845309e-03 2.63721827e-05 9.99987457e-01 -4.78764695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38088847899999 meters 0.017207562177479017 Centerline is valid? [True, True] Translation: X:82.19, Y:-11.20, Z:-0.05 [[ 9.15539838e-01 4.02200272e-01 -4.66337764e-03 8.21931326e+01] [-4.02195269e-01 9.15551713e-01 2.00644549e-03 -1.11986503e+01] [ 5.07655631e-03 3.86076422e-05 9.99987113e-01 -4.82292159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.410888479 meters 0.01752628994497822 Centerline is valid? [True, True] Translation: X:82.23, Y:-11.21, Z:-0.05 [[ 9.13875985e-01 4.05951486e-01 -5.83730214e-03 8.22253015e+01] [-4.05943714e-01 9.13894625e-01 2.51312085e-03 -1.12053260e+01] [ 6.35488420e-03 7.29353191e-05 9.99979805e-01 -4.83668516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.440888479 meters 0.017790699773930132 Centerline is valid? [True, True] Translation: X:82.26, Y:-11.22, Z:-0.05 [[ 9.13260963e-01 4.07318009e-01 -6.81565524e-03 8.22560597e+01] [-4.07307437e-01 9.13286390e-01 2.93620861e-03 -1.12155902e+01] [ 7.42061581e-03 9.45423602e-05 9.99972462e-01 -4.86846760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.470888479 meters 0.017668699908750248 Centerline is valid? [True, True] Translation: X:82.29, Y:-11.23, Z:-0.05 [[ 9.12930574e-01 4.08055376e-01 -6.96966173e-03 8.22872426e+01] [-4.08044325e-01 9.12957173e-01 3.00489697e-03 -1.12272670e+01] [ 7.58916703e-03 1.00668592e-04 9.99971197e-01 -4.87271902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.500888479 meters 0.017604980632251525 Centerline is valid? [True, True] Translation: X:82.32, Y:-11.24, Z:-0.05 [[ 9.12838233e-01 4.08252218e-01 -7.51578599e-03 8.23183574e+01] [-4.08239353e-01 9.12869167e-01 3.24278639e-03 -1.12391432e+01] [ 8.18480403e-03 1.08100207e-04 9.99966498e-01 -4.85735243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.530888479 meters 0.017491612174506024 Centerline is valid? [True, True] Translation: X:82.35, Y:-11.25, Z:-0.05 [[ 9.13014570e-01 4.07837248e-01 -8.55420793e-03 8.23481268e+01] [-4.07820541e-01 9.13054634e-01 3.69336250e-03 -1.12500174e+01] [ 9.31674999e-03 1.16487931e-04 9.99956591e-01 -4.79843618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.560888479 meters 0.01749396463680404 Centerline is valid? [True, True] Translation: X:82.38, Y:-11.26, Z:-0.05 [[ 9.13072280e-01 4.07709200e-01 -8.49822292e-03 8.23777557e+01] [-4.07692691e-01 9.13111820e-01 3.67079583e-03 -1.12613043e+01] [ 9.25644503e-03 1.12961449e-04 9.99957152e-01 -4.78642850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.590888479 meters 0.01759247689964196 Centerline is valid? [True, True] Translation: X:82.41, Y:-11.27, Z:-0.05 [[ 9.13133957e-01 4.07574610e-01 -8.32545387e-03 8.24079184e+01] [-4.07558736e-01 9.13171904e-01 3.59875689e-03 -1.12715388e+01] [ 9.06933249e-03 1.06964338e-04 9.99958867e-01 -4.69416980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.620888479 meters 0.01703423148894836 Centerline is valid? [True, True] Translation: X:82.44, Y:-11.28, Z:-0.05 [[ 9.13355930e-01 4.07080231e-01 -8.16279512e-03 8.24367259e+01] [-4.07064930e-01 9.13392400e-01 3.53079161e-03 -1.12847979e+01] [ 8.89315048e-03 9.79181693e-05 9.99960450e-01 -4.53177609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650888479 meters 0.017016910438363494 Centerline is valid? [True, True] Translation: X:82.47, Y:-11.30, Z:-0.04 [[ 9.13694135e-01 4.06317464e-01 -8.31539969e-03 8.24658787e+01] [-4.06301533e-01 9.13731968e-01 3.59918686e-03 -1.12977865e+01] [ 9.06045901e-03 9.00037247e-05 9.99958949e-01 -4.45359384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.680888479 meters 0.016967006442977994 Centerline is valid? [True, True] Translation: X:82.49, Y:-11.31, Z:-0.05 [[ 9.14201342e-01 4.05188129e-01 -7.64763799e-03 8.24943684e+01] [-4.05174597e-01 9.14233327e-01 3.31218320e-03 -1.13094084e+01] [ 8.33378283e-03 7.06263191e-05 9.99965271e-01 -4.52267494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710888479 meters 0.016600026410625312 Centerline is valid? [True, True] Translation: X:82.52, Y:-11.32, Z:-0.04 [[ 9.15274850e-01 4.02741530e-01 -8.43848779e-03 8.25239140e+01] [-4.02724929e-01 9.15313748e-01 3.65710912e-03 -1.13230206e+01] [ 9.19673361e-03 5.11293930e-05 9.99957708e-01 -4.48513327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.740888479 meters 0.016600026410625312 Centerline is valid? [True, True] Translation: X:82.55, Y:-11.34, Z:-0.04 [[ 9.15163521e-01 4.02994465e-01 -8.43746071e-03 8.25536265e+01] [-4.02977852e-01 9.15202414e-01 3.65947823e-03 -1.13359800e+01] [ 9.19673388e-03 5.10888176e-05 9.99957708e-01 -4.48887281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77088847899999 meters 0.016616784625015642 Centerline is valid? [True, True] Translation: X:82.58, Y:-11.35, Z:-0.05 [[ 9.15614115e-01 4.01959189e-01 -8.92208870e-03 8.25833118e+01] [-4.01940538e-01 9.15657583e-01 3.87235298e-03 -1.13488929e+01] [ 9.72610604e-03 4.05680890e-05 9.99952699e-01 -4.56757348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.800888479 meters 0.016620456621448787 Centerline is valid? [True, True] Translation: X:82.61, Y:-11.36, Z:-0.05 [[ 9.15825763e-01 4.01471938e-01 -9.13530830e-03 8.26136385e+01] [-4.01452332e-01 9.15871324e-01 3.96785883e-03 -1.13622583e+01] [ 9.95975088e-03 3.35234729e-05 9.99950400e-01 -4.60812988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.830888479 meters 0.016469417063317653 Centerline is valid? [True, True] Translation: X:82.64, Y:-11.37, Z:-0.05 [[ 9.16057984e-01 4.00947259e-01 -8.89190888e-03 8.26441346e+01] [-4.00928630e-01 9.16101138e-01 3.86505423e-03 -1.13744139e+01] [ 9.69557074e-03 2.44070592e-05 9.99952997e-01 -4.59395004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.860888479 meters 0.01646146059432001 Centerline is valid? [True, True] Translation: X:82.67, Y:-11.39, Z:-0.05 [[ 9.16093954e-01 4.00870273e-01 -8.65403667e-03 8.26748385e+01] [-4.00852597e-01 9.16134829e-01 3.76450150e-03 -1.13867649e+01] [ 9.43734114e-03 2.03560098e-05 9.99955467e-01 -4.56156858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.890888479 meters 0.016319051390178484 Centerline is valid? [True, True] Translation: X:82.70, Y:-11.40, Z:-0.05 [[ 9.16084947e-01 4.00900428e-01 -8.19854848e-03 8.27047515e+01] [-4.00884542e-01 9.16121633e-01 3.56885980e-03 -1.13990872e+01] [ 8.94162505e-03 1.72926158e-05 9.99960023e-01 -4.55856318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.920888479 meters 0.016255622013084725 Centerline is valid? [True, True] Translation: X:82.74, Y:-11.41, Z:-0.05 [[ 9.15705727e-01 4.01763541e-01 -8.31138928e-03 8.27356648e+01] [-4.01747226e-01 9.15743445e-01 3.62071731e-03 -1.14105392e+01] [ 9.06577245e-03 2.35660151e-05 9.99958905e-01 -4.54249432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.950888479 meters 0.016308543901871315 Centerline is valid? [True, True] Translation: X:82.77, Y:-11.42, Z:-0.05 [[ 9.15466939e-01 4.02302607e-01 -8.53792137e-03 8.27659827e+01] [-4.02285388e-01 9.15506751e-01 3.72222305e-03 -1.14226716e+01] [ 9.31398469e-03 2.71088641e-05 9.99956624e-01 -4.61309843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.980888479 meters 0.01640365436376093 Centerline is valid? [True, True] Translation: X:82.80, Y:-11.43, Z:-0.05 [[ 9.15217760e-01 4.02872564e-01 -8.37554440e-03 8.27956518e+01] [-4.02856003e-01 9.15256083e-01 3.65303400e-03 -1.14335646e+01] [ 9.13747513e-03 3.08167460e-05 9.99958252e-01 -4.76138976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010888479 meters 0.016397016771655105 Centerline is valid? [True, True] Translation: X:82.83, Y:-11.44, Z:-0.05 [[ 9.14796679e-01 4.03849034e-01 -7.27972339e-03 8.28275325e+01] [-4.03836534e-01 9.14825643e-01 3.17761693e-03 -1.14432463e+01] [ 7.94295516e-03 3.29448522e-05 9.99968454e-01 -4.82068617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.040888479 meters 0.016226682959250772 Centerline is valid? [True, True] Translation: X:82.86, Y:-11.46, Z:-0.05 [[ 9.14401903e-01 4.04752498e-01 -6.67646682e-03 8.28585671e+01] [-4.04741992e-01 9.14426276e-01 2.91651877e-03 -1.14550182e+01] [ 7.28560495e-03 3.53761687e-05 9.99973459e-01 -4.77174602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070888479 meters 0.01620297319060198 Centerline is valid? [True, True] Translation: X:82.89, Y:-11.47, Z:-0.05 [[ 9.14006175e-01 4.05657206e-01 -5.91124561e-03 8.28894935e+01] [-4.05648976e-01 9.14025289e-01 2.58425358e-03 -1.14668065e+01] [ 6.45134907e-03 3.58670034e-05 9.99979189e-01 -4.75696329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.100888479 meters 0.016302137296670887 Centerline is valid? [True, True] Translation: X:82.92, Y:-11.48, Z:-0.05 [[ 9.13310351e-01 4.07234127e-01 -4.95665409e-03 8.29197725e+01] [-4.07228355e-01 9.13323801e-01 2.16849586e-03 -1.14768832e+01] [ 5.41011566e-03 3.79803740e-05 9.99985365e-01 -4.75676718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13088847899999 meters 0.016135341557419476 Centerline is valid? [True, True] Translation: X:82.95, Y:-11.49, Z:-0.05 [[ 9.12864463e-01 4.08238431e-01 -4.45601813e-03 8.29493140e+01] [-4.08233771e-01 9.12875338e-01 1.95085671e-03 -1.14881381e+01] [ 4.86420374e-03 3.82293231e-05 9.99988169e-01 -4.69798832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.160888479 meters 0.01625152678250605 Centerline is valid? [True, True] Translation: X:82.98, Y:-11.50, Z:-0.05 [[ 9.12325683e-01 4.09451328e-01 -3.38492225e-03 8.29796046e+01] [-4.09448643e-01 9.12331962e-01 1.48319501e-03 -1.15008205e+01] [ 3.69546892e-03 3.27949155e-05 9.99993171e-01 -4.59053324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.190888479 meters 0.01641795663933104 Centerline is valid? [True, True] Translation: X:83.01, Y:-11.51, Z:-0.05 [[ 9.11693672e-01 4.10859192e-01 -3.06159591e-03 8.30092970e+01] [-4.10857002e-01 9.11698812e-01 1.34186771e-03 -1.15113469e+01] [ 3.34257203e-03 3.45058133e-05 9.99994413e-01 -4.62462956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.220888479 meters 0.01645276113936035 Centerline is valid? [True, True] Translation: X:83.04, Y:-11.52, Z:-0.05 [[ 9.10454323e-01 4.13596808e-01 -3.25661105e-03 8.30403102e+01] [-4.13594344e-01 9.10460146e-01 1.42843965e-03 -1.15205860e+01] [ 3.55581265e-03 4.63868595e-05 9.99993677e-01 -4.76238233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.250888479 meters 0.016926815644154953 Centerline is valid? [True, True] Translation: X:83.07, Y:-11.53, Z:-0.05 [[ 9.09499947e-01 4.15688440e-01 -3.60109024e-03 8.30694069e+01] [-4.15685440e-01 9.09507074e-01 1.58027809e-03 -1.15304789e+01] [ 3.93212037e-03 5.96579452e-05 9.99992267e-01 -4.86549784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.280888479 meters 0.018311507573046334 Centerline is valid? [True, True] Translation: X:83.10, Y:-11.54, Z:-0.05 [[ 9.07232299e-01 4.20607578e-01 -4.33825369e-03 8.31000454e+01] [-4.20603275e-01 9.07242667e-01 1.90491252e-03 -1.15387861e+01] [ 4.73706949e-03 9.64855391e-05 9.99988775e-01 -5.02190863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.310888479 meters 0.01860747076382236 Centerline is valid? [True, True] Translation: X:83.13, Y:-11.55, Z:-0.05 [[ 9.06075161e-01 4.23095970e-01 -4.19560061e-03 8.31301942e+01] [-4.23091967e-01 9.06084868e-01 1.84352700e-03 -1.15508116e+01] [ 4.58155908e-03 1.04750891e-04 9.99989499e-01 -5.05793978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.340888479 meters 0.019508201696966602 Centerline is valid? [True, True] Translation: X:83.16, Y:-11.56, Z:-0.05 [[ 9.05041470e-01 4.25304039e-01 -4.05112578e-03 8.31599880e+01] [-4.25300326e-01 9.05050530e-01 1.78051579e-03 -1.15610417e+01] [ 4.42373409e-03 1.11504487e-04 9.99990209e-01 -5.08572048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370888479 meters 0.020048708409493198 Centerline is valid? [True, True] Translation: X:83.19, Y:-11.57, Z:-0.05 [[ 9.04280574e-01 4.26923437e-01 -3.60863949e-03 8.31900953e+01] [-4.26920500e-01 9.04287768e-01 1.58722094e-03 -1.15722133e+01] [ 3.94087037e-03 1.05309113e-04 9.99992229e-01 -5.09343699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.400888479 meters 0.020625650690591312 Centerline is valid? [True, True] Translation: X:83.22, Y:-11.58, Z:-0.05 [[ 9.02932730e-01 4.29775068e-01 -2.42413319e-03 8.32202395e+01] [-4.29773753e-01 9.02935980e-01 1.06631663e-03 -1.15835510e+01] [ 2.64711338e-03 7.90166350e-05 9.99996493e-01 -5.06200745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430888479 meters 0.020447094203297246 Centerline is valid? [True, True] Translation: X:83.25, Y:-11.60, Z:-0.05 [[ 9.02372555e-01 4.30955565e-01 -1.03559123e-03 8.32500358e+01] [-4.30955325e-01 9.02373149e-01 4.56109066e-04 -1.15964742e+01] [ 1.13105246e-03 3.47132513e-05 9.99999360e-01 -5.05114223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.460888479 meters 0.020700069583492863 Centerline is valid? [True, True] Translation: X:83.28, Y:-11.61, Z:-0.05 [[ 9.01915940e-01 4.31910978e-01 -7.37714616e-04 8.32790236e+01] [-4.31910856e-01 9.01916242e-01 3.25182446e-04 -1.16090810e+01] [ 8.05806662e-04 2.53397198e-05 9.99999675e-01 -5.01960458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490888479 meters 0.021790457681932034 Centerline is valid? [True, True] Translation: X:83.31, Y:-11.62, Z:-0.05 [[ 9.01523668e-01 4.32729701e-01 2.87837758e-04 8.33072947e+01] [-4.32729682e-01 9.01523713e-01 -1.26589360e-04 -1.16208966e+01] [-3.14271541e-04 -1.04326374e-05 9.99999951e-01 -5.00258485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52088847899999 meters 0.02099731605970052 Centerline is valid? [True, True] Translation: X:83.34, Y:-11.64, Z:-0.05 [[ 9.01497949e-01 4.32782597e-01 8.19366448e-04 8.33367025e+01] [-4.32782447e-01 9.01498321e-01 -3.60965273e-04 -1.16359760e+01] [-8.94876966e-04 -2.91979636e-05 9.99999599e-01 -4.97813516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.550888479 meters 0.02093353803830578 Centerline is valid? [True, True] Translation: X:83.37, Y:-11.65, Z:-0.05 [[ 9.01611024e-01 4.32544990e-01 1.54658736e-03 8.33660664e+01] [-4.32544456e-01 9.01612349e-01 -6.82150997e-04 -1.16498611e+01] [-1.68948326e-03 -5.39329279e-05 9.99998571e-01 -4.97366136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.580888479 meters 0.02303889867577462 Centerline is valid? [True, True] Translation: X:83.40, Y:-11.66, Z:-0.05 [[ 9.01690977e-01 4.32376722e-01 1.93714978e-03 8.33953683e+01] [-4.32375882e-01 9.01693055e-01 -8.54949696e-04 -1.16596018e+01] [-2.11637485e-03 -6.66764160e-05 9.99997758e-01 -4.97296077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.610888479 meters 0.02125751734691742 Centerline is valid? [True, True] Translation: X:83.42, Y:-11.68, Z:-0.05 [[ 9.01914982e-01 4.31912432e-01 1.00804474e-03 8.34223658e+01] [-4.31912204e-01 9.01915545e-01 -4.44972170e-04 -1.16773477e+01] [-1.10136023e-03 -3.40597600e-05 9.99999393e-01 -5.06781079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.640888479 meters 0.019923121591673868 Centerline is valid? [True, True] Translation: X:83.45, Y:-11.69, Z:-0.05 [[ 9.02009830e-01 4.31714488e-01 9.30862013e-04 8.34508430e+01] [-4.31714294e-01 9.02010310e-01 -4.11146969e-04 -1.16930317e+01] [-1.01714524e-03 -3.10078284e-05 9.99999482e-01 -5.08797431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.670888479 meters 0.0205658687419775 Centerline is valid? [True, True] Translation: X:83.48, Y:-11.71, Z:-0.05 [[ 9.01945295e-01 4.31849445e-01 8.61110599e-04 8.34805314e+01] [-4.31849278e-01 9.01945706e-01 -3.80569634e-04 -1.17057227e+01] [-9.41023792e-04 -2.86169996e-05 9.99999557e-01 -5.07179856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.700888479 meters 0.020911583635737432 Centerline is valid? [True, True] Translation: X:83.51, Y:-11.72, Z:-0.05 [[ 9.02024794e-01 4.31675257e-01 2.78264309e-03 8.35085975e+01] [-4.31673511e-01 9.02029081e-01 -1.23116237e-03 -1.17193600e+01] [-3.04148733e-03 -9.06543277e-05 9.99995371e-01 -4.99728422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.730888479 meters 0.020504282046287074 Centerline is valid? [True, True] Translation: X:83.54, Y:-11.73, Z:-0.05 [[ 9.02139905e-01 4.31435073e-01 2.71478431e-03 8.35374132e+01] [-4.31433408e-01 9.02143985e-01 -1.20178917e-03 -1.17339464e+01] [-2.96762033e-03 -8.70666791e-05 9.99995593e-01 -4.96803823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.760888479 meters 0.021436267378988183 Centerline is valid? [True, True] Translation: X:83.57, Y:-11.75, Z:-0.05 [[ 9.02289460e-01 4.31124061e-01 2.40310297e-03 8.35659770e+01] [-4.31122754e-01 9.02292657e-01 -1.06430455e-03 -1.17459795e+01] [-2.62714946e-03 -7.57215910e-05 9.99996546e-01 -4.99029650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790888479 meters 0.019498201867365964 Centerline is valid? [True, True] Translation: X:83.59, Y:-11.76, Z:-0.05 [[ 9.03071478e-01 4.29486812e-01 1.72743165e-03 8.35925425e+01] [-4.29486133e-01 9.03073129e-01 -7.65380379e-04 -1.17643427e+01] [-1.88871788e-03 -5.07147491e-05 9.99998215e-01 -5.10667547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.820888479 meters 0.018513119702790525 Centerline is valid? [True, True] Translation: X:83.62, Y:-11.78, Z:-0.05 [[ 9.03694930e-01 4.28173820e-01 1.62876568e-03 8.36209688e+01] [-4.28173214e-01 9.03696397e-01 -7.22049359e-04 -1.17805511e+01] [-1.78107231e-03 -4.48814923e-05 9.99998413e-01 -5.12900986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850888479 meters 0.018200433273297605 Centerline is valid? [True, True] Translation: X:83.65, Y:-11.80, Z:-0.05 [[ 9.04350179e-01 4.26788059e-01 1.64507277e-03 8.36496385e+01] [-4.26787437e-01 9.04351674e-01 -7.29628677e-04 -1.17955232e+01] [-1.79912112e-03 -4.22565655e-05 9.99998381e-01 -5.16078781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88088847899999 meters 0.017399640245383412 Centerline is valid? [True, True] Translation: X:83.68, Y:-11.81, Z:-0.05 [[ 9.05830419e-01 4.23638028e-01 1.43983081e-03 8.36769706e+01] [-4.23637547e-01 9.05831563e-01 -6.38988840e-04 -1.18120736e+01] [-1.57494416e-03 -3.11508620e-05 9.99998759e-01 -5.20314963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.910888479 meters 0.01699756814727291 Centerline is valid? [True, True] Translation: X:83.71, Y:-11.83, Z:-0.05 [[ 9.06528224e-01 4.22139039e-01 2.28248538e-03 8.37053849e+01] [-4.22137824e-01 9.06531097e-01 -1.01380911e-03 -1.18263055e+01] [-2.49711238e-03 -4.44768380e-05 9.99996881e-01 -5.24228313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.940888479 meters 0.01705618646144441 Centerline is valid? [True, True] Translation: X:83.73, Y:-11.84, Z:-0.05 [[ 9.07099283e-01 4.20909153e-01 2.52492812e-03 8.37337756e+01] [-4.20907659e-01 9.07102796e-01 -1.12223628e-03 -1.18393008e+01] [-2.76272888e-03 -4.47818563e-05 9.99996183e-01 -5.22888628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.970888479 meters 0.017246078706228404 Centerline is valid? [True, True] Translation: X:83.76, Y:-11.85, Z:-0.05 [[ 9.07551880e-01 4.19929465e-01 2.97125967e-03 8.37625216e+01] [-4.19927389e-01 9.07556743e-01 -1.32149184e-03 -1.18524575e+01] [-3.25152011e-03 -4.83909073e-05 9.99994713e-01 -5.20571557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.000888479 meters 0.01569602557327968 Centerline is valid? [True, True] Translation: X:83.79, Y:-11.87, Z:-0.05 [[ 9.08720285e-01 4.17392134e-01 3.35404104e-03 8.37896740e+01] [-4.17389468e-01 9.08726474e-01 -1.49231357e-03 -1.18717857e+01] [-3.67078583e-03 -4.38457991e-05 9.99993262e-01 -5.26829308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.030888479 meters 0.015683757337799746 Centerline is valid? [True, True] Translation: X:83.82, Y:-11.89, Z:-0.05 [[ 9.08904398e-01 4.16991504e-01 3.29852054e-03 8.38184730e+01] [-4.16988920e-01 9.08910383e-01 -1.46841912e-03 -1.18857667e+01] [-3.61037787e-03 -4.07939210e-05 9.99993482e-01 -5.34970775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.060888479 meters 0.01545515755825887 Centerline is valid? [True, True] Translation: X:83.85, Y:-11.90, Z:-0.05 [[ 9.09222392e-01 4.16302187e-01 2.67035704e-03 8.38473535e+01] [-4.16300488e-01 9.09226313e-01 -1.18950905e-03 -1.18994753e+01] [-2.92315410e-03 -3.01426753e-05 9.99995727e-01 -5.47604079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.090888479 meters 0.015207956919883516 Centerline is valid? [True, True] Translation: X:83.88, Y:-11.91, Z:-0.06 [[ 9.09970106e-01 4.14660015e-01 3.38798399e-03 8.38751300e+01] [-4.14657266e-01 9.09976412e-01 -1.51018235e-03 -1.19138985e+01] [-3.70919775e-03 -3.06313838e-05 9.99993120e-01 -5.58766744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.120888479 meters 0.014873284186591758 Centerline is valid? [True, True] Translation: X:83.90, Y:-11.93, Z:-0.06 [[ 9.10312346e-01 4.13903088e-01 3.95818181e-03 8.39040878e+01] [-4.13899323e-01 9.10320950e-01 -1.76564651e-03 -1.19296091e+01] [-4.33402237e-03 -3.09989579e-05 9.99990608e-01 -5.56763668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150888479 meters 0.014766428568877103 Centerline is valid? [True, True] Translation: X:83.93, Y:-11.94, Z:-0.05 [[ 9.10662261e-01 4.13129313e-01 4.29142900e-03 8.39328229e+01] [-4.13124873e-01 9.10672372e-01 -1.91569267e-03 -1.19443182e+01] [-4.69951463e-03 -2.83470402e-05 9.99988957e-01 -5.49993761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.180888479 meters 0.014677408869239328 Centerline is valid? [True, True] Translation: X:83.96, Y:-11.96, Z:-0.05 [[ 9.11437716e-01 4.11411791e-01 4.65062328e-03 8.39603515e+01] [-4.11406549e-01 9.11449580e-01 -2.07697001e-03 -1.19599691e+01] [-5.09329859e-03 -2.02680774e-05 9.99987029e-01 -5.47026947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210888479 meters 0.014617931545787858 Centerline is valid? [True, True] Translation: X:83.99, Y:-11.97, Z:-0.06 [[ 9.11384818e-01 4.11533769e-01 4.20372180e-03 8.39894318e+01] [-4.11529482e-01 9.11394512e-01 -1.87859261e-03 -1.19745314e+01] [-4.60435328e-03 -1.78346723e-05 9.99989400e-01 -5.51788442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.240888479 meters 0.014633580427347042 Centerline is valid? [True, True] Translation: X:84.02, Y:-11.99, Z:-0.06 [[ 9.11283475e-01 4.11762554e-01 3.74526426e-03 8.40188827e+01] [-4.11759148e-01 9.11291171e-01 -1.67493210e-03 -1.19886453e+01] [-4.10270058e-03 -1.58088738e-05 9.99991584e-01 -5.55617818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27088847899999 meters 0.014654952991504454 Centerline is valid? [True, True] Translation: X:84.05, Y:-12.00, Z:-0.06 [[ 9.10400343e-01 4.13710631e-01 3.83790993e-03 8.40488709e+01] [-4.13707066e-01 9.10408432e-01 -1.71767543e-03 -1.20022749e+01] [-4.20468614e-03 -2.39981560e-05 9.99991160e-01 -5.55132523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.300888479 meters 0.014859858854663954 Centerline is valid? [True, True] Translation: X:84.08, Y:-12.01, Z:-0.06 [[ 9.09649215e-01 4.15355128e-01 4.29231237e-03 8.40781031e+01] [-4.15350680e-01 9.09659341e-01 -1.92247469e-03 -1.20142490e+01] [-4.70305176e-03 -3.40372734e-05 9.99988940e-01 -5.50716566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.330888479 meters 0.014984456823101835 Centerline is valid? [True, True] Translation: X:84.11, Y:-12.03, Z:-0.05 [[ 9.08978798e-01 4.16811319e-01 5.08619612e-03 8.41077516e+01] [-4.16805088e-01 9.08993026e-01 -2.27962618e-03 -1.20267631e+01] [-5.57349080e-03 -4.78205597e-05 9.99984467e-01 -5.44869091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.360888479 meters 0.015068849603159941 Centerline is valid? [True, True] Translation: X:84.14, Y:-12.04, Z:-0.05 [[ 9.07965918e-01 4.19015657e-01 4.87561887e-03 8.41371361e+01] [-4.19009955e-01 9.07979006e-01 -2.18667020e-03 -1.20396974e+01] [-5.34320863e-03 -5.75108328e-05 9.99985723e-01 -5.32413270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.390888479 meters 0.01538382382315324 Centerline is valid? [True, True] Translation: X:84.17, Y:-12.05, Z:-0.05 [[ 9.07367421e-01 4.20318044e-01 4.13586875e-03 8.41660923e+01] [-4.20313951e-01 9.07376845e-01 -1.85566327e-03 -1.20522762e+01] [-4.53276030e-03 -5.45949409e-05 9.99989726e-01 -5.32953793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.420888479 meters 0.01568388744894155 Centerline is valid? [True, True] Translation: X:84.20, Y:-12.06, Z:-0.05 [[ 9.06700644e-01 4.21759148e-01 3.62824994e-03 8.41952848e+01] [-4.21756006e-01 9.06707901e-01 -1.62880398e-03 -1.20645793e+01] [-3.97672587e-03 -5.33985882e-05 9.99992091e-01 -5.43650386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.450888479 meters 0.016160724860708783 Centerline is valid? [True, True] Translation: X:84.23, Y:-12.08, Z:-0.06 [[ 9.05589647e-01 4.24142939e-01 3.18719317e-03 8.42251669e+01] [-4.24140526e-01 9.05595254e-01 -1.43168682e-03 -1.20754056e+01] [-3.49354687e-03 -5.52970257e-05 9.99993896e-01 -5.55637047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.480888479 meters 0.016641771714032243 Centerline is valid? [True, True] Translation: X:84.25, Y:-12.09, Z:-0.06 [[ 9.05069661e-01 4.25251217e-01 3.21119125e-03 8.42537411e+01] [-4.25248772e-01 9.05075355e-01 -1.44334628e-03 -1.20869758e+01] [-3.52015482e-03 -5.92262057e-05 9.99993802e-01 -5.59853382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510888479 meters 0.016753828475054824 Centerline is valid? [True, True] Translation: X:84.28, Y:-12.10, Z:-0.06 [[ 9.04677255e-01 4.26085098e-01 3.24851718e-03 8.42837223e+01] [-4.26082597e-01 9.04683086e-01 -1.46112142e-03 -1.20998908e+01] [-3.56144061e-03 -6.22933217e-05 9.99993656e-01 -5.62277342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.540888479 meters 0.016913813129486345 Centerline is valid? [True, True] Translation: X:84.31, Y:-12.11, Z:-0.06 [[ 9.04298524e-01 4.26885571e-01 3.59019277e-03 8.43133107e+01] [-4.26882518e-01 9.04305648e-01 -1.61590173e-03 -1.21129632e+01] [-3.93643673e-03 -7.13329843e-05 9.99992250e-01 -5.63118538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570888479 meters 0.017052148305882094 Centerline is valid? [True, True] Translation: X:84.34, Y:-12.13, Z:-0.06 [[ 9.04025766e-01 4.27467365e-01 3.01116707e-03 8.43430185e+01] [-4.27465218e-01 9.04030778e-01 -1.35613682e-03 -1.21259592e+01] [-3.30189194e-03 -6.11865612e-05 9.99994547e-01 -5.72457411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.600888479 meters 0.017009811612604505 Centerline is valid? [True, True] Translation: X:84.37, Y:-12.14, Z:-0.06 [[ 9.03911245e-01 4.27711949e-01 2.63631256e-03 8.43722643e+01] [-4.27710303e-01 9.03915088e-01 -1.18811283e-03 -1.21400383e+01] [-2.89117275e-03 -5.36294967e-05 9.99995819e-01 -5.83738669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63088847899999 meters 0.017009811612604505 Centerline is valid? [True, True] Translation: X:84.40, Y:-12.15, Z:-0.06 [[ 9.03794855e-01 4.27957840e-01 2.63598920e-03 8.44017875e+01] [-4.27956192e-01 9.03798697e-01 -1.18882996e-03 -1.21534376e+01] [-2.89117271e-03 -5.36294959e-05 9.99995819e-01 -5.84112813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.660888479 meters 0.017225042096970376 Centerline is valid? [True, True] Translation: X:84.43, Y:-12.17, Z:-0.06 [[ 9.04049467e-01 4.27426131e-01 1.20939296e-03 8.44302187e+01] [-4.27425784e-01 9.04050276e-01 -5.45635615e-04 -1.21670779e+01] [-1.32657096e-03 -2.36441471e-05 9.99999120e-01 -5.92681387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.690888479 meters 0.01602291284673563 Centerline is valid? [True, True] Translation: X:84.46, Y:-12.18, Z:-0.06 [[ 9.04509163e-01 4.26453918e-01 4.79242291e-04 8.44586445e+01] [-4.26453863e-01 9.04509290e-01 -2.16266483e-04 -1.21833978e+01] [-5.25706794e-04 -8.75971061e-06 9.99999862e-01 -5.97957459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.720888479 meters 0.01629591003909964 Centerline is valid? [True, True] Translation: X:84.49, Y:-12.20, Z:-0.06 [[ 9.04975812e-01 4.25462634e-01 5.71542560e-04 8.44877401e+01] [-4.25462556e-01 9.04975993e-01 -2.57911171e-04 -1.21957790e+01] [-6.26963862e-04 -9.76658677e-06 9.99999803e-01 -5.96971722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.750888479 meters 0.016294847327797787 Centerline is valid? [True, True] Translation: X:84.52, Y:-12.21, Z:-0.06 [[ 9.05507960e-01 4.24328448e-01 8.37886429e-04 8.45160655e+01] [-4.24328279e-01 9.05508348e-01 -3.78497201e-04 -1.22091986e+01] [-9.19320286e-04 -1.28066779e-05 9.99999577e-01 -5.93634301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.780888479 meters 0.015096803261062035 Centerline is valid? [True, True] Translation: X:84.54, Y:-12.23, Z:-0.06 [[ 9.06810711e-01 4.21533085e-01 2.04776563e-03 8.45429927e+01] [-4.21532068e-01 9.06813023e-01 -9.25991292e-04 -1.22269183e+01] [-2.24727651e-03 -2.35000616e-05 9.99997475e-01 -5.82791108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.810888479 meters 0.014866060022608353 Centerline is valid? [True, True] Translation: X:84.57, Y:-12.24, Z:-0.06 [[ 9.07497287e-01 4.20055287e-01 1.49315891e-03 8.45718655e+01] [-4.20054744e-01 9.07498515e-01 -6.75557712e-04 -1.22418618e+01] [-1.63881108e-03 -1.41416930e-05 9.99998657e-01 -5.80695424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.840888479 meters 0.01478501379495196 Centerline is valid? [True, True] Translation: X:84.60, Y:-12.26, Z:-0.06 [[ 9.07983421e-01 4.19003635e-01 1.43539058e-03 8.46000481e+01] [-4.19003132e-01 9.07984556e-01 -6.49823366e-04 -1.22551153e+01] [-1.57559083e-03 -1.14043056e-05 9.99998759e-01 -5.81814810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870888479 meters 0.014530128782578262 Centerline is valid? [True, True] Translation: X:84.63, Y:-12.27, Z:-0.06 [[ 9.08627473e-01 4.17605256e-01 1.40169028e-03 8.46289179e+01] [-4.17604774e-01 9.08628554e-01 -6.34947212e-04 -1.22694251e+01] [-1.53877310e-03 -8.42207058e-06 9.99998816e-01 -5.89494832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.900888479 meters 0.014383567786169685 Centerline is valid? [True, True] Translation: X:84.66, Y:-12.28, Z:-0.06 [[ 9.09806894e-01 4.15031791e-01 1.68341994e-04 8.46559439e+01] [-4.15031784e-01 9.09806909e-01 -7.60570582e-05 -1.22846225e+01] [-1.84724806e-04 -6.70042108e-07 9.99999983e-01 -5.99100673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930888479 meters 0.014498129188276206 Centerline is valid? [True, True] Translation: X:84.68, Y:-12.30, Z:-0.06 [[ 9.10334396e-01 4.13873515e-01 -2.28529381e-06 8.46846701e+01] [-4.13873515e-01 9.10334396e-01 1.35872152e-06 -1.22996070e+01] [ 2.64272047e-06 -2.91068350e-07 1.00000000e+00 -6.04444923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.960888479 meters 0.014340880746620516 Centerline is valid? [True, True] Translation: X:84.71, Y:-12.31, Z:-0.06 [[ 9.10885987e-01 4.12657932e-01 -3.87115643e-04 8.47143971e+01] [-4.12657894e-01 9.10886069e-01 1.76141148e-04 -1.23148583e+01] [ 4.25304288e-04 -6.98177181e-07 9.99999910e-01 -6.01167124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990888479 meters 0.014560568262054976 Centerline is valid? [True, True] Translation: X:84.74, Y:-12.33, Z:-0.06 [[ 9.11811466e-01 4.10608858e-01 -4.64389528e-04 8.47421600e+01] [-4.10608804e-01 9.11811584e-01 2.11351581e-04 -1.23298277e+01] [ 5.10218583e-04 -2.03036649e-06 9.99999870e-01 -6.04019810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02088847899999 meters 0.014663274445596362 Centerline is valid? [True, True] Translation: X:84.77, Y:-12.34, Z:-0.06 [[ 9.11877532e-01 4.10461495e-01 -8.52918389e-04 8.47719373e+01] [-4.10461311e-01 9.11877931e-01 3.88227907e-04 -1.23433862e+01] [ 9.37110063e-04 -3.92630510e-06 9.99999561e-01 -6.08982165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.050888479 meters 0.014661269977919162 Centerline is valid? [True, True] Translation: X:84.80, Y:-12.36, Z:-0.06 [[ 9.11763454e-01 4.10714216e-01 -1.11188589e-03 8.48011483e+01] [-4.10713904e-01 9.11764132e-01 5.06322719e-04 -1.23565798e+01] [ 1.22173161e-03 -4.97955653e-06 9.99999254e-01 -6.13193365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.080888479 meters 0.014710765969834484 Centerline is valid? [True, True] Translation: X:84.83, Y:-12.37, Z:-0.06 [[ 9.10860254e-01 4.12712773e-01 -1.32822524e-03 8.48306826e+01] [-4.12712329e-01 9.10861223e-01 6.05183029e-04 -1.23691424e+01] [ 1.45959563e-03 -3.06223580e-06 9.99998935e-01 -6.14645552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.110888479 meters 0.014794165587305438 Centerline is valid? [True, True] Translation: X:84.86, Y:-12.38, Z:-0.06 [[ 9.10243073e-01 4.14072020e-01 -1.38182558e-03 8.48607811e+01] [-4.14071541e-01 9.10244122e-01 6.30072701e-04 -1.23821248e+01] [ 1.51869409e-03 -1.34466386e-06 9.99998847e-01 -6.13468196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.140888479 meters 0.01478818043253924 Centerline is valid? [True, True] Translation: X:84.89, Y:-12.40, Z:-0.06 [[ 9.09490352e-01 4.15722965e-01 -1.30985593e-03 8.48912420e+01] [-4.15722536e-01 9.09491295e-01 5.97707459e-04 -1.23951847e+01] [ 1.43978328e-03 9.27462101e-07 9.99998964e-01 -6.11238698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.170888479 meters 0.014935625601781289 Centerline is valid? [True, True] Translation: X:84.92, Y:-12.41, Z:-0.06 [[ 9.08669943e-01 4.17513763e-01 -1.09177689e-03 8.49212295e+01] [-4.17513465e-01 9.08670599e-01 4.98609529e-04 -1.24079899e+01] [ 1.20024190e-03 2.76005895e-06 9.99999280e-01 -6.08861716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.200888479 meters 0.015232188035810298 Centerline is valid? [True, True] Translation: X:84.95, Y:-12.42, Z:-0.06 [[ 9.07465731e-01 4.20125305e-01 -8.21433398e-04 8.49510332e+01] [-4.20125137e-01 9.07466103e-01 3.75458278e-04 -1.24191845e+01] [ 9.03162488e-04 4.38929806e-06 9.99999592e-01 -6.05147788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.230888479 meters 0.015276446757715246 Centerline is valid? [True, True] Translation: X:84.98, Y:-12.43, Z:-0.06 [[ 9.06827147e-01 4.21501094e-01 -1.16348180e-03 8.49813022e+01] [-4.21500758e-01 9.06827893e-01 5.32082126e-04 -1.24326279e+01] [ 1.27935095e-03 7.90194369e-06 9.99999182e-01 -6.02815215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.260888479 meters 0.01545489941125096 Centerline is valid? [True, True] Translation: X:85.01, Y:-12.45, Z:-0.06 [[ 9.06287078e-01 4.22659285e-01 -1.69172865e-03 8.50099736e+01] [-4.22658577e-01 9.06288656e-01 7.73591607e-04 -1.24451006e+01] [ 1.86016016e-03 1.39275463e-05 9.99998270e-01 -6.04558246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290888479 meters 0.0158429112648216 Centerline is valid? [True, True] Translation: X:85.04, Y:-12.46, Z:-0.06 [[ 9.05130590e-01 4.25123310e-01 -2.96426985e-03 8.50382399e+01] [-4.25121148e-01 9.05135443e-01 1.35628450e-03 -1.24592058e+01] [ 3.25965386e-03 3.25592087e-05 9.99994687e-01 -6.00318799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.320888479 meters 0.015823702490601752 Centerline is valid? [True, True] Translation: X:85.07, Y:-12.47, Z:-0.06 [[ 9.04545644e-01 4.26361592e-01 -3.60163153e-03 8.50670867e+01] [-4.26358405e-01 9.04552813e-01 1.64893021e-03 -1.24727884e+01] [ 3.96090644e-03 4.40532387e-05 9.99992155e-01 -5.97050725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350888479 meters 0.01595079812186651 Centerline is valid? [True, True] Translation: X:85.10, Y:-12.49, Z:-0.06 [[ 9.04007489e-01 4.27497985e-01 -3.99159570e-03 8.50966807e+01] [-4.27494077e-01 9.04016300e-01 1.82861498e-03 -1.24860273e+01] [ 4.39019680e-03 5.33018837e-05 9.99990362e-01 -5.98368010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38088847899999 meters 0.016150760008611723 Centerline is valid? [True, True] Translation: X:85.13, Y:-12.50, Z:-0.06 [[ 9.03195705e-01 4.29207309e-01 -4.31321889e-03 8.51259073e+01] [-4.29202760e-01 9.03206002e-01 1.97723152e-03 -1.24986631e+01] [ 4.74436741e-03 6.54184402e-05 9.99988743e-01 -6.03237615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.410888479 meters 0.016240020200501158 Centerline is valid? [True, True] Translation: X:85.16, Y:-12.51, Z:-0.06 [[ 9.02973159e-01 4.29674045e-01 -4.43734494e-03 8.51554233e+01] [-4.29669231e-01 9.02984059e-01 2.03498017e-03 -1.25117069e+01] [ 4.88122991e-03 6.90581141e-05 9.99988084e-01 -6.08881220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.440888479 meters 0.016462606397721954 Centerline is valid? [True, True] Translation: X:85.18, Y:-12.52, Z:-0.06 [[ 9.02752833e-01 4.30134473e-01 -4.65372039e-03 8.51839917e+01] [-4.30129177e-01 9.02764825e-01 2.13566227e-03 -1.25248047e+01] [ 5.11983704e-03 7.37257510e-05 9.99986891e-01 -6.10348789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.470888479 meters 0.016231358738810493 Centerline is valid? [True, True] Translation: X:85.21, Y:-12.54, Z:-0.06 [[ 9.03201604e-01 4.29193496e-01 -4.45044113e-03 8.52116634e+01] [-4.29188635e-01 9.03212566e-01 2.04367987e-03 -1.25414845e+01] [ 4.89682846e-03 6.42238168e-05 9.99988008e-01 -5.90771428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.500888479 meters 0.016216304892185035 Centerline is valid? [True, True] Translation: X:85.24, Y:-12.56, Z:-0.06 [[ 9.03747001e-01 4.28045991e-01 -4.24109054e-03 8.52391661e+01] [-4.28041559e-01 9.03756951e-01 1.94867291e-03 -1.25557101e+01] [ 4.66703668e-03 5.42557044e-05 9.99989108e-01 -5.86838263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.530888479 meters 0.015804067512341695 Centerline is valid? [True, True] Translation: X:85.27, Y:-12.57, Z:-0.06 [[ 9.04408097e-01 4.26649301e-01 -4.04572260e-03 8.52671674e+01] [-4.26645248e-01 9.04417145e-01 1.86011938e-03 -1.25722222e+01] [ 4.45263952e-03 4.37812953e-05 9.99990086e-01 -5.76296993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.560888479 meters 0.015564927844657794 Centerline is valid? [True, True] Translation: X:85.30, Y:-12.59, Z:-0.06 [[ 9.05126663e-01 4.25125362e-01 -3.76171701e-03 8.52953289e+01] [-4.25121841e-01 9.05134479e-01 1.73065904e-03 -1.25874809e+01] [ 4.14060682e-03 3.27224158e-05 9.99991427e-01 -5.64712176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.590888479 meters 0.015370025913283385 Centerline is valid? [True, True] Translation: X:85.32, Y:-12.60, Z:-0.06 [[ 9.06361507e-01 4.22496701e-01 -2.31439837e-03 8.53222319e+01] [-4.22495358e-01 9.06364462e-01 1.06550275e-03 -1.26027335e+01] [ 2.54785983e-03 1.20918856e-05 9.99996754e-01 -5.55756274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.620888479 meters 0.015186733715948999 Centerline is valid? [True, True] Translation: X:85.35, Y:-12.62, Z:-0.06 [[ 9.06941974e-01 4.21248070e-01 -2.51386661e-03 8.53511913e+01] [-4.21246478e-01 9.06945458e-01 1.15820797e-03 -1.26183476e+01] [ 2.76783278e-03 8.53002764e-06 9.99996170e-01 -5.51622567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650888479 meters 0.015201526627160906 Centerline is valid? [True, True] Translation: X:85.38, Y:-12.63, Z:-0.06 [[ 9.07085683e-01 4.20937197e-01 -2.72772774e-03 8.53806648e+01] [-4.20935318e-01 9.07089784e-01 1.25760930e-03 -1.26336295e+01] [ 3.00366850e-03 7.43755099e-06 9.99995489e-01 -5.52999156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.680888479 meters 0.015340358226418155 Centerline is valid? [True, True] Translation: X:85.41, Y:-12.65, Z:-0.06 [[ 9.07094781e-01 4.20905541e-01 -4.19334508e-03 8.54092167e+01] [-4.20901096e-01 9.07104473e-01 1.93451551e-03 -1.26492516e+01] [ 4.61805038e-03 1.01946113e-05 9.99989337e-01 -5.60575522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710888479 meters 0.015334776228282958 Centerline is valid? [True, True] Translation: X:85.44, Y:-12.66, Z:-0.06 [[ 9.06790874e-01 4.21553044e-01 -4.83140521e-03 8.54389253e+01] [-4.21547143e-01 9.06803745e-01 2.23040770e-03 -1.26633069e+01] [ 5.32137149e-03 1.41517231e-05 9.99985841e-01 -5.63168858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.740888479 meters 0.015397023840872163 Centerline is valid? [True, True] Translation: X:85.47, Y:-12.68, Z:-0.06 [[ 9.06293682e-01 4.22614891e-01 -5.33070912e-03 8.54682715e+01] [-4.22607716e-01 9.06309359e-01 2.46267797e-03 -1.26771533e+01] [ 5.87203595e-03 2.08893245e-05 9.99982759e-01 -5.63138823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77088847899999 meters 0.0156332335276752 Centerline is valid? [True, True] Translation: X:85.50, Y:-12.69, Z:-0.06 [[ 9.05381937e-01 4.24562934e-01 -5.46479471e-03 8.54976365e+01] [-4.24555419e-01 9.05398428e-01 2.52630147e-03 -1.26894151e+01] [ 6.02039051e-03 3.28404933e-05 9.99981877e-01 -5.66617561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.800888479 meters 0.015756113512253225 Centerline is valid? [True, True] Translation: X:85.53, Y:-12.70, Z:-0.06 [[ 9.04742817e-01 4.25919657e-01 -5.73421761e-03 8.55261376e+01] [-4.25911405e-01 9.04760987e-01 2.65156392e-03 -1.27014078e+01] [ 6.31744958e-03 4.32852649e-05 9.99980044e-01 -5.74255112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.830888479 meters 0.015873184404570445 Centerline is valid? [True, True] Translation: X:85.55, Y:-12.71, Z:-0.06 [[ 9.04051452e-01 4.27380918e-01 -6.04345961e-03 8.55548353e+01] [-4.27371772e-01 9.04071650e-01 2.79648620e-03 -1.27149125e+01] [ 6.65888534e-03 5.46366376e-05 9.99977828e-01 -5.67032034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.860888479 meters 0.016106829271523026 Centerline is valid? [True, True] Translation: X:85.58, Y:-12.73, Z:-0.06 [[ 9.03342744e-01 4.28880570e-01 -5.77446083e-03 8.55836808e+01] [-4.28872239e-01 9.03361197e-01 2.67387180e-03 -1.27278047e+01] [ 6.36319551e-03 6.10832584e-05 9.99979753e-01 -5.69003888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.890888479 meters 0.016813407131309105 Centerline is valid? [True, True] Translation: X:85.61, Y:-12.74, Z:-0.06 [[ 9.02076202e-01 4.31547410e-01 -5.03576807e-03 8.56127260e+01] [-4.31541112e-01 9.02090255e-01 2.33249630e-03 -1.27398409e+01] [ 5.54930004e-03 6.90515504e-05 9.99984600e-01 -5.61560847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.920888479 meters 0.016769026879051546 Centerline is valid? [True, True] Translation: X:85.64, Y:-12.75, Z:-0.06 [[ 9.01585817e-01 4.32577492e-01 -4.44168647e-03 8.56430181e+01] [-4.32572596e-01 9.01596756e-01 2.05902514e-03 -1.27538155e+01] [ 4.89529804e-03 6.49639794e-05 9.99988016e-01 -5.55628897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.950888479 meters 0.017064891835809462 Centerline is valid? [True, True] Translation: X:85.67, Y:-12.77, Z:-0.06 [[ 9.01056092e-01 4.33684871e-01 -3.91814962e-03 8.56733327e+01] [-4.33681066e-01 9.01064609e-01 1.81769155e-03 -1.27668969e+01] [ 4.31881127e-03 6.13852606e-05 9.99990672e-01 -5.54189125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.980888479 meters 0.01716716870870718 Centerline is valid? [True, True] Translation: X:85.70, Y:-12.78, Z:-0.05 [[ 9.00569080e-01 4.34703745e-01 -2.82591093e-03 8.57034168e+01] [-4.34701767e-01 9.00573513e-01 1.31205589e-03 -1.27809792e+01] [ 3.11529615e-03 4.68315072e-05 9.99995146e-01 -5.46463411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010888479 meters 0.017292320183156656 Centerline is valid? [True, True] Translation: X:85.73, Y:-12.80, Z:-0.05 [[ 9.00226917e-01 4.35414940e-01 -2.30820140e-03 8.57332209e+01] [-4.35413621e-01 9.00229875e-01 1.07252819e-03 -1.27951978e+01] [ 2.54490666e-03 3.95035841e-05 9.99996761e-01 -5.39676526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.040888479 meters 0.017754305275466974 Centerline is valid? [True, True] Translation: X:85.76, Y:-12.81, Z:-0.05 [[ 9.00102963e-01 4.35670465e-01 -2.42925046e-03 8.57624293e+01] [-4.35669003e-01 9.00106240e-01 1.12949695e-03 -1.28083425e+01] [ 2.67867196e-03 4.16855704e-05 9.99996411e-01 -5.45033757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070888479 meters 0.017465203216084555 Centerline is valid? [True, True] Translation: X:85.79, Y:-12.82, Z:-0.05 [[ 9.00029866e-01 4.35821902e-01 -2.34725285e-03 8.57909589e+01] [-4.35820535e-01 9.00032926e-01 1.09221751e-03 -1.28240617e+01] [ 2.58861716e-03 3.99526147e-05 9.99996649e-01 -5.43210869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.100888479 meters 0.017319170080216516 Centerline is valid? [True, True] Translation: X:85.82, Y:-12.84, Z:-0.05 [[ 9.00021287e-01 4.35836729e-01 -2.83352603e-03 8.58202693e+01] [-4.35834735e-01 9.00025746e-01 1.31937842e-03 -1.28386069e+01] [ 3.12527996e-03 4.74804037e-05 9.99995115e-01 -5.42140702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13088847899999 meters 0.017378381063568687 Centerline is valid? [True, True] Translation: X:85.85, Y:-12.85, Z:-0.05 [[ 9.00180986e-01 4.35510329e-01 -2.22419537e-03 8.58485205e+01] [-4.35509097e-01 9.00183733e-01 1.03634576e-03 -1.28532391e+01] [ 2.45352377e-03 3.57585756e-05 9.99996989e-01 -5.38083948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.160888479 meters 0.0173228506931227 Centerline is valid? [True, True] Translation: X:85.88, Y:-12.87, Z:-0.05 [[ 9.00462195e-01 4.34929439e-01 -2.05408343e-03 8.58776383e+01] [-4.34928385e-01 9.00464537e-01 9.57716311e-04 -1.28669829e+01] [ 2.26616831e-03 3.09918594e-05 9.99997432e-01 -5.35770185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.190888479 meters 0.017377202649437342 Centerline is valid? [True, True] Translation: X:85.91, Y:-12.88, Z:-0.05 [[ 9.00797137e-01 4.34237008e-01 -1.65494520e-03 8.59056921e+01] [-4.34236322e-01 9.00798657e-01 7.72108773e-04 -1.28798758e+01] [ 1.82605062e-03 2.31239457e-05 9.99998333e-01 -5.38977429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.220888479 meters 0.017010375357857044 Centerline is valid? [True, True] Translation: X:85.93, Y:-12.90, Z:-0.05 [[ 9.02101295e-01 4.31523901e-01 -6.13270035e-04 8.59344565e+01] [-4.31523806e-01 9.02101504e-01 2.86184188e-04 -1.28953860e+01] [ 6.76727138e-04 6.47349313e-06 9.99999771e-01 -5.31708047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.250888479 meters 0.016770479711193644 Centerline is valid? [True, True] Translation: X:85.96, Y:-12.91, Z:-0.05 [[ 9.02757993e-01 4.30147534e-01 -1.05152041e-03 8.59624437e+01] [-4.30147254e-01 9.02758605e-01 4.91131958e-04 -1.29105259e+01] [ 1.16052830e-03 8.93531791e-06 9.99999327e-01 -5.28542405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.280888479 meters 0.016653103814876023 Centerline is valid? [True, True] Translation: X:85.99, Y:-12.93, Z:-0.05 [[ 9.03485401e-01 4.28616378e-01 -1.45970671e-03 8.59903442e+01] [-4.28615836e-01 9.03486580e-01 6.82036892e-04 -1.29252485e+01] [ 1.61115761e-03 9.44303826e-06 9.99998702e-01 -5.28889291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.310888479 meters 0.016526572114175412 Centerline is valid? [True, True] Translation: X:86.02, Y:-12.94, Z:-0.05 [[ 9.05279829e-01 4.24806674e-01 -2.77848247e-03 8.60176684e+01] [-4.24804689e-01 9.05284093e-01 1.29879747e-03 -1.29415730e+01] [ 3.06705381e-03 4.53723061e-06 9.99995297e-01 -5.30146331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.340888479 meters 0.016544448799069956 Centerline is valid? [True, True] Translation: X:86.05, Y:-12.96, Z:-0.05 [[ 9.06257256e-01 4.22716320e-01 -2.94951958e-03 8.60456509e+01] [-4.22714068e-01 9.06262055e-01 1.37966728e-03 -1.29564569e+01] [ 3.25624555e-03 -3.53006387e-06 9.99994698e-01 -5.30964310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.370888479 meters 0.01672273918972137 Centerline is valid? [True, True] Translation: X:86.07, Y:-12.97, Z:-0.05 [[ 9.07179888e-01 4.20730855e-01 -3.19356545e-03 8.60736411e+01] [-4.20728200e-01 9.07185509e-01 1.49474534e-03 -1.29715845e+01] [ 3.52604179e-03 -1.23798613e-05 9.99993783e-01 -5.31872186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.400888479 meters 0.01695341294787757 Centerline is valid? [True, True] Translation: X:86.10, Y:-12.99, Z:-0.05 [[ 9.08870623e-01 4.17066064e-01 -3.17639456e-03 8.61017159e+01] [-4.17063412e-01 9.08876173e-01 1.48760011e-03 -1.29870572e+01] [ 3.50737686e-03 -2.72780826e-05 9.99993849e-01 -5.27493493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430888479 meters 0.017155700710608946 Centerline is valid? [True, True] Translation: X:86.13, Y:-13.00, Z:-0.05 [[ 9.09440104e-01 4.15825088e-01 -2.86231019e-03 8.61302227e+01] [-4.15822925e-01 9.09444608e-01 1.34134412e-03 -1.30009855e+01] [ 3.16087711e-03 -2.96579400e-05 9.99995004e-01 -5.26452663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.460888479 meters 0.017287554164449305 Centerline is valid? [True, True] Translation: X:86.16, Y:-13.01, Z:-0.05 [[ 9.09809496e-01 4.15018765e-01 -2.47100549e-03 8.61599708e+01] [-4.15017148e-01 9.09812851e-01 1.15887184e-03 -1.30144124e+01] [ 2.72910611e-03 -2.88429523e-05 9.99996276e-01 -5.25233382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49088847899999 meters 0.01758657394928635 Centerline is valid? [True, True] Translation: X:86.19, Y:-13.03, Z:-0.05 [[ 9.09944057e-01 4.14722366e-01 -2.67812599e-03 8.61884311e+01] [-4.14720464e-01 9.09947997e-01 1.25639775e-03 -1.30279521e+01] [ 2.95801163e-03 -3.25780151e-05 9.99995625e-01 -5.23647209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52088847899999 meters 0.01758657394928635 Centerline is valid? [True, True] Translation: X:86.22, Y:-13.04, Z:-0.05 [[ 9.09835521e-01 4.14960425e-01 -2.67775128e-03 8.62177352e+01] [-4.14958522e-01 9.09839461e-01 1.25719628e-03 -1.30417980e+01] [ 2.95801049e-03 -3.26861160e-05 9.99995625e-01 -5.24020857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.550888479 meters 0.017254933362856266 Centerline is valid? [True, True] Translation: X:86.25, Y:-13.05, Z:-0.05 [[ 9.09301174e-01 4.16127077e-01 -3.10344503e-03 8.62475123e+01] [-4.16124524e-01 9.09306469e-01 1.45787190e-03 -1.30538125e+01] [ 3.42864261e-03 -3.42250405e-05 9.99994122e-01 -5.21113656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.580888479 meters 0.017106559202917267 Centerline is valid? [True, True] Translation: X:86.28, Y:-13.07, Z:-0.05 [[ 9.08671790e-01 4.17494714e-01 -3.70688849e-03 8.62785095e+01] [-4.17491079e-01 9.08679351e-01 1.74257860e-03 -1.30661610e+01] [ 4.09589039e-03 -3.58391429e-05 9.99991611e-01 -5.19848393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.610888479 meters 0.017099873220185417 Centerline is valid? [True, True] Translation: X:86.31, Y:-13.08, Z:-0.05 [[ 9.07908279e-01 4.19151393e-01 -3.82977072e-03 8.63079004e+01] [-4.19147523e-01 9.07916356e-01 1.80140091e-03 -1.30779161e+01] [ 4.23217118e-03 -3.02678845e-05 9.99991044e-01 -5.28431798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.640888479 meters 0.01674563302331696 Centerline is valid? [True, True] Translation: X:86.34, Y:-13.09, Z:-0.05 [[ 9.05744855e-01 4.23804887e-01 -3.95912697e-03 8.63387799e+01] [-4.23800791e-01 9.05753508e-01 1.86338112e-03 -1.30879160e+01] [ 4.37570317e-03 -9.86672307e-06 9.99990427e-01 -5.28002340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.670888479 meters 0.016822038511496426 Centerline is valid? [True, True] Translation: X:86.37, Y:-13.10, Z:-0.05 [[ 9.04300893e-01 4.26877708e-01 -3.91364357e-03 8.63693866e+01] [-4.26873728e-01 9.04309362e-01 1.84335656e-03 -1.31000412e+01] [ 4.32603234e-03 3.68263833e-06 9.99990643e-01 -5.18570878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.700888479 meters 0.016902217189426628 Centerline is valid? [True, True] Translation: X:86.40, Y:-13.11, Z:-0.05 [[ 9.02719170e-01 4.30214228e-01 -3.71716173e-03 8.63993164e+01] [-4.30210661e-01 9.02726823e-01 1.75197999e-03 -1.31109053e+01] [ 4.10930832e-03 1.76166810e-05 9.99991557e-01 -5.14900450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.730888479 meters 0.017532528590074963 Centerline is valid? [True, True] Translation: X:86.43, Y:-13.12, Z:-0.05 [[ 8.99848878e-01 4.36192791e-01 -2.80108541e-03 8.64309966e+01] [-4.36190792e-01 8.99853237e-01 1.32109282e-03 -1.31184594e+01] [ 3.09681693e-03 3.30237741e-05 9.99995204e-01 -5.04838231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.760888479 meters 0.018069633315592918 Centerline is valid? [True, True] Translation: X:86.46, Y:-13.13, Z:-0.05 [[ 8.98425554e-01 4.39117640e-01 -2.68729829e-03 8.64608285e+01] [-4.39115810e-01 8.98429573e-01 1.26814529e-03 -1.31293693e+01] [ 2.97121322e-03 4.07010339e-05 9.99995585e-01 -4.99322484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790888479 meters 0.0185112344909184 Centerline is valid? [True, True] Translation: X:86.49, Y:-13.14, Z:-0.05 [[ 8.97241441e-01 4.41533905e-01 -2.36777452e-03 8.64909761e+01] [-4.41532491e-01 8.97244565e-01 1.11810849e-03 -1.31413319e+01] [ 2.61815562e-03 4.22361136e-05 9.99996572e-01 -4.91937872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.820888479 meters 0.019258630764798702 Centerline is valid? [True, True] Translation: X:86.52, Y:-13.15, Z:-0.05 [[ 8.95341192e-01 4.45376506e-01 -1.97944974e-03 8.65215593e+01] [-4.45375526e-01 8.95343379e-01 9.35354413e-04 -1.31511612e+01] [ 2.18887210e-03 4.41371369e-05 9.99997603e-01 -4.83876976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850888479 meters 0.019697542541791072 Centerline is valid? [True, True] Translation: X:86.55, Y:-13.16, Z:-0.05 [[ 8.94650072e-01 4.46761525e-01 -2.32135134e-03 8.65515758e+01] [-4.46760180e-01 8.94653082e-01 1.09754880e-03 -1.31634733e+01] [ 2.56714671e-03 5.51652317e-05 9.99996703e-01 -4.86931036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88088847899999 meters 0.01985777845710993 Centerline is valid? [True, True] Translation: X:86.58, Y:-13.18, Z:-0.05 [[ 8.94107317e-01 4.47844648e-01 -2.69772921e-03 8.65810324e+01] [-4.47842835e-01 8.94111384e-01 1.27625558e-03 -1.31766991e+01] [ 2.98363463e-03 6.70492468e-05 9.99995547e-01 -4.92443156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.910888479 meters 0.020689348754617615 Centerline is valid? [True, True] Translation: X:86.61, Y:-13.19, Z:-0.05 [[ 8.93693842e-01 4.48666376e-01 -3.13053970e-03 8.66098041e+01] [-4.48663936e-01 8.93699321e-01 1.48179730e-03 -1.31879993e+01] [ 3.46259383e-03 8.02871399e-05 9.99994002e-01 -4.98940141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.940888479 meters 0.020652214797657296 Centerline is valid? [True, True] Translation: X:86.64, Y:-13.20, Z:-0.05 [[ 8.92800345e-01 4.50437830e-01 -3.64763755e-03 8.66397722e+01] [-4.50434528e-01 8.92807791e-01 1.72761127e-03 -1.32002499e+01] [ 4.03482069e-03 1.00609962e-04 9.99991855e-01 -5.10489387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.970888479 meters 0.021407695093465805 Centerline is valid? [True, True] Translation: X:86.67, Y:-13.21, Z:-0.05 [[ 8.92469766e-01 4.51087032e-01 -4.26689602e-03 8.66687148e+01] [-4.51082519e-01 8.92479958e-01 2.02140171e-03 -1.32110835e+01] [ 4.71994728e-03 1.20682296e-04 9.99988854e-01 -5.22925269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.000888479 meters 0.021448671477904198 Centerline is valid? [True, True] Translation: X:86.70, Y:-13.22, Z:-0.05 [[ 8.92050301e-01 4.51907880e-01 -5.05259665e-03 8.66979355e+01] [-4.51901557e-01 8.92064598e-01 2.39519587e-03 -1.32244461e+01] [ 5.58965048e-03 1.46641097e-04 9.99984367e-01 -5.38624431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.030888479 meters 0.02149686522753829 Centerline is valid? [True, True] Translation: X:86.73, Y:-13.24, Z:-0.05 [[ 8.91883814e-01 4.52236545e-01 -5.03684758e-03 8.67270025e+01] [-4.52230256e-01 8.91898024e-01 2.38945434e-03 -1.32388734e+01] [ 5.57295298e-03 1.46699222e-04 9.99984460e-01 -5.41096547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.060888479 meters 0.02155068942341267 Centerline is valid? [True, True] Translation: X:86.76, Y:-13.25, Z:-0.05 [[ 8.91778916e-01 4.52431690e-01 -5.99419330e-03 8.67567205e+01] [-4.52422775e-01 8.91799044e-01 2.84554040e-03 -1.32540194e+01] [ 6.63302851e-03 1.74316631e-04 9.99977986e-01 -5.44417284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.090888479 meters 0.020482748720392345 Centerline is valid? [True, True] Translation: X:86.79, Y:-13.27, Z:-0.05 [[ 8.91851370e-01 4.52277346e-01 -6.80707575e-03 8.67853786e+01] [-4.52265827e-01 8.91877326e-01 3.23375660e-03 -1.32712687e+01] [ 7.53363137e-03 1.94577487e-04 9.99971603e-01 -5.35037434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.120888479 meters 0.022043633949079666 Centerline is valid? [True, True] Translation: X:86.82, Y:-13.28, Z:-0.05 [[ 8.91653484e-01 4.52664664e-01 -6.98332891e-03 8.68150562e+01] [-4.52652535e-01 8.91680807e-01 3.31970729e-03 -1.32838521e+01] [ 7.72961454e-03 2.00992959e-04 9.99970106e-01 -5.39596413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150888479 meters 0.022312023103274813 Centerline is valid? [True, True] Translation: X:86.84, Y:-13.30, Z:-0.05 [[ 8.91407366e-01 4.53137261e-01 -7.71563723e-03 8.68428242e+01] [-4.53122459e-01 8.91440728e-01 3.66941660e-03 -1.32967717e+01] [ 8.54078266e-03 2.25183536e-04 9.99963502e-01 -5.42393480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.180888479 meters 0.02065616479067838 Centerline is valid? [True, True] Translation: X:86.87, Y:-13.31, Z:-0.05 [[ 8.91001857e-01 4.53924527e-01 -8.25915647e-03 8.68703152e+01] [-4.53907577e-01 8.91040101e-01 3.93048263e-03 -1.33139698e+01] [ 9.14338210e-03 2.46826381e-04 9.99958168e-01 -5.33087520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210888479 meters 0.023125511136121324 Centerline is valid? [True, True] Translation: X:86.90, Y:-13.32, Z:-0.06 [[ 8.90189867e-01 4.55481624e-01 -9.92429219e-03 8.68998112e+01] [-4.55457232e-01 8.90245130e-01 4.72418731e-03 -1.33232415e+01] [ 1.09868333e-02 3.14666976e-04 9.99939593e-01 -5.64342049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24088847899999 meters 0.023503051412871106 Centerline is valid? [True, True] Translation: X:86.93, Y:-13.34, Z:-0.06 [[ 8.89798291e-01 4.56228187e-01 -1.07164477e-02 8.69285298e+01] [-4.56199763e-01 8.89862754e-01 5.10440856e-03 -1.33375546e+01] [ 1.18649428e-02 3.46946900e-04 9.99929549e-01 -5.67537358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27088847899999 meters 0.02360376428128718 Centerline is valid? [True, True] Translation: X:86.96, Y:-13.35, Z:-0.06 [[ 8.89416325e-01 4.56955945e-01 -1.13958231e-02 8.69572503e+01] [-4.56923823e-01 8.89489248e-01 5.43118753e-03 -1.33527389e+01] [ 1.26182755e-02 3.76436194e-04 9.99920316e-01 -5.63966224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.300888479 meters 0.02389119440553481 Centerline is valid? [True, True] Translation: X:86.98, Y:-13.37, Z:-0.06 [[ 8.89126290e-01 4.57508192e-01 -1.18614711e-02 8.69849897e+01] [-4.57473397e-01 8.89205318e-01 5.65639322e-03 -1.33688178e+01] [ 1.31351294e-02 3.97059552e-04 9.99913652e-01 -5.54815209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.330888479 meters 0.021744315277393234 Centerline is valid? [True, True] Translation: X:87.01, Y:-13.39, Z:-0.05 [[ 8.88962657e-01 4.57836624e-01 -1.14463714e-02 8.70127148e+01] [-4.57804198e-01 8.89036264e-01 5.46241321e-03 -1.33880247e+01] [ 1.26771321e-02 3.84315502e-04 9.99919568e-01 -5.30403502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.360888479 meters 0.022105135273678893 Centerline is valid? [True, True] Translation: X:87.04, Y:-13.40, Z:-0.05 [[ 8.88849955e-01 4.58068751e-01 -1.08984949e-02 8.70416947e+01] [-4.58039331e-01 8.88916692e-01 5.20439779e-03 -1.34018951e+01] [ 1.20718260e-02 3.66010579e-04 9.99927066e-01 -5.26213231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.390888479 meters 0.021477788907469108 Centerline is valid? [True, True] Translation: X:87.07, Y:-13.42, Z:-0.05 [[ 8.88350258e-01 4.59064389e-01 -9.68016547e-03 8.70703210e+01] [-4.59041201e-01 8.88402935e-01 4.62601681e-03 -1.34183164e+01] [ 1.07235270e-02 3.34071558e-04 9.99942446e-01 -4.98313765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.420888479 meters 0.022167869322931594 Centerline is valid? [True, True] Translation: X:87.10, Y:-13.43, Z:-0.05 [[ 8.87951040e-01 4.59851975e-01 -8.89445110e-03 8.70989577e+01] [-4.59832411e-01 8.87995531e-01 4.25339800e-03 -1.34315666e+01] [ 9.85416630e-03 3.13147706e-04 9.99951397e-01 -4.92890069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.450888479 meters 0.023193592366123318 Centerline is valid? [True, True] Translation: X:87.13, Y:-13.44, Z:-0.05 [[ 8.87419634e-01 4.60885049e-01 -8.44773777e-03 8.71273275e+01] [-4.60867426e-01 8.87459789e-01 4.04204989e-03 -1.34440961e+01] [ 9.35994795e-03 3.06292724e-04 9.99956148e-01 -4.89026311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.480888479 meters 0.02388734051749317 Centerline is valid? [True, True] Translation: X:87.16, Y:-13.46, Z:-0.05 [[ 8.86127214e-01 4.63353381e-01 -9.06672428e-03 8.71561438e+01] [-4.63333204e-01 8.86173526e-01 4.33876729e-03 -1.34577398e+01] [ 1.00450735e-02 3.56214635e-04 9.99949484e-01 -4.83718369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510888479 meters 0.023434604580669437 Centerline is valid? [True, True] Translation: X:87.19, Y:-13.47, Z:-0.05 [[ 8.85369357e-01 4.64792382e-01 -9.44159398e-03 8.71851527e+01] [-4.64770551e-01 8.85419614e-01 4.52121420e-03 -1.34723158e+01] [ 1.04611984e-02 3.85230323e-04 9.99945206e-01 -4.85471184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.540888479 meters 0.024073427539414972 Centerline is valid? [True, True] Translation: X:87.21, Y:-13.49, Z:-0.05 [[ 8.84517805e-01 4.66394439e-01 -1.02215419e-02 8.72147810e+01] [-4.66368949e-01 8.84576756e-01 4.89558222e-03 -1.34852109e+01] [ 1.13250107e-02 4.36780089e-04 9.99935775e-01 -4.95179737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570888479 meters 0.02558860486661514 Centerline is valid? [True, True] Translation: X:87.24, Y:-13.50, Z:-0.05 [[ 8.83754205e-01 4.67829530e-01 -1.06787876e-02 8.72435287e+01] [-4.67801803e-01 8.83818593e-01 5.11543374e-03 -1.34962726e+01] [ 1.18312620e-02 4.74770002e-04 9.99929895e-01 -5.11253502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.600888479 meters 0.025725715209106374 Centerline is valid? [True, True] Translation: X:87.27, Y:-13.51, Z:-0.05 [[ 8.82629608e-01 4.69946220e-01 -1.07483229e-02 8.72720406e+01] [-4.69918268e-01 8.82694905e-01 5.15033347e-03 -1.35096586e+01] [ 1.19078696e-02 5.04996459e-04 9.99928971e-01 -5.17429451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63088847899999 meters 0.027849222276893477 Centerline is valid? [True, True] Translation: X:87.30, Y:-13.52, Z:-0.05 [[ 8.82311445e-01 4.70545575e-01 -1.06477646e-02 8.73017970e+01] [-4.70518152e-01 8.82375547e-01 5.10519607e-03 -1.35204723e+01] [ 1.17975546e-02 5.05593612e-04 9.99930279e-01 -5.26553980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.660888479 meters 0.028693513477908803 Centerline is valid? [True, True] Translation: X:87.33, Y:-13.53, Z:-0.05 [[ 8.82180009e-01 4.70795566e-01 -1.04865318e-02 8.73307710e+01] [-4.70768960e-01 8.82242192e-01 5.02996708e-03 -1.35333653e+01] [ 1.16197470e-02 4.99397284e-04 9.99932364e-01 -5.28588351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.690888479 meters 0.027814388502774852 Centerline is valid? [True, True] Translation: X:87.36, Y:-13.55, Z:-0.05 [[ 8.82136681e-01 4.70881793e-01 -1.02573530e-02 8.73583980e+01] [-4.70856309e-01 8.82196180e-01 4.92307350e-03 -1.35507715e+01] [ 1.13671833e-02 4.86915667e-04 9.99935273e-01 -5.10924179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.720888479 meters 0.02817578299490524 Centerline is valid? [True, True] Translation: X:87.39, Y:-13.56, Z:-0.05 [[ 8.82126418e-01 4.70903633e-01 -1.01366297e-02 8.73857810e+01] [-4.70878717e-01 8.82184526e-01 4.86778557e-03 -1.35649326e+01] [ 1.12346358e-02 4.79120928e-04 9.99936775e-01 -5.10855741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.750888479 meters 0.025849886794653623 Centerline is valid? [True, True] Translation: X:87.41, Y:-13.58, Z:-0.05 [[ 8.82674826e-01 4.69866501e-01 -1.05177310e-02 8.74130381e+01] [-4.69839566e-01 8.82737356e-01 5.05390647e-03 -1.35829335e+01] [ 1.16590554e-02 4.80690144e-04 9.99931915e-01 -5.03684826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.780888479 meters 0.02494642537723142 Centerline is valid? [True, True] Translation: X:87.44, Y:-13.60, Z:-0.05 [[ 8.83564185e-01 4.68191058e-01 -1.05576339e-02 8.74409832e+01] [-4.68163781e-01 8.83627140e-01 5.07463857e-03 -1.36002916e+01] [ 1.17049123e-02 4.58932930e-04 9.99931390e-01 -5.03569222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.810888479 meters 0.02412893892571462 Centerline is valid? [True, True] Translation: X:87.47, Y:-13.62, Z:-0.05 [[ 8.83974126e-01 4.67420055e-01 -1.04036730e-02 8.74686561e+01] [-4.67393477e-01 8.84035236e-01 5.00387371e-03 -1.36161033e+01] [ 1.15361245e-02 4.39314022e-04 9.99933360e-01 -5.03635675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.840888479 meters 0.023760272088273315 Centerline is valid? [True, True] Translation: X:87.50, Y:-13.63, Z:-0.05 [[ 8.84317870e-01 4.66773736e-01 -1.02070500e-02 8.74973165e+01] [-4.66748100e-01 8.84376674e-01 4.91020438e-03 -1.36317905e+01] [ 1.13188313e-02 4.21939690e-04 9.99935851e-01 -5.07210030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.870888479 meters 0.023026920869592068 Centerline is valid? [True, True] Translation: X:87.53, Y:-13.65, Z:-0.05 [[ 8.84886704e-01 4.65703378e-01 -9.79211425e-03 8.75252668e+01] [-4.65679684e-01 8.84940796e-01 4.71374688e-03 -1.36484512e+01] [ 1.08606492e-02 3.88856728e-04 9.99940946e-01 -5.15294272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.900888479 meters 0.022351508499848138 Centerline is valid? [True, True] Translation: X:87.55, Y:-13.66, Z:-0.05 [[ 8.85036236e-01 4.65423264e-01 -9.59405037e-03 8.75533490e+01] [-4.65400472e-01 8.85088156e-01 4.62132687e-03 -1.36647466e+01] [ 1.06424534e-02 3.75033825e-04 9.99943297e-01 -5.15353470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930888479 meters 0.02348220375227293 Centerline is valid? [True, True] Translation: X:87.58, Y:-13.68, Z:-0.05 [[ 8.85132623e-01 4.65251329e-01 -9.02445711e-03 8.75818961e+01] [-4.65231128e-01 8.85178558e-01 4.34946858e-03 -1.36776685e+01] [ 1.00118520e-02 3.48601823e-04 9.99949819e-01 -5.19101723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.960888479 meters 0.024554753429772702 Centerline is valid? [True, True] Translation: X:87.61, Y:-13.69, Z:-0.05 [[ 8.84824461e-01 4.65860507e-01 -7.72402355e-03 8.76103172e+01] [-4.65845711e-01 8.84858122e-01 3.72521082e-03 -1.36910969e+01] [ 8.57009358e-03 3.02045588e-04 9.99963230e-01 -5.17850678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99088847899999 meters 0.024144990310746163 Centerline is valid? [True, True] Translation: X:87.64, Y:-13.71, Z:-0.05 [[ 8.84575862e-01 4.66332304e-01 -7.72827385e-03 8.76394164e+01] [-4.66317487e-01 8.84609569e-01 3.72989794e-03 -1.37059450e+01] [ 8.57587690e-03 3.04451549e-04 9.99963180e-01 -5.21980297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02088847899999 meters 0.024110013357777817 Centerline is valid? [True, True] Translation: X:87.67, Y:-13.72, Z:-0.05 [[ 8.84178323e-01 4.67086951e-01 -7.64679440e-03 8.76682637e+01] [-4.67072453e-01 8.84211336e-01 3.69281305e-03 -1.37200436e+01] [ 8.48624708e-03 3.06501768e-04 9.99963944e-01 -5.36603936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.050888479 meters 0.025998371371830684 Centerline is valid? [True, True] Translation: X:87.70, Y:-13.73, Z:-0.06 [[ 8.83454928e-01 4.68429055e-01 -9.03380759e-03 8.76972427e+01] [-4.68408887e-01 8.83501035e-01 4.36305735e-03 -1.37307925e+01] [ 1.00251612e-02 3.76951243e-04 9.99949676e-01 -5.72880894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.080888479 meters 0.024951498351134103 Centerline is valid? [True, True] Translation: X:87.72, Y:-13.75, Z:-0.06 [[ 8.82943756e-01 4.69369772e-01 -1.01163083e-02 8.77249318e+01] [-4.69344507e-01 8.83001603e-01 4.88905762e-03 -1.37466989e+01] [ 1.12274923e-02 4.31270813e-04 9.99936877e-01 -5.78084487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.110888479 meters 0.02604766437443717 Centerline is valid? [True, True] Translation: X:87.75, Y:-13.76, Z:-0.06 [[ 8.82340600e-01 4.70484930e-01 -1.09085759e-02 8.77534872e+01] [-4.70455602e-01 8.82407900e-01 5.27485817e-03 -1.37594251e+01] [ 1.21075548e-02 4.77779111e-04 9.99926587e-01 -5.88533160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.140888479 meters 0.02602111626219575 Centerline is valid? [True, True] Translation: X:87.78, Y:-13.77, Z:-0.06 [[ 8.81849643e-01 4.71396686e-01 -1.12415237e-02 8.77827096e+01] [-4.71365573e-01 8.81921149e-01 5.43917335e-03 -1.37735699e+01] [ 1.24781458e-02 5.02334177e-04 9.99922019e-01 -5.95156051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.170888479 meters 0.02616235003011338 Centerline is valid? [True, True] Translation: X:87.81, Y:-13.79, Z:-0.06 [[ 8.81387744e-01 4.72240138e-01 -1.20373174e-02 8.78117885e+01] [-4.72204495e-01 8.81469768e-01 5.82774224e-03 -1.37876092e+01] [ 1.33626252e-02 5.47574802e-04 9.99910566e-01 -6.07675581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.200888479 meters 0.0278811413868993 Centerline is valid? [True, True] Translation: X:87.84, Y:-13.80, Z:-0.06 [[ 8.81488072e-01 4.72045214e-01 -1.23326968e-02 8.78405400e+01] [-4.72007736e-01 8.81574165e-01 5.97406388e-03 -1.37988397e+01] [ 1.36922152e-02 5.55062257e-04 9.99906103e-01 -6.24133394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.230888479 meters 0.027092868487509556 Centerline is valid? [True, True] Translation: X:87.87, Y:-13.81, Z:-0.06 [[ 8.81756439e-01 4.71556655e-01 -1.18280735e-02 8.78690227e+01] [-4.71522093e-01 8.81835613e-01 5.73300257e-03 -1.38141057e+01] [ 1.31338520e-02 5.22086036e-04 9.99913611e-01 -6.22447307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.260888479 meters 0.02626430666509908 Centerline is valid? [True, True] Translation: X:87.90, Y:-13.83, Z:-0.06 [[ 8.83125091e-01 4.69027596e-01 -1.01581310e-02 8.78957000e+01] [-4.69001935e-01 8.83183413e-01 4.92379087e-03 -1.38290086e+01] [ 1.12808866e-02 4.15859811e-04 9.99936282e-01 -6.23215364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290888479 meters 0.02502821959440084 Centerline is valid? [True, True] Translation: X:87.92, Y:-13.84, Z:-0.06 [[ 8.84302550e-01 4.66829958e-01 -8.87633297e-03 8.79228205e+01] [-4.66810251e-01 8.84347033e-01 4.30284932e-03 -1.38447680e+01] [ 9.85845770e-03 3.38542589e-04 9.99951347e-01 -6.17948725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.320888479 meters 0.023688707538554742 Centerline is valid? [True, True] Translation: X:87.95, Y:-13.86, Z:-0.06 [[ 8.85480074e-01 4.64615826e-01 -7.56118236e-03 8.79497168e+01] [-4.64601443e-01 8.85512316e-01 3.66563605e-03 -1.38614698e+01] [ 8.39863263e-03 2.67088556e-04 9.99964695e-01 -6.02068405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350888479 meters 0.02116826687901256 Centerline is valid? [True, True] Translation: X:87.98, Y:-13.88, Z:-0.06 [[ 8.87725555e-01 4.60352370e-01 -4.36279532e-03 8.79750668e+01] [-4.60347528e-01 8.87736266e-01 2.11531681e-03 -1.38799674e+01] [ 4.84680274e-03 1.30581252e-04 9.99988246e-01 -5.74846720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38088847899999 meters 0.020324674671046542 Centerline is valid? [True, True] Translation: X:88.00, Y:-13.90, Z:-0.06 [[ 8.88309995e-01 4.59235006e-01 -2.92615093e-03 8.80030783e+01] [-4.59232819e-01 8.88314810e-01 1.41987122e-03 -1.38962419e+01] [ 3.25139778e-03 8.24987475e-05 9.99994711e-01 -5.60129239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.410888479 meters 0.01859630490526799 Centerline is valid? [True, True] Translation: X:88.03, Y:-13.91, Z:-0.05 [[ 8.88861838e-01 4.58172066e-01 -1.72969326e-03 8.80303503e+01] [-4.58171298e-01 8.88863519e-01 8.39966924e-04 -1.39138738e+01] [ 1.92231062e-03 4.58812639e-05 9.99998151e-01 -5.48252060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.440888479 meters 0.01859630490526799 Centerline is valid? [True, True] Translation: X:88.06, Y:-13.93, Z:-0.05 [[ 8.88733570e-01 4.58420823e-01 -1.72944062e-03 8.80594743e+01] [-4.58420055e-01 8.88735251e-01 8.40487107e-04 -1.39280924e+01] [ 1.92231163e-03 4.58411543e-05 9.99998151e-01 -5.48626076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.470888479 meters 0.017991762127903488 Centerline is valid? [True, True] Translation: X:88.09, Y:-13.94, Z:-0.05 [[ 8.89866127e-01 4.56220792e-01 -9.29505594e-04 8.80878520e+01] [-4.56220569e-01 8.89866613e-01 4.51749055e-04 -1.39441092e+01] [ 1.03323331e-03 2.20633892e-05 9.99999466e-01 -5.45745256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.500888479 meters 0.01769327666629029 Centerline is valid? [True, True] Translation: X:88.12, Y:-13.96, Z:-0.06 [[ 8.90191400e-01 4.55583701e-01 -1.66215439e-03 8.81169398e+01] [-4.55582985e-01 8.90192951e-01 8.08441894e-04 -1.39586830e+01] [ 1.84795108e-03 3.75812392e-05 9.99998292e-01 -5.54950705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.530888479 meters 0.017855576425442634 Centerline is valid? [True, True] Translation: X:88.15, Y:-13.97, Z:-0.06 [[ 8.90416103e-01 4.55143778e-01 -1.81793638e-03 8.81452693e+01] [-4.55142920e-01 8.90417958e-01 8.84667486e-04 -1.39720968e+01] [ 2.02137410e-03 3.96986967e-05 9.99997956e-01 -5.68643429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.560888479 meters 0.0171354507018624 Centerline is valid? [True, True] Translation: X:88.17, Y:-13.99, Z:-0.06 [[ 8.90707066e-01 4.54570317e-01 -2.59789754e-03 8.81726311e+01] [-4.54568560e-01 8.90710853e-01 1.26491754e-03 -1.39881345e+01] [ 2.88896950e-03 5.42515472e-05 9.99995825e-01 -5.89622724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.590888479 meters 0.017423502173694174 Centerline is valid? [True, True] Translation: X:88.20, Y:-14.00, Z:-0.06 [[ 8.91015229e-01 4.53962711e-01 -3.11760905e-03 8.82007335e+01] [-4.53960174e-01 8.91020681e-01 1.51875336e-03 -1.40014607e+01] [ 3.46731153e-03 6.20379725e-05 9.99993987e-01 -6.03311213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.620888479 meters 0.017355753850727164 Centerline is valid? [True, True] Translation: X:88.23, Y:-14.02, Z:-0.06 [[ 8.91131940e-01 4.53729236e-01 -3.69394545e-03 8.82295596e+01] [-4.53725668e-01 8.91139594e-01 1.80078842e-03 -1.40162973e+01] [ 4.10889140e-03 7.12977830e-05 9.99991556e-01 -6.15058325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650888479 meters 0.017308860429665434 Centerline is valid? [True, True] Translation: X:88.26, Y:-14.03, Z:-0.06 [[ 8.91041756e-01 4.53897667e-01 -4.63656608e-03 8.82585878e+01] [-4.53892040e-01 8.91053814e-01 2.26181048e-03 -1.40308286e+01] [ 5.15806039e-03 8.91328540e-05 9.99986693e-01 -6.32256312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.680888479 meters 0.017199657446614832 Centerline is valid? [True, True] Translation: X:88.29, Y:-14.04, Z:-0.07 [[ 8.91127161e-01 4.53716487e-01 -5.80799280e-03 8.82885290e+01] [-4.53707642e-01 8.91146081e-01 2.83514309e-03 -1.40449720e+01] [ 6.46212119e-03 1.08657709e-04 9.99979114e-01 -6.57816519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710888479 meters 0.017150066381279493 Centerline is valid? [True, True] Translation: X:88.32, Y:-14.06, Z:-0.07 [[ 8.91133532e-01 4.53704335e-01 -5.77972712e-03 8.83184236e+01] [-4.53695563e-01 8.91152268e-01 2.82332170e-03 -1.40591152e+01] [ 6.43157023e-03 1.06279910e-04 9.99979312e-01 -6.64268361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74088847899999 meters 0.01767608379298175 Centerline is valid? [True, True] Translation: X:88.35, Y:-14.07, Z:-0.07 [[ 8.91007077e-01 4.53963912e-01 -4.81196886e-03 8.83479042e+01] [-4.53957827e-01 8.91020066e-01 2.35216068e-03 -1.40718486e+01] [ 5.35535687e-03 8.86391164e-05 9.99985656e-01 -6.65312077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77088847899999 meters 0.016913701076627194 Centerline is valid? [True, True] Translation: X:88.38, Y:-14.09, Z:-0.07 [[ 8.91196713e-01 4.53603288e-01 -3.53203379e-03 8.83758910e+01] [-4.53600003e-01 8.91203710e-01 1.72763492e-03 -1.40874097e+01] [ 3.93142249e-03 6.24679736e-05 9.99992270e-01 -6.50665523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.800888479 meters 0.016792748998272277 Centerline is valid? [True, True] Translation: X:88.40, Y:-14.10, Z:-0.06 [[ 8.91300906e-01 4.53405903e-01 -2.40463350e-03 8.84046077e+01] [-4.53404377e-01 8.91304149e-01 1.17701126e-03 -1.41014032e+01] [ 2.67692367e-03 4.12001504e-05 9.99996416e-01 -6.41157892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.830888479 meters 0.01731820874791583 Centerline is valid? [True, True] Translation: X:88.43, Y:-14.11, Z:-0.06 [[ 8.91774538e-01 4.52479783e-01 -4.67318603e-04 8.84326711e+01] [-4.52479725e-01 8.91774661e-01 2.29098620e-04 -1.41143583e+01] [ 5.20405382e-04 7.14787677e-06 9.99999865e-01 -6.32525173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.860888479 meters 0.01694937843361863 Centerline is valid? [True, True] Translation: X:88.46, Y:-14.13, Z:-0.06 [[ 8.91876223e-01 4.52279510e-01 -2.17312903e-04 8.84615359e+01] [-4.52279497e-01 8.91876250e-01 1.06827298e-04 -1.41301614e+01] [ 2.42132015e-04 3.00944370e-06 9.99999971e-01 -6.26967392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.890888479 meters 0.01705862634607743 Centerline is valid? [True, True] Translation: X:88.49, Y:-14.14, Z:-0.06 [[ 8.91897239e-01 4.52238063e-01 2.22643775e-04 8.84914611e+01] [-4.52238050e-01 8.91897267e-01 -1.08812706e-04 -1.41445590e+01] [-2.47784622e-04 -3.63823428e-06 9.99999969e-01 -6.29251545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.920888479 meters 0.017248817457339933 Centerline is valid? [True, True] Translation: X:88.52, Y:-14.16, Z:-0.06 [[ 8.91706481e-01 4.52613702e-01 6.22966508e-04 8.85205774e+01] [-4.52613599e-01 8.91706699e-01 -3.05314162e-04 -1.41574217e+01] [-6.93692781e-04 -9.71249584e-06 9.99999759e-01 -6.28230068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.950888479 meters 0.01713252583391303 Centerline is valid? [True, True] Translation: X:88.55, Y:-14.17, Z:-0.06 [[ 8.91432626e-01 4.53152386e-01 8.87395296e-04 8.85503470e+01] [-4.53152177e-01 8.91433068e-01 -4.35324277e-04 -1.41722664e+01] [-9.88321746e-04 -1.40628469e-05 9.99999512e-01 -6.32277202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.980888479 meters 0.017252285347789498 Centerline is valid? [True, True] Translation: X:88.58, Y:-14.19, Z:-0.06 [[ 8.91286168e-01 4.53439297e-01 1.33076715e-03 8.85801976e+01] [-4.53438827e-01 8.91287161e-01 -6.53461231e-04 -1.41861918e+01] [-1.48240068e-03 -2.10005382e-05 9.99998901e-01 -6.35367438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010888479 meters 0.017523139153102763 Centerline is valid? [True, True] Translation: X:88.61, Y:-14.20, Z:-0.06 [[ 8.91437732e-01 4.53139147e-01 1.91912137e-03 8.86093096e+01] [-4.53138166e-01 8.91439798e-01 -9.43165232e-04 -1.41992707e+01] [-2.13816625e-03 -2.88540604e-05 9.99997714e-01 -6.37937815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.040888479 meters 0.017436801400651448 Centerline is valid? [True, True] Translation: X:88.64, Y:-14.21, Z:-0.06 [[ 8.91477012e-01 4.53058723e-01 2.55553057e-03 8.86384811e+01] [-4.53056981e-01 8.91480674e-01 -1.25689895e-03 -1.42137893e+01] [-2.84765515e-03 -3.73044493e-05 9.99995945e-01 -6.37919243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070888479 meters 0.017788754291324052 Centerline is valid? [True, True] Translation: X:88.67, Y:-14.23, Z:-0.06 [[ 8.91610457e-01 4.52796894e-01 2.40106429e-03 8.86677870e+01] [-4.52795353e-01 8.91613690e-01 -1.18170221e-03 -1.42268274e+01] [-2.67589288e-03 -3.35726995e-05 9.99996419e-01 -6.32887126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.100888479 meters 0.017474225344872304 Centerline is valid? [True, True] Translation: X:88.70, Y:-14.24, Z:-0.06 [[ 8.91578383e-01 4.52859795e-01 2.44813419e-03 8.86973519e+01] [-4.52858191e-01 8.91581744e-01 -1.20569724e-03 -1.42422917e+01] [-2.72872355e-03 -3.36840274e-05 9.99996276e-01 -6.36798268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13088847899999 meters 0.01775114553841869 Centerline is valid? [True, True] Translation: X:88.73, Y:-14.26, Z:-0.06 [[ 8.91809913e-01 4.52407339e-01 1.63652835e-03 8.87253880e+01] [-4.52406621e-01 8.91811415e-01 -8.06391132e-04 -1.42555667e+01] [-1.82429193e-03 -2.12286561e-05 9.99998336e-01 -6.44442858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.160888479 meters 0.01792642307093411 Centerline is valid? [True, True] Translation: X:88.75, Y:-14.27, Z:-0.06 [[ 8.91671394e-01 4.52679646e-01 1.80652003e-03 8.87541723e+01] [-4.52678771e-01 8.91673223e-01 -8.90633410e-04 -1.42683204e+01] [-2.01399716e-03 -2.36209335e-05 9.99997972e-01 -6.40624726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.190888479 meters 0.017950155627224264 Centerline is valid? [True, True] Translation: X:88.78, Y:-14.28, Z:-0.06 [[ 8.91531542e-01 4.52952642e-01 2.32677439e-03 8.87838380e+01] [-4.52951188e-01 8.91534578e-01 -1.14784073e-03 -1.42815896e+01] [-2.59431732e-03 -3.05790085e-05 9.99996634e-01 -6.43595614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.220888479 meters 0.017981099792833386 Centerline is valid? [True, True] Translation: X:88.81, Y:-14.30, Z:-0.06 [[ 8.91283813e-01 4.53437147e-01 2.81382516e-03 8.88138154e+01] [-4.53435021e-01 8.91288254e-01 -1.38914352e-03 -1.42960891e+01] [-3.13781859e-03 -3.77657312e-05 9.99995076e-01 -6.41649002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.250888479 meters 0.018157850839930868 Centerline is valid? [True, True] Translation: X:88.84, Y:-14.31, Z:-0.06 [[ 8.91203201e-01 4.53593025e-01 3.19710794e-03 8.88434758e+01] [-4.53590277e-01 8.91208935e-01 -1.57951051e-03 -1.43102215e+01] [-3.56574611e-03 -4.25122568e-05 9.99993642e-01 -6.38324759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.280888479 meters 0.01840842227569384 Centerline is valid? [True, True] Translation: X:88.87, Y:-14.32, Z:-0.06 [[ 8.90699688e-01 4.54570945e-01 4.39561917e-03 8.88728377e+01] [-4.54565754e-01 8.90710532e-01 -2.17311613e-03 -1.43222025e+01] [-4.90305975e-03 -6.25040879e-05 9.99987978e-01 -6.27202857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.310888479 meters 0.01852727452667292 Centerline is valid? [True, True] Translation: X:88.90, Y:-14.34, Z:-0.06 [[ 8.90516121e-01 4.54923759e-01 5.04097107e-03 8.89024724e+01] [-4.54916929e-01 8.90530386e-01 -2.49389541e-03 -1.43355674e+01] [-5.62367019e-03 -7.23690045e-05 9.99984184e-01 -6.24347905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.340888479 meters 0.018762332865645274 Centerline is valid? [True, True] Translation: X:88.93, Y:-14.35, Z:-0.06 [[ 8.90020139e-01 4.55891361e-01 5.21728183e-03 8.89316297e+01] [-4.55884052e-01 8.90035427e-01 -2.58273569e-03 -1.43484326e+01] [-5.82101255e-03 -7.97887989e-05 9.99983055e-01 -6.25668311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.370888479 meters 0.018959604853171358 Centerline is valid? [True, True] Translation: X:88.96, Y:-14.36, Z:-0.06 [[ 8.89513466e-01 4.56875648e-01 5.51691170e-03 8.89616215e+01] [-4.56867484e-01 8.89530570e-01 -2.73272656e-03 -1.43606308e+01] [-6.15597782e-03 -8.97004919e-05 9.99981048e-01 -6.26300327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.400888479 meters 0.0193099604427446 Centerline is valid? [True, True] Translation: X:88.99, Y:-14.37, Z:-0.06 [[ 8.89043233e-01 4.57787463e-01 5.72443564e-03 8.89909800e+01] [-4.57778681e-01 8.89061657e-01 -2.83722947e-03 -1.43731772e+01] [-6.38822431e-03 -9.81049309e-05 9.99979590e-01 -6.30851800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430888479 meters 0.019278711093148035 Centerline is valid? [True, True] Translation: X:89.02, Y:-14.39, Z:-0.06 [[ 8.88678192e-01 4.58495017e-01 5.77849473e-03 8.90205880e+01] [-4.58486072e-01 8.88696972e-01 -2.86586292e-03 -1.43864583e+01] [-6.44931464e-03 -1.02529471e-04 9.99979198e-01 -6.33716156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.460888479 meters 0.019478645799503286 Centerline is valid? [True, True] Translation: X:89.05, Y:-14.40, Z:-0.06 [[ 8.88203485e-01 4.59416353e-01 5.58421129e-03 8.90512104e+01] [-4.59408006e-01 8.88221033e-01 -2.77138294e-03 -1.43996677e+01] [-6.23323257e-03 -1.03879383e-04 9.99980568e-01 -6.36481689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49088847899999 meters 0.01996939205928526 Centerline is valid? [True, True] Translation: X:89.08, Y:-14.41, Z:-0.07 [[ 8.87520680e-01 4.60752571e-01 3.75640958e-03 8.90805281e+01] [-4.60748801e-01 8.87528626e-01 -1.86525192e-03 -1.44104552e+01] [-4.19334065e-03 -7.53115607e-05 9.99991205e-01 -6.51955286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52088847899999 meters 0.020036430133125872 Centerline is valid? [True, True] Translation: X:89.11, Y:-14.42, Z:-0.07 [[ 8.87058003e-01 4.61646810e-01 3.21290236e-03 8.91104724e+01] [-4.61644055e-01 8.87063819e-01 -1.59636063e-03 -1.44239494e+01] [-3.58700423e-03 -6.71527978e-05 9.99993564e-01 -6.62481476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.550888479 meters 0.019810571655649898 Centerline is valid? [True, True] Translation: X:89.14, Y:-14.44, Z:-0.07 [[ 8.86564748e-01 4.62597428e-01 2.56248408e-03 8.91390627e+01] [-4.62595678e-01 8.86568450e-01 -1.27391343e-03 -1.44374129e+01] [-2.86112662e-03 -5.59873181e-05 9.99995905e-01 -6.68456924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.580888479 meters 0.02082719545079532 Centerline is valid? [True, True] Translation: X:89.17, Y:-14.45, Z:-0.07 [[ 8.86557336e-01 4.62616327e-01 1.49125364e-03 8.91694959e+01] [-4.62615733e-01 8.86558590e-01 -7.41685209e-04 -1.44479411e+01] [-1.66519941e-03 -3.23309348e-05 9.99998613e-01 -6.74076893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.610888479 meters 0.020311559522807263 Centerline is valid? [True, True] Translation: X:89.20, Y:-14.46, Z:-0.07 [[ 8.86841075e-01 4.62071370e-01 1.71952176e-03 8.91982719e+01] [-4.62070579e-01 8.86842741e-01 -8.55810545e-04 -1.44628464e+01] [-1.92039094e-03 -3.55724727e-05 9.99998155e-01 -6.73787564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.640888479 meters 0.019822908257020797 Centerline is valid? [True, True] Translation: X:89.23, Y:-14.48, Z:-0.07 [[ 8.87615058e-01 4.60582973e-01 1.68361408e-03 8.92271983e+01] [-4.60582211e-01 8.87616654e-01 -8.38430188e-04 -1.44776570e+01] [-1.88057056e-03 -3.12394333e-05 9.99998231e-01 -6.73496524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.670888479 meters 0.018942794437808493 Centerline is valid? [True, True] Translation: X:89.25, Y:-14.49, Z:-0.07 [[ 8.89799690e-01 4.56346785e-01 2.03071725e-03 8.92544405e+01] [-4.56345663e-01 8.89802007e-01 -1.01194289e-03 -1.44937407e+01] [-2.26873317e-03 -2.62825405e-05 9.99997426e-01 -6.69981269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.700888479 meters 0.01828241726656908 Centerline is valid? [True, True] Translation: X:89.28, Y:-14.51, Z:-0.07 [[ 8.91081091e-01 4.53837534e-01 2.44568494e-03 8.92821671e+01] [-4.53835897e-01 8.91084447e-01 -1.21924301e-03 -1.45112599e+01] [-2.73265005e-03 -2.34952298e-05 9.99996266e-01 -6.60929537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.730888479 meters 0.01805116219563105 Centerline is valid? [True, True] Translation: X:89.31, Y:-14.53, Z:-0.06 [[ 8.92205414e-01 4.51618967e-01 3.13163853e-03 8.93094060e+01] [-4.51616266e-01 8.92210910e-01 -1.56194330e-03 -1.45269372e+01] [-3.49948528e-03 -2.07246277e-05 9.99993877e-01 -6.43982432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.760888479 meters 0.017838171789950324 Centerline is valid? [True, True] Translation: X:89.34, Y:-14.54, Z:-0.06 [[ 8.94587337e-01 4.46872247e-01 4.32343110e-03 8.93363694e+01] [-4.46867038e-01 8.94597784e-01 -2.15766487e-03 -1.45435238e+01] [-4.83193243e-03 -1.77917880e-06 9.99988326e-01 -6.25784657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790888479 meters 0.017864294481920215 Centerline is valid? [True, True] Translation: X:89.37, Y:-14.56, Z:-0.06 [[ 8.95360583e-01 4.45315739e-01 4.82902897e-03 8.93657969e+01] [-4.45309209e-01 8.95373605e-01 -2.41160099e-03 -1.45586745e+01] [-5.39770895e-03 8.84139407e-06 9.99985432e-01 -6.27374233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.820888479 meters 0.017913866114565864 Centerline is valid? [True, True] Translation: X:89.40, Y:-14.57, Z:-0.06 [[ 8.95845832e-01 4.44331372e-01 5.46609917e-03 8.93966633e+01] [-4.44322975e-01 8.95862507e-01 -2.73166775e-03 -1.45713454e+01] [-6.11063899e-03 1.84397272e-05 9.99981330e-01 -6.25658515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850888479 meters 0.017843384026081918 Centerline is valid? [True, True] Translation: X:89.43, Y:-14.58, Z:-0.06 [[ 8.95602176e-01 4.44814989e-01 6.03064149e-03 8.94264325e+01] [-4.44804766e-01 8.95622479e-01 -3.01580097e-03 -1.45842864e+01] [-6.74265156e-03 1.84998369e-05 9.99977268e-01 -6.23459627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88088847899999 meters 0.017905310293053835 Centerline is valid? [True, True] Translation: X:89.46, Y:-14.60, Z:-0.06 [[ 8.95171069e-01 4.45679610e-01 6.20020645e-03 8.94564085e+01] [-4.45668810e-01 8.95192541e-01 -3.10275086e-03 -1.45977486e+01] [-6.93321135e-03 1.42541790e-05 9.99975965e-01 -6.15507315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.910888479 meters 0.01794120658674437 Centerline is valid? [True, True] Translation: X:89.49, Y:-14.61, Z:-0.06 [[ 8.94605077e-01 4.46814002e-01 6.24534531e-03 8.94858931e+01] [-4.46803057e-01 8.94626876e-01 -3.12740042e-03 -1.46109639e+01] [-6.98462006e-03 7.34891378e-06 9.99975607e-01 -6.07249799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.940888479 meters 0.01796964473807692 Centerline is valid? [True, True] Translation: X:89.52, Y:-14.62, Z:-0.06 [[ 8.93905321e-01 4.48219963e-01 5.66943843e-03 8.95155543e+01] [-4.48210961e-01 8.93923299e-01 -2.84078474e-03 -1.46230722e+01] [-6.34133953e-03 -1.71185262e-06 9.99979894e-01 -6.03054452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.970888479 meters 0.018241939712602292 Centerline is valid? [True, True] Translation: X:89.55, Y:-14.63, Z:-0.06 [[ 8.92014106e-01 4.51969888e-01 5.83557462e-03 8.95480927e+01] [-4.51960418e-01 8.92033194e-01 -2.92602342e-03 -1.46312368e+01] [-6.52800075e-03 -2.73945764e-05 9.99978692e-01 -6.05315368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.000888479 meters 0.018341080634713975 Centerline is valid? [True, True] Translation: X:89.58, Y:-14.64, Z:-0.06 [[ 8.90969794e-01 4.54021446e-01 6.11159464e-03 8.95779282e+01] [-4.54011095e-01 8.90990754e-01 -3.06620824e-03 -1.46416273e+01] [-6.83749862e-03 -4.28328470e-05 9.99976623e-01 -5.98831749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.030888479 meters 0.018537035773381786 Centerline is valid? [True, True] Translation: X:89.61, Y:-14.65, Z:-0.06 [[ 8.89828156e-01 4.56255154e-01 6.08990366e-03 8.96080512e+01] [-4.56244915e-01 8.89848994e-01 -3.05712749e-03 -1.46523846e+01] [-6.81392481e-03 -5.81694594e-05 9.99976783e-01 -5.97670773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.060888479 meters 0.01901166299030467 Centerline is valid? [True, True] Translation: X:89.64, Y:-14.66, Z:-0.06 [[ 8.87959352e-01 4.59885443e-01 5.79379032e-03 8.96394978e+01] [-4.59876242e-01 8.87978250e-01 -2.91011260e-03 -1.46603014e+01] [-6.48307821e-03 -8.03648233e-05 9.99978981e-01 -5.94394488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.090888479 meters 0.019121387896252708 Centerline is valid? [True, True] Translation: X:89.67, Y:-14.67, Z:-0.06 [[ 8.87211971e-01 4.61332229e-01 5.24343110e-03 8.96692813e+01] [-4.61324709e-01 8.87227461e-01 -2.63523943e-03 -1.46720905e+01] [-5.86783694e-03 -8.09083575e-05 9.99982781e-01 -5.98180702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.120888479 meters 0.019693937286248683 Centerline is valid? [True, True] Translation: X:89.70, Y:-14.68, Z:-0.06 [[ 8.86522648e-01 4.62663268e-01 4.50499663e-03 8.96985573e+01] [-4.62657728e-01 8.86534091e-01 -2.26537803e-03 -1.46827055e+01] [-5.04194029e-03 -7.59625721e-05 9.99987286e-01 -6.04777975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150888479 meters 0.019796724120105125 Centerline is valid? [True, True] Translation: X:89.73, Y:-14.69, Z:-0.06 [[ 8.86265881e-01 4.63165579e-01 3.23024299e-03 8.97296615e+01] [-4.63162730e-01 8.86271766e-01 -1.62531696e-03 -1.46930547e+01] [-3.61566403e-03 -5.56651927e-05 9.99993462e-01 -6.26771955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.180888479 meters 0.019737429392937832 Centerline is valid? [True, True] Translation: X:89.76, Y:-14.71, Z:-0.06 [[ 8.86387367e-01 4.62937866e-01 2.44281516e-03 8.97589475e+01] [-4.62936235e-01 8.86390732e-01 -1.22980431e-03 -1.47056070e+01] [-2.73461171e-03 -4.07846448e-05 9.99996260e-01 -6.42958001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210888479 meters 0.019639988062383092 Centerline is valid? [True, True] Translation: X:89.79, Y:-14.72, Z:-0.07 [[ 8.86744132e-01 4.62259032e-01 1.19636899e-03 8.97881386e+01] [-4.62258640e-01 8.86744939e-01 -6.02496972e-04 -1.47188155e+01] [-1.33938381e-03 -1.87712477e-05 9.99999103e-01 -6.64768578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24088847899999 meters 0.01935651509062142 Centerline is valid? [True, True] Translation: X:89.82, Y:-14.73, Z:-0.07 [[ 8.87137302e-01 4.61505420e-01 3.93435408e-04 8.98169348e+01] [-4.61505378e-01 8.87137389e-01 -1.98044585e-04 -1.47332835e+01] [-4.40429910e-04 -5.87981772e-06 9.99999903e-01 -6.73117736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27088847899999 meters 0.019157125020168326 Centerline is valid? [True, True] Translation: X:89.85, Y:-14.75, Z:-0.07 [[ 8.88062125e-01 4.59722565e-01 9.08247440e-04 8.98459555e+01] [-4.59722337e-01 8.88062590e-01 -4.57868585e-04 -1.47464544e+01] [-1.01707309e-03 -1.09258880e-05 9.99999483e-01 -6.75393104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.300888479 meters 0.01918641055076928 Centerline is valid? [True, True] Translation: X:89.87, Y:-14.76, Z:-0.07 [[ 8.88171163e-01 4.59511542e-01 1.06191821e-03 8.98748956e+01] [-4.59511230e-01 8.88171798e-01 -5.35710749e-04 -1.47592353e+01] [-1.18933108e-03 -1.21605028e-05 9.99999293e-01 -6.72936559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.330888479 meters 0.01918641055076928 Centerline is valid? [True, True] Translation: X:89.90, Y:-14.77, Z:-0.07 [[ 8.88047060e-01 4.59751336e-01 1.06178082e-03 8.99038024e+01] [-4.59751024e-01 8.88047695e-01 -5.35982919e-04 -1.47739215e+01] [-1.18933087e-03 -1.21767629e-05 9.99999293e-01 -6.73310597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.360888479 meters 0.01914828766266912 Centerline is valid? [True, True] Translation: X:89.93, Y:-14.79, Z:-0.07 [[ 8.88141667e-01 4.59569635e-01 3.61061244e-04 8.99340114e+01] [-4.59569599e-01 8.88141740e-01 -1.82148130e-04 -1.47871012e+01] [-4.04383311e-04 -4.15942733e-06 9.99999918e-01 -6.79950386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.390888479 meters 0.0191492594172615 Centerline is valid? [True, True] Translation: X:89.96, Y:-14.80, Z:-0.07 [[ 8.88089512e-01 4.59670549e-01 6.80078182e-05 8.99642413e+01] [-4.59670548e-01 8.88089515e-01 -3.40402871e-05 -1.48012420e+01] [-7.60443477e-05 -1.03036903e-06 9.99999997e-01 -6.83740363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.420888479 meters 0.01923688556583985 Centerline is valid? [True, True] Translation: X:89.99, Y:-14.81, Z:-0.07 [[ 8.87930629e-01 4.59977301e-01 -2.83537537e-04 8.99931678e+01] [-4.59977278e-01 8.87930674e-01 1.43847110e-04 -1.48139569e+01] [ 3.17928081e-04 2.69456962e-06 9.99999949e-01 -6.86771409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.450888479 meters 0.019184071905823826 Centerline is valid? [True, True] Translation: X:90.02, Y:-14.83, Z:-0.07 [[ 8.87567147e-01 4.60678220e-01 3.70179465e-04 9.00235879e+01] [-4.60678182e-01 8.87567224e-01 -1.87137346e-04 -1.48272931e+01] [-4.14769260e-04 -4.43664255e-06 9.99999914e-01 -6.73882766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.480888479 meters 0.019548841787526874 Centerline is valid? [True, True] Translation: X:90.05, Y:-14.84, Z:-0.07 [[ 8.87108408e-01 4.61560826e-01 5.26701916e-04 9.00531295e+01] [-4.61560749e-01 8.87108564e-01 -2.66611380e-04 -1.48388063e+01] [-5.90299149e-04 -6.59173438e-06 9.99999826e-01 -6.68669007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510888479 meters 0.019366714133244197 Centerline is valid? [True, True] Translation: X:90.08, Y:-14.85, Z:-0.07 [[ 8.86549800e-01 4.62631962e-01 1.05833590e-03 9.00826227e+01] [-4.62631652e-01 8.86550431e-01 -5.36400367e-04 -1.48529128e+01] [-1.18642410e-03 -1.40740465e-05 9.99999296e-01 -6.66180049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.540888479 meters 0.020013532516727942 Centerline is valid? [True, True] Translation: X:90.11, Y:-14.86, Z:-0.07 [[ 8.85382785e-01 4.64862685e-01 -9.24543340e-05 9.01130639e+01] [-4.64862682e-01 8.85382790e-01 4.70710416e-05 -1.48623403e+01] [ 1.03739047e-04 1.30267979e-06 9.99999995e-01 -6.73160105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570888479 meters 0.01996467737655207 Centerline is valid? [True, True] Translation: X:90.14, Y:-14.88, Z:-0.07 [[ 8.84702198e-01 4.66155805e-01 -8.86705452e-04 9.01419360e+01] [-4.66155587e-01 8.84702642e-01 4.50428654e-04 -1.48761070e+01] [ 9.94440588e-04 1.48474807e-05 9.99999505e-01 -6.78614069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.600888479 meters 0.020095625236262345 Centerline is valid? [True, True] Translation: X:90.17, Y:-14.89, Z:-0.07 [[ 8.83941060e-01 4.67595937e-01 -1.49718647e-03 9.01714092e+01] [-4.67595319e-01 8.83942328e-01 7.60783279e-04 -1.48898580e+01] [ 1.67916567e-03 2.75898091e-05 9.99998590e-01 -6.83627773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63088847899999 meters 0.020487019124521638 Centerline is valid? [True, True] Translation: X:90.20, Y:-14.90, Z:-0.07 [[ 8.83323497e-01 4.68759641e-01 -1.99971023e-03 9.01999849e+01] [-4.68758540e-01 8.83325759e-01 1.01656612e-03 -1.49027857e+01] [ 2.24292073e-03 3.94245099e-05 9.99997484e-01 -6.85836119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.660888479 meters 0.021413036949720198 Centerline is valid? [True, True] Translation: X:90.23, Y:-14.91, Z:-0.07 [[ 8.82251370e-01 4.70768385e-01 -3.10626655e-03 9.02292370e+01] [-4.70765739e-01 8.82256835e-01 1.57978623e-03 -1.49137366e+01] [ 3.48423831e-03 6.85553026e-05 9.99993928e-01 -6.93449694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.690888479 meters 0.021822792024299122 Centerline is valid? [True, True] Translation: X:90.26, Y:-14.93, Z:-0.07 [[ 8.81678018e-01 4.71840366e-01 -3.24673744e-03 9.02569075e+01] [-4.71837480e-01 8.81683993e-01 1.65190374e-03 -1.49268133e+01] [ 3.64203130e-03 7.54851985e-05 9.99993365e-01 -6.94161234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.720888479 meters 0.021378911301554795 Centerline is valid? [True, True] Translation: X:90.29, Y:-14.94, Z:-0.07 [[ 8.81284031e-01 4.72579431e-01 -2.67158004e-03 9.02858517e+01] [-4.72577478e-01 8.81288078e-01 1.36033472e-03 -1.49425241e+01] [ 2.99729785e-03 6.36872966e-05 9.99995506e-01 -6.86565604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.750888479 meters 0.02213922846105029 Centerline is valid? [True, True] Translation: X:90.31, Y:-14.96, Z:-0.07 [[ 8.80353647e-01 4.74308049e-01 -3.05472307e-03 9.03141855e+01] [-4.74305502e-01 8.80358943e-01 1.55614680e-03 -1.49559903e+01] [ 3.42734572e-03 7.89124538e-05 9.99994124e-01 -6.91696662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.780888479 meters 0.02232342980366609 Centerline is valid? [True, True] Translation: X:90.34, Y:-14.97, Z:-0.07 [[ 8.79896548e-01 4.75156981e-01 -2.81222843e-03 9.03426427e+01] [-4.75154825e-01 8.79901039e-01 1.43347960e-03 -1.49710695e+01] [ 3.15561056e-03 7.49301561e-05 9.99995018e-01 -6.92567643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.810888479 meters 0.02294342565594977 Centerline is valid? [True, True] Translation: X:90.37, Y:-14.99, Z:-0.07 [[ 8.79258311e-01 4.76334810e-01 -3.15779710e-03 9.03702627e+01] [-4.76332096e-01 8.79263977e-01 1.61041939e-03 -1.49855834e+01] [ 3.54363605e-03 8.81854764e-05 9.99993717e-01 -6.90534610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.840888479 meters 0.023538720068574305 Centerline is valid? [True, True] Translation: X:90.40, Y:-15.00, Z:-0.07 [[ 8.78578147e-01 4.77589202e-01 -2.99889159e-03 9.03990119e+01] [-4.77586759e-01 8.78583261e-01 1.53027396e-03 -1.50007662e+01] [ 3.36561827e-03 8.77656554e-05 9.99994332e-01 -6.90040423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.870888479 meters 0.02488541266223098 Centerline is valid? [True, True] Translation: X:90.43, Y:-15.01, Z:-0.07 [[ 8.77008555e-01 4.80467559e-01 -2.63046574e-03 9.04273878e+01] [-4.80465690e-01 8.77012496e-01 1.34298625e-03 -1.50146163e+01] [ 2.95221265e-03 8.60381107e-05 9.99995639e-01 -6.94105607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.900888479 meters 0.023161758775905553 Centerline is valid? [True, True] Translation: X:90.45, Y:-15.03, Z:-0.07 [[ 8.76281595e-01 4.81794241e-01 -2.20827290e-03 9.04535393e+01] [-4.81792926e-01 8.76284374e-01 1.12812879e-03 -1.50328415e+01] [ 2.47860099e-03 7.53717642e-05 9.99996925e-01 -6.95396986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930888479 meters 0.02302362736775369 Centerline is valid? [True, True] Translation: X:90.48, Y:-15.05, Z:-0.07 [[ 8.75673512e-01 4.82901247e-01 -1.51229014e-03 9.04818155e+01] [-4.82900631e-01 8.75674816e-01 7.73165878e-04 -1.50490206e+01] [ 1.69763715e-03 5.32449809e-05 9.99998558e-01 -6.86577990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.960888479 meters 0.023832441759977212 Centerline is valid? [True, True] Translation: X:90.51, Y:-15.06, Z:-0.07 [[ 8.74644411e-01 4.84765031e-01 1.37183118e-04 9.05089503e+01] [-4.84765026e-01 8.74644422e-01 -6.98518986e-05 -1.50644816e+01] [-1.53848207e-04 -5.40600517e-06 9.99999988e-01 -6.70080538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99088847899999 meters 0.02345866206610921 Centerline is valid? [True, True] Translation: X:90.54, Y:-15.08, Z:-0.07 [[ 8.74475558e-01 4.85069561e-01 1.38429947e-04 9.05370040e+01] [-4.85069556e-01 8.74475569e-01 -7.04669412e-05 -1.50824337e+01] [-1.55234975e-04 -5.52653535e-06 9.99999988e-01 -6.64370754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02088847899999 meters 0.02337824806615547 Centerline is valid? [True, True] Translation: X:90.56, Y:-15.10, Z:-0.06 [[ 8.74980432e-01 4.84157741e-01 -7.24596687e-04 9.05616172e+01] [-4.84157599e-01 8.74980732e-01 3.71270179e-04 -1.51023445e+01] [ 8.13761471e-04 2.59648499e-05 9.99999669e-01 -6.48259385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.050888479 meters 0.022894376552459107 Centerline is valid? [True, True] Translation: X:90.59, Y:-15.12, Z:-0.07 [[ 8.75683145e-01 4.82885528e-01 -7.71845933e-04 9.05886923e+01] [-4.82885367e-01 8.75683485e-01 3.95720679e-04 -1.51197493e+01] [ 8.66980525e-04 2.61871781e-05 9.99999624e-01 -6.51369723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.080888479 meters 0.02315537707598694 Centerline is valid? [True, True] Translation: X:90.62, Y:-15.14, Z:-0.07 [[ 8.76309402e-01 4.81747862e-01 -9.10509732e-04 9.06153816e+01] [-4.81747636e-01 8.76309875e-01 4.66990082e-04 -1.51350386e+01] [ 1.02286014e-03 2.94081111e-05 9.99999476e-01 -6.60718552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.110888479 meters 0.02133146046470283 Centerline is valid? [True, True] Translation: X:90.64, Y:-15.16, Z:-0.07 [[ 8.78183965e-01 4.78321789e-01 -1.09077633e-03 9.06390896e+01] [-4.78321463e-01 8.78184642e-01 5.59192232e-04 -1.51567342e+01] [ 1.22537685e-03 3.06680784e-05 9.99999249e-01 -6.66299653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.140888479 meters 0.020778394530580155 Centerline is valid? [True, True] Translation: X:90.67, Y:-15.17, Z:-0.07 [[ 8.79258070e-01 4.76345458e-01 -5.00119343e-04 9.06658167e+01] [-4.76345389e-01 8.79258213e-01 2.56839489e-04 -1.51748374e+01] [ 5.62078363e-04 1.24013498e-05 9.99999842e-01 -6.65163989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.170888479 meters 0.02068571301046543 Centerline is valid? [True, True] Translation: X:90.69, Y:-15.19, Z:-0.07 [[ 8.80484869e-01 4.74074193e-01 -2.34364682e-04 9.06920810e+01] [-4.74074177e-01 8.80484900e-01 1.20570314e-04 -1.51913084e+01] [ 2.63513837e-04 4.94590688e-06 9.99999965e-01 -6.67408044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.200888479 meters 0.019053725426912818 Centerline is valid? [True, True] Translation: X:90.72, Y:-15.21, Z:-0.07 [[ 8.83284902e-01 4.68835563e-01 9.98437554e-04 9.07157920e+01] [-4.68835283e-01 8.83285466e-01 -5.12404990e-04 -1.52148518e+01] [-1.12213906e-03 -1.55031613e-05 9.99999370e-01 -6.58043326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.230888479 meters 0.018771943130273378 Centerline is valid? [True, True] Translation: X:90.74, Y:-15.23, Z:-0.07 [[ 8.84574256e-01 4.66396510e-01 1.63745913e-03 9.07420952e+01] [-4.66395753e-01 8.84575771e-01 -8.40644960e-04 -1.52311812e+01] [-1.84053055e-03 -2.00910922e-05 9.99998306e-01 -6.60141272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.260888479 meters 0.018475281845924722 Centerline is valid? [True, True] Translation: X:90.77, Y:-15.25, Z:-0.07 [[ 8.85584356e-01 4.64477057e-01 1.18810675e-03 9.07690216e+01] [-4.64476656e-01 8.85585153e-01 -6.10214487e-04 -1.52477874e+01] [-1.33560033e-03 -1.14514454e-05 9.99999108e-01 -6.65919996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290888479 meters 0.018143797397453785 Centerline is valid? [True, True] Translation: X:90.80, Y:-15.27, Z:-0.07 [[ 8.86519410e-01 4.62691259e-01 3.68254100e-04 9.07955347e+01] [-4.62691220e-01 8.86519486e-01 -1.89025502e-04 -1.52656278e+01] [-4.13924883e-04 -2.81316170e-06 9.99999914e-01 -6.76488399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.320888479 meters 0.017888052364165 Centerline is valid? [True, True] Translation: X:90.82, Y:-15.28, Z:-0.07 [[ 8.87315802e-01 4.61162072e-01 -4.58493352e-04 9.08222523e+01] [-4.61162012e-01 8.87315921e-01 2.36194998e-04 -1.52835840e+01] [ 5.15752626e-04 1.86016211e-06 9.99999867e-01 -6.89569972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350888479 meters 0.01772060296134521 Centerline is valid? [True, True] Translation: X:90.85, Y:-15.30, Z:-0.07 [[ 8.88207269e-01 4.59440203e-01 -1.59568783e-03 9.08476695e+01] [-4.59439468e-01 8.88208703e-01 8.21785015e-04 -1.53035346e+01] [ 1.79486490e-03 3.20654589e-06 9.99998389e-01 -6.98456539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38088847899999 meters 0.0177971462106762 Centerline is valid? [True, True] Translation: X:90.88, Y:-15.32, Z:-0.07 [[ 8.88116081e-01 4.59615525e-01 -1.84250392e-03 9.08763978e+01] [-4.59614545e-01 8.88117993e-01 9.49508024e-04 -1.53196646e+01] [ 2.07276952e-03 3.56825682e-06 9.99997852e-01 -6.99344901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.410888479 meters 0.017665558888772054 Centerline is valid? [True, True] Translation: X:90.90, Y:-15.33, Z:-0.07 [[ 8.87654281e-01 4.60505410e-01 -2.15492694e-03 9.09048316e+01] [-4.60504070e-01 8.87656897e-01 1.11112879e-03 -1.53346072e+01] [ 2.42451658e-03 6.05440118e-06 9.99997061e-01 -7.12886649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.440888479 meters 0.017785616026771287 Centerline is valid? [True, True] Translation: X:90.93, Y:-15.35, Z:-0.07 [[ 8.86280688e-01 4.63137584e-01 -3.18123775e-03 9.09326108e+01] [-4.63134679e-01 8.86286397e-01 1.64051322e-03 -1.53480973e+01] [ 3.57927107e-03 1.93863417e-05 9.99993594e-01 -7.42173733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.470888479 meters 0.017932331374881073 Centerline is valid? [True, True] Translation: X:90.96, Y:-15.36, Z:-0.07 [[ 8.85271889e-01 4.65065225e-01 -2.83176407e-03 9.09614475e+01] [-4.65062929e-01 8.85276418e-01 1.46146652e-03 -1.53637567e+01] [ 3.18657121e-03 2.31532626e-05 9.99994923e-01 -7.40497184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.500888479 meters 0.01787037481780832 Centerline is valid? [True, True] Translation: X:90.99, Y:-15.38, Z:-0.07 [[ 8.84248159e-01 4.67010211e-01 -2.57982843e-03 9.09901486e+01] [-4.67008312e-01 8.84251922e-01 1.33221116e-03 -1.53791199e+01] [ 2.90337446e-03 2.67960517e-05 9.99995785e-01 -7.27757504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.530888479 meters 0.018913842788992448 Centerline is valid? [True, True] Translation: X:91.02, Y:-15.39, Z:-0.07 [[ 8.81889798e-01 4.71451871e-01 -1.87541497e-03 9.10178054e+01] [-4.71450876e-01 8.81891792e-01 9.69038473e-04 -1.53926162e+01] [ 2.11076807e-03 2.95808849e-05 9.99997772e-01 -7.08024015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.560888479 meters 0.019461632318472265 Centerline is valid? [True, True] Translation: X:91.05, Y:-15.41, Z:-0.07 [[ 8.80488864e-01 4.74065083e-01 -1.28722153e-03 9.10464644e+01] [-4.74064617e-01 8.80489805e-01 6.65597533e-04 -1.54066804e+01] [ 1.44892199e-03 2.41749679e-05 9.99998950e-01 -7.02560229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.590888479 meters 0.020181461096480495 Centerline is valid? [True, True] Translation: X:91.07, Y:-15.42, Z:-0.07 [[ 8.77517641e-01 4.79542854e-01 -1.20063766e-03 9.10747612e+01] [-4.79542453e-01 8.77518461e-01 6.21179730e-04 -1.54208960e+01] [ 1.35146401e-03 3.06605563e-05 9.99999086e-01 -6.94508022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.620888479 meters 0.021380234802852584 Centerline is valid? [True, True] Translation: X:91.10, Y:-15.43, Z:-0.07 [[ 8.76095681e-01 4.82134781e-01 -1.55275337e-03 9.11026389e+01] [-4.82134115e-01 8.76097055e-01 8.03183076e-04 -1.54334798e+01] [ 1.74760515e-03 4.49701451e-05 9.99998472e-01 -7.02058773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650888479 meters 0.02146839276742977 Centerline is valid? [True, True] Translation: X:91.13, Y:-15.45, Z:-0.07 [[ 8.74642944e-01 4.84761498e-01 -2.45191393e-03 9.11301705e+01] [-4.84759842e-01 8.74646377e-01 1.26915703e-03 -1.54490287e+01] [ 2.75979609e-03 7.85301675e-05 9.99996189e-01 -7.08864040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.680888479 meters 0.023537945349139684 Centerline is valid? [True, True] Translation: X:91.16, Y:-15.46, Z:-0.07 [[ 8.72400120e-01 4.88781016e-01 -3.33897851e-03 9.11572769e+01] [-4.88777976e-01 8.72406501e-01 1.72843552e-03 -1.54615993e+01] [ 3.75777303e-03 1.24131798e-04 9.99992932e-01 -7.24726488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710888479 meters 0.024587278271212182 Centerline is valid? [True, True] Translation: X:91.19, Y:-15.48, Z:-0.07 [[ 8.71275692e-01 4.90783559e-01 -3.18851075e-03 9.11859709e+01] [-4.90780796e-01 8.71281517e-01 1.65168328e-03 -1.54760478e+01] [ 3.58870948e-03 1.25788348e-04 9.99993553e-01 -7.32129092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74088847899999 meters 0.025369424697294946 Centerline is valid? [True, True] Translation: X:91.21, Y:-15.49, Z:-0.07 [[ 8.70393805e-01 4.92348242e-01 -2.79861981e-03 9.12141028e+01] [-4.92346118e-01 8.70398297e-01 1.45059552e-03 -1.54909740e+01] [ 3.15011207e-03 1.15300242e-04 9.99995032e-01 -7.32206587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77088847899999 meters 0.02461358689709009 Centerline is valid? [True, True] Translation: X:91.24, Y:-15.51, Z:-0.07 [[ 8.69723392e-01 4.93533820e-01 -2.36437620e-03 9.12412576e+01] [-4.93532306e-01 8.69726600e-01 1.22630376e-03 -1.55081805e+01] [ 2.66158325e-03 1.00350976e-04 9.99996453e-01 -7.26547614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.800888479 meters 0.025152343817438083 Centerline is valid? [True, True] Translation: X:91.27, Y:-15.53, Z:-0.07 [[ 8.68813986e-01 4.95136626e-01 -1.40693565e-03 9.12687650e+01] [-4.95136092e-01 8.68815123e-01 7.30280630e-04 -1.55250155e+01] [ 1.58395566e-03 6.21465953e-05 9.99998744e-01 -7.20014894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.830888479 meters 0.026802903746544315 Centerline is valid? [True, True] Translation: X:91.30, Y:-15.54, Z:-0.07 [[ 8.69072993e-01 4.94680737e-01 -1.76129195e-03 9.12966544e+01] [-4.94679898e-01 8.69074774e-01 9.14303702e-04 -1.55381117e+01] [ 1.98298283e-03 7.66790656e-05 9.99998031e-01 -7.26914635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.860888479 meters 0.026409418829282234 Centerline is valid? [True, True] Translation: X:91.32, Y:-15.56, Z:-0.07 [[ 8.69487651e-01 4.93945967e-01 -2.93373198e-03 9.13236714e+01] [-4.93943633e-01 8.69492591e-01 1.52380348e-03 -1.55553441e+01] [ 3.30353480e-03 1.24169924e-04 9.99994536e-01 -7.39791806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.890888479 meters 0.023296442442621818 Centerline is valid? [True, True] Translation: X:91.35, Y:-15.58, Z:-0.07 [[ 8.71087098e-01 4.91103569e-01 -4.95505380e-03 9.13475432e+01] [-4.91096863e-01 8.71101170e-01 2.57358181e-03 -1.55787562e+01] [ 5.58024837e-03 1.91597461e-04 9.99984412e-01 -7.46459069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.920888479 meters 0.022457601887286387 Centerline is valid? [True, True] Translation: X:91.37, Y:-15.60, Z:-0.08 [[ 8.72077884e-01 4.89337979e-01 -5.33906791e-03 9.13742508e+01] [-4.89330149e-01 8.72094206e-01 2.77493664e-03 -1.55971092e+01] [ 6.01405208e-03 1.92606028e-04 9.99981897e-01 -7.52821356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.950888479 meters 0.021715470252380367 Centerline is valid? [True, True] Translation: X:91.40, Y:-15.62, Z:-0.08 [[ 8.73089246e-01 4.87523670e-01 -5.98657444e-03 9.14012418e+01] [-4.87513771e-01 8.73109747e-01 3.11329289e-03 -1.56153791e+01] [ 6.74474047e-03 2.00354938e-04 9.99977234e-01 -7.58159503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.980888479 meters 0.020504480034915715 Centerline is valid? [True, True] Translation: X:91.43, Y:-15.64, Z:-0.08 [[ 8.75671587e-01 4.82849465e-01 -7.46095830e-03 9.14252500e+01] [-4.82833919e-01 8.75703347e-01 3.87999540e-03 -1.56351410e+01] [ 8.40703986e-03 2.04802006e-04 9.99964639e-01 -7.71020748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010888479 meters 0.019520063305025342 Centerline is valid? [True, True] Translation: X:91.45, Y:-15.65, Z:-0.08 [[ 8.77203866e-01 4.80052301e-01 -7.94771926e-03 9.14527317e+01] [-4.80034537e-01 8.77239849e-01 4.13405576e-03 -1.56531615e+01] [ 8.95661902e-03 1.88770040e-04 9.99959871e-01 -7.73716891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.040888479 meters 0.018674267339030555 Centerline is valid? [True, True] Translation: X:91.48, Y:-15.67, Z:-0.08 [[ 8.78621609e-01 4.77466253e-01 -7.07426853e-03 9.14801825e+01] [-4.77452089e-01 8.78650076e-01 3.68051867e-03 -1.56713326e+01] [ 7.97313005e-03 1.43841048e-04 9.99968204e-01 -7.70512010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070888479 meters 0.017573032723032057 Centerline is valid? [True, True] Translation: X:91.50, Y:-15.69, Z:-0.07 [[ 8.81313875e-01 4.72480204e-01 -6.95055987e-03 9.15038573e+01] [-4.72466368e-01 8.81341277e-01 3.61715342e-03 -1.56907237e+01] [ 7.83484870e-03 9.60582792e-05 9.99969302e-01 -7.48258484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.100888479 meters 0.017322778221834836 Centerline is valid? [True, True] Translation: X:91.53, Y:-15.71, Z:-0.07 [[ 8.82198712e-01 4.70825867e-01 -6.95954508e-03 9.15306839e+01] [-4.70811934e-01 8.82226159e-01 3.62306420e-03 -1.57074002e+01] [ 7.84572507e-03 8.03743080e-05 9.99969219e-01 -7.37043198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13088847899999 meters 0.016941324059711087 Centerline is valid? [True, True] Translation: X:91.56, Y:-15.72, Z:-0.07 [[ 8.83036139e-01 4.69254034e-01 -6.91583343e-03 9.15584015e+01] [-4.69240210e-01 8.83063218e-01 3.60251228e-03 -1.57237019e+01] [ 7.79761155e-03 6.40385984e-05 9.99969596e-01 -7.26888538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.160888479 meters 0.01651748053844544 Centerline is valid? [True, True] Translation: X:91.59, Y:-15.74, Z:-0.07 [[ 8.84216412e-01 4.67031189e-01 -6.57303199e-03 9.15865712e+01] [-4.67018625e-01 8.84240842e-01 3.42591855e-03 -1.57385746e+01] [ 7.41215415e-03 4.04749564e-05 9.99972529e-01 -7.26139672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.190888479 meters 0.01637968980710411 Centerline is valid? [True, True] Translation: X:91.62, Y:-15.75, Z:-0.07 [[ 8.84411106e-01 4.66674106e-01 -5.68106575e-03 9.16153645e+01] [-4.66664702e-01 8.84429351e-01 2.96278720e-03 -1.57529620e+01] [ 6.40715736e-03 3.08309510e-05 9.99979473e-01 -7.25667462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.220888479 meters 0.01611099977915844 Centerline is valid? [True, True] Translation: X:91.64, Y:-15.77, Z:-0.07 [[ 8.84672333e-01 4.66186044e-01 -5.04332222e-03 9.16429732e+01] [-4.66178617e-01 8.84686708e-01 2.63161975e-03 -1.57663958e+01] [ 5.68858454e-03 2.29677945e-05 9.99983820e-01 -7.24275706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.250888479 meters 0.01611099977915844 Centerline is valid? [True, True] Translation: X:91.67, Y:-15.78, Z:-0.07 [[ 8.84548349e-01 4.66421258e-01 -5.04259834e-03 9.16716574e+01] [-4.66413827e-01 8.84562722e-01 2.63300665e-03 -1.57814655e+01] [ 5.68858479e-03 2.29159029e-05 9.99983820e-01 -7.24649566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.280888479 meters 0.015917630758273585 Centerline is valid? [True, True] Translation: X:91.70, Y:-15.80, Z:-0.07 [[ 8.84964023e-01 4.65645800e-01 -3.55895804e-03 9.17003104e+01] [-4.65642088e-01 8.84971179e-01 1.85944598e-03 -1.57956439e+01] [ 4.01541851e-03 1.16578539e-05 9.99991938e-01 -7.05248793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.310888479 meters 0.015788541418776635 Centerline is valid? [True, True] Translation: X:91.73, Y:-15.81, Z:-0.07 [[ 8.85151555e-01 4.65290782e-01 -3.34849884e-03 9.17294472e+01] [-4.65287489e-01 8.85157889e-01 1.75071961e-03 -1.58110998e+01] [ 3.77854386e-03 8.36243011e-06 9.99992861e-01 -7.00868672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.340888479 meters 0.01570064618865305 Centerline is valid? [True, True] Translation: X:91.76, Y:-15.83, Z:-0.07 [[ 8.85279441e-01 4.65043538e-01 -3.84952731e-03 9.17582714e+01] [-4.65039178e-01 8.85287810e-01 2.01395723e-03 -1.58262562e+01] [ 4.34451740e-03 7.26608785e-06 9.99990563e-01 -7.07248487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.370888479 meters 0.015520674264727499 Centerline is valid? [True, True] Translation: X:91.79, Y:-15.84, Z:-0.07 [[ 8.85284427e-01 4.65025782e-01 -4.74404488e-03 9.17874714e+01] [-4.65019150e-01 8.85297138e-01 2.48352796e-03 -1.58410728e+01] [ 5.35479389e-03 7.44309309e-06 9.99985663e-01 -7.09879381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.400888479 meters 0.015526046045957127 Centerline is valid? [True, True] Translation: X:91.82, Y:-15.85, Z:-0.07 [[ 8.84967282e-01 4.65614112e-01 -6.03384771e-03 9.18165176e+01] [-4.65603385e-01 8.84987852e-01 3.16058298e-03 -1.58536872e+01] [ 6.81149396e-03 1.23673905e-05 9.99976801e-01 -7.26386131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430888479 meters 0.015485492531057115 Centerline is valid? [True, True] Translation: X:91.85, Y:-15.87, Z:-0.07 [[ 8.84664236e-01 4.66188028e-01 -6.15732974e-03 9.18454178e+01] [-4.66176858e-01 8.84685663e-01 3.22724148e-03 -1.58668396e+01] [ 6.95180268e-03 1.53795143e-05 9.99975836e-01 -7.31953675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.460888479 meters 0.015481478721940783 Centerline is valid? [True, True] Translation: X:91.87, Y:-15.88, Z:-0.07 [[ 8.84270068e-01 4.66938952e-01 -5.87043221e-03 9.18748246e+01] [-4.66928802e-01 8.84289553e-01 3.07895192e-03 -1.58808818e+01] [ 6.62884446e-03 1.84488555e-05 9.99978029e-01 -7.35231428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49088847899999 meters 0.015500679790016758 Centerline is valid? [True, True] Translation: X:91.90, Y:-15.89, Z:-0.07 [[ 8.83900601e-01 4.67654423e-01 -4.36676883e-03 9.19032847e+01] [-4.67648809e-01 8.83911387e-01 2.29155026e-03 -1.58935610e+01] [ 4.93149031e-03 1.66115914e-05 9.99987840e-01 -7.33402449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52088847899999 meters 0.015393586236042488 Centerline is valid? [True, True] Translation: X:91.93, Y:-15.91, Z:-0.07 [[ 8.83560475e-01 4.68304434e-01 -3.44165600e-03 9.19327371e+01] [-4.68300946e-01 8.83567178e-01 1.80734866e-03 -1.59085171e+01] [ 3.88732367e-03 1.48289214e-05 9.99992444e-01 -7.24820604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.550888479 meters 0.015435760095393127 Centerline is valid? [True, True] Translation: X:91.96, Y:-15.92, Z:-0.07 [[ 8.83080550e-01 4.69220279e-01 -1.03587853e-03 9.19622731e+01] [-4.69219963e-01 8.83081157e-01 5.44597293e-04 -1.59238268e+01] [ 1.17030090e-03 5.13160620e-06 9.99999315e-01 -7.01884934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.580888479 meters 0.01550895474203533 Centerline is valid? [True, True] Translation: X:91.99, Y:-15.94, Z:-0.07 [[ 8.82683643e-01 4.69967009e-01 -7.72791202e-04 9.19913238e+01] [-4.69966834e-01 8.82683981e-01 4.06601264e-04 -1.59371072e+01] [ 8.73219595e-04 4.28594915e-06 9.99999619e-01 -7.02839287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.610888479 meters 0.01531178914459535 Centerline is valid? [True, True] Translation: X:92.02, Y:-15.95, Z:-0.07 [[ 8.82408098e-01 4.70484800e-01 5.16279636e-05 9.20198515e+01] [-4.70484799e-01 8.82408099e-01 -2.68029915e-05 -1.59526517e+01] [-5.81673332e-05 -6.38995278e-07 9.99999998e-01 -7.01452740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.640888479 meters 0.015493323805788278 Centerline is valid? [True, True] Translation: X:92.05, Y:-15.97, Z:-0.07 [[ 8.82119566e-01 4.71025208e-01 5.70403430e-04 9.20491977e+01] [-4.71025112e-01 8.82119750e-01 -2.99972897e-04 -1.59659248e+01] [-6.44458927e-04 -4.06237848e-06 9.99999792e-01 -7.02840978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.670888479 meters 0.015325031014605611 Centerline is valid? [True, True] Translation: X:92.08, Y:-15.98, Z:-0.07 [[ 8.81389884e-01 4.72387128e-01 1.50791562e-03 9.20776662e+01] [-4.72386461e-01 8.81391174e-01 -7.93764308e-04 -1.59819468e+01] [-1.70402756e-03 -1.27030924e-05 9.99998548e-01 -6.94353429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.700888479 meters 0.015323408023127665 Centerline is valid? [True, True] Translation: X:92.11, Y:-16.00, Z:-0.07 [[ 8.81190537e-01 4.72756829e-01 2.05384522e-03 9.21065865e+01] [-4.72755591e-01 8.81192930e-01 -1.08198801e-03 -1.59971409e+01] [-2.32135111e-03 -1.75292141e-05 9.99997306e-01 -6.87785614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.730888479 meters 0.015261305411046484 Centerline is valid? [True, True] Translation: X:92.14, Y:-16.01, Z:-0.07 [[ 8.81325776e-01 4.72502557e-01 2.49226407e-03 9.21350417e+01] [-4.72500731e-01 8.81329299e-01 -1.31370350e-03 -1.60116297e+01] [-2.81723361e-03 -1.97958373e-05 9.99996031e-01 -6.91425865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.760888479 meters 0.01516824598367255 Centerline is valid? [True, True] Translation: X:92.16, Y:-16.03, Z:-0.07 [[ 8.81261407e-01 4.72624052e-01 2.19966783e-03 9.21644588e+01] [-4.72622628e-01 8.81264152e-01 -1.16007410e-03 -1.60271996e+01] [-2.48676733e-03 -1.72842553e-05 9.99996908e-01 -6.95862914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790888479 meters 0.015318479482549661 Centerline is valid? [True, True] Translation: X:92.19, Y:-16.04, Z:-0.07 [[ 8.80960943e-01 4.73187308e-01 1.26023976e-03 9.21925810e+01] [-4.73186841e-01 8.80961844e-01 -6.64911051e-04 -1.60413684e+01] [-1.42485062e-03 -1.05682059e-05 9.99998985e-01 -7.05251299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.820888479 meters 0.015163380064310505 Centerline is valid? [True, True] Translation: X:92.22, Y:-16.06, Z:-0.07 [[ 8.80786603e-01 4.73513101e-01 5.50777719e-04 9.22216485e+01] [-4.73513012e-01 8.80786775e-01 -2.90574202e-04 -1.60565244e+01] [-6.22708422e-04 -4.86655240e-06 9.99999806e-01 -7.21810519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850888479 meters 0.015177147168786072 Centerline is valid? [True, True] Translation: X:92.25, Y:-16.07, Z:-0.07 [[ 8.80829075e-01 4.73434315e-01 -2.99094291e-04 9.22506822e+01] [-4.73434289e-01 8.80829126e-01 1.58412404e-04 -1.60709111e+01] [ 3.38448831e-04 2.06724143e-06 9.99999943e-01 -7.39566728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88088847899999 meters 0.014923416935071314 Centerline is valid? [True, True] Translation: X:92.28, Y:-16.09, Z:-0.08 [[ 8.81537968e-01 4.72111554e-01 -1.22153322e-03 9.22786440e+01] [-4.72111112e-01 8.81538814e-01 6.45996060e-04 -1.60856142e+01] [ 1.38181115e-03 7.22935341e-06 9.99999045e-01 -7.72158692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.910888479 meters 0.014764458185139481 Centerline is valid? [True, True] Translation: X:92.31, Y:-16.10, Z:-0.08 [[ 8.81955388e-01 4.71329254e-01 -1.85165207e-03 9.23076272e+01] [-4.71328235e-01 8.81957331e-01 9.79960554e-04 -1.61019668e+01] [ 2.09496220e-03 8.45441425e-06 9.99997806e-01 -7.80663253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.940888479 meters 0.014789213337743025 Centerline is valid? [True, True] Translation: X:92.34, Y:-16.12, Z:-0.08 [[ 8.82236506e-01 4.70802288e-01 -1.98798933e-03 9.23355929e+01] [-4.70801111e-01 8.82238746e-01 1.05270314e-03 -1.61168164e+01] [ 2.24949626e-03 7.21444311e-06 9.99997470e-01 -7.92755970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.970888479 meters 0.014574914109023465 Centerline is valid? [True, True] Translation: X:92.36, Y:-16.13, Z:-0.08 [[ 8.83108754e-01 4.69164859e-01 -1.80652238e-03 9.23640466e+01] [-4.69163883e-01 8.83110602e-01 9.57296171e-04 -1.61334409e+01] [ 2.04448879e-03 2.15842390e-06 9.99997910e-01 -7.85105128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.000888479 meters 0.01446458532359902 Centerline is valid? [True, True] Translation: X:92.39, Y:-16.15, Z:-0.08 [[ 8.83441661e-01 4.68536807e-01 -2.02272274e-03 9.23921711e+01] [-4.68535580e-01 8.83443977e-01 1.07245040e-03 -1.61493812e+01] [ 2.28944471e-03 2.70210057e-07 9.99997379e-01 -7.82439862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.030888479 meters 0.014492024167955041 Centerline is valid? [True, True] Translation: X:92.42, Y:-16.17, Z:-0.08 [[ 8.83791886e-01 4.67875493e-01 -2.10342804e-03 9.24207008e+01] [-4.67874162e-01 8.83794389e-01 1.11596852e-03 -1.61653323e+01] [ 2.38113222e-03 -2.14429486e-06 9.99997165e-01 -7.80019204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.060888479 meters 0.014503771350925466 Centerline is valid? [True, True] Translation: X:92.45, Y:-16.18, Z:-0.08 [[ 8.84996856e-01 4.65588657e-01 -2.78719623e-03 9.24490560e+01] [-4.65586306e-01 8.85001244e-01 1.47960504e-03 -1.61820168e+01] [ 3.15555946e-03 -1.17654081e-05 9.99995021e-01 -7.83299720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.090888479 meters 0.014506686495596546 Centerline is valid? [True, True] Translation: X:92.48, Y:-16.20, Z:-0.08 [[ 8.85398368e-01 4.64821232e-01 -3.30947388e-03 9.24773365e+01] [-4.64817908e-01 8.85404553e-01 1.75795162e-03 -1.61982646e+01] [ 3.74735648e-03 -1.81847665e-05 9.99992978e-01 -7.89429178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.120888479 meters 0.014540972026805895 Centerline is valid? [True, True] Translation: X:92.51, Y:-16.21, Z:-0.08 [[ 8.85845611e-01 4.63965023e-01 -3.74303276e-03 9.25058077e+01] [-4.63960758e-01 8.85853519e-01 1.98951788e-03 -1.62142745e+01] [ 4.23884545e-03 -2.57853651e-05 9.99991016e-01 -7.91513126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150888479 meters 0.014659875154527637 Centerline is valid? [True, True] Translation: X:92.53, Y:-16.23, Z:-0.08 [[ 8.86612118e-01 4.62497696e-01 -3.85144989e-03 9.25337898e+01] [-4.62493161e-01 8.86620483e-01 2.04828450e-03 -1.62298719e+01] [ 4.36210122e-03 -3.47646179e-05 9.99990485e-01 -7.98120775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.180888479 meters 0.014823987317552707 Centerline is valid? [True, True] Translation: X:92.56, Y:-16.25, Z:-0.08 [[ 8.86740500e-01 4.62252141e-01 -3.77406029e-03 9.25626715e+01] [-4.62247779e-01 8.86748531e-01 2.00851004e-03 -1.62451113e+01] [ 4.27508048e-03 -3.64762114e-05 9.99990861e-01 -8.02556001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210888479 meters 0.014834010616685978 Centerline is valid? [True, True] Translation: X:92.59, Y:-16.26, Z:-0.08 [[ 8.86730856e-01 4.62271003e-01 -3.72959856e-03 9.25910980e+01] [-4.62266740e-01 8.86738698e-01 1.98553049e-03 -1.62599491e+01] [ 4.22503254e-03 -3.65617856e-05 9.99991074e-01 -8.02596785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24088847899999 meters 0.014620681686290266 Centerline is valid? [True, True] Translation: X:92.62, Y:-16.27, Z:-0.08 [[ 8.85735877e-01 4.64176094e-01 -3.53685145e-03 9.26197479e+01] [-4.64172271e-01 8.85742938e-01 1.88408576e-03 -1.62736032e+01] [ 4.00728877e-03 -2.70939830e-05 9.99991970e-01 -7.95468512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27088847899999 meters 0.014495958905792397 Centerline is valid? [True, True] Translation: X:92.65, Y:-16.29, Z:-0.08 [[ 8.84936596e-01 4.65698927e-01 -3.42498407e-03 9.26480351e+01] [-4.65695350e-01 8.84943223e-01 1.82543875e-03 -1.62874938e+01] [ 3.88102131e-03 -2.03984019e-05 9.99992469e-01 -7.91685448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.300888479 meters 0.014260975707952012 Centerline is valid? [True, True] Translation: X:92.68, Y:-16.30, Z:-0.08 [[ 8.83973488e-01 4.67522507e-01 -3.68482291e-03 9.26779086e+01] [-4.67518377e-01 8.83981168e-01 1.96524802e-03 -1.63016656e+01] [ 4.17611174e-03 -1.45047161e-05 9.99991280e-01 -7.82933015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.330888479 meters 0.014307659513024278 Centerline is valid? [True, True] Translation: X:92.71, Y:-16.31, Z:-0.08 [[ 8.81867208e-01 4.71479729e-01 -4.13430666e-03 9.27080609e+01] [-4.71474567e-01 8.81876899e-01 2.20623816e-03 -1.63133017e+01] [ 4.68614611e-03 3.61135815e-06 9.99989020e-01 -7.93146788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.360888479 meters 0.014218297149667474 Centerline is valid? [True, True] Translation: X:92.74, Y:-16.33, Z:-0.08 [[ 8.80860599e-01 4.73351883e-01 -4.75386444e-03 9.27384350e+01] [-4.73345077e-01 8.80873427e-01 2.53849218e-03 -1.63268522e+01] [ 5.38915292e-03 1.41605871e-05 9.99985478e-01 -8.05274424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.390888479 meters 0.014353352850096054 Centerline is valid? [True, True] Translation: X:92.77, Y:-16.34, Z:-0.08 [[ 8.79923704e-01 4.75084482e-01 -5.38612121e-03 9.27682796e+01] [-4.75075765e-01 8.79940188e-01 2.87798345e-03 -1.63406502e+01] [ 6.10674978e-03 2.64098021e-05 9.99981353e-01 -8.16472895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.420888479 meters 0.014515600918214655 Centerline is valid? [True, True] Translation: X:92.80, Y:-16.35, Z:-0.08 [[ 8.78530396e-01 4.77667386e-01 -4.26753333e-03 9.27975504e+01] [-4.77661938e-01 8.78540760e-01 2.28175017e-03 -1.63536483e+01] [ 4.83911961e-03 3.38513628e-05 9.99988291e-01 -8.18278530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.450888479 meters 0.014519190617395398 Centerline is valid? [True, True] Translation: X:92.83, Y:-16.37, Z:-0.08 [[ 8.77819647e-01 4.78980940e-01 -3.15049961e-03 9.28268406e+01] [-4.78977975e-01 8.77825300e-01 1.68573881e-03 -1.63693833e+01] [ 3.57302503e-03 2.92452796e-05 9.99993616e-01 -8.00366337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.480888479 meters 0.01458262203720139 Centerline is valid? [True, True] Translation: X:92.86, Y:-16.38, Z:-0.08 [[ 8.77191669e-01 4.80136277e-01 -1.98276974e-03 9.28559177e+01] [-4.80135104e-01 8.77193909e-01 1.06177388e-03 -1.63848987e+01] [ 2.24906970e-03 2.06181541e-05 9.99997471e-01 -7.83348563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.510888479 meters 0.014803278412033903 Centerline is valid? [True, True] Translation: X:92.88, Y:-16.40, Z:-0.08 [[ 8.76676672e-01 4.81079765e-01 -5.22175917e-04 9.28843481e+01] [-4.81079683e-01 8.76676828e-01 2.80045765e-04 -1.63993257e+01] [ 5.92503877e-04 5.69863537e-06 9.99999824e-01 -7.70528861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.540888479 meters 0.014960336181672597 Centerline is valid? [True, True] Translation: X:92.91, Y:-16.41, Z:-0.08 [[ 8.75975793e-01 4.82353963e-01 1.03146881e-03 9.29136522e+01] [-4.82353647e-01 8.75976401e-01 -5.52514678e-04 -1.64135525e+01] [-1.17004998e-03 -1.35432586e-05 9.99999315e-01 -7.54433042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570888479 meters 0.01502789700791571 Centerline is valid? [True, True] Translation: X:92.94, Y:-16.43, Z:-0.08 [[ 8.75709596e-01 4.82835569e-01 1.58642344e-03 9.29422900e+01] [-4.82834821e-01 8.75711033e-01 -8.50534454e-04 -1.64287859e+01] [-1.79991680e-03 -2.11592944e-05 9.99998380e-01 -7.53972131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.600888479 meters 0.015072247405304329 Centerline is valid? [True, True] Translation: X:92.97, Y:-16.44, Z:-0.08 [[ 8.75587094e-01 4.83056733e-01 1.85279128e-03 9.29706956e+01] [-4.83055711e-01 8.75589054e-01 -9.94057999e-04 -1.64443961e+01] [-2.10247017e-03 -2.46170528e-05 9.99997790e-01 -7.53114948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63088847899999 meters 0.01515724960984838 Centerline is valid? [True, True] Translation: X:93.00, Y:-16.46, Z:-0.08 [[ 8.75561823e-01 4.83102417e-01 1.88409877e-03 9.29982974e+01] [-4.83101358e-01 8.75563849e-01 -1.01150557e-03 -1.64600211e+01] [-2.13830956e-03 -2.45750096e-05 9.99997714e-01 -7.56799618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.660888479 meters 0.014891543874304684 Centerline is valid? [True, True] Translation: X:93.03, Y:-16.48, Z:-0.08 [[ 8.75759574e-01 4.82745273e-01 1.47321747e-03 9.30267775e+01] [-4.82744625e-01 8.75760813e-01 -7.91341868e-04 -1.64771738e+01] [-1.67220267e-03 -1.81625977e-05 9.99998602e-01 -7.61167802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.690888479 meters 0.014976738559381007 Centerline is valid? [True, True] Translation: X:93.05, Y:-16.49, Z:-0.08 [[ 8.76156293e-01 4.82026534e-01 7.55361661e-04 9.30539500e+01] [-4.82026364e-01 8.76156618e-01 -4.05854790e-04 -1.64921231e+01] [-8.57447897e-04 -8.51200618e-06 9.99999632e-01 -7.67580301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.720888479 meters 0.014438645241831315 Centerline is valid? [True, True] Translation: X:93.08, Y:-16.51, Z:-0.08 [[ 8.77197959e-01 4.80128443e-01 -6.47383932e-04 9.30814352e+01] [-4.80128316e-01 8.77198198e-01 3.48600254e-04 -1.65096221e+01] [ 7.35256916e-04 5.03592571e-06 9.99999730e-01 -7.79754650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.750888479 meters 0.014403633035114724 Centerline is valid? [True, True] Translation: X:93.11, Y:-16.53, Z:-0.08 [[ 8.77680910e-01 4.79242560e-01 -1.66978695e-03 9.31095282e+01] [-4.79241717e-01 8.77682499e-01 8.99211911e-04 -1.65255358e+01] [ 1.89648340e-03 1.10104341e-05 9.99998202e-01 -7.92471641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.780888479 meters 0.014273028763565716 Centerline is valid? [True, True] Translation: X:93.14, Y:-16.54, Z:-0.08 [[ 8.78385240e-01 4.77948578e-01 -2.12760391e-03 9.31371921e+01] [-4.77947204e-01 8.78387817e-01 1.14635303e-03 -1.65413813e+01] [ 2.41675916e-03 9.94276400e-06 9.99997080e-01 -8.04138978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.810888479 meters 0.014208701720315894 Centerline is valid? [True, True] Translation: X:93.16, Y:-16.56, Z:-0.08 [[ 8.80110348e-01 4.74757254e-01 -3.36524732e-03 9.31644005e+01] [-4.74753787e-01 8.80116782e-01 1.81419570e-03 -1.65598880e+01] [ 3.82311320e-03 9.71502670e-07 9.99992692e-01 -8.14651180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.840888479 meters 0.014140087039721722 Centerline is valid? [True, True] Translation: X:93.19, Y:-16.58, Z:-0.08 [[ 8.81056276e-01 4.72999174e-01 -3.40872027e-03 9.31915053e+01] [-4.72995600e-01 8.81062870e-01 1.83870591e-03 -1.65766952e+01] [ 3.87300325e-03 -7.69369594e-06 9.99992500e-01 -8.12515883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.870888479 meters 0.014277853661803463 Centerline is valid? [True, True] Translation: X:93.22, Y:-16.59, Z:-0.08 [[ 8.81960878e-01 4.71312480e-01 -3.09135585e-03 9.32201636e+01] [-4.71309526e-01 8.81966296e-01 1.66866651e-03 -1.65936911e+01] [ 3.51293502e-03 -1.47131221e-05 9.99993830e-01 -8.02527295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.900888479 meters 0.014474431167486115 Centerline is valid? [True, True] Translation: X:93.25, Y:-16.61, Z:-0.08 [[ 8.83159920e-01 4.69066742e-01 -2.22433511e-03 9.32483085e+01] [-4.69065203e-01 8.83162721e-01 1.20154697e-03 -1.66098866e+01] [ 2.52805556e-03 -1.77999228e-05 9.99996804e-01 -7.92417705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930888479 meters 0.014579128101806374 Centerline is valid? [True, True] Translation: X:93.28, Y:-16.63, Z:-0.08 [[ 8.83380160e-01 4.68652871e-01 -1.99477232e-03 9.32764130e+01] [-4.68651632e-01 8.83382412e-01 1.07820830e-03 -1.66257631e+01] [ 2.26745220e-03 -1.76145134e-05 9.99997429e-01 -7.92794982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.960888479 meters 0.01468142165596703 Centerline is valid? [True, True] Translation: X:93.31, Y:-16.64, Z:-0.08 [[ 8.83447464e-01 4.68528037e-01 -1.43452896e-03 9.33054086e+01] [-4.68527394e-01 8.83448628e-01 7.75989185e-04 -1.66410081e+01] [ 1.63090533e-03 -1.34295631e-05 9.99998670e-01 -7.86893351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99088847899999 meters 0.014578718749015833 Centerline is valid? [True, True] Translation: X:93.33, Y:-16.66, Z:-0.08 [[ 8.83312115e-01 4.68784598e-01 -8.41299265e-04 9.33346610e+01] [-4.68784377e-01 8.83312516e-01 4.55088310e-04 -1.66555134e+01] [ 9.56468560e-04 -7.59706589e-06 9.99999543e-01 -7.82163468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02088847899999 meters 0.014358161291532797 Centerline is valid? [True, True] Translation: X:93.36, Y:-16.67, Z:-0.08 [[ 8.82160053e-01 4.70947507e-01 -1.44439089e-03 9.33644965e+01] [-4.70946858e-01 8.82161236e-01 7.81880975e-04 -1.66682369e+01] [ 1.64241054e-03 -9.51281463e-06 9.99998651e-01 -7.78735664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.050888479 meters 0.014204218973385306 Centerline is valid? [True, True] Translation: X:93.39, Y:-16.68, Z:-0.08 [[ 8.81106802e-01 4.72914431e-01 -1.65654423e-03 9.33935841e+01] [-4.72913580e-01 8.81108360e-01 8.97182236e-04 -1.66817234e+01] [ 1.88388539e-03 -7.11111043e-06 9.99998225e-01 -7.83317223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.080888479 meters 0.014136380048964108 Centerline is valid? [True, True] Translation: X:93.42, Y:-16.69, Z:-0.08 [[ 8.79031543e-01 4.76762762e-01 -9.02583974e-04 9.34233154e+01] [-4.76762511e-01 8.79032007e-01 4.89207710e-04 -1.66914842e+01] [ 1.02663622e-03 2.89193124e-07 9.99999473e-01 -7.86746225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.110888479 meters 0.014170008114528381 Centerline is valid? [True, True] Translation: X:93.45, Y:-16.70, Z:-0.08 [[ 8.77930857e-01 4.78786759e-01 -8.06632905e-04 9.34534112e+01] [-4.78786559e-01 8.77931227e-01 4.37573436e-04 -1.67046070e+01] [ 9.17672583e-04 2.04577131e-06 9.99999579e-01 -7.86636943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.140888479 meters 0.014170008114528381 Centerline is valid? [True, True] Translation: X:93.48, Y:-16.72, Z:-0.08 [[ 8.77803388e-01 4.79020419e-01 -8.06516360e-04 9.34818612e+01] [-4.79020219e-01 8.77803758e-01 4.37788293e-04 -1.67201273e+01] [ 9.17672624e-04 2.04559630e-06 9.99999579e-01 -7.87011022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.170888479 meters 0.014192790528413725 Centerline is valid? [True, True] Translation: X:93.51, Y:-16.73, Z:-0.08 [[ 8.76862223e-01 4.80741677e-01 -2.85995859e-04 9.35116626e+01] [-4.80741652e-01 8.76862270e-01 1.55573640e-04 -1.67341007e+01] [ 3.25569710e-04 1.07347382e-06 9.99999947e-01 -7.78806387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.200888479 meters 0.014273656000337432 Centerline is valid? [True, True] Translation: X:93.54, Y:-16.75, Z:-0.08 [[ 8.76014716e-01 4.82284196e-01 4.13077436e-04 9.35409020e+01] [-4.82284144e-01 8.76014814e-01 -2.23978822e-04 -1.67483839e+01] [-4.69883399e-04 -3.01195378e-06 9.99999890e-01 -7.66730816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.230888479 meters 0.014673310071684133 Centerline is valid? [True, True] Translation: X:93.57, Y:-16.76, Z:-0.08 [[ 8.74556822e-01 4.84922759e-01 5.32309729e-04 9.35707349e+01] [-4.84922672e-01 8.74556984e-01 -2.88942581e-04 -1.67609944e+01] [-6.05650025e-04 -5.43235116e-06 9.99999817e-01 -7.54873363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.260888479 meters 0.014956771408629005 Centerline is valid? [True, True] Translation: X:93.60, Y:-16.77, Z:-0.08 [[ 8.73828764e-01 4.86232969e-01 8.89711058e-04 9.35992938e+01] [-4.86232729e-01 8.73829217e-01 -4.83444205e-04 -1.67736819e+01] [-1.01252203e-03 -1.01591838e-05 9.99999487e-01 -7.54894655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290888479 meters 0.014983797378764745 Centerline is valid? [True, True] Translation: X:93.63, Y:-16.79, Z:-0.08 [[ 8.73104556e-01 4.87531981e-01 1.00066300e-03 9.36282499e+01] [-4.87531678e-01 8.73105129e-01 -5.43921363e-04 -1.67874415e+01] [-1.13886306e-03 -1.29546927e-05 9.99999351e-01 -7.59451889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.320888479 meters 0.015612373246849755 Centerline is valid? [True, True] Translation: X:93.66, Y:-16.80, Z:-0.08 [[ 8.72318307e-01 4.88937496e-01 9.46249875e-04 9.36577281e+01] [-4.88937226e-01 8.72318820e-01 -5.14622740e-04 -1.67989965e+01] [-1.07704993e-03 -1.37419513e-05 9.99999420e-01 -7.65608352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350888479 meters 0.015278543224230197 Centerline is valid? [True, True] Translation: X:93.69, Y:-16.82, Z:-0.08 [[ 8.72092367e-01 4.89339490e-01 1.32905050e-03 9.36867491e+01] [-4.89338956e-01 8.72093380e-01 -7.23331707e-04 -1.68152749e+01] [-1.51301091e-03 -1.95441214e-05 9.99998855e-01 -7.68065578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38088847899999 meters 0.015201229304636339 Centerline is valid? [True, True] Translation: X:93.72, Y:-16.83, Z:-0.08 [[ 8.71997715e-01 4.89507705e-01 1.48074560e-03 9.37163292e+01] [-4.89507041e-01 8.71998971e-01 -8.06466561e-04 -1.68305196e+01] [-1.68598024e-03 -2.15984002e-05 9.99998579e-01 -7.65050583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.410888479 meters 0.015222996161161852 Centerline is valid? [True, True] Translation: X:93.75, Y:-16.85, Z:-0.08 [[ 8.72144961e-01 4.89238082e-01 3.04401798e-03 9.37456410e+01] [-4.89235270e-01 8.72150272e-01 -1.65936717e-03 -1.68456342e+01] [-3.46666672e-03 -4.20322430e-05 9.99993990e-01 -7.52946273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.440888479 meters 0.015259199119335539 Centerline is valid? [True, True] Translation: X:93.77, Y:-16.86, Z:-0.07 [[ 8.72287457e-01 4.88982838e-01 3.22122786e-03 9.37740398e+01] [-4.88979683e-01 8.72293404e-01 -1.75709888e-03 -1.68607178e+01] [-3.66904701e-03 -4.24196600e-05 9.99993268e-01 -7.45397753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.470888479 meters 0.015247253677726433 Centerline is valid? [True, True] Translation: X:93.80, Y:-16.88, Z:-0.07 [[ 8.72389411e-01 4.88799823e-01 3.38358509e-03 9.38034647e+01] [-4.88796336e-01 8.72395971e-01 -1.84686588e-03 -1.68760104e+01] [-3.85457372e-03 -4.26977631e-05 9.99992570e-01 -7.43545381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.500888479 meters 0.01515890324503845 Centerline is valid? [True, True] Translation: X:93.83, Y:-16.89, Z:-0.08 [[ 8.72599412e-01 4.88429626e-01 2.60111266e-03 9.38324384e+01] [-4.88427561e-01 8.72603289e-01 -1.42053976e-03 -1.68896451e+01] [-2.96357317e-03 -3.08929571e-05 9.99995608e-01 -7.57387134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.530888479 meters 0.01520238135847728 Centerline is valid? [True, True] Translation: X:93.86, Y:-16.90, Z:-0.08 [[ 8.72728542e-01 4.88201155e-01 2.12710968e-03 9.38609474e+01] [-4.88199772e-01 8.72731134e-01 -1.16229955e-03 -1.69039798e+01] [-2.42383083e-03 -2.40824730e-05 9.99997062e-01 -7.65769270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.560888479 meters 0.014980777186828978 Centerline is valid? [True, True] Translation: X:93.89, Y:-16.92, Z:-0.08 [[ 8.72985694e-01 4.87743155e-01 1.61036228e-03 9.38899764e+01] [-4.87742361e-01 8.72987179e-01 -8.80402722e-04 -1.69199595e+01] [-1.83523602e-03 -1.68629190e-05 9.99998316e-01 -7.72646003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.590888479 meters 0.014688218650485767 Centerline is valid? [True, True] Translation: X:93.92, Y:-16.94, Z:-0.08 [[ 8.74462433e-01 4.85093029e-01 4.53589970e-04 9.39180481e+01] [-4.85092966e-01 8.74462551e-01 -2.47910908e-04 -1.69359335e+01] [-5.16907295e-04 -3.24452838e-06 9.99999866e-01 -7.84087294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.620888479 meters 0.014381992543382514 Centerline is valid? [True, True] Translation: X:93.95, Y:-16.95, Z:-0.08 [[ 8.75411875e-01 4.83377682e-01 2.56400196e-04 9.39459275e+01] [-4.83377661e-01 8.75411913e-01 -1.40081669e-04 -1.69518432e+01] [-2.92168139e-04 -1.30897059e-06 9.99999957e-01 -7.88322846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650888479 meters 0.01432556138206222 Centerline is valid? [True, True] Translation: X:93.97, Y:-16.97, Z:-0.08 [[ 8.76328162e-01 4.81714367e-01 -4.70981284e-04 9.39734422e+01] [-4.81714298e-01 8.76328288e-01 2.58371252e-04 -1.69682790e+01] [ 5.37195366e-04 4.60413567e-07 9.99999856e-01 -7.91902274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.680888479 meters 0.014396510330523056 Centerline is valid? [True, True] Translation: X:94.00, Y:-16.98, Z:-0.08 [[ 8.77040940e-01 4.80413109e-01 -1.56033497e-03 9.40015147e+01] [-4.80412347e-01 8.77042328e-01 8.55749066e-04 -1.69845072e+01] [ 1.77959288e-03 -9.22780355e-07 9.99998417e-01 -7.98780174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710888479 meters 0.01447364306941265 Centerline is valid? [True, True] Translation: X:94.03, Y:-17.00, Z:-0.08 [[ 8.78120643e-01 4.78426148e-01 -3.54361601e-03 9.40292941e+01] [-4.78422198e-01 8.78127793e-01 1.94400906e-03 -1.69987641e+01] [ 4.04181248e-03 -1.17299261e-05 9.99991832e-01 -8.26821858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74088847899999 meters 0.014565948338955227 Centerline is valid? [True, True] Translation: X:94.06, Y:-17.01, Z:-0.08 [[ 8.78482850e-01 4.77753462e-01 -4.41717366e-03 9.40589530e+01] [-4.77747309e-01 8.78493955e-01 2.42481498e-03 -1.70140775e+01] [ 5.03892411e-03 -1.98655407e-05 9.99987304e-01 -8.34909754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77088847899999 meters 0.014553712522469097 Centerline is valid? [True, True] Translation: X:94.09, Y:-17.03, Z:-0.08 [[ 8.78702498e-01 4.77342682e-01 -5.08757371e-03 9.40877107e+01] [-4.77334502e-01 8.78717226e-01 2.79458548e-03 -1.70290964e+01] [ 5.80451359e-03 -2.71347781e-05 9.99983153e-01 -8.45525501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.800888479 meters 0.01477000401164811 Centerline is valid? [True, True] Translation: X:94.12, Y:-17.04, Z:-0.09 [[ 8.79079051e-01 4.76642289e-01 -5.67010958e-03 9.41169116e+01] [-4.76632102e-01 8.79097336e-01 3.11654533e-03 -1.70443486e+01] [ 6.47005553e-03 -3.71334655e-05 9.99979068e-01 -8.54625622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.830888479 meters 0.014978109295880011 Centerline is valid? [True, True] Translation: X:94.14, Y:-17.06, Z:-0.09 [[ 8.80076538e-01 4.74800380e-01 -5.46680202e-03 9.41444688e+01] [-4.74790865e-01 8.80093516e-01 3.00630576e-03 -1.70580348e+01] [ 6.23869213e-03 -5.01914992e-05 9.99980538e-01 -8.62171563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.860888479 meters 0.015185956017176868 Centerline is valid? [True, True] Translation: X:94.17, Y:-17.07, Z:-0.09 [[ 8.80316620e-01 4.74353996e-01 -5.56197074e-03 9.41734170e+01] [-4.74344125e-01 8.80334189e-01 3.06068519e-03 -1.70735208e+01] [ 6.34824125e-03 -5.60838965e-05 9.99979848e-01 -8.59616029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.890888479 meters 0.015477084016899833 Centerline is valid? [True, True] Translation: X:94.20, Y:-17.09, Z:-0.09 [[ 8.80777409e-01 4.73502677e-01 -5.13529711e-03 9.42017976e+01] [-4.73494238e-01 8.80792377e-01 2.82759636e-03 -1.70887266e+01] [ 5.86200499e-03 -5.89494041e-05 9.99982817e-01 -8.57602189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.920888479 meters 0.015318435840238042 Centerline is valid? [True, True] Translation: X:94.23, Y:-17.10, Z:-0.08 [[ 8.80877832e-01 4.73330561e-01 -3.52510979e-03 9.42325235e+01] [-4.73326577e-01 8.80884884e-01 1.94236735e-03 -1.71016014e+01] [ 4.02459775e-03 -4.24601865e-05 9.99991900e-01 -8.38052786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.950888479 meters 0.015508558578125362 Centerline is valid? [True, True] Translation: X:94.26, Y:-17.12, Z:-0.08 [[ 8.80497086e-01 4.74042381e-01 -2.95002547e-03 9.42602468e+01] [-4.74039592e-01 8.80502027e-01 1.62632016e-03 -1.71150314e+01] [ 3.36844809e-03 -3.35412941e-05 9.99994326e-01 -8.36330744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.980888479 meters 0.01532013847662217 Centerline is valid? [True, True] Translation: X:94.29, Y:-17.13, Z:-0.08 [[ 8.79823808e-01 4.75286049e-01 -3.63844493e-03 9.42900667e+01] [-4.75281812e-01 8.79831331e-01 2.00712680e-03 -1.71284935e+01] [ 4.15517721e-03 -3.66312451e-05 9.99991367e-01 -8.32395226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.010888479 meters 0.0150065022746067 Centerline is valid? [True, True] Translation: X:94.32, Y:-17.14, Z:-0.08 [[ 8.78080535e-01 4.78489215e-01 -4.75859605e-03 9.43208252e+01] [-4.78482008e-01 8.78093429e-01 2.62642453e-03 -1.71391355e+01] [ 5.43520774e-03 -2.93096574e-05 9.99985229e-01 -8.33179655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.040888479 meters 0.014891650742718678 Centerline is valid? [True, True] Translation: X:94.35, Y:-17.15, Z:-0.08 [[ 8.76995892e-01 4.80474410e-01 -4.74835969e-03 9.43497601e+01] [-4.80467259e-01 8.77008746e-01 2.62148446e-03 -1.71515244e+01] [ 5.42390918e-03 -1.75997369e-05 9.99985290e-01 -8.44461290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070888479 meters 0.014851031555764406 Centerline is valid? [True, True] Translation: X:94.38, Y:-17.16, Z:-0.08 [[ 8.75862306e-01 4.82535714e-01 -4.95042042e-03 9.43797909e+01] [-4.82527963e-01 8.75876296e-01 2.73500243e-03 -1.71644293e+01] [ 5.65569225e-03 -6.76924945e-06 9.99984006e-01 -8.49128844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.100888479 meters 0.014809472819334635 Centerline is valid? [True, True] Translation: X:94.41, Y:-17.18, Z:-0.08 [[ 8.74615555e-01 4.84796720e-01 -4.44645260e-03 9.44103593e+01] [-4.84790487e-01 8.74626858e-01 2.45825433e-03 -1.71779467e+01] [ 5.08074050e-03 5.57044333e-06 9.99987093e-01 -8.46757677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13088847899999 meters 0.015112494452952535 Centerline is valid? [True, True] Translation: X:94.44, Y:-17.19, Z:-0.08 [[ 8.72248187e-01 4.89049399e-01 -3.71294027e-03 9.44411241e+01] [-4.89045086e-01 8.72256089e-01 2.05403637e-03 -1.71884895e+01] [ 4.24316001e-03 2.41656940e-05 9.99990997e-01 -8.46131751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.160888479 meters 0.015304639426880123 Centerline is valid? [True, True] Translation: X:94.47, Y:-17.20, Z:-0.08 [[ 8.71004893e-01 4.91260905e-01 -3.63303000e-03 9.44704417e+01] [-4.91256791e-01 8.71012469e-01 2.01093904e-03 -1.72023125e+01] [ 4.15231016e-03 3.32129178e-05 9.99991379e-01 -8.46431715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.190888479 meters 0.015603066730843152 Centerline is valid? [True, True] Translation: X:94.50, Y:-17.21, Z:-0.08 [[ 8.69801695e-01 4.93386437e-01 -3.85161481e-03 9.44989044e+01] [-4.93381828e-01 8.69810222e-01 2.13299251e-03 -1.72149701e+01] [ 4.40256350e-03 4.50362598e-05 9.99990308e-01 -8.47059511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.220888479 meters 0.016127143508818317 Centerline is valid? [True, True] Translation: X:94.53, Y:-17.23, Z:-0.08 [[ 8.68021662e-01 4.96511924e-01 -3.78195515e-03 9.45293893e+01] [-4.96507505e-01 8.68029899e-01 2.09560226e-03 -1.72268415e+01] [ 4.32334166e-03 5.87409602e-05 9.99990653e-01 -8.46734095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.250888479 meters 0.016689122132536902 Centerline is valid? [True, True] Translation: X:94.56, Y:-17.24, Z:-0.08 [[ 8.67139084e-01 4.98052508e-01 -3.67522482e-03 9.45570867e+01] [-4.98048345e-01 8.67146870e-01 2.03748889e-03 -1.72401146e+01] [ 4.20173616e-03 6.36533850e-05 9.99991171e-01 -8.46726327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.280888479 meters 0.01625309039182969 Centerline is valid? [True, True] Translation: X:94.59, Y:-17.26, Z:-0.08 [[ 8.66705220e-01 4.98810797e-01 -3.13857265e-03 9.45852448e+01] [-4.98807761e-01 8.66710901e-01 1.74123576e-03 -1.72566932e+01] [ 3.58878233e-03 5.64062726e-05 9.99993559e-01 -8.34278645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.310888479 meters 0.017133627015620843 Centerline is valid? [True, True] Translation: X:94.61, Y:-17.27, Z:-0.08 [[ 8.66564330e-01 4.99064448e-01 -9.69224704e-04 9.46140763e+01] [-4.99064158e-01 8.66564871e-01 5.37949569e-04 -1.72691377e+01] [ 1.10836759e-03 1.75374035e-05 9.99999386e-01 -8.19634090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.340888479 meters 0.016282415716341658 Centerline is valid? [True, True] Translation: X:94.64, Y:-17.29, Z:-0.08 [[ 8.66525378e-01 4.99132547e-01 -6.84855174e-04 9.46424299e+01] [-4.99132402e-01 8.66525649e-01 3.80605300e-04 -1.72865396e+01] [ 7.83417067e-04 1.20292568e-05 9.99999693e-01 -8.18033934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.370888479 meters 0.01593753199544477 Centerline is valid? [True, True] Translation: X:94.67, Y:-17.30, Z:-0.08 [[ 8.66513977e-01 4.99152194e-01 -7.83742800e-04 9.46704316e+01] [-4.99152004e-01 8.66514332e-01 4.35808596e-04 -1.73031536e+01] [ 8.96659185e-04 1.35725494e-05 9.99999598e-01 -8.19227714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.400888479 meters 0.015802066548678797 Centerline is valid? [True, True] Translation: X:94.70, Y:-17.32, Z:-0.08 [[ 8.67545129e-01 4.97352699e-01 -2.39625145e-03 9.46957770e+01] [-4.97350916e-01 8.67548438e-01 1.33233739e-03 -1.73207602e+01] [ 2.74150580e-03 3.59150406e-05 9.99996241e-01 -8.24588580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430888479 meters 0.015520488340977315 Centerline is valid? [True, True] Translation: X:94.72, Y:-17.34, Z:-0.08 [[ 8.68234550e-01 4.96140395e-01 -3.67085664e-03 9.47228330e+01] [-4.96136195e-01 8.68242308e-01 2.04204966e-03 -1.73381419e+01] [ 4.20033637e-03 4.82667778e-05 9.99991177e-01 -8.33729710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.460888479 meters 0.015258665593470196 Centerline is valid? [True, True] Translation: X:94.75, Y:-17.36, Z:-0.08 [[ 8.68816411e-01 4.95118845e-01 -3.92101641e-03 9.47503339e+01] [-4.95114037e-01 8.68825257e-01 2.18244023e-03 -1.73556677e+01] [ 4.48724538e-03 4.52103752e-05 9.99989931e-01 -8.42651784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49088847899999 meters 0.015249248657032519 Centerline is valid? [True, True] Translation: X:94.78, Y:-17.37, Z:-0.09 [[ 8.69858417e-01 4.93280364e-01 -4.56262154e-03 9.47763664e+01] [-4.93273822e-01 8.69870382e-01 2.54081683e-03 -1.73734754e+01] [ 5.22222439e-03 4.04708586e-05 9.99986363e-01 -8.58819727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52088847899999 meters 0.015121756456287837 Centerline is valid? [True, True] Translation: X:94.80, Y:-17.39, Z:-0.09 [[ 8.69986791e-01 4.93054641e-01 -4.48388690e-03 9.48035734e+01] [-4.93048311e-01 8.69998345e-01 2.49871099e-03 -1.73915797e+01] [ 5.13297523e-03 3.69273030e-05 9.99986826e-01 -8.51956090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.550888479 meters 0.01529297988992256 Centerline is valid? [True, True] Translation: X:94.83, Y:-17.41, Z:-0.09 [[ 8.70006656e-01 4.93016364e-01 -4.82520761e-03 9.48306060e+01] [-4.93009024e-01 8.70020036e-01 2.69052281e-03 -1.74081459e+01] [ 5.52449907e-03 3.80981457e-05 9.99984739e-01 -8.51751789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.580888479 meters 0.015390685320420318 Centerline is valid? [True, True] Translation: X:94.86, Y:-17.43, Z:-0.08 [[ 8.69923955e-01 4.93160603e-01 -4.99327423e-03 9.48583392e+01] [-4.93152734e-01 8.69938284e-01 2.78608370e-03 -1.74256295e+01] [ 5.71782713e-03 3.87658902e-05 9.99983652e-01 -8.47039683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.610888479 meters 0.015520376631099885 Centerline is valid? [True, True] Translation: X:94.88, Y:-17.44, Z:-0.09 [[ 8.69506931e-01 4.93880303e-01 -6.32014186e-03 9.48843543e+01] [-4.93867710e-01 8.69529898e-01 3.52725078e-03 -1.74423434e+01] [ 7.23759199e-03 5.43449869e-05 9.99973807e-01 -8.64960041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.640888479 meters 0.015676008824726462 Centerline is valid? [True, True] Translation: X:94.91, Y:-17.46, Z:-0.09 [[ 8.68791361e-01 4.95128611e-01 -7.01638552e-03 9.49120946e+01] [-4.95113112e-01 8.68819690e-01 3.91815480e-03 -1.74590347e+01] [ 8.03596444e-03 6.98454253e-05 9.99967709e-01 -8.72392906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.670888479 meters 0.015752692958336065 Centerline is valid? [True, True] Translation: X:94.94, Y:-17.48, Z:-0.09 [[ 8.68225408e-01 4.96115760e-01 -7.33436641e-03 9.49396091e+01] [-4.96098838e-01 8.68256383e-01 4.09841222e-03 -1.74763131e+01] [ 8.40139734e-03 8.02250277e-05 9.99964704e-01 -8.72639728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.700888479 meters 0.016023304411514762 Centerline is valid? [True, True] Translation: X:94.97, Y:-17.49, Z:-0.09 [[ 8.67583813e-01 4.97239441e-01 -7.15998979e-03 9.49660649e+01] [-4.97223343e-01 8.67613353e-01 4.00203443e-03 -1.74927475e+01] [ 8.20207212e-03 8.80137712e-05 9.99966359e-01 -8.68764609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.730888479 meters 0.016334325493654014 Centerline is valid? [True, True] Translation: X:94.99, Y:-17.51, Z:-0.09 [[ 8.66497977e-01 4.99133299e-01 -6.87058455e-03 9.49923956e+01] [-4.99118518e-01 8.66525210e-01 3.84258935e-03 -1.75105687e+01] [ 7.87149902e-03 9.96400800e-05 9.99969014e-01 -8.53673810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.760888479 meters 0.016724864903140964 Centerline is valid? [True, True] Translation: X:95.02, Y:-17.53, Z:-0.09 [[ 8.66147229e-01 4.99740420e-01 -6.96350092e-03 9.50206370e+01] [-4.99725237e-01 8.66175214e-01 3.89691134e-03 -1.75258170e+01] [ 7.97905601e-03 1.04538182e-04 9.99968161e-01 -8.69843731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790888479 meters 0.01652618066714941 Centerline is valid? [True, True] Translation: X:95.05, Y:-17.54, Z:-0.09 [[ 8.65716194e-01 5.00464876e-01 -8.38926964e-03 9.50465318e+01] [-5.00442848e-01 8.65756831e-01 4.69733286e-03 -1.75448366e+01] [ 9.61391761e-03 1.31792869e-04 9.99953777e-01 -8.82867160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.820888479 meters 0.01652363184662778 Centerline is valid? [True, True] Translation: X:95.07, Y:-17.56, Z:-0.09 [[ 8.65720624e-01 5.00456390e-01 -8.43818261e-03 9.50738452e+01] [-5.00434075e-01 8.65761737e-01 4.72780311e-03 -1.75629108e+01] [ 9.67151491e-03 1.29797453e-04 9.99953221e-01 -8.84527993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850888479 meters 0.0164451557054706 Centerline is valid? [True, True] Translation: X:95.10, Y:-17.58, Z:-0.09 [[ 8.65733457e-01 5.00429115e-01 -8.73396430e-03 9.51014019e+01] [-5.00405174e-01 8.65777503e-01 4.89666388e-03 -1.75813583e+01] [ 1.00121030e-02 1.31315176e-04 9.99949869e-01 -8.81123293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88088847899999 meters 0.016413078465141083 Centerline is valid? [True, True] Translation: X:95.13, Y:-17.60, Z:-0.09 [[ 8.66071156e-01 4.99848401e-01 -8.50460605e-03 9.51274861e+01] [-4.99825651e-01 8.66112903e-01 4.77048545e-03 -1.75984087e+01] [ 9.75046856e-03 1.19240402e-04 9.99952456e-01 -8.84898797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.910888479 meters 0.01619757465995888 Centerline is valid? [True, True] Translation: X:95.15, Y:-17.62, Z:-0.09 [[ 8.67143530e-01 4.97991309e-01 -8.17029583e-03 9.51527070e+01] [-4.97970206e-01 8.67182015e-01 4.58550075e-03 -1.76178829e+01] [ 9.36867312e-03 9.22765881e-05 9.99956109e-01 -8.90318504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.940888479 meters 0.0158589375999335 Centerline is valid? [True, True] Translation: X:95.18, Y:-17.64, Z:-0.09 [[ 8.67919651e-01 4.96642936e-01 -7.82772500e-03 9.51784883e+01] [-4.96623489e-01 8.67954946e-01 4.39563418e-03 -1.76366708e+01] [ 8.97717330e-03 7.23748107e-05 9.99959702e-01 -8.79390501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.970888479 meters 0.015550767967687635 Centerline is valid? [True, True] Translation: X:95.20, Y:-17.66, Z:-0.09 [[ 8.68691320e-01 4.95305253e-01 -6.93524406e-03 9.52043246e+01] [-4.95289927e-01 8.68719002e-01 3.89668343e-03 -1.76566144e+01] [ 7.95482607e-03 4.99414549e-05 9.99968359e-01 -8.55139732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.000888479 meters 0.015459356131712775 Centerline is valid? [True, True] Translation: X:95.23, Y:-17.68, Z:-0.08 [[ 8.70553819e-01 4.92036622e-01 -6.00083571e-03 9.52292773e+01] [-4.92025057e-01 8.70574501e-01 3.37359243e-03 -1.76781880e+01] [ 6.88410558e-03 1.56677612e-05 9.99976304e-01 -8.24585116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.030888479 meters 0.015569331974609848 Centerline is valid? [True, True] Translation: X:95.26, Y:-17.70, Z:-0.08 [[ 8.71416035e-01 4.90514894e-01 -5.40676017e-03 9.52550939e+01] [-4.90505471e-01 8.71432808e-01 3.04045224e-03 -1.76954296e+01] [ 6.20301531e-03 2.54660247e-06 9.99980761e-01 -8.19956301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.060888479 meters 0.015569331974609848 Centerline is valid? [True, True] Translation: X:95.28, Y:-17.71, Z:-0.08 [[ 8.71284182e-01 4.90749070e-01 -5.40586650e-03 9.52833018e+01] [-4.90739642e-01 8.71300953e-01 3.04204098e-03 -1.77113883e+01] [ 6.20301542e-03 2.39080060e-06 9.99980761e-01 -8.20329748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.090888479 meters 0.015574623563486495 Centerline is valid? [True, True] Translation: X:95.31, Y:-17.73, Z:-0.08 [[ 8.71998298e-01 4.89480471e-01 -5.27605030e-03 9.53101187e+01] [-4.89471460e-01 8.72014259e-01 2.97002410e-03 -1.77296774e+01] [ 6.05455989e-03 -7.37991411e-06 9.99981671e-01 -8.26248598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.120888479 meters 0.01569040131952638 Centerline is valid? [True, True] Translation: X:95.34, Y:-17.75, Z:-0.08 [[ 8.73368107e-01 4.87020085e-01 -6.29185416e-03 9.53359918e+01] [-4.87007192e-01 8.73390770e-01 3.54385489e-03 -1.77499754e+01] [ 7.22117586e-03 -3.09116100e-05 9.99973926e-01 -8.17151128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150888479 meters 0.015813331874740034 Centerline is valid? [True, True] Translation: X:95.36, Y:-17.77, Z:-0.08 [[ 8.73915158e-01 4.86027512e-01 -7.03942151e-03 9.53625708e+01] [-4.86011324e-01 8.73943508e-01 3.96708667e-03 -1.77676678e+01] [ 8.08016999e-03 -4.56586045e-05 9.99967354e-01 -8.24489324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.180888479 meters 0.015923626720427905 Centerline is valid? [True, True] Translation: X:95.39, Y:-17.79, Z:-0.08 [[ 8.74425542e-01 4.85105315e-01 -7.26667338e-03 9.53897304e+01] [-4.85088011e-01 8.74455734e-01 4.09778225e-03 -1.77855898e+01] [ 8.34224015e-03 -5.82293329e-05 9.99965201e-01 -8.31940254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210888479 meters 0.015937878858981014 Centerline is valid? [True, True] Translation: X:95.42, Y:-17.81, Z:-0.08 [[ 8.74787482e-01 4.84452726e-01 -7.23994218e-03 9.54163793e+01] [-4.84435505e-01 8.74817439e-01 4.08530279e-03 -1.78052004e+01] [ 8.31276375e-03 -6.64866919e-05 9.99965446e-01 -8.31171017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24088847899999 meters 0.016074249881790854 Centerline is valid? [True, True] Translation: X:95.44, Y:-17.82, Z:-0.08 [[ 8.74535598e-01 4.84905069e-01 -7.38660533e-03 9.54444706e+01] [-4.84887137e-01 8.74566790e-01 4.17068262e-03 -1.78228825e+01] [ 8.48246485e-03 -6.57405076e-05 9.99964021e-01 -8.32643928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27088847899999 meters 0.016351735828564574 Centerline is valid? [True, True] Translation: X:95.47, Y:-17.84, Z:-0.09 [[ 8.73989504e-01 4.85892682e-01 -7.11681940e-03 9.54708922e+01] [-4.85876052e-01 8.74018477e-01 4.02033890e-03 -1.78402716e+01] [ 8.17368491e-03 -5.58418876e-05 9.99966593e-01 -8.54364375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.300888479 meters 0.015893253418621835 Centerline is valid? [True, True] Translation: X:95.50, Y:-17.85, Z:-0.09 [[ 8.72005271e-01 4.89442600e-01 -7.26283111e-03 9.54986292e+01] [-4.89425395e-01 8.72035516e-01 4.10384782e-03 -1.78535295e+01] [ 8.34204462e-03 -2.39629425e-05 9.99965204e-01 -8.70553004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.330888479 meters 0.015597915892395415 Centerline is valid? [True, True] Translation: X:95.53, Y:-17.87, Z:-0.08 [[ 8.70576848e-01 4.91974353e-01 -7.56227320e-03 9.55285306e+01] [-4.91955770e-01 8.70609692e-01 4.27603151e-03 -1.78682206e+01] [ 8.68748617e-03 -2.31009937e-06 9.99962263e-01 -8.48488621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.360888479 meters 0.01595174205973278 Centerline is valid? [True, True] Translation: X:95.56, Y:-17.88, Z:-0.09 [[ 8.68945288e-01 4.94848866e-01 -7.66070679e-03 9.55572461e+01] [-4.94829885e-01 8.68979056e-01 4.33428204e-03 -1.78821650e+01] [ 8.80180831e-03 2.44927024e-05 9.99961263e-01 -8.86742874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.390888479 meters 0.016066055345662616 Centerline is valid? [True, True] Translation: X:95.59, Y:-17.90, Z:-0.09 [[ 8.67464581e-01 4.97438367e-01 -7.76350660e-03 9.55854060e+01] [-4.97418957e-01 8.67499319e-01 4.39463186e-03 -1.78966139e+01] [ 8.92089519e-03 4.95278670e-05 9.99960207e-01 -8.74084839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.420888479 meters 0.016257678614266694 Centerline is valid? [True, True] Translation: X:95.61, Y:-17.91, Z:-0.08 [[ 8.65204777e-01 5.01365270e-01 -7.31843900e-03 9.56128325e+01] [-5.01348144e-01 8.65235724e-01 4.14489041e-03 -1.79123527e+01] [ 8.41027897e-03 8.29068271e-05 9.99964630e-01 -8.47284375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.450888479 meters 0.016724961831885526 Centerline is valid? [True, True] Translation: X:95.64, Y:-17.93, Z:-0.08 [[ 8.64402620e-01 5.02752953e-01 -6.89770288e-03 9.56407917e+01] [-5.02737764e-01 8.64430136e-01 3.90901320e-03 -1.79270333e+01] [ 7.92785017e-03 8.87744716e-05 9.99968570e-01 -8.47842493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.480888479 meters 0.0168534740838244 Centerline is valid? [True, True] Translation: X:95.67, Y:-17.94, Z:-0.08 [[ 8.63723054e-01 5.03913485e-01 -7.32701296e-03 9.56681284e+01] [-5.03896379e-01 8.63754125e-01 4.15335923e-03 -1.79431758e+01] [ 8.42167139e-03 1.04703179e-04 9.99964532e-01 -8.40677505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.510888479 meters 0.01679930806226402 Centerline is valid? [True, True] Translation: X:95.70, Y:-17.96, Z:-0.08 [[ 8.63432569e-01 5.04406564e-01 -7.62997205e-03 9.56963828e+01] [-5.04388007e-01 8.63466274e-01 4.32810632e-03 -1.79601362e+01] [ 8.77134877e-03 1.11438437e-04 9.99961525e-01 -8.37748494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.540888479 meters 0.017214753211188944 Centerline is valid? [True, True] Translation: X:95.72, Y:-17.98, Z:-0.08 [[ 8.62956323e-01 5.05218468e-01 -7.79004619e-03 9.57236005e+01] [-5.05199147e-01 8.62991475e-01 4.42007593e-03 -1.79752942e+01] [ 8.95584744e-03 1.21192218e-04 9.99959888e-01 -8.42287934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570888479 meters 0.017297129449071417 Centerline is valid? [True, True] Translation: X:95.75, Y:-17.99, Z:-0.09 [[ 8.62657799e-01 5.05720506e-01 -8.26386803e-03 9.57522095e+01] [-5.05698756e-01 8.62697370e-01 4.69209248e-03 -1.79914992e+01] [ 9.50210460e-03 1.31357612e-04 9.99954845e-01 -8.52013812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.600888479 meters 0.01749336365442408 Centerline is valid? [True, True] Translation: X:95.78, Y:-18.01, Z:-0.09 [[ 8.62413950e-01 5.06119261e-01 -9.24515889e-03 9.57798336e+01] [-5.06092031e-01 8.62463490e-01 5.25207802e-03 -1.80075679e+01] [ 1.06317899e-02 1.49435890e-04 9.99943470e-01 -8.62171710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63088847899999 meters 0.017404130918503416 Centerline is valid? [True, True] Translation: X:95.81, Y:-18.03, Z:-0.09 [[ 8.62474648e-01 5.06008192e-01 -9.65359473e-03 9.58075627e+01] [-5.05978456e-01 8.62528659e-01 5.48773540e-03 -1.80260796e+01] [ 1.11033412e-02 1.51478297e-04 9.99938345e-01 -8.52981645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.660888479 meters 0.017615851377189923 Centerline is valid? [True, True] Translation: X:95.83, Y:-18.04, Z:-0.09 [[ 8.62592855e-01 5.05815661e-01 -9.16971376e-03 9.58344099e+01] [-5.05788792e-01 8.62641582e-01 5.21535156e-03 -1.80408431e+01] [ 1.05481829e-02 1.39213446e-04 9.99944357e-01 -8.58123658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.690888479 meters 0.017411954640042627 Centerline is valid? [True, True] Translation: X:95.86, Y:-18.06, Z:-0.09 [[ 8.63037764e-01 5.05064350e-01 -8.70745615e-03 9.58620180e+01] [-5.05040056e-01 8.63081681e-01 4.95524443e-03 -1.80566740e+01] [ 1.00179632e-02 1.21051066e-04 9.99949812e-01 -8.52324207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.720888479 meters 0.017172181133796482 Centerline is valid? [True, True] Translation: X:95.89, Y:-18.07, Z:-0.08 [[ 8.64231837e-01 5.03031132e-01 -7.93804192e-03 9.58887417e+01] [-5.03010832e-01 8.64268287e-01 4.51996355e-03 -1.80737930e+01] [ 9.13428028e-03 8.66246755e-05 9.99958278e-01 -8.35314124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.750888479 meters 0.01714810548628913 Centerline is valid? [True, True] Translation: X:95.92, Y:-18.09, Z:-0.08 [[ 8.64690286e-01 5.02242724e-01 -7.93447778e-03 9.59154083e+01] [-5.02222388e-01 8.64726685e-01 4.52025018e-03 -1.80898265e+01] [ 9.13141743e-03 7.62559595e-05 9.99958305e-01 -8.31726112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.780888479 meters 0.017156309461220647 Centerline is valid? [True, True] Translation: X:95.94, Y:-18.11, Z:-0.08 [[ 8.65236441e-01 5.01298073e-01 -8.13281635e-03 9.59439007e+01] [-5.01276638e-01 8.65274660e-01 4.63621062e-03 -1.81070228e+01] [ 9.36124335e-03 6.53724612e-05 9.99956180e-01 -8.26708620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.810888479 meters 0.017138212609997906 Centerline is valid? [True, True] Translation: X:95.97, Y:-18.13, Z:-0.08 [[ 8.66125666e-01 4.99749349e-01 -8.77028288e-03 9.59716869e+01] [-4.99724311e-01 8.66170067e-01 5.00273754e-03 -1.81250081e+01] [ 1.00966713e-02 4.97241850e-05 9.99949026e-01 -8.18029009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.840888479 meters 0.01728257602422224 Centerline is valid? [True, True] Translation: X:96.00, Y:-18.14, Z:-0.08 [[ 8.66771068e-01 4.98619443e-01 -9.30414763e-03 9.59989529e+01] [-4.98591165e-01 8.66821002e-01 5.31032918e-03 -1.81421879e+01] [ 1.07128639e-02 3.61261120e-05 9.99942615e-01 -8.27252011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.870888479 meters 0.017197545468909756 Centerline is valid? [True, True] Translation: X:96.03, Y:-18.16, Z:-0.08 [[ 8.67659976e-01 4.97053446e-01 -1.01999337e-02 9.60262019e+01] [-4.97019310e-01 8.67719927e-01 5.82524256e-03 -1.81600583e+01] [ 1.17461426e-02 1.52341797e-05 9.99931012e-01 -8.23731450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.900888479 meters 0.017455340296943907 Centerline is valid? [True, True] Translation: X:96.05, Y:-18.18, Z:-0.08 [[ 8.69995060e-01 4.92918888e-01 -1.18138005e-02 9.60520020e+01] [-4.92872664e-01 8.70075265e-01 6.75053456e-03 -1.81789628e+01] [ 1.36063616e-02 -5.02323668e-05 9.99907428e-01 -8.34164131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930888479 meters 0.017870158015135668 Centerline is valid? [True, True] Translation: X:96.08, Y:-18.20, Z:-0.08 [[ 8.71006537e-01 4.91116814e-01 -1.23242481e-02 9.60781867e+01] [-4.91066278e-01 8.71093720e-01 7.04571578e-03 -1.81965070e+01] [ 1.41958446e-02 -8.48418714e-05 9.99899230e-01 -8.43139004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.960888479 meters 0.01802345520983713 Centerline is valid? [True, True] Translation: X:96.11, Y:-18.21, Z:-0.08 [[ 8.72098816e-01 4.89163601e-01 -1.27525200e-02 9.61050866e+01] [-4.89109224e-01 8.72192041e-01 7.29459783e-03 -1.82132865e+01] [ 1.46908982e-02 -1.24234962e-04 9.99892075e-01 -8.30207951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99088847899999 meters 0.01850575149635347 Centerline is valid? [True, True] Translation: X:96.13, Y:-18.23, Z:-0.08 [[ 8.74252655e-01 4.85309062e-01 -1.25462814e-02 9.61316407e+01] [-4.85255978e-01 8.74342655e-01 7.18033471e-03 -1.82304055e+01] [ 1.44544305e-02 -1.89268647e-04 9.99895511e-01 -8.26559995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02088847899999 meters 0.018923967101789847 Centerline is valid? [True, True] Translation: X:96.16, Y:-18.25, Z:-0.08 [[ 8.74973851e-01 4.84012114e-01 -1.23706571e-02 9.61592933e+01] [-4.83960320e-01 8.75061271e-01 7.08377162e-03 -1.82473848e+01] [ 1.42537142e-02 -2.11207783e-04 9.99898388e-01 -8.28815475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.050888479 meters 0.01908207849290217 Centerline is valid? [True, True] Translation: X:96.19, Y:-18.26, Z:-0.08 [[ 8.75400980e-01 4.83244369e-01 -1.21656928e-02 9.61869158e+01] [-4.83194149e-01 8.75485482e-01 6.97026019e-03 -1.82640944e+01] [ 1.40192264e-02 -2.23381034e-04 9.99901701e-01 -8.20271582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.080888479 meters 0.019345747204097118 Centerline is valid? [True, True] Translation: X:96.21, Y:-18.28, Z:-0.08 [[ 8.75636142e-01 4.82835149e-01 -1.14701753e-02 9.62149836e+01] [-4.82790417e-01 8.75711237e-01 6.57597195e-03 -1.82810004e+01] [ 1.32196718e-02 -2.20467994e-04 9.99912592e-01 -8.08146060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.110888479 meters 0.01955766023156848 Centerline is valid? [True, True] Translation: X:96.24, Y:-18.30, Z:-0.08 [[ 8.75415352e-01 4.83293612e-01 -8.67448201e-03 9.62422255e+01] [-4.83268026e-01 8.75458313e-01 4.97572632e-03 -1.82964839e+01] [ 9.99888413e-03 -1.63727408e-04 9.99949997e-01 -7.70187454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.140888479 meters 0.019618568603471612 Centerline is valid? [True, True] Translation: X:96.27, Y:-18.31, Z:-0.08 [[ 8.74990419e-01 4.84070505e-01 -8.21659932e-03 9.62700048e+01] [-4.84047570e-01 8.75028985e-01 4.71441594e-03 -1.83110514e+01] [ 9.47187227e-03 -1.47843841e-04 9.99955130e-01 -7.58388777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.170888479 meters 0.018932562670399493 Centerline is valid? [True, True] Translation: X:96.30, Y:-18.32, Z:-0.07 [[ 8.74062648e-01 4.85748635e-01 -7.92154304e-03 9.62991209e+01] [-4.85727363e-01 8.74098534e-01 4.54777438e-03 -1.83239763e+01] [ 9.13328435e-03 -1.27329510e-04 9.99958283e-01 -7.48015651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.200888479 meters 0.01865322023126406 Centerline is valid? [True, True] Translation: X:96.33, Y:-18.34, Z:-0.07 [[ 8.71642057e-01 4.90057423e-01 -9.15681645e-03 9.63280891e+01] [-4.90029220e-01 8.71690147e-01 5.25840981e-03 -1.83355522e+01] [ 1.05588294e-02 -9.63435135e-05 9.99944249e-01 -7.49389284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.230888479 meters 0.018335552304991582 Centerline is valid? [True, True] Translation: X:96.36, Y:-18.35, Z:-0.07 [[ 8.69891174e-01 4.93160249e-01 -9.07278253e-03 9.63571187e+01] [-4.93132698e-01 8.69938484e-01 5.21313531e-03 -1.83487809e+01] [ 1.04636738e-02 -6.07746619e-05 9.99945252e-01 -7.46332471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.260888479 meters 0.018214190298192646 Centerline is valid? [True, True] Translation: X:96.39, Y:-18.36, Z:-0.07 [[ 8.67955640e-01 4.96564940e-01 -8.73317324e-03 9.63862165e+01] [-4.96539557e-01 8.67999574e-01 5.02078246e-03 -1.83618453e+01] [ 1.00735352e-02 -2.14504791e-05 9.99949260e-01 -7.39590275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290888479 meters 0.01839103656828201 Centerline is valid? [True, True] Translation: X:96.42, Y:-18.37, Z:-0.08 [[ 8.63987176e-01 5.03438365e-01 -8.71623832e-03 9.64179492e+01] [-5.03413401e-01 8.64031139e-01 5.01382516e-03 -1.83708424e+01] [ 1.00552533e-02 5.59905322e-05 9.99949443e-01 -7.53118242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.320888479 meters 0.01867369042149343 Centerline is valid? [True, True] Translation: X:96.45, Y:-18.38, Z:-0.08 [[ 8.61902194e-01 5.07001616e-01 -8.60054757e-03 9.64476378e+01] [-5.06977460e-01 8.61945098e-01 4.95002408e-03 -1.83833522e+01] [ 9.92287003e-03 9.38471464e-05 9.99950763e-01 -7.61141171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350888479 meters 0.01925574593299593 Centerline is valid? [True, True] Translation: X:96.48, Y:-18.40, Z:-0.08 [[ 8.60213646e-01 5.09875268e-01 -7.72616900e-03 9.64768550e+01] [-5.09855869e-01 8.60248335e-01 4.44905660e-03 -1.83952294e+01] [ 8.91488795e-03 1.12093410e-04 9.99960255e-01 -7.61255488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38088847899999 meters 0.01930746874371714 Centerline is valid? [True, True] Translation: X:96.50, Y:-18.41, Z:-0.07 [[ 8.57676794e-01 5.14167398e-01 -4.73326328e-03 9.65049504e+01] [-5.14160174e-01 8.57689849e-01 2.72734821e-03 -1.84100854e+01] [ 5.46198540e-03 9.44721969e-05 9.99985079e-01 -7.04616784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.410888479 meters 0.020152822055849035 Centerline is valid? [True, True] Translation: X:96.53, Y:-18.42, Z:-0.07 [[ 8.56739610e-01 5.15738122e-01 -3.38068381e-03 9.65335152e+01] [-5.15734445e-01 8.56746277e-01 1.94909114e-03 -1.84234285e+01] [ 3.90160887e-03 7.36715055e-05 9.99992386e-01 -6.90238877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.440888479 meters 0.02027199158008024 Centerline is valid? [True, True] Translation: X:96.56, Y:-18.44, Z:-0.07 [[ 8.55868870e-01 5.17187881e-01 -2.27436036e-03 9.65615380e+01] [-5.17186219e-01 8.55871890e-01 1.31210520e-03 -1.84384279e+01] [ 2.62516601e-03 5.32778411e-05 9.99996553e-01 -6.78975172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.470888479 meters 0.021336238092143384 Centerline is valid? [True, True] Translation: X:96.59, Y:-18.45, Z:-0.07 [[ 8.54509546e-01 5.19432382e-01 -1.85395103e-03 9.65902628e+01] [-5.19431281e-01 8.54511556e-01 1.07015565e-03 -1.84504260e+01] [ 2.14009608e-03 4.85419418e-05 9.99997709e-01 -6.81639253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.500888479 meters 0.021217652142754118 Centerline is valid? [True, True] Translation: X:96.62, Y:-18.47, Z:-0.07 [[ 8.53748203e-01 5.20684540e-01 -1.27124834e-03 9.66178502e+01] [-5.20684023e-01 8.53749149e-01 7.34331207e-04 -1.84662136e+01] [ 1.46768210e-03 3.49847521e-05 9.99998922e-01 -6.82668707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.530888479 meters 0.02120156906513899 Centerline is valid? [True, True] Translation: X:96.65, Y:-18.48, Z:-0.07 [[ 8.53446025e-01 5.21180861e-01 -6.26155143e-04 9.66467259e+01] [-5.21180735e-01 8.53446255e-01 3.62144575e-04 -1.84824633e+01] [ 7.23132583e-04 1.72691499e-05 9.99999738e-01 -6.87114492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.560888479 meters 0.021130796836337003 Centerline is valid? [True, True] Translation: X:96.67, Y:-18.50, Z:-0.07 [[ 8.53599159e-01 5.20929572e-01 -9.25347544e-04 9.66740552e+01] [-5.20929297e-01 8.53599661e-01 5.35260633e-04 -1.84983445e+01] [ 1.06870944e-03 2.51426199e-05 9.99999429e-01 -6.96494008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.590888479 meters 0.020163084010492046 Centerline is valid? [True, True] Translation: X:96.70, Y:-18.52, Z:-0.07 [[ 8.55700318e-01 5.17469949e-01 -1.34825534e-03 9.67000984e+01] [-5.17469362e-01 8.55701380e-01 7.79970750e-04 -1.85160621e+01] [ 1.55731538e-03 3.02596098e-05 9.99998787e-01 -7.27129864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.620888479 meters 0.02003179256052192 Centerline is valid? [True, True] Translation: X:96.73, Y:-18.53, Z:-0.07 [[ 8.56993059e-01 5.15326273e-01 -1.31503614e-03 9.67269587e+01] [-5.15325711e-01 8.56994068e-01 7.61264081e-04 -1.85327548e+01] [ 1.51927755e-03 2.52738981e-05 9.99998846e-01 -7.27566018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650888479 meters 0.01853731527264494 Centerline is valid? [True, True] Translation: X:96.75, Y:-18.55, Z:-0.07 [[ 8.59742700e-01 5.10726051e-01 1.17968804e-03 9.67522609e+01] [-5.10725595e-01 8.59743509e-01 -6.82685951e-04 -1.85535284e+01] [-1.36289463e-03 -1.55626122e-05 9.99999071e-01 -7.04941753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.680888479 meters 0.01829094662232288 Centerline is valid? [True, True] Translation: X:96.78, Y:-18.57, Z:-0.07 [[ 8.61015764e-01 5.08575576e-01 1.65439683e-03 9.67791252e+01] [-5.08574674e-01 8.61017353e-01 -9.58056334e-04 -1.85699761e+01] [-1.91170843e-03 -1.64827214e-05 9.99998173e-01 -7.05360736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710888479 meters 0.018016431099589045 Centerline is valid? [True, True] Translation: X:96.81, Y:-18.59, Z:-0.07 [[ 8.62012635e-01 5.06884445e-01 1.54153280e-03 9.68055371e+01] [-5.06883658e-01 8.62014014e-01 -8.93141110e-04 -1.85857547e+01] [-1.78154221e-03 -1.14788619e-05 9.99998413e-01 -7.06081366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74088847899999 meters 0.017821028044005222 Centerline is valid? [True, True] Translation: X:96.83, Y:-18.60, Z:-0.07 [[ 8.62841217e-01 5.05474722e-01 5.83302405e-04 9.68324767e+01] [-5.05474609e-01 8.62841414e-01 -3.37937157e-04 -1.86023067e+01] [-6.74116162e-04 -3.25844718e-06 9.99999773e-01 -7.13832118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77088847899999 meters 0.017670453671159932 Centerline is valid? [True, True] Translation: X:96.86, Y:-18.62, Z:-0.07 [[ 8.64921568e-01 5.01905603e-01 -1.20295664e-03 9.68598150e+01] [-5.01905117e-01 8.64922404e-01 6.98403660e-04 -1.86212851e+01] [ 1.39099686e-03 -2.94294503e-07 9.99999033e-01 -7.36991574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.800888479 meters 0.01765303910381542 Centerline is valid? [True, True] Translation: X:96.89, Y:-18.64, Z:-0.08 [[ 8.66179774e-01 4.99729492e-01 -1.74153881e-03 9.68870127e+01] [-4.99728469e-01 8.66181525e-01 1.01149764e-03 -1.86386485e+01] [ 2.01396394e-03 -5.84227303e-06 9.99997972e-01 -7.53402306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.830888479 meters 0.017800186862303183 Centerline is valid? [True, True] Translation: X:96.91, Y:-18.66, Z:-0.08 [[ 8.67518528e-01 4.97402101e-01 -1.65971243e-03 9.69138964e+01] [-4.97401166e-01 8.67520115e-01 9.64497955e-04 -1.86553486e+01] [ 1.91957723e-03 -1.11769497e-05 9.99998158e-01 -7.65639939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.860888479 meters 0.018073387758031734 Centerline is valid? [True, True] Translation: X:96.94, Y:-18.67, Z:-0.08 [[ 8.68683537e-01 4.95364670e-01 -1.66002260e-03 9.69400533e+01] [-4.95363731e-01 8.68685123e-01 9.64824029e-04 -1.86715889e+01] [ 1.91997667e-03 -1.58117617e-05 9.99998157e-01 -7.78663315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.890888479 meters 0.01862037967827209 Centerline is valid? [True, True] Translation: X:96.97, Y:-18.69, Z:-0.08 [[ 8.70586539e-01 4.92015039e-01 -5.27809606e-04 9.69664804e+01] [-4.92014943e-01 8.70586699e-01 3.06969377e-04 -1.86888998e+01] [ 6.10537573e-04 -7.55319407e-06 9.99999814e-01 -7.72780662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.920888479 meters 0.018743255331757278 Centerline is valid? [True, True] Translation: X:96.99, Y:-18.71, Z:-0.08 [[ 8.71018962e-01 4.91249392e-01 5.80179811e-05 9.69944063e+01] [-4.91249391e-01 8.71018964e-01 -3.34346555e-05 -1.87054430e+01] [-6.69595159e-05 6.20921105e-07 9.99999998e-01 -7.61280964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.950888479 meters 0.018743255331757278 Centerline is valid? [True, True] Translation: X:97.02, Y:-18.72, Z:-0.08 [[ 8.70889076e-01 4.91479617e-01 5.80282819e-05 9.70223791e+01] [-4.91479616e-01 8.70889078e-01 -3.34170190e-05 -1.87218128e+01] [-6.69599806e-05 5.82799145e-07 9.99999998e-01 -7.61654910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.980888479 meters 0.018721542552520815 Centerline is valid? [True, True] Translation: X:97.05, Y:-18.74, Z:-0.07 [[ 8.71382235e-01 4.90603807e-01 9.51614170e-04 9.70503367e+01] [-4.90603495e-01 8.71382754e-01 -5.53766552e-04 -1.87377203e+01] [-1.10090015e-03 1.56770982e-05 9.99999394e-01 -7.47633369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.010888479 meters 0.01876849149879301 Centerline is valid? [True, True] Translation: X:97.08, Y:-18.75, Z:-0.07 [[ 8.70975603e-01 4.91325945e-01 5.60187485e-04 9.70777486e+01] [-4.91325837e-01 8.70975784e-01 -3.26044773e-04 -1.87533020e+01] [-6.48103990e-04 8.74245836e-06 9.99999790e-01 -7.44305927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.040888479 meters 0.018421976655740236 Centerline is valid? [True, True] Translation: X:97.11, Y:-18.77, Z:-0.07 [[ 8.70178767e-01 4.92735248e-01 9.42844076e-04 9.71065562e+01] [-4.92734942e-01 8.70179278e-01 -5.49234783e-04 -1.87671508e+01] [-1.09107071e-03 1.33602243e-05 9.99999405e-01 -7.49601704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070888479 meters 0.018270191051827134 Centerline is valid? [True, True] Translation: X:97.13, Y:-18.78, Z:-0.08 [[ 8.68887466e-01 4.95007092e-01 1.59700421e-03 9.71349267e+01] [-4.95006217e-01 8.68888933e-01 -9.31027333e-04 -1.87808327e+01] [-1.84848442e-03 1.84309663e-05 9.99998291e-01 -7.50187125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.100888479 meters 0.01772107592501587 Centerline is valid? [True, True] Translation: X:97.17, Y:-18.79, Z:-0.08 [[ 8.65577298e-01 5.00768417e-01 2.63317845e-03 9.71661959e+01] [-5.00766061e-01 8.65581303e-01 -1.53610345e-03 -1.87901863e+01] [-3.04846213e-03 1.10098706e-05 9.99995353e-01 -7.51908676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13088847899999 meters 0.01757626905785657 Centerline is valid? [True, True] Translation: X:97.20, Y:-18.80, Z:-0.08 [[ 8.64010771e-01 5.03466229e-01 2.67261824e-03 9.71962460e+01] [-5.03463812e-01 8.64014905e-01 -1.56003520e-03 -1.88040023e+01] [-3.09460703e-03 2.32064447e-06 9.99995212e-01 -7.54411583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.160888479 meters 0.01752008673086448 Centerline is valid? [True, True] Translation: X:97.23, Y:-18.82, Z:-0.08 [[ 8.62412026e-01 5.06196821e-01 3.20562891e-03 9.72252516e+01] [-5.06193358e-01 8.62417984e-01 -1.87233621e-03 -1.88171585e+01] [-3.71236266e-03 -7.94279939e-06 9.99993109e-01 -7.55391956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.190888479 meters 0.01764096507993178 Centerline is valid? [True, True] Translation: X:97.26, Y:-18.83, Z:-0.08 [[ 8.61043428e-01 5.08516273e-01 3.92620152e-03 9.72550777e+01] [-5.08511096e-01 8.61052379e-01 -2.29469980e-03 -1.88319705e+01] [-4.54755735e-03 -2.06808598e-05 9.99989660e-01 -7.56298234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.220888479 meters 0.018045988525943704 Centerline is valid? [True, True] Translation: X:97.28, Y:-18.84, Z:-0.07 [[ 8.59030588e-01 5.11896580e-01 5.32356089e-03 9.72837849e+01] [-5.11887116e-01 8.59047082e-01 -3.11318369e-03 -1.88438286e+01] [-6.16681753e-03 -5.07422216e-05 9.99980984e-01 -7.34934359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.250888479 meters 0.018264926379924728 Centerline is valid? [True, True] Translation: X:97.31, Y:-18.86, Z:-0.07 [[ 8.58293882e-01 5.13122464e-01 6.07856587e-03 9.73115437e+01] [-5.13110143e-01 8.58315404e-01 -3.55649638e-03 -1.88577075e+01] [-7.04224490e-03 -6.64547216e-05 9.99975201e-01 -7.26503966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.280888479 meters 0.01842985848470974 Centerline is valid? [True, True] Translation: X:97.34, Y:-18.87, Z:-0.07 [[ 8.57574632e-01 5.14316769e-01 6.63410029e-03 9.73402636e+01] [-5.14302113e-01 8.57600288e-01 -3.88356859e-03 -1.88717125e+01] [-7.68679077e-03 -8.14818923e-05 9.99970453e-01 -7.25778811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.310888479 meters 0.018667513871385537 Centerline is valid? [True, True] Translation: X:97.37, Y:-18.88, Z:-0.07 [[ 8.56968546e-01 5.15304156e-01 8.15701941e-03 9.73696453e+01] [-5.15282021e-01 8.57007360e-01 -4.77746634e-03 -1.88837784e+01] [-9.45247393e-03 -1.09027060e-04 9.99955318e-01 -7.24181022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.340888479 meters 0.01862273115985744 Centerline is valid? [True, True] Translation: X:97.40, Y:-18.90, Z:-0.07 [[ 8.57023173e-01 5.15196543e-01 9.15440748e-03 9.73983710e+01] [-5.15168624e-01 8.57072055e-01 -5.36476724e-03 -1.88993953e+01] [-1.06098964e-02 -1.18333665e-04 9.99943706e-01 -7.22585712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.370888479 meters 0.01851622948024498 Centerline is valid? [True, True] Translation: X:97.43, Y:-18.92, Z:-0.07 [[ 8.57142587e-01 5.14991978e-01 9.47884104e-03 9.74272933e+01] [-5.14961996e-01 8.57194989e-01 -5.55817892e-03 -1.89154996e+01] [-1.09876326e-02 -1.17091051e-04 9.99939627e-01 -7.23589241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.400888479 meters 0.01770097348269279 Centerline is valid? [True, True] Translation: X:97.46, Y:-18.93, Z:-0.08 [[ 8.58226686e-01 5.13186258e-01 9.31772571e-03 9.74551635e+01] [-5.13157148e-01 8.58277261e-01 -5.46675896e-03 -1.89317282e+01] [-1.08026577e-02 -8.97391236e-05 9.99941646e-01 -7.60732981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430888479 meters 0.017678785376044087 Centerline is valid? [True, True] Translation: X:97.48, Y:-18.95, Z:-0.08 [[ 8.59056981e-01 5.11798913e-01 9.10909720e-03 9.74829872e+01] [-5.11770982e-01 8.59105272e-01 -5.34731582e-03 -1.89469580e+01] [-1.05624238e-02 -6.81226273e-05 9.99944214e-01 -7.77500253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.460888479 meters 0.01776007423587747 Centerline is valid? [True, True] Translation: X:97.51, Y:-18.96, Z:-0.08 [[ 8.59705449e-01 5.10714662e-01 8.77921432e-03 9.75111662e+01] [-5.10688634e-01 8.59750273e-01 -5.15631381e-03 -1.89612376e+01] [-1.01813370e-02 -5.05338892e-05 9.99948168e-01 -7.75271795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49088847899999 meters 0.017768790765650896 Centerline is valid? [True, True] Translation: X:97.54, Y:-18.98, Z:-0.08 [[ 8.60300849e-01 5.09717384e-01 8.40462294e-03 9.75391095e+01] [-5.09693457e-01 8.60341902e-01 -4.93882017e-03 -1.89774641e+01] [-9.74825178e-03 -3.49101429e-05 9.99952484e-01 -7.95516941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52088847899999 meters 0.017422729175358177 Centerline is valid? [True, True] Translation: X:97.57, Y:-18.99, Z:-0.08 [[ 8.61131488e-01 5.08319426e-01 7.99509442e-03 9.75667579e+01] [-5.08297691e-01 8.61168602e-01 -4.70070432e-03 -1.89929476e+01] [-9.27458361e-03 -1.59635225e-05 9.99956990e-01 -8.23024226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.550888479 meters 0.017517714908321384 Centerline is valid? [True, True] Translation: X:97.59, Y:-19.01, Z:-0.08 [[ 8.61421532e-01 5.07843308e-01 6.93670861e-03 9.75938716e+01] [-5.07826915e-01 8.61449461e-01 -4.08046731e-03 -1.90081120e+01] [-8.04786191e-03 -7.64492339e-06 9.99967615e-01 -8.20337395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.580888479 meters 0.017356776127466483 Centerline is valid? [True, True] Translation: X:97.62, Y:-19.02, Z:-0.08 [[ 8.61676710e-01 5.07418131e-01 6.33156122e-03 9.76228073e+01] [-5.07404445e-01 8.61699971e-01 -3.72672059e-03 -1.90245069e+01] [-7.34691172e-03 -1.43397434e-06 9.99973011e-01 -8.44096840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.610888479 meters 0.01715672817249684 Centerline is valid? [True, True] Translation: X:97.65, Y:-19.04, Z:-0.09 [[ 8.62030102e-01 5.06839026e-01 4.27856254e-03 9.76518332e+01] [-5.06832763e-01 8.62040720e-01 -2.51965311e-03 -1.90377219e+01] [-4.96535366e-03 3.50116072e-06 9.99987673e-01 -8.70038839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.640888479 meters 0.017256558005272114 Centerline is valid? [True, True] Translation: X:97.68, Y:-19.05, Z:-0.09 [[ 8.61864901e-01 5.07127090e-01 3.31759718e-03 9.76804768e+01] [-5.07123324e-01 8.61871286e-01 -1.95452762e-03 -1.90529622e+01] [-3.85053565e-03 2.10784769e-06 9.99992587e-01 -8.80265586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.670888479 meters 0.017300788392535547 Centerline is valid? [True, True] Translation: X:97.71, Y:-19.07, Z:-0.09 [[ 8.61941391e-01 5.07002735e-01 2.29478175e-03 9.77079685e+01] [-5.07000931e-01 8.61944445e-01 -1.35240248e-03 -1.90685284e+01] [-2.66364614e-03 2.23518615e-06 9.99996452e-01 -8.87629819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.700888479 meters 0.01706549422445638 Centerline is valid? [True, True] Translation: X:97.74, Y:-19.08, Z:-0.09 [[ 8.62104822e-01 5.06727166e-01 1.68957551e-03 9.77355560e+01] [-5.06726187e-01 8.62106478e-01 -9.96055289e-04 -1.90836755e+01] [-1.96132227e-03 2.55191015e-06 9.99998077e-01 -8.84634839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.730888479 meters 0.01707913331075057 Centerline is valid? [True, True] Translation: X:97.76, Y:-19.10, Z:-0.09 [[ 8.61912691e-01 5.07052973e-01 1.94828643e-03 9.77643782e+01] [-5.07051670e-01 8.61914893e-01 -1.14918674e-03 -1.90992415e+01] [-2.26195564e-03 2.61674392e-06 9.99997442e-01 -8.76939439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.760888479 meters 0.01710554707803516 Centerline is valid? [True, True] Translation: X:97.79, Y:-19.11, Z:-0.09 [[ 8.61600295e-01 5.07580235e-01 2.69008949e-03 9.77930153e+01] [-5.07577752e-01 8.61604494e-01 -1.58783170e-03 -1.91140922e+01] [-3.12374518e-03 2.64668523e-06 9.99995121e-01 -8.67013386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790888479 meters 0.01727906117342758 Centerline is valid? [True, True] Translation: X:97.82, Y:-19.13, Z:-0.09 [[ 8.61114772e-01 5.08397755e-01 3.61547029e-03 9.78236364e+01] [-5.08393270e-01 8.61122362e-01 -2.13544862e-03 -1.91268520e+01] [-4.19901960e-03 7.85592091e-07 9.99991184e-01 -8.63188416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.820888479 meters 0.01718855727611547 Centerline is valid? [True, True] Translation: X:97.85, Y:-19.14, Z:-0.09 [[ 8.60884364e-01 5.08790072e-01 3.28253090e-03 9.78532693e+01] [-5.08786373e-01 8.60890622e-01 -1.93994861e-03 -1.91415413e+01] [-3.81292666e-03 -3.55676311e-08 9.99992731e-01 -8.71055342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850888479 meters 0.017287004674858324 Centerline is valid? [True, True] Translation: X:97.88, Y:-19.16, Z:-0.09 [[ 8.60711387e-01 5.09085863e-01 2.73725182e-03 9.78823168e+01] [-5.09083289e-01 8.60715740e-01 -1.61863777e-03 -1.91565937e+01] [-3.18002133e-03 -3.09201420e-07 9.99994944e-01 -8.79465233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88088847899999 meters 0.01721745035087807 Centerline is valid? [True, True] Translation: X:97.91, Y:-19.17, Z:-0.09 [[ 8.60860469e-01 5.08838146e-01 1.73018754e-03 9.79112872e+01] [-5.08837116e-01 8.60862208e-01 -1.02363218e-03 -1.91715850e+01] [-2.01031616e-03 8.20836720e-07 9.99997979e-01 -8.75096877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.910888479 meters 0.017126118930320865 Centerline is valid? [True, True] Translation: X:97.94, Y:-19.19, Z:-0.09 [[ 8.61101713e-01 5.08430224e-01 1.59587770e-03 9.79394483e+01] [-5.08429347e-01 8.61103192e-01 -9.44722188e-04 -1.91874528e+01] [-1.85454069e-03 2.11083884e-06 9.99998280e-01 -8.68192717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.940888479 meters 0.01719018088233071 Centerline is valid? [True, True] Translation: X:97.97, Y:-19.20, Z:-0.09 [[ 8.61245417e-01 5.08188226e-01 1.02872831e-03 9.79688244e+01] [-5.08187861e-01 8.61246031e-01 -6.09219444e-04 -1.92030768e+01] [-1.19558633e-03 1.90021221e-06 9.99999285e-01 -8.71207603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.970888479 meters 0.017229491814850006 Centerline is valid? [True, True] Translation: X:98.00, Y:-19.22, Z:-0.09 [[ 8.61402831e-01 5.07922159e-01 4.93950872e-04 9.79974500e+01] [-5.07922075e-01 8.61402972e-01 -2.92525946e-04 -1.92178254e+01] [-5.74071159e-04 1.09412644e-06 9.99999835e-01 -8.78432134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.000888479 meters 0.01708941731458103 Centerline is valid? [True, True] Translation: X:98.03, Y:-19.23, Z:-0.09 [[ 8.61477698e-01 5.07795343e-01 -2.56726161e-04 9.80277176e+01] [-5.07795320e-01 8.61477736e-01 1.52673390e-04 -1.92307165e+01] [ 2.98690708e-04 -1.16037694e-06 9.99999955e-01 -8.90251142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.030888479 meters 0.01700060243579597 Centerline is valid? [True, True] Translation: X:98.06, Y:-19.25, Z:-0.09 [[ 8.61340345e-01 5.08028260e-01 3.10367370e-04 9.80566980e+01] [-5.08028227e-01 8.61340401e-01 -1.83880553e-04 -1.92456094e+01] [-3.60748473e-04 7.08354401e-07 9.99999935e-01 -8.79175218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.060888479 meters 0.017104462675638803 Centerline is valid? [True, True] Translation: X:98.08, Y:-19.26, Z:-0.09 [[ 8.61251520e-01 5.08177752e-01 1.09122884e-03 9.80847946e+01] [-5.08177340e-01 8.61252212e-01 -6.47842655e-04 -1.92606691e+01] [-1.26904247e-03 3.41770345e-06 9.99999195e-01 -8.62941415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.090888479 meters 0.01698895048878186 Centerline is valid? [True, True] Translation: X:98.11, Y:-19.28, Z:-0.09 [[ 8.61299893e-01 5.08094323e-01 1.62873108e-03 9.81137231e+01] [-5.08093402e-01 8.61301433e-01 -9.67702669e-04 -1.92764548e+01] [-1.89451264e-03 5.93469356e-06 9.99998205e-01 -8.51558691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.120888479 meters 0.01730361644769345 Centerline is valid? [True, True] Translation: X:98.14, Y:-19.29, Z:-0.09 [[ 8.61197767e-01 5.08269234e-01 -8.89545230e-04 9.81422065e+01] [-5.08268959e-01 8.61198227e-01 5.29386104e-04 -1.92913328e+01] [ 1.03514544e-03 -3.77790294e-06 9.99999464e-01 -8.56376609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150888479 meters 0.01715150477497933 Centerline is valid? [True, True] Translation: X:98.17, Y:-19.31, Z:-0.09 [[ 8.60900381e-01 5.08770318e-01 -1.81603580e-03 9.81713936e+01] [-5.08769170e-01 8.60902296e-01 1.08107895e-03 -1.93065658e+01] [ 2.11345028e-03 -6.75825436e-06 9.99997767e-01 -8.63604162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.180888479 meters 0.01718827904594259 Centerline is valid? [True, True] Translation: X:98.20, Y:-19.32, Z:-0.09 [[ 8.60325597e-01 5.09737941e-01 -2.66424846e-03 9.82006546e+01] [-5.09735471e-01 8.60329723e-01 1.58684290e-03 -1.93213435e+01] [ 3.10100617e-03 -7.13962669e-06 9.99995192e-01 -8.65610660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210888479 meters 0.017222071305001353 Centerline is valid? [True, True] Translation: X:98.23, Y:-19.33, Z:-0.09 [[ 8.58854664e-01 5.12211595e-01 -2.81941795e-03 9.82305469e+01] [-5.12208839e-01 8.58859291e-01 1.68019218e-03 -1.93338161e+01] [ 3.28209722e-03 1.08990437e-06 9.99994614e-01 -8.52332476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24088847899999 meters 0.017079363129689187 Centerline is valid? [True, True] Translation: X:98.26, Y:-19.35, Z:-0.08 [[ 8.58031399e-01 5.13590110e-01 -2.70508682e-03 9.82593903e+01] [-5.13587577e-01 8.58035663e-01 1.61311293e-03 -1.93489744e+01] [ 3.14953981e-03 5.19743907e-06 9.99995040e-01 -8.34487079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27088847899999 meters 0.017168755351773313 Centerline is valid? [True, True] Translation: X:98.29, Y:-19.36, Z:-0.08 [[ 8.56965474e-01 5.15365211e-01 -2.97921133e-03 9.82879981e+01] [-5.15362145e-01 8.56970653e-01 1.77755765e-03 -1.93639160e+01] [ 3.46918805e-03 1.20672058e-05 9.99993982e-01 -8.34473453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.300888479 meters 0.01712558357086417 Centerline is valid? [True, True] Translation: X:98.32, Y:-19.38, Z:-0.08 [[ 8.55994199e-01 5.16969596e-01 -4.04580823e-03 9.83156827e+01] [-5.16963958e-01 8.56003760e-01 2.41439367e-03 -1.93792277e+01] [ 4.71139517e-03 2.48300653e-05 9.99988901e-01 -8.35937269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.330888479 meters 0.017386051459480082 Centerline is valid? [True, True] Translation: X:98.35, Y:-19.39, Z:-0.08 [[ 8.53847751e-01 5.20497551e-01 -5.13008509e-03 9.83451341e+01] [-5.20488540e-01 8.53863160e-01 3.06327566e-03 -1.93932634e+01] [ 5.97481815e-03 5.45794668e-05 9.99982149e-01 -8.45144020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.360888479 meters 0.017714687019030784 Centerline is valid? [True, True] Translation: X:98.37, Y:-19.41, Z:-0.09 [[ 8.52669609e-01 5.22420182e-01 -5.62944615e-03 9.83740185e+01] [-5.22409361e-01 8.52688189e-01 3.36330174e-03 -1.94072991e+01] [ 6.55721895e-03 7.30901840e-05 9.99978499e-01 -8.56203268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.390888479 meters 0.017970949000687724 Centerline is valid? [True, True] Translation: X:98.40, Y:-19.42, Z:-0.09 [[ 8.51614695e-01 5.24136033e-01 -5.81635808e-03 9.84025520e+01] [-5.24124510e-01 8.51634552e-01 3.47672741e-03 -1.94207053e+01] [ 6.77568962e-03 8.76636764e-05 9.99977041e-01 -8.67746502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.420888479 meters 0.01837715852534195 Centerline is valid? [True, True] Translation: X:98.43, Y:-19.43, Z:-0.09 [[ 8.49446700e-01 5.27636690e-01 -6.31094261e-03 9.84313482e+01] [-5.27623212e-01 8.49470134e-01 3.77326199e-03 -1.94340383e+01] [ 7.35186873e-03 1.24614867e-04 9.99972967e-01 -8.79371433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.450888479 meters 0.019730101192259025 Centerline is valid? [True, True] Translation: X:98.46, Y:-19.45, Z:-0.09 [[ 8.48151227e-01 5.29711781e-01 -6.70266622e-03 9.84592434e+01] [-5.29696634e-01 8.48177698e-01 4.00861945e-03 -1.94479766e+01] [ 7.80846495e-03 1.50464226e-04 9.99969502e-01 -8.81894943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.480888479 meters 0.019638536021252314 Centerline is valid? [True, True] Translation: X:98.49, Y:-19.47, Z:-0.09 [[ 8.46542312e-01 5.32274275e-01 -7.08586711e-03 9.84861192e+01] [-5.32257416e-01 8.46571948e-01 4.24024060e-03 -1.94657278e+01] [ 8.25566731e-03 1.81962241e-04 9.99965905e-01 -8.65510223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.510888479 meters 0.02007554873147176 Centerline is valid? [True, True] Translation: X:98.51, Y:-19.48, Z:-0.09 [[ 8.44888622e-01 5.34891317e-01 -7.38205186e-03 9.85139236e+01] [-5.34873115e-01 8.44920844e-01 4.41794080e-03 -1.94820770e+01] [ 8.60036766e-03 2.15793158e-04 9.99962993e-01 -8.56175130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.540888479 meters 0.02162068440711308 Centerline is valid? [True, True] Translation: X:98.54, Y:-19.49, Z:-0.09 [[ 8.41730079e-01 5.39838929e-01 -8.02525483e-03 9.85429914e+01] [-5.39817640e-01 8.41768286e-01 4.80298965e-03 -1.94937156e+01] [ 9.34824579e-03 2.89353273e-04 9.99956262e-01 -8.62648935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570888479 meters 0.02258585491997276 Centerline is valid? [True, True] Translation: X:98.57, Y:-19.51, Z:-0.09 [[ 8.40222449e-01 5.42174726e-01 -8.53244230e-03 9.85711103e+01] [-5.42150753e-01 8.40265705e-01 5.10941432e-03 -1.95077494e+01] [ 9.93971396e-03 3.32825404e-04 9.99950544e-01 -8.69886790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.600888479 meters 0.023709824393781668 Centerline is valid? [True, True] Translation: X:98.60, Y:-19.52, Z:-0.09 [[ 8.38857143e-01 5.44280137e-01 -8.82191934e-03 9.85983030e+01] [-5.44254598e-01 8.38903449e-01 5.28541421e-03 -1.95230761e+01] [ 1.02774845e-02 3.67662699e-04 9.99947118e-01 -8.72992630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63088847899999 meters 0.024505990427658317 Centerline is valid? [True, True] Translation: X:98.62, Y:-19.54, Z:-0.09 [[ 8.37965573e-01 5.45634309e-01 -9.84378190e-03 9.86247850e+01] [-5.45602570e-01 8.38023281e-01 5.90054877e-03 -1.95403690e+01] [ 1.14688602e-02 4.26335974e-04 9.99934140e-01 -8.76079756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.660888479 meters 0.02643249378096018 Centerline is valid? [True, True] Translation: X:98.65, Y:-19.56, Z:-0.09 [[ 8.37661240e-01 5.46073520e-01 -1.12853132e-02 9.86504219e+01] [-5.46031800e-01 8.37737112e-01 6.76794169e-03 -1.95589286e+01] [ 1.31499195e-02 4.92897481e-04 9.99913415e-01 -8.88427567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.690888479 meters 0.025318110133612105 Centerline is valid? [True, True] Translation: X:98.68, Y:-19.58, Z:-0.09 [[ 8.38017687e-01 5.45522980e-01 -1.14470572e-02 9.86759454e+01] [-5.45479956e-01 8.38095723e-01 6.86855762e-03 -1.95782329e+01] [ 1.33406857e-02 4.88167486e-04 9.99910890e-01 -8.89124629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.720888479 meters 0.02373226654479329 Centerline is valid? [True, True] Translation: X:98.70, Y:-19.60, Z:-0.09 [[ 8.38588209e-01 5.44636795e-01 -1.18565616e-02 9.87008173e+01] [-5.44590533e-01 8.38671880e-01 7.11543497e-03 -1.96002218e+01] [ 1.38190925e-02 4.90051319e-04 9.99904392e-01 -8.93939060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.750888479 meters 0.025806000363787586 Centerline is valid? [True, True] Translation: X:98.73, Y:-19.61, Z:-0.09 [[ 8.38285917e-01 5.45095100e-01 -1.21677232e-02 9.87278769e+01] [-5.45046395e-01 8.38374065e-01 7.30436290e-03 -1.96149185e+01] [ 1.41826760e-02 5.08829115e-04 9.99899291e-01 -9.14177188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.780888479 meters 0.024698874951406248 Centerline is valid? [True, True] Translation: X:98.75, Y:-19.63, Z:-0.09 [[ 8.37852187e-01 5.45771642e-01 -1.17058960e-02 9.87543945e+01] [-5.45726569e-01 8.37933809e-01 7.03158170e-03 -1.96346405e+01] [ 1.36464039e-02 4.96792369e-04 9.99906760e-01 -9.04106955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.810888479 meters 0.025558855685080484 Centerline is valid? [True, True] Translation: X:98.78, Y:-19.65, Z:-0.09 [[ 8.37288567e-01 5.46655494e-01 -1.07529906e-02 9.87810257e+01] [-5.46617513e-01 8.37357481e-01 6.46088830e-03 -1.96502348e+01] [ 1.25359772e-02 4.68145059e-04 9.99921312e-01 -9.00168092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.840888479 meters 0.027005646504542014 Centerline is valid? [True, True] Translation: X:98.81, Y:-19.67, Z:-0.09 [[ 8.35928870e-01 5.48739614e-01 -1.03807789e-02 9.88068240e+01] [-5.48704357e-01 8.35993185e-01 6.23886447e-03 -1.96670527e+01] [ 1.21017725e-02 4.80731676e-04 9.99926655e-01 -8.92650413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.870888479 meters 0.027005646504542014 Centerline is valid? [True, True] Translation: X:98.83, Y:-19.68, Z:-0.09 [[ 8.35785022e-01 5.48958716e-01 -1.03790562e-02 9.88345976e+01] [-5.48923441e-01 8.35849327e-01 6.24172995e-03 -1.96838610e+01] [ 1.21017792e-02 4.80562864e-04 9.99926655e-01 -8.93024279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.900888479 meters 0.02773578398569192 Centerline is valid? [True, True] Translation: X:98.86, Y:-19.70, Z:-0.09 [[ 8.35283800e-01 5.49698125e-01 -1.15301829e-02 9.88603939e+01] [-5.49654617e-01 8.35363201e-01 6.93720229e-03 -1.97022304e+01] [ 1.34452576e-02 5.43085561e-04 9.99909461e-01 -8.99916872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930888479 meters 0.027398055698319608 Centerline is valid? [True, True] Translation: X:98.89, Y:-19.72, Z:-0.09 [[ 8.34984216e-01 5.50124285e-01 -1.28308052e-02 9.88860904e+01] [-5.50070399e-01 8.35082571e-01 7.72373661e-03 -1.97223407e+01] [ 1.49637969e-02 6.08647974e-04 9.99887851e-01 -9.00998838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.960888479 meters 0.027839017237550563 Centerline is valid? [True, True] Translation: X:98.91, Y:-19.74, Z:-0.09 [[ 8.34941175e-01 5.50165280e-01 -1.38347075e-02 9.89112544e+01] [-5.50102573e-01 8.35055529e-01 8.33200714e-03 -1.97403712e+01] [ 1.61367300e-02 6.53772358e-04 9.99869581e-01 -9.10246313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99088847899999 meters 0.028625615903856264 Centerline is valid? [True, True] Translation: X:98.94, Y:-19.76, Z:-0.09 [[ 8.35078295e-01 5.49909686e-01 -1.56070224e-02 9.89355594e+01] [-5.49829757e-01 8.35223807e-01 9.40380379e-03 -1.97599031e+01] [ 1.82065994e-02 7.28292882e-04 9.99833981e-01 -9.33926684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02088847899999 meters 0.02389132870424471 Centerline is valid? [True, True] Translation: X:98.96, Y:-19.79, Z:-0.09 [[ 8.35383825e-01 5.49448743e-01 -1.54901056e-02 9.89579818e+01] [-5.49369834e-01 8.35527125e-01 9.33855388e-03 -1.97851467e+01] [ 1.80734601e-02 7.08519882e-04 9.99836411e-01 -9.03552917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.050888479 meters 0.02582289968627787 Centerline is valid? [True, True] Translation: X:98.98, Y:-19.80, Z:-0.09 [[ 8.35892397e-01 5.48686932e-01 -1.50516197e-02 9.89843448e+01] [-5.48612224e-01 8.36027633e-01 9.07880864e-03 -1.98012633e+01] [ 1.75649937e-02 6.68595459e-04 9.99845500e-01 -9.15699882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.080888479 meters 0.022106866261607228 Centerline is valid? [True, True] Translation: X:99.00, Y:-19.83, Z:-0.09 [[ 8.37300356e-01 5.46561447e-01 -1.40960512e-02 9.90042758e+01] [-5.46495615e-01 8.37418798e-01 8.50287642e-03 -1.98284320e+01] [ 1.64516427e-02 5.83968735e-04 9.99864492e-01 -8.70168949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.110888479 meters 0.02285783762250811 Centerline is valid? [True, True] Translation: X:99.03, Y:-19.85, Z:-0.09 [[ 8.37990059e-01 5.45508470e-01 -1.38985504e-02 9.90300219e+01] [-5.45444251e-01 8.38105128e-01 8.38829956e-03 -1.98465656e+01] [ 1.62243349e-02 5.51572792e-04 9.99868225e-01 -8.71561270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.140888479 meters 0.022187054703319654 Centerline is valid? [True, True] Translation: X:99.05, Y:-19.87, Z:-0.09 [[ 8.38594169e-01 5.44589158e-01 -1.35080639e-02 9.90547380e+01] [-5.44528308e-01 8.38702798e-01 8.15707644e-03 -1.98671962e+01] [ 1.57715063e-02 5.15046419e-04 9.99875489e-01 -8.61182772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.170888479 meters 0.025697219778784364 Centerline is valid? [True, True] Translation: X:99.08, Y:-19.88, Z:-0.09 [[ 8.39993002e-01 5.42460382e-01 -1.21856268e-02 9.90805077e+01] [-5.42410636e-01 8.40081276e-01 7.35882375e-03 -1.98837663e+01] [ 1.42287873e-02 4.28253135e-04 9.99898674e-01 -8.73456554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.200888479 meters 0.021966713456569534 Centerline is valid? [True, True] Translation: X:99.10, Y:-19.91, Z:-0.08 [[ 8.40567716e-01 5.41581072e-01 -1.16557680e-02 9.91033838e+01] [-5.41535419e-01 8.40648433e-01 7.04280102e-03 -1.99078132e+01] [ 1.36126509e-02 3.92060063e-04 9.99907267e-01 -8.35821330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.230888479 meters 0.020057310629226773 Centerline is valid? [True, True] Translation: X:99.13, Y:-19.93, Z:-0.08 [[ 8.41111089e-01 5.40753467e-01 -1.08546597e-02 9.91271332e+01] [-5.40713759e-01 8.41181054e-01 6.56239810e-03 -1.99310640e+01] [ 1.26793736e-02 3.49558013e-04 9.99919552e-01 -8.19970391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.260888479 meters 0.021292465498591023 Centerline is valid? [True, True] Translation: X:99.15, Y:-19.95, Z:-0.08 [[ 8.40914407e-01 5.41048690e-01 -1.13699114e-02 9.91545748e+01] [-5.41005096e-01 8.40991189e-01 6.87794463e-03 -1.99474902e+01] [ 1.32832982e-02 3.67417275e-04 9.99911706e-01 -8.37894682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290888479 meters 0.021639526789651062 Centerline is valid? [True, True] Translation: X:99.18, Y:-19.97, Z:-0.08 [[ 8.40099032e-01 5.42290782e-01 -1.24227322e-02 9.91811630e+01] [-5.42238819e-01 8.40190771e-01 7.51873553e-03 -1.99657130e+01] [ 1.45148059e-02 4.19605207e-04 9.99894567e-01 -8.43613415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.320888479 meters 0.021000066525884722 Centerline is valid? [True, True] Translation: X:99.21, Y:-19.99, Z:-0.08 [[ 8.39612422e-01 5.43026003e-01 -1.31810465e-02 9.92069262e+01] [-5.42967526e-01 8.39715757e-01 7.98203170e-03 -1.99852522e+01] [ 1.54027832e-02 4.55067257e-04 9.99881267e-01 -8.38235689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350888479 meters 0.021488173616808014 Centerline is valid? [True, True] Translation: X:99.23, Y:-20.01, Z:-0.08 [[ 8.38406275e-01 5.44864840e-01 -1.40436463e-02 9.92325779e+01] [-5.44798698e-01 8.38523724e-01 8.50548740e-03 -2.00050739e+01] [ 1.64102716e-02 5.19906188e-04 9.99865207e-01 -8.35346858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38088847899999 meters 0.023473504420381795 Centerline is valid? [True, True] Translation: X:99.26, Y:-20.02, Z:-0.08 [[ 8.37952329e-01 5.45554234e-01 -1.43691337e-02 9.92598326e+01] [-5.45485013e-01 8.38075345e-01 8.70727417e-03 -2.00200653e+01] [ 1.67927070e-02 5.41866424e-04 9.99858846e-01 -8.46885565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.410888479 meters 0.021744392603965983 Centerline is valid? [True, True] Translation: X:99.28, Y:-20.04, Z:-0.08 [[ 8.37559589e-01 5.46160723e-01 -1.42267365e-02 9.92842195e+01] [-5.46092876e-01 8.37680230e-01 8.62574026e-03 -2.00409761e+01] [ 1.66284964e-02 5.44547955e-04 9.99861589e-01 -8.24004439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.440888479 meters 0.024525362315936997 Centerline is valid? [True, True] Translation: X:99.31, Y:-20.05, Z:-0.08 [[ 8.37102885e-01 5.46856121e-01 -1.43924296e-02 9.93123207e+01] [-5.46786713e-01 8.37226414e-01 8.73058761e-03 -2.00549778e+01] [ 1.68240975e-02 5.61189175e-04 9.99858307e-01 -8.43250313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.470888479 meters 0.023700677265586882 Centerline is valid? [True, True] Translation: X:99.34, Y:-20.07, Z:-0.08 [[ 8.36512737e-01 5.47767091e-01 -1.40590137e-02 9.93374570e+01] [-5.47700915e-01 8.36630682e-01 8.53286451e-03 -2.00747526e+01] [ 1.64362246e-02 5.62284806e-04 9.99864758e-01 -8.36626170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.500888479 meters 0.024099113321785933 Centerline is valid? [True, True] Translation: X:99.36, Y:-20.09, Z:-0.08 [[ 8.36370870e-01 5.48013699e-01 -1.28356564e-02 9.93635257e+01] [-5.47958511e-01 8.36469199e-01 7.79418799e-03 -2.00916491e+01] [ 1.50079530e-02 5.14575393e-04 9.99887242e-01 -8.38850339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.530888479 meters 0.023316007928598198 Centerline is valid? [True, True] Translation: X:99.39, Y:-20.11, Z:-0.08 [[ 8.37852391e-01 5.45770911e-01 -1.17253046e-02 9.93872302e+01] [-5.45724635e-01 8.37934320e-01 7.12025760e-03 -2.01124235e+01] [ 1.37110646e-02 4.33062691e-04 9.99905905e-01 -8.23651510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.560888479 meters 0.020915225008819146 Centerline is valid? [True, True] Translation: X:99.41, Y:-20.14, Z:-0.08 [[ 8.39006620e-01 5.44003928e-01 -1.12968248e-02 9.94110615e+01] [-5.43960759e-01 8.39082581e-01 6.86407875e-03 -2.01350177e+01] [ 1.32130547e-02 3.86021883e-04 9.99912629e-01 -8.00659391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.590888479 meters 0.01994435769629607 Centerline is valid? [True, True] Translation: X:99.44, Y:-20.15, Z:-0.08 [[ 8.40410945e-01 5.41850825e-01 -1.03502139e-02 9.94355420e+01] [-5.41814394e-01 8.40474616e-01 6.29137043e-03 -2.01548963e+01] [ 1.21080763e-02 3.20558317e-04 9.99926643e-01 -7.84215639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.620888479 meters 0.01896155948728204 Centerline is valid? [True, True] Translation: X:99.46, Y:-20.18, Z:-0.08 [[ 8.41956831e-01 5.39472406e-01 -8.84413351e-03 9.94597172e+01] [-5.39445652e-01 8.42003245e-01 5.37810902e-03 -2.01750030e+01] [ 1.03481305e-02 2.42793739e-04 9.99946427e-01 -7.64832608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.650888479 meters 0.018490453105677273 Centerline is valid? [True, True] Translation: X:99.49, Y:-20.20, Z:-0.07 [[ 8.43275629e-01 5.37426569e-01 -7.67439653e-03 9.94857341e+01] [-5.37406332e-01 8.43310529e-01 4.66760891e-03 -2.01951966e+01] [ 8.98039644e-03 1.88188452e-04 9.99959658e-01 -7.41600586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.680888479 meters 0.018085985357583705 Centerline is valid? [True, True] Translation: X:99.51, Y:-20.22, Z:-0.07 [[ 8.45678187e-01 5.33663978e-01 -5.58243377e-03 9.95098620e+01] [-5.33653185e-01 8.45696605e-01 3.39563991e-03 -2.02151417e+01] [ 6.53317599e-03 1.07464961e-04 9.99978653e-01 -7.20046551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710888479 meters 0.017581179198641203 Centerline is valid? [True, True] Translation: X:99.54, Y:-20.23, Z:-0.07 [[ 8.46116260e-01 5.32964287e-01 -6.02852888e-03 9.95362265e+01] [-5.32951667e-01 8.46137730e-01 3.66921294e-03 -2.02342985e+01] [ 7.05652519e-03 1.08333790e-04 9.99975097e-01 -7.12661112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74088847899999 meters 0.017545291125365015 Centerline is valid? [True, True] Translation: X:99.56, Y:-20.25, Z:-0.07 [[ 8.46361839e-01 5.32567245e-01 -6.61565717e-03 9.95638138e+01] [-5.32552017e-01 8.46387687e-01 4.02906523e-03 -2.02526563e+01] [ 7.74515894e-03 1.13134511e-04 9.99969999e-01 -7.22362434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77088847899999 meters 0.017530323423405332 Centerline is valid? [True, True] Translation: X:99.59, Y:-20.27, Z:-0.08 [[ 8.46684177e-01 5.32007566e-01 -9.68782882e-03 9.95900443e+01] [-5.31974838e-01 8.46739585e-01 5.90304730e-03 -2.02713803e+01] [ 1.13435340e-02 1.55664428e-04 9.99935648e-01 -7.60392063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.800888479 meters 0.017436843705582114 Centerline is valid? [True, True] Translation: X:99.62, Y:-20.29, Z:-0.08 [[ 8.46921692e-01 5.31604718e-01 -1.09576603e-02 9.96164566e+01] [-5.31562766e-01 8.46992559e-01 6.68058510e-03 -2.02885359e+01] [ 1.28324873e-02 1.66751798e-04 9.99917646e-01 -7.82132372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.830888479 meters 0.017174022379231057 Centerline is valid? [True, True] Translation: X:99.64, Y:-20.31, Z:-0.08 [[ 8.47191596e-01 5.31166024e-01 -1.13601924e-02 9.96437561e+01] [-5.31120835e-01 8.47267743e-01 6.93033461e-03 -2.03075459e+01] [ 1.33062829e-02 1.62313651e-04 9.99911454e-01 -7.85656687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.860888479 meters 0.017105711755231665 Centerline is valid? [True, True] Translation: X:99.67, Y:-20.33, Z:-0.08 [[ 8.48097439e-01 5.29718227e-01 -1.13725312e-02 9.96694493e+01] [-5.29672761e-01 8.48173674e-01 6.94157376e-03 -2.03265478e+01] [ 1.33229597e-02 1.36589068e-04 9.99911236e-01 -7.89643302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.890888479 meters 0.017428152157719774 Centerline is valid? [True, True] Translation: X:99.70, Y:-20.34, Z:-0.08 [[ 8.48526639e-01 5.29037318e-01 -1.10480265e-02 9.96955074e+01] [-5.28994308e-01 8.48598552e-01 6.74685658e-03 -2.03429440e+01] [ 1.29446782e-02 1.19455588e-04 9.99916207e-01 -8.02323530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.920888479 meters 0.01693688305537647 Centerline is valid? [True, True] Translation: X:99.72, Y:-20.36, Z:-0.08 [[ 8.48995886e-01 5.28296405e-01 -1.04352101e-02 9.97214101e+01] [-5.28257936e-01 8.49060009e-01 6.37607788e-03 -2.03615180e+01] [ 1.22285786e-02 9.92186395e-05 9.99925223e-01 -7.78914533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.950888479 meters 0.0168090488323927 Centerline is valid? [True, True] Translation: X:99.75, Y:-20.38, Z:-0.08 [[ 8.49623680e-01 5.27299466e-01 -9.74045628e-03 9.97476970e+01] [-5.27265847e-01 8.49679509e-01 5.95475517e-03 -2.03797357e+01] [ 1.14162053e-02 7.65089302e-05 9.99934830e-01 -7.73910928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.980888479 meters 0.016832804688664074 Centerline is valid? [True, True] Translation: X:99.77, Y:-20.40, Z:-0.08 [[ 8.50583257e-01 5.25725482e-01 -1.09927652e-02 9.97732482e+01] [-5.25682478e-01 8.50654286e-01 6.72440993e-03 -2.04002503e+01] [ 1.28862365e-02 5.90335654e-05 9.99916967e-01 -7.73803246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.010888479 meters 0.01687871528817971 Centerline is valid? [True, True] Translation: X:99.80, Y:-20.42, Z:-0.08 [[ 8.51046327e-01 5.24952133e-01 -1.20584968e-02 9.97991377e+01] [-5.24900259e-01 8.51131750e-01 7.37981664e-03 -2.04181121e+01] [ 1.41374200e-02 4.89422694e-05 9.99900060e-01 -7.82898347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.040888479 meters 0.016860487155057058 Centerline is valid? [True, True] Translation: X:99.83, Y:-20.44, Z:-0.08 [[ 8.51410830e-01 5.24364988e-01 -1.18725688e-02 9.98267213e+01] [-5.24314584e-01 8.51493604e-01 7.27042508e-03 -2.04363851e+01] [ 1.39217728e-02 3.48423325e-05 9.99903087e-01 -7.83960789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070888479 meters 0.016942623333702656 Centerline is valid? [True, True] Translation: X:99.85, Y:-20.45, Z:-0.08 [[ 8.51681961e-01 5.23925262e-01 -1.18387985e-02 9.98539067e+01] [-5.23875042e-01 8.51764239e-01 7.25402204e-03 -2.04540708e+01] [ 1.38844306e-02 2.39313294e-05 9.99903606e-01 -7.89548065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.100888479 meters 0.01692480278775706 Centerline is valid? [True, True] Translation: X:99.88, Y:-20.47, Z:-0.08 [[ 8.53319361e-01 5.21278809e-01 -1.06991469e-02 9.98792304e+01] [-5.21237546e-01 8.53386433e-01 6.55880540e-03 -2.04730741e+01] [ 1.25494731e-02 -1.99585502e-05 9.99921252e-01 -7.82448052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13088847899999 meters 0.016970745955743792 Centerline is valid? [True, True] Translation: X:99.91, Y:-20.49, Z:-0.08 [[ 8.54056134e-01 5.20080639e-01 -1.02102379e-02 9.99063197e+01] [-5.20042930e-01 8.54117163e-01 6.26284268e-03 -2.04926229e+01] [ 1.19779226e-02 -3.90572006e-05 9.99928261e-01 -7.69279058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.160888479 meters 0.017065657185216382 Centerline is valid? [True, True] Translation: X:99.93, Y:-20.51, Z:-0.08 [[ 8.54662124e-01 5.19074524e-01 -1.06907779e-02 9.99328150e+01] [-5.19033061e-01 8.54728983e-01 6.56098167e-03 -2.05109308e+01] [ 1.25433561e-02 -5.85553549e-05 9.99921327e-01 -7.53466240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.190888479 meters 0.017267946235087733 Centerline is valid? [True, True] Translation: X:99.96, Y:-20.53, Z:-0.08 [[ 8.55019725e-01 5.18480423e-01 -1.09234192e-02 9.99593023e+01] [-5.18437039e-01 8.55089496e-01 6.70750433e-03 -2.05283104e+01] [ 1.28182107e-02 -7.19433826e-05 9.99917841e-01 -7.62052384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.220888479 meters 0.01735033580075189 Centerline is valid? [True, True] Translation: X:99.99, Y:-20.55, Z:-0.08 [[ 8.55026575e-01 5.18453769e-01 -1.16294861e-02 9.99871496e+01] [-5.18404543e-01 8.55105656e-01 7.14472385e-03 -2.05451363e+01] [ 1.36486484e-02 -8.01503355e-05 9.99906850e-01 -7.65637574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.250888479 meters 0.017288717131841103 Centerline is valid? [True, True] Translation: X:100.01, Y:-20.56, Z:-0.08 [[ 8.54769099e-01 5.18887842e-01 -1.11890675e-02 1.00013400e+02] [-5.18842268e-01 8.54842326e-01 6.87743291e-03 -2.05610242e+01] [ 1.31335048e-02 -7.32559506e-05 9.99913749e-01 -7.63903190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.280888479 meters 0.017607536433691853 Centerline is valid? [True, True] Translation: X:100.04, Y:-20.58, Z:-0.08 [[ 8.54333024e-01 5.19590728e-01 -1.18557465e-02 1.00041202e+02] [-5.19539573e-01 8.54415280e-01 7.29123550e-03 -2.05770096e+01] [ 1.39181893e-02 -6.96138138e-05 9.99903135e-01 -7.90746431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.310888479 meters 0.016975970644858153 Centerline is valid? [True, True] Translation: X:100.07, Y:-20.59, Z:-0.08 [[ 8.53629714e-01 5.20744427e-01 -1.18976004e-02 1.00070841e+02] [-5.20692959e-01 8.53712621e-01 7.32147150e-03 -2.05923522e+01] [ 1.39697471e-02 -5.48288689e-05 9.99902417e-01 -7.66785856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.340888479 meters 0.017006757607435134 Centerline is valid? [True, True] Translation: X:100.10, Y:-20.61, Z:-0.08 [[ 8.53225855e-01 5.21412904e-01 -1.15854893e-02 1.00098655e+02] [-5.21364107e-01 8.53304507e-01 7.13344750e-03 -2.06079094e+01] [ 1.36054218e-02 -4.61835638e-05 9.99907441e-01 -7.72163156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.370888479 meters 0.016778941071316424 Centerline is valid? [True, True] Translation: X:100.13, Y:-20.62, Z:-0.08 [[ 8.52421567e-01 5.22748969e-01 -1.05350347e-02 1.00127113e+02] [-5.22708680e-01 8.52486665e-01 6.49009364e-03 -2.06234675e+01] [ 1.23736663e-02 -2.55417245e-05 9.99923443e-01 -7.54827929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.400888479 meters 0.016626653984105653 Centerline is valid? [True, True] Translation: X:100.16, Y:-20.64, Z:-0.07 [[ 8.50470977e-01 5.25941088e-01 -9.22432795e-03 1.00156238e+02] [-5.25910356e-01 8.50521000e-01 5.68565111e-03 -2.06378440e+01] [ 1.08358022e-02 1.56883371e-05 9.99941291e-01 -7.14358629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430888479 meters 0.016755270302641814 Centerline is valid? [True, True] Translation: X:100.18, Y:-20.65, Z:-0.07 [[ 8.49568752e-01 5.27406838e-01 -8.65812488e-03 1.00184182e+02] [-5.27379808e-01 8.49612869e-01 5.33967862e-03 -2.06529141e+01] [ 1.01722373e-02 2.96961371e-05 9.99948261e-01 -7.09856222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.460888479 meters 0.016797895390291924 Centerline is valid? [True, True] Translation: X:100.21, Y:-20.67, Z:-0.07 [[ 8.48366542e-01 5.29335649e-01 -8.83066882e-03 1.00213686e+02] [-5.29307601e-01 8.48412499e-01 5.44936778e-03 -2.06685870e+01] [ 1.03765944e-02 5.10788290e-05 9.99946160e-01 -6.99483487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49088847899999 meters 0.01701286101713429 Centerline is valid? [True, True] Translation: X:100.24, Y:-20.68, Z:-0.07 [[ 8.47010203e-01 5.31491215e-01 -9.52915303e-03 1.00241325e+02] [-5.31458665e-01 8.47063800e-01 5.88266267e-03 -2.06820871e+01] [ 1.11983841e-02 8.16756462e-05 9.99937293e-01 -7.08317243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52088847899999 meters 0.017411454952872715 Centerline is valid? [True, True] Translation: X:100.27, Y:-20.70, Z:-0.07 [[ 8.44729118e-01 5.35097267e-01 -1.01799594e-02 1.00270871e+02] [-5.35060339e-01 8.44790446e-01 6.28780691e-03 -2.06959195e+01] [ 1.19645207e-02 1.35398925e-04 9.99928413e-01 -7.09559081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.550888479 meters 0.017528492837677646 Centerline is valid? [True, True] Translation: X:100.30, Y:-20.71, Z:-0.07 [[ 8.43919569e-01 5.36375034e-01 -1.00789104e-02 1.00298386e+02] [-5.36338888e-01 8.43979739e-01 6.22872165e-03 -2.07124841e+01] [ 1.18473269e-02 1.49171491e-04 9.99929807e-01 -7.00598328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.580888479 meters 0.01748915636223812 Centerline is valid? [True, True] Translation: X:100.33, Y:-20.73, Z:-0.07 [[ 8.43442543e-01 5.37118816e-01 -1.03949130e-02 1.00325540e+02] [-5.37080381e-01 8.43506581e-01 6.42752484e-03 -2.07295494e+01] [ 1.22205220e-02 1.61655926e-04 9.99925314e-01 -6.88907974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.610888479 meters 0.017881717745991288 Centerline is valid? [True, True] Translation: X:100.35, Y:-20.74, Z:-0.07 [[ 8.42600672e-01 5.38432584e-01 -1.06985802e-02 1.00353010e+02] [-5.38391934e-01 8.42668570e-01 6.61860118e-03 -2.07436084e+01] [ 1.25790278e-02 1.83191493e-04 9.99920864e-01 -6.96784431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.640888479 meters 0.017972072714427734 Centerline is valid? [True, True] Translation: X:100.38, Y:-20.76, Z:-0.07 [[ 8.42070950e-01 5.39257759e-01 -1.08436740e-02 1.00380734e+02] [-5.39216022e-01 8.42140743e-01 6.71194009e-03 -2.07592466e+01] [ 1.27513655e-02 1.95153005e-04 9.99918679e-01 -7.00083415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.670888479 meters 0.01926770388393537 Centerline is valid? [True, True] Translation: X:100.41, Y:-20.77, Z:-0.07 [[ 8.41301692e-01 5.40458922e-01 -1.07525383e-02 1.00408651e+02] [-5.40417948e-01 8.41370376e-01 6.65823039e-03 -2.07723278e+01] [ 1.26453672e-02 2.09284216e-04 9.99920022e-01 -7.21567381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.700888479 meters 0.018097316051234484 Centerline is valid? [True, True] Translation: X:100.43, Y:-20.79, Z:-0.07 [[ 8.40980661e-01 5.40950615e-01 -1.11336986e-02 1.00434462e+02] [-5.40906677e-01 8.41054328e-01 6.89805735e-03 -2.07915208e+01] [ 1.30955538e-02 2.21159107e-04 9.99914225e-01 -7.01649647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.730888479 meters 0.018295557357958108 Centerline is valid? [True, True] Translation: X:100.46, Y:-20.81, Z:-0.07 [[ 8.40643470e-01 5.41451944e-01 -1.21798539e-02 1.00461318e+02] [-5.41399360e-01 8.40731664e-01 7.54992992e-03 -2.08067697e+01] [ 1.43279131e-02 2.47365814e-04 9.99897320e-01 -7.12780868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.760888479 meters 0.018295557357958108 Centerline is valid? [True, True] Translation: X:100.49, Y:-20.82, Z:-0.07 [[ 8.40495385e-01 5.41681835e-01 -1.21777585e-02 1.00488823e+02] [-5.41629227e-01 8.40583564e-01 7.55330929e-03 -2.08239147e+01] [ 1.43279141e-02 2.47308324e-04 9.99897320e-01 -7.13154799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790888479 meters 0.018186200664307074 Centerline is valid? [True, True] Translation: X:100.52, Y:-20.84, Z:-0.07 [[ 8.40393532e-01 5.41841335e-01 -1.21111206e-02 1.00517575e+02] [-5.41789251e-01 8.40480760e-01 7.51661023e-03 -2.08407174e+01] [ 1.42519739e-02 2.44764318e-04 9.99898406e-01 -7.26378550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.820888479 meters 0.018053165979917397 Centerline is valid? [True, True] Translation: X:100.54, Y:-20.86, Z:-0.07 [[ 8.40509893e-01 5.41668397e-01 -1.17671901e-02 1.00544928e+02] [-5.41619159e-01 8.40592228e-01 7.30705997e-03 -2.08582782e+01] [ 1.38494120e-02 2.31679429e-04 9.99904065e-01 -7.18844867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850888479 meters 0.017813280901136676 Centerline is valid? [True, True] Translation: X:100.57, Y:-20.88, Z:-0.07 [[ 8.41175734e-01 5.40644266e-01 -1.12766138e-02 1.00570671e+02] [-5.40598929e-01 8.41251292e-01 7.00445669e-03 -2.08755730e+01] [ 1.32733853e-02 2.04146328e-04 9.99911884e-01 -7.02759791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88088847899999 meters 0.017479930659194995 Centerline is valid? [True, True] Translation: X:100.60, Y:-20.89, Z:-0.07 [[ 8.41782722e-01 5.39711496e-01 -1.06466261e-02 1.00596313e+02] [-5.39670962e-01 8.41850029e-01 6.61681345e-03 -2.08943027e+01] [ 1.25340328e-02 1.75755712e-04 9.99921430e-01 -6.74900243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.910888479 meters 0.01696996069386916 Centerline is valid? [True, True] Translation: X:100.62, Y:-20.91, Z:-0.07 [[ 8.43273902e-01 5.37390850e-01 -1.00100427e-02 1.00621316e+02] [-5.37354819e-01 8.43333301e-01 6.22424089e-03 -2.09128003e+01] [ 1.17866524e-02 1.30204771e-04 9.99930527e-01 -6.59428243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.940888479 meters 0.0170871659144027 Centerline is valid? [True, True] Translation: X:100.65, Y:-20.93, Z:-0.07 [[ 8.43680447e-01 5.36741635e-01 -1.05697932e-02 1.00648614e+02] [-5.36701364e-01 8.43746646e-01 6.57600331e-03 -2.09292347e+01] [ 1.24478423e-02 1.24777026e-04 9.99922515e-01 -6.77686062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.970888479 meters 0.016600699004629713 Centerline is valid? [True, True] Translation: X:100.68, Y:-20.95, Z:-0.07 [[ 8.43824825e-01 5.36512937e-01 -1.06551853e-02 1.00675723e+02] [-5.36471944e-01 8.43892087e-01 6.63318543e-03 -2.09470641e+01] [ 1.25506163e-02 1.18961421e-04 9.99921231e-01 -6.77758704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.000888479 meters 0.016537559309463316 Centerline is valid? [True, True] Translation: X:100.70, Y:-20.96, Z:-0.07 [[ 8.44005433e-01 5.36225709e-01 -1.08082795e-02 1.00703452e+02] [-5.36183454e-01 8.44074627e-01 6.73257368e-03 -2.09649832e+01] [ 1.27331736e-02 1.12891843e-04 9.99918923e-01 -6.84736104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.030888479 meters 0.016398592254391844 Centerline is valid? [True, True] Translation: X:100.73, Y:-20.98, Z:-0.07 [[ 8.44667025e-01 5.35175115e-01 -1.11898579e-02 1.00729533e+02] [-5.35129680e-01 8.44741136e-01 6.97415220e-03 -2.09838115e+01] [ 1.31849260e-02 9.71886967e-05 9.99913070e-01 -6.88857208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.060888479 meters 0.016328267780225215 Centerline is valid? [True, True] Translation: X:100.76, Y:-21.00, Z:-0.07 [[ 8.44909533e-01 5.34787905e-01 -1.13920263e-02 1.00756677e+02] [-5.34740721e-01 8.44986325e-01 7.10443241e-03 -2.10025884e+01] [ 1.34254709e-02 8.91776618e-05 9.99909870e-01 -6.86429506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.090888479 meters 0.016065239062172297 Centerline is valid? [True, True] Translation: X:100.78, Y:-21.02, Z:-0.07 [[ 8.45720837e-01 5.33501384e-01 -1.15125499e-02 1.00783471e+02] [-5.33453019e-01 8.45799189e-01 7.18387497e-03 -2.10219291e+01] [ 1.35699126e-02 6.58517434e-05 9.99907922e-01 -6.80081930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.120888479 meters 0.015948005415032808 Centerline is valid? [True, True] Translation: X:100.81, Y:-21.04, Z:-0.07 [[ 8.45878169e-01 5.33271150e-01 -1.05831546e-02 1.00810788e+02] [-5.33230218e-01 8.45944370e-01 6.60737007e-03 -2.10395451e+01] [ 1.24762799e-02 5.42277289e-05 9.99922167e-01 -6.70757021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.150888479 meters 0.015863301095293852 Centerline is valid? [True, True] Translation: X:100.84, Y:-21.06, Z:-0.07 [[ 8.45925757e-01 5.33207516e-01 -9.96785418e-03 1.00837549e+02] [-5.33171162e-01 8.45984481e-01 6.22649153e-03 -2.10565497e+01] [ 1.17526620e-02 4.74228326e-05 9.99930934e-01 -6.63871163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.180888479 meters 0.01566668094654751 Centerline is valid? [True, True] Translation: X:100.86, Y:-21.07, Z:-0.07 [[ 8.45905065e-01 5.33248514e-01 -9.52067167e-03 1.00864861e+02] [-5.33215310e-01 8.45958640e-01 5.95091249e-03 -2.10740155e+01] [ 1.12274097e-02 4.26608751e-05 9.99936970e-01 -6.50585003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210888479 meters 0.015607792200510737 Centerline is valid? [True, True] Translation: X:100.89, Y:-21.09, Z:-0.07 [[ 8.45625128e-01 5.33684150e-01 -9.96848162e-03 1.00892253e+02] [-5.33647736e-01 8.45683881e-01 6.23437396e-03 -2.10908368e+01] [ 1.17573708e-02 4.77143729e-05 9.99930879e-01 -6.60244713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24088847899999 meters 0.015555403906484633 Centerline is valid? [True, True] Translation: X:100.92, Y:-21.11, Z:-0.07 [[ 8.45527524e-01 5.33836018e-01 -1.01149300e-02 1.00919734e+02] [-5.33798492e-01 8.45588022e-01 6.32979640e-03 -2.11084033e+01] [ 1.19321370e-02 4.73173176e-05 9.99928808e-01 -6.57238511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27088847899999 meters 0.015397938818816445 Centerline is valid? [True, True] Translation: X:100.95, Y:-21.13, Z:-0.06 [[ 8.45570129e-01 5.33767893e-01 -1.01485522e-02 1.00946807e+02] [-5.33730066e-01 8.45631027e-01 6.35475120e-03 -2.11262256e+01] [ 1.19738928e-02 4.31996345e-05 9.99928309e-01 -6.45881384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.300888479 meters 0.015461643557921097 Centerline is valid? [True, True] Translation: X:100.97, Y:-21.14, Z:-0.06 [[ 8.45860830e-01 5.33313813e-01 -9.78943501e-03 1.00973150e+02] [-5.33278544e-01 8.45917476e-01 6.13337924e-03 -2.11437917e+01] [ 1.15520700e-02 3.25103948e-05 9.99933272e-01 -6.48382888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.330888479 meters 0.015325179553719719 Centerline is valid? [True, True] Translation: X:101.00, Y:-21.16, Z:-0.07 [[ 8.46600320e-01 5.32139285e-01 -9.78163109e-03 1.01000011e+02] [-5.32103950e-01 8.46656826e-01 6.13224801e-03 -2.11622730e+01] [ 1.15448948e-02 1.32814139e-05 9.99933355e-01 -6.50534987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.360888479 meters 0.015358198901037278 Centerline is valid? [True, True] Translation: X:101.03, Y:-21.18, Z:-0.07 [[ 8.46553620e-01 5.32217536e-01 -9.56361460e-03 1.01027433e+02] [-5.32183723e-01 8.46607639e-01 5.99922663e-03 -2.11799198e+01] [ 1.12895228e-02 1.09330027e-05 9.99936271e-01 -6.52566955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.390888479 meters 0.015136145237879277 Centerline is valid? [True, True] Translation: X:101.06, Y:-21.20, Z:-0.06 [[ 8.46349669e-01 5.32550498e-01 -9.06670326e-03 1.01055273e+02] [-5.32520090e-01 8.46398232e-01 5.69099922e-03 -2.11975950e+01] [ 1.07047861e-02 1.16263321e-05 9.99942702e-01 -6.44543947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.420888479 meters 0.015070463118145201 Centerline is valid? [True, True] Translation: X:101.08, Y:-21.21, Z:-0.06 [[ 8.45436111e-01 5.34016352e-01 -8.01982792e-03 1.01082631e+02] [-5.33992601e-01 8.45474148e-01 5.03656651e-03 -2.12139274e+01] [ 9.47016605e-03 2.44335687e-05 9.99955157e-01 -6.22548697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.450888479 meters 0.015237437870643585 Centerline is valid? [True, True] Translation: X:101.11, Y:-21.23, Z:-0.06 [[ 8.44612598e-01 5.35317504e-01 -8.04544659e-03 1.01111184e+02] [-5.35293630e-01 8.44650915e-01 5.05576019e-03 -2.12308379e+01] [ 9.50203075e-03 3.65175586e-05 9.99954854e-01 -6.23150749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.480888479 meters 0.015302095018042418 Centerline is valid? [True, True] Translation: X:101.14, Y:-21.25, Z:-0.06 [[ 8.43832137e-01 5.36543933e-01 -8.24213855e-03 1.01139382e+02] [-5.36518908e-01 8.43872387e-01 5.18224255e-03 -2.12466430e+01] [ 9.73581393e-03 4.91203712e-05 9.99952605e-01 -6.39550334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.510888479 meters 0.015427860517972538 Centerline is valid? [True, True] Translation: X:101.17, Y:-21.26, Z:-0.07 [[ 8.42922550e-01 5.37952785e-01 -9.40084699e-03 1.01167498e+02] [-5.37920283e-01 8.42974968e-01 5.91382169e-03 -2.12625446e+01] [ 1.11060355e-02 7.20126124e-05 9.99938324e-01 -6.55873749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.540888479 meters 0.015470493223125532 Centerline is valid? [True, True] Translation: X:101.20, Y:-21.28, Z:-0.07 [[ 8.41851959e-01 5.39609792e-01 -1.03223956e-02 1.01195126e+02] [-5.39570689e-01 8.41915234e-01 6.49690596e-03 -2.12781502e+01] [ 1.21963762e-02 1.00229117e-04 9.99925616e-01 -6.80786196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570888479 meters 0.016165821100321165 Centerline is valid? [True, True] Translation: X:101.22, Y:-21.29, Z:-0.07 [[ 8.41284875e-01 5.40488530e-01 -1.05786592e-02 1.01223036e+02] [-5.40447484e-01 8.41351375e-01 6.66191748e-03 -2.12944059e+01] [ 1.25010594e-02 1.12639331e-04 9.99921852e-01 -7.05482558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60088847899999 meters 0.01558402748097221 Centerline is valid? [True, True] Translation: X:101.25, Y:-21.31, Z:-0.07 [[ 8.40866945e-01 5.41130507e-01 -1.09797561e-02 1.01249974e+02] [-5.41086290e-01 8.40938618e-01 6.91867767e-03 -2.13136064e+01] [ 1.29772085e-02 1.23308135e-04 9.99915785e-01 -6.82675561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63088847899999 meters 0.015667307969253357 Centerline is valid? [True, True] Translation: X:101.28, Y:-21.33, Z:-0.07 [[ 8.40387214e-01 5.41860793e-01 -1.16709666e-02 1.01276833e+02] [-5.41810850e-01 8.40468240e-01 7.35802996e-03 -2.13303687e+01] [ 1.37961047e-02 1.39862027e-04 9.99904819e-01 -6.84235819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.660888479 meters 0.015761914983718393 Centerline is valid? [True, True] Translation: X:101.30, Y:-21.35, Z:-0.07 [[ 8.39531073e-01 5.43182143e-01 -1.18632739e-02 1.01304388e+02] [-5.43130617e-01 8.39614872e-01 7.48323556e-03 -2.13465733e+01] [ 1.40253411e-02 1.60898498e-04 9.99901627e-01 -6.80794832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.690888479 meters 0.01566546985212391 Centerline is valid? [True, True] Translation: X:101.33, Y:-21.36, Z:-0.07 [[ 8.38875646e-01 5.44201545e-01 -1.15034219e-02 1.01331973e+02] [-5.44153136e-01 8.38954498e-01 7.26045706e-03 -2.13635984e+01] [ 1.36019995e-02 1.69002514e-04 9.99907474e-01 -6.72551641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.720888479 meters 0.01599104825383294 Centerline is valid? [True, True] Translation: X:101.36, Y:-21.38, Z:-0.07 [[ 8.38251290e-01 5.45181165e-01 -1.05958516e-02 1.01359929e+02] [-5.45140142e-01 8.38318238e-01 6.69009681e-03 -2.13795112e+01] [ 1.25300104e-02 1.68241734e-04 9.99921482e-01 -6.76775153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.750888479 meters 0.016091127275559183 Centerline is valid? [True, True] Translation: X:101.39, Y:-21.40, Z:-0.07 [[ 8.37613918e-01 5.46169216e-01 -1.01050150e-02 1.01387862e+02] [-5.46131929e-01 8.37674852e-01 6.38415899e-03 -2.13975754e+01] [ 1.19515481e-02 1.71210922e-04 9.99928563e-01 -6.64787071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.780888479 meters 0.015813010214558217 Centerline is valid? [True, True] Translation: X:101.41, Y:-21.42, Z:-0.07 [[ 8.37727919e-01 5.45987285e-01 -1.04793816e-02 1.01414505e+02] [-5.45947121e-01 8.37793444e-01 6.62467618e-03 -2.14169021e+01] [ 1.23965462e-02 1.71512024e-04 9.99923145e-01 -6.55966439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.810888479 meters 0.015335738547573063 Centerline is valid? [True, True] Translation: X:101.44, Y:-21.44, Z:-0.07 [[ 8.39371279e-01 5.43436344e-01 -1.15236919e-02 1.01440289e+02] [-5.43387483e-01 8.39450367e-01 7.28864345e-03 -2.14367275e+01] [ 1.36344811e-02 1.43951952e-04 9.99907036e-01 -6.64775040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.840888479 meters 0.015099615520996562 Centerline is valid? [True, True] Translation: X:101.47, Y:-21.45, Z:-0.07 [[ 8.40344946e-01 5.41933643e-01 -1.13268739e-02 1.01466105e+02] [-5.41886272e-01 8.40421271e-01 7.16618291e-03 -2.14540369e+01] [ 1.34029414e-02 1.15811875e-04 9.99910170e-01 -6.70138630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.870888479 meters 0.014694448244450965 Centerline is valid? [True, True] Translation: X:101.49, Y:-21.47, Z:-0.07 [[ 8.41479566e-01 5.40194214e-01 -1.01168390e-02 1.01492406e+02] [-5.40156257e-01 8.41540376e-01 6.40413965e-03 -2.14723085e+01] [ 1.19732077e-02 7.57212605e-05 9.99928316e-01 -6.65179780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.900888479 meters 0.014422044738469886 Centerline is valid? [True, True] Translation: X:101.52, Y:-21.49, Z:-0.06 [[ 8.42620450e-01 5.38419570e-01 -9.75418095e-03 1.01518541e+02] [-5.38384129e-01 8.42676904e-01 6.17784932e-03 -2.14916579e+01] [ 1.15458980e-02 4.59140393e-05 9.99933343e-01 -6.44438217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930888479 meters 0.014269865812026964 Centerline is valid? [True, True] Translation: X:101.54, Y:-21.51, Z:-0.06 [[ 8.44824266e-01 5.34970990e-01 -8.83177739e-03 1.01543067e+02] [-5.34941729e-01 8.44870428e-01 5.59520914e-03 -2.15111571e+01] [ 1.04549821e-02 -2.48218835e-06 9.99945345e-01 -6.25098055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.960888479 meters 0.014385607252521351 Centerline is valid? [True, True] Translation: X:101.57, Y:-21.53, Z:-0.06 [[ 8.45658805e-01 5.33647268e-01 -9.04314462e-03 1.01569747e+02] [-5.33616479e-01 8.45707155e-01 5.73246331e-03 -2.15289547e+01] [ 1.07069655e-02 -2.21370822e-05 9.99942679e-01 -6.27851800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99088847899999 meters 0.014813537645354249 Centerline is valid? [True, True] Translation: X:101.60, Y:-21.55, Z:-0.06 [[ 8.48510792e-01 5.29080852e-01 -1.01433919e-02 1.01595599e+02] [-5.29041768e-01 8.48571414e-01 6.43148852e-03 -2.15472557e+01] [ 1.20101699e-02 -9.09094088e-05 9.99927871e-01 -6.44663493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02088847899999 meters 0.015191639993866066 Centerline is valid? [True, True] Translation: X:101.62, Y:-21.57, Z:-0.07 [[ 8.50074098e-01 5.26546684e-01 -1.10732980e-02 1.01621673e+02] [-5.26499843e-01 8.50146205e-01 7.02464361e-03 -2.15652338e+01] [ 1.31127251e-02 -1.41377915e-04 9.99914015e-01 -6.56760361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.050888479 meters 0.015935430621207426 Centerline is valid? [True, True] Translation: X:101.65, Y:-21.58, Z:-0.07 [[ 8.51911809e-01 5.23563213e-01 -1.13062516e-02 1.01647521e+02] [-5.23514067e-01 8.51986810e-01 7.17618459e-03 -2.15837524e+01] [ 1.33899635e-02 -1.94494659e-04 9.99910332e-01 -6.68232442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.080888479 meters 0.01674687249902487 Centerline is valid? [True, True] Translation: X:101.67, Y:-21.60, Z:-0.07 [[ 8.53649641e-01 5.20732647e-01 -1.09453474e-02 1.01673444e+02] [-5.20686309e-01 8.53719775e-01 6.95074288e-03 -2.16024003e+01] [ 1.29637383e-02 -2.34406637e-04 9.99915940e-01 -6.66006086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.110888479 meters 0.01819011407946324 Centerline is valid? [True, True] Translation: X:101.70, Y:-21.62, Z:-0.06 [[ 8.56531859e-01 5.15982426e-01 -1.07382434e-02 1.01698308e+02] [-5.15937435e-01 8.56599116e-01 6.82043505e-03 -2.16208971e+01] [ 1.27175944e-02 -3.01658176e-04 9.99919083e-01 -6.45212203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.140888479 meters 0.019541961574476883 Centerline is valid? [True, True] Translation: X:101.72, Y:-21.64, Z:-0.06 [[ 8.57636603e-01 5.14149617e-01 -1.04704063e-02 1.01724471e+02] [-5.14106664e-01 8.57700453e-01 6.65364307e-03 -2.16381955e+01] [ 1.24014403e-02 -3.23502189e-04 9.99923047e-01 -6.46305719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.170888479 meters 0.01989889810028019 Centerline is valid? [True, True] Translation: X:101.75, Y:-21.65, Z:-0.06 [[ 8.58169899e-01 5.13255747e-01 -1.06283554e-02 1.01752722e+02] [-5.13211377e-01 8.58235643e-01 6.75742545e-03 -2.16543079e+01] [ 1.25899209e-02 -3.44426195e-04 9.99920684e-01 -6.42207240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.200888479 meters 0.020068017112804804 Centerline is valid? [True, True] Translation: X:101.78, Y:-21.67, Z:-0.06 [[ 8.58342151e-01 5.12962758e-01 -1.08609871e-02 1.01781186e+02] [-5.12916356e-01 8.58410787e-01 6.90880750e-03 -2.16693726e+01] [ 1.28671494e-02 -3.59342774e-04 9.99917150e-01 -6.44744824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.230888479 meters 0.017849502953399453 Centerline is valid? [True, True] Translation: X:101.81, Y:-21.68, Z:-0.06 [[ 8.58294363e-01 5.13043843e-01 -1.08075214e-02 1.01813512e+02] [-5.12997848e-01 8.58362328e-01 6.87909904e-03 -2.16804867e+01] [ 1.28060487e-02 -3.60056685e-04 9.99917934e-01 -6.15765057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.260888479 meters 0.018356270561564244 Centerline is valid? [True, True] Translation: X:101.84, Y:-21.70, Z:-0.06 [[ 8.57959031e-01 5.13617601e-01 -1.01617712e-02 1.01840213e+02] [-5.13576941e-01 8.58019143e-01 6.47122434e-03 -2.16963233e+01] [ 1.20427290e-02 -3.33193983e-04 9.99927428e-01 -6.09082638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290888479 meters 0.017965966189769526 Centerline is valid? [True, True] Translation: X:101.87, Y:-21.71, Z:-0.06 [[ 8.57572810e-01 5.14272153e-01 -9.64516344e-03 1.01868493e+02] [-5.14235526e-01 8.57626991e-01 6.14552775e-03 -2.17108096e+01] [ 1.14324263e-02 -3.10351801e-04 9.99934600e-01 -5.97973361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.320888479 meters 0.017665496986205082 Centerline is valid? [True, True] Translation: X:101.90, Y:-21.72, Z:-0.06 [[ 8.56101789e-01 5.16708279e-01 -1.01134150e-02 1.01899077e+02] [-5.16668142e-01 8.56161473e-01 6.44698395e-03 -2.17199753e+01] [ 1.19899263e-02 -2.93995153e-04 9.99928075e-01 -6.14330726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35088847899999 meters 0.016679879700778503 Centerline is valid? [True, True] Translation: X:101.93, Y:-21.73, Z:-0.06 [[ 8.54980556e-01 5.18570578e-01 -9.63352175e-03 1.01929390e+02] [-5.18534239e-01 8.55034788e-01 6.14438074e-03 -2.17317354e+01] [ 1.14232913e-02 -2.58015191e-04 9.99934719e-01 -6.21238900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38088847899999 meters 0.016032041462399792 Centerline is valid? [True, True] Translation: X:101.96, Y:-21.74, Z:-0.06 [[ 8.53845624e-01 5.20453452e-01 -8.70944413e-03 1.01959253e+02] [-5.20423817e-01 8.53890016e-01 5.55800174e-03 -2.17441477e+01] [ 1.03295886e-02 -2.13073309e-04 9.99946626e-01 -6.20672275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.410888479 meters 0.015213738756515029 Centerline is valid? [True, True] Translation: X:101.99, Y:-21.75, Z:-0.06 [[ 8.51058325e-01 5.25022899e-01 -7.11919733e-03 1.01989877e+02] [-5.25003256e-01 8.51088091e-01 4.54344287e-03 -2.17530713e+01] [ 8.44447561e-03 -1.29133096e-04 9.99964336e-01 -6.05908540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.440888479 meters 0.014791592856458934 Centerline is valid? [True, True] Translation: X:102.02, Y:-21.77, Z:-0.06 [[ 8.49642745e-01 5.27313640e-01 -6.89434599e-03 1.02018467e+02] [-5.27295281e-01 8.49670710e-01 4.40139618e-03 -2.17663561e+01] [ 8.17884009e-03 -1.04258228e-04 9.99966547e-01 -5.97003943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.470888479 meters 0.014405213366962528 Centerline is valid? [True, True] Translation: X:102.05, Y:-21.78, Z:-0.06 [[ 8.47977078e-01 5.29991802e-01 -6.60038545e-03 1.02047249e+02] [-5.29975039e-01 8.48002762e-01 4.21589598e-03 -2.17796733e+01] [ 7.83153540e-03 -7.69436209e-05 9.99969330e-01 -5.92922792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.500888479 meters 0.013868183654302238 Centerline is valid? [True, True] Translation: X:102.08, Y:-21.79, Z:-0.06 [[ 8.44718517e-01 5.35171537e-01 -6.48478869e-03 1.02080847e+02] [-5.35155492e-01 8.44743408e-01 4.14423930e-03 -2.17871435e+01] [ 7.69586141e-03 -3.03453935e-05 9.99970386e-01 -5.98212993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.530888479 meters 0.013697860927136632 Centerline is valid? [True, True] Translation: X:102.11, Y:-21.80, Z:-0.06 [[ 8.42972052e-01 5.37921172e-01 -6.23957182e-03 1.02111337e+02] [-5.37906377e-01 8.42995144e-01 3.98963650e-03 -2.17989939e+01] [ 7.40603869e-03 -6.84659283e-06 9.99972575e-01 -6.01887633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.560888479 meters 0.01357292706118886 Centerline is valid? [True, True] Translation: X:102.14, Y:-21.81, Z:-0.06 [[ 8.41182498e-01 5.40716817e-01 -6.10978623e-03 1.02142480e+02] [-5.40702686e-01 8.41204686e-01 3.90910758e-03 -2.18120093e+01] [ 7.25330101e-03 1.53049447e-05 9.99973694e-01 -6.05046659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.590888479 meters 0.013711508840189766 Centerline is valid? [True, True] Translation: X:102.17, Y:-21.82, Z:-0.06 [[ 8.39588764e-01 5.43178790e-01 -6.89276151e-03 1.02171214e+02] [-5.43160872e-01 8.39617056e-01 4.41211791e-03 -2.18247845e+01] [ 8.18384899e-03 3.95137275e-05 9.99966511e-01 -6.15299524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.620888479 meters 0.014206117490521671 Centerline is valid? [True, True] Translation: X:102.20, Y:-21.84, Z:-0.06 [[ 8.36980522e-01 5.47162265e-01 -8.77847205e-03 1.02201817e+02] [-5.47133390e-01 8.37026550e-01 5.62209843e-03 -2.18359653e+01] [ 1.04240143e-02 9.74082873e-05 9.99945664e-01 -6.29000439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.650888479 meters 0.014309606943817924 Centerline is valid? [True, True] Translation: X:102.23, Y:-21.85, Z:-0.06 [[ 8.36152066e-01 5.48429958e-01 -8.61994606e-03 1.02231060e+02] [-5.48402148e-01 8.36196490e-01 5.52396546e-03 -2.18505977e+01] [ 1.02374768e-02 1.08321803e-04 9.99947590e-01 -6.36926326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.680888479 meters 0.014560567015625397 Centerline is valid? [True, True] Translation: X:102.26, Y:-21.87, Z:-0.06 [[ 8.35298737e-01 5.49732378e-01 -8.38642271e-03 1.02260595e+02] [-5.49706088e-01 8.35340828e-01 5.37757823e-03 -2.18651036e+01] [ 9.96175016e-03 1.18183319e-04 9.99950374e-01 -6.42083864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710888479 meters 0.014560567015625397 Centerline is valid? [True, True] Translation: X:102.29, Y:-21.88, Z:-0.06 [[ 8.35147391e-01 5.49962297e-01 -8.38494194e-03 1.02287848e+02] [-5.49935995e-01 8.35189475e-01 5.37988689e-03 -2.18826708e+01] [ 9.96175021e-03 1.18182884e-04 9.99950374e-01 -6.42457986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74088847899999 meters 0.01465878652462487 Centerline is valid? [True, True] Translation: X:102.32, Y:-21.90, Z:-0.06 [[ 8.34023073e-01 5.51667304e-01 -8.28855635e-03 1.02318013e+02] [-5.51641659e-01 8.34064247e-01 5.32088472e-03 -2.18951312e+01] [ 9.84854664e-03 1.34572357e-04 9.99951493e-01 -6.46941856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77088847899999 meters 0.01486422950691856 Centerline is valid? [True, True] Translation: X:102.35, Y:-21.91, Z:-0.07 [[ 8.33442384e-01 5.52538710e-01 -8.64677552e-03 1.02346766e+02] [-5.52510818e-01 8.33487223e-01 5.55380784e-03 -2.19104345e+01] [ 1.02756707e-02 1.48658170e-04 9.99947193e-01 -6.54167305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.800888479 meters 0.015572004419797962 Centerline is valid? [True, True] Translation: X:102.37, Y:-21.92, Z:-0.07 [[ 8.32538790e-01 5.53891651e-01 -9.12158135e-03 1.02374310e+02] [-5.53860661e-01 8.32588740e-01 5.86162931e-03 -2.19244493e+01] [ 1.08412335e-02 1.72051302e-04 9.99941217e-01 -6.65056201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.830888479 meters 0.015534601188974985 Centerline is valid? [True, True] Translation: X:102.40, Y:-21.94, Z:-0.07 [[ 8.31146666e-01 5.55977674e-01 -9.16759670e-03 1.02403707e+02] [-5.55946463e-01 8.31197201e-01 5.89439373e-03 -2.19381818e+01] [ 1.08972320e-02 1.97587257e-04 9.99940604e-01 -6.52782538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.860888479 meters 0.016156471067037 Centerline is valid? [True, True] Translation: X:102.43, Y:-21.95, Z:-0.07 [[ 8.30373311e-01 5.57130767e-01 -9.24514970e-03 1.02431867e+02] [-5.57099064e-01 8.30424749e-01 5.94717599e-03 -2.19520325e+01] [ 1.09907558e-02 2.12088034e-04 9.99939577e-01 -6.60527293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.890888479 meters 0.017311881201013585 Centerline is valid? [True, True] Translation: X:102.46, Y:-21.97, Z:-0.07 [[ 8.29833279e-01 5.57927528e-01 -9.67486143e-03 1.02460191e+02] [-5.57892829e-01 8.29889643e-01 6.22660468e-03 -2.19655092e+01] [ 1.15030615e-02 2.30492044e-04 9.99933811e-01 -6.83303038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.920888479 meters 0.016362648788076067 Centerline is valid? [True, True] Translation: X:102.49, Y:-21.98, Z:-0.07 [[ 8.29321657e-01 5.58654194e-01 -1.14490163e-02 1.02487701e+02] [-5.58605619e-01 8.29400634e-01 7.37229215e-03 -2.19815144e+01] [ 1.36143833e-02 2.81483289e-04 9.99907280e-01 -6.87559292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.950888479 meters 0.01768477970930395 Centerline is valid? [True, True] Translation: X:102.52, Y:-22.00, Z:-0.07 [[ 8.29171038e-01 5.58885453e-01 -1.10652252e-02 1.02516780e+02] [-5.58840047e-01 8.29244823e-01 7.12920545e-03 -2.19957837e+01] [ 1.31601899e-02 2.72360277e-04 9.99913364e-01 -7.07776134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.980888479 meters 0.017573478320424725 Centerline is valid? [True, True] Translation: X:102.54, Y:-22.01, Z:-0.07 [[ 8.29383994e-01 5.58578054e-01 -1.06183285e-02 1.02543205e+02] [-5.58536194e-01 8.29451923e-01 6.84304816e-03 -2.20121121e+01] [ 1.26297695e-02 2.55206169e-04 9.99920209e-01 -7.03422006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.010888479 meters 0.017311887613070145 Centerline is valid? [True, True] Translation: X:102.57, Y:-22.03, Z:-0.07 [[ 8.29785558e-01 5.57999312e-01 -9.62780151e-03 1.02570175e+02] [-5.57964822e-01 8.29841382e-01 6.20789699e-03 -2.20299577e+01] [ 1.14535504e-02 2.20751290e-04 9.99934382e-01 -6.92295684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.040888479 meters 0.015708138092721365 Centerline is valid? [True, True] Translation: X:102.60, Y:-22.05, Z:-0.07 [[ 8.30530315e-01 5.56907404e-01 -8.57550336e-03 1.02595852e+02] [-5.56879953e-01 8.30574567e-01 5.53232271e-03 -2.20499953e+01] [ 1.02035865e-02 1.80764180e-04 9.99947926e-01 -6.51627133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070888479 meters 0.015419701241092041 Centerline is valid? [True, True] Translation: X:102.62, Y:-22.07, Z:-0.06 [[ 8.30689890e-01 5.56682108e-01 -7.70311372e-03 1.02622987e+02] [-5.56659924e-01 8.30725590e-01 4.97217836e-03 -2.20678926e+01] [ 9.16709643e-03 1.57676406e-04 9.99957969e-01 -6.39051428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10088847899999 meters 0.015337970949856826 Centerline is valid? [True, True] Translation: X:102.65, Y:-22.08, Z:-0.06 [[ 8.30806275e-01 5.56521427e-01 -6.69580786e-03 1.02650536e+02] [-5.56504642e-01 8.30833246e-01 4.32430511e-03 -2.20849796e+01] [ 7.96966823e-03 1.33588331e-04 9.99968233e-01 -6.28670727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13088847899999 meters 0.01535245805128991 Centerline is valid? [True, True] Translation: X:102.68, Y:-22.10, Z:-0.06 [[ 8.30942983e-01 5.56327906e-01 -5.74634221e-03 1.02678662e+02] [-5.56315526e-01 8.30962844e-01 3.71310769e-03 -2.21006583e+01] [ 6.84070229e-03 1.11398612e-04 9.99976596e-01 -6.16827263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.160888479 meters 0.01661351409070752 Centerline is valid? [True, True] Translation: X:102.71, Y:-22.11, Z:-0.06 [[ 8.31026558e-01 5.56198412e-01 -6.17949602e-03 1.02707358e+02] [-5.56184075e-01 8.31049525e-01 3.99522307e-03 -2.21144583e+01] [ 7.35760396e-03 1.16800802e-04 9.99972926e-01 -6.39076230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.190888479 meters 0.014777952801576278 Centerline is valid? [True, True] Translation: X:102.73, Y:-22.14, Z:-0.06 [[ 8.31056295e-01 5.56142567e-01 -7.13293599e-03 1.02732502e+02] [-5.56123439e-01 8.31086895e-01 4.61448493e-03 -2.21358373e+01] [ 8.49440112e-03 1.31896139e-04 9.99963913e-01 -6.27561089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.220888479 meters 0.015097603267439232 Centerline is valid? [True, True] Translation: X:102.76, Y:-22.15, Z:-0.06 [[ 8.31104335e-01 5.56051457e-01 -8.50651943e-03 1.02758546e+02] [-5.56024221e-01 8.31147853e-01 5.50568247e-03 -2.21520029e+01] [ 1.01316181e-02 1.54034267e-04 9.99948662e-01 -6.45782152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.250888479 meters 0.014834783252236652 Centerline is valid? [True, True] Translation: X:102.79, Y:-22.17, Z:-0.07 [[ 8.31452728e-01 5.55503331e-01 -1.01198102e-02 1.02786319e+02] [-5.55464696e-01 8.31514293e-01 6.55379849e-03 -2.21701850e+01] [ 1.20554238e-02 1.72023687e-04 9.99927316e-01 -6.64900925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.280888479 meters 0.014834733723236434 Centerline is valid? [True, True] Translation: X:102.81, Y:-22.19, Z:-0.07 [[ 8.31716505e-01 5.55117819e-01 -9.58445411e-03 1.02813531e+02] [-5.55083101e-01 8.31771713e-01 6.21032258e-03 -2.21872146e+01] [ 1.14195385e-02 1.54940720e-04 9.99934783e-01 -6.73881386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.310888479 meters 0.014681371834838516 Centerline is valid? [True, True] Translation: X:102.84, Y:-22.21, Z:-0.07 [[ 8.31923365e-01 5.54813946e-01 -9.21952613e-03 1.02840490e+02] [-5.54781767e-01 8.31974437e-01 5.97712488e-03 -2.22052859e+01] [ 1.09866023e-02 1.42315154e-04 9.99939635e-01 -6.72748244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.340888479 meters 0.014217740363300804 Centerline is valid? [True, True] Translation: X:102.87, Y:-22.22, Z:-0.07 [[ 8.32290651e-01 5.54272069e-01 -8.64554313e-03 1.02867102e+02] [-5.54243711e-01 8.32335544e-01 5.60810201e-03 -2.22233378e+01] [ 1.03044072e-02 1.24167035e-04 9.99946900e-01 -6.67548677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.370888479 meters 0.013973705777436325 Centerline is valid? [True, True] Translation: X:102.89, Y:-22.24, Z:-0.06 [[ 8.33637038e-01 5.52266823e-01 -7.11652702e-03 1.02893147e+02] [-5.52247529e-01 8.33667409e-01 4.61701988e-03 -2.22432483e+01] [ 8.48264355e-03 8.11656821e-05 9.99964018e-01 -6.42644107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.400888479 meters 0.013968393131720061 Centerline is valid? [True, True] Translation: X:102.92, Y:-22.26, Z:-0.06 [[ 8.34308237e-01 5.51264670e-01 -6.08520062e-03 1.02918913e+02] [-5.51250520e-01 8.34330426e-01 3.95012005e-03 -2.22611678e+01] [ 7.25462965e-03 5.88523171e-05 9.99973683e-01 -6.31667777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430888479 meters 0.01395525697301929 Centerline is valid? [True, True] Translation: X:102.95, Y:-22.28, Z:-0.06 [[ 8.34782975e-01 5.50551493e-01 -5.51709038e-03 1.02945475e+02] [-5.50539834e-01 8.34801204e-01 3.58333306e-03 -2.22797872e+01] [ 6.57848306e-03 4.60725879e-05 9.99978360e-01 -6.24455287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.460888479 meters 0.0139501284230032 Centerline is valid? [True, True] Translation: X:102.97, Y:-22.30, Z:-0.06 [[ 8.35441806e-01 5.49541546e-01 -6.40923157e-03 1.02971604e+02] [-5.49525763e-01 8.35466389e-01 4.16514338e-03 -2.22979205e+01] [ 7.64361689e-03 4.23029630e-05 9.99970786e-01 -6.32423932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49088847899999 meters 0.01383064533017674 Centerline is valid? [True, True] Translation: X:103.00, Y:-22.32, Z:-0.06 [[ 8.35489990e-01 5.49463357e-01 -6.81875397e-03 1.02999056e+02] [-5.49445468e-01 8.35517814e-01 4.43401764e-03 -2.23167193e+01] [ 8.13352063e-03 4.19561125e-05 9.99966922e-01 -6.30529455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52088847899999 meters 0.01392549102289182 Centerline is valid? [True, True] Translation: X:103.02, Y:-22.33, Z:-0.06 [[ 8.35499407e-01 5.49434859e-01 -7.87888158e-03 1.03024576e+02] [-5.49410962e-01 8.35536554e-01 5.12463938e-03 -2.23339377e+01] [ 9.39874909e-03 4.71107399e-05 9.99955830e-01 -6.39411441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.550888479 meters 0.013903658326243412 Centerline is valid? [True, True] Translation: X:103.05, Y:-22.35, Z:-0.06 [[ 8.35326511e-01 5.49696344e-01 -7.97173774e-03 1.03052117e+02] [-5.49671860e-01 8.35364547e-01 5.18840093e-03 -2.23520041e+01] [ 9.51135212e-03 4.78310606e-05 9.99954765e-01 -6.42583634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.580888479 meters 0.01405683314574544 Centerline is valid? [True, True] Translation: X:103.08, Y:-22.37, Z:-0.06 [[ 8.34962893e-01 5.50242840e-01 -8.35368917e-03 1.03080221e+02] [-5.50215948e-01 8.35004679e-01 5.44028265e-03 -2.23700117e+01] [ 9.96884612e-03 5.38988665e-05 9.99950308e-01 -6.47414585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.610888479 meters 0.014028607506544163 Centerline is valid? [True, True] Translation: X:103.11, Y:-22.39, Z:-0.07 [[ 8.34321644e-01 5.51223092e-01 -7.77798288e-03 1.03108333e+02] [-5.51199792e-01 8.34357897e-01 5.06844782e-03 -2.23876832e+01] [ 9.28346691e-03 5.85068280e-05 9.99956906e-01 -6.54751217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.640888479 meters 0.013934907590662743 Centerline is valid? [True, True] Translation: X:103.14, Y:-22.41, Z:-0.06 [[ 8.34164492e-01 5.51468769e-01 -7.19705401e-03 1.03135809e+02] [-5.51448804e-01 8.34195537e-01 4.69279751e-03 -2.24062530e+01] [ 8.59168160e-03 5.42417795e-05 9.99963089e-01 -6.48467385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.670888479 meters 0.014099016109468785 Centerline is valid? [True, True] Translation: X:103.16, Y:-22.42, Z:-0.06 [[ 8.34061268e-01 5.51632448e-01 -6.59109502e-03 1.03161824e+02] [-5.51615700e-01 8.34087309e-01 4.29880538e-03 -2.24238274e+01] [ 7.86890924e-03 5.02844253e-05 9.99969038e-01 -6.41647652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.700888479 meters 0.013871388626507566 Centerline is valid? [True, True] Translation: X:103.19, Y:-22.44, Z:-0.06 [[ 8.33779014e-01 5.52061292e-01 -6.39420681e-03 1.03188731e+02] [-5.52045521e-01 8.33803530e-01 4.17317264e-03 -2.24435761e+01] [ 7.63535929e-03 5.03894638e-05 9.99970849e-01 -6.27227089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.730888479 meters 0.014126239756965921 Centerline is valid? [True, True] Translation: X:103.21, Y:-22.46, Z:-0.06 [[ 8.33195216e-01 5.52934162e-01 -7.03879003e-03 1.03214410e+02] [-5.52915064e-01 8.33224945e-01 4.59602567e-03 -2.24603155e+01] [ 8.40619504e-03 6.24664392e-05 9.99964665e-01 -6.34185011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.760888479 meters 0.014388854662394797 Centerline is valid? [True, True] Translation: X:103.24, Y:-22.48, Z:-0.07 [[ 8.32614889e-01 5.53801754e-01 -7.48759162e-03 1.03241066e+02] [-5.53780157e-01 8.32648552e-01 4.89142807e-03 -2.24763075e+01] [ 8.94341377e-03 7.38038330e-05 9.99960004e-01 -6.51987258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790888479 meters 0.01441312794687343 Centerline is valid? [True, True] Translation: X:103.27, Y:-22.49, Z:-0.07 [[ 8.31496731e-01 5.55477712e-01 -7.59583081e-03 1.03268149e+02] [-5.55455532e-01 8.31531420e-01 4.96480856e-03 -2.24929049e+01] [ 9.07401249e-03 9.09241549e-05 9.99958826e-01 -6.57144795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.820888479 meters 0.014888691964070163 Centerline is valid? [True, True] Translation: X:103.30, Y:-22.51, Z:-0.07 [[ 8.29178463e-01 5.58926433e-01 -8.01996080e-03 1.03296936e+02] [-5.58901840e-01 8.29217236e-01 5.24482455e-03 -2.25081914e+01] [ 9.58176081e-03 1.33475294e-04 9.99954085e-01 -6.64293199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85088847899999 meters 0.015503788142468044 Centerline is valid? [True, True] Translation: X:103.32, Y:-22.52, Z:-0.07 [[ 8.28154456e-01 5.60444554e-01 -7.88034438e-03 1.03323391e+02] [-5.60420855e-01 8.28191935e-01 5.15604588e-03 -2.25243577e+01] [ 9.41611549e-03 1.46306967e-04 9.99955657e-01 -6.69911492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88088847899999 meters 0.01603313356294033 Centerline is valid? [True, True] Translation: X:103.35, Y:-22.54, Z:-0.07 [[ 8.27260235e-01 5.61754870e-01 -8.48346222e-03 1.03348871e+02] [-5.61727460e-01 8.27303714e-01 5.55204419e-03 -2.25417326e+01] [ 1.01372877e-02 1.72408298e-04 9.99948602e-01 -6.69091372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.910888479 meters 0.01625205417863294 Centerline is valid? [True, True] Translation: X:103.37, Y:-22.56, Z:-0.07 [[ 8.26592209e-01 5.62724890e-01 -9.27457979e-03 1.03374887e+02] [-5.62692154e-01 8.26644215e-01 6.07305791e-03 -2.25608424e+01] [ 1.10842386e-02 1.98790923e-04 9.99938548e-01 -6.63959453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.940888479 meters 0.016166808218949582 Centerline is valid? [True, True] Translation: X:103.40, Y:-22.58, Z:-0.07 [[ 8.26157320e-01 5.63358143e-01 -9.57521856e-03 1.03400343e+02] [-5.63323255e-01 8.26212780e-01 6.27316355e-03 -2.25811679e+01] [ 1.14452057e-02 2.11323294e-04 9.99934479e-01 -6.57432491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.970888479 meters 0.016020790683508198 Centerline is valid? [True, True] Translation: X:103.43, Y:-22.60, Z:-0.07 [[ 8.25886062e-01 5.63765484e-01 -8.98285421e-03 1.03427352e+02] [-5.63734764e-01 8.25934888e-01 5.88868162e-03 -2.25999138e+01] [ 1.07390881e-02 2.00567127e-04 9.99942314e-01 -6.52352690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.000888479 meters 0.015961012834470257 Centerline is valid? [True, True] Translation: X:103.45, Y:-22.62, Z:-0.06 [[ 8.25551581e-01 5.64276900e-01 -7.49452249e-03 1.03453616e+02] [-5.64255514e-01 8.25585581e-01 4.91564630e-03 -2.26192190e+01] [ 8.96115536e-03 1.70706069e-04 9.99959833e-01 -6.41933418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.030888479 meters 0.01593900771523752 Centerline is valid? [True, True] Translation: X:103.48, Y:-22.64, Z:-0.06 [[ 8.25302206e-01 5.64649940e-01 -6.83476833e-03 1.03480066e+02] [-5.64632144e-01 8.25330492e-01 4.48573228e-03 -2.26382885e+01] [ 8.17381117e-03 1.57045144e-04 9.99966582e-01 -6.38971081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.060888479 meters 0.016212020251376576 Centerline is valid? [True, True] Translation: X:103.51, Y:-22.66, Z:-0.06 [[ 8.25084947e-01 5.64969649e-01 -6.64270656e-03 1.03506549e+02] [-5.64952830e-01 8.25111672e-01 4.36213831e-03 -2.26568514e+01] [ 7.94545047e-03 1.53681211e-04 9.99968423e-01 -6.40625970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.090888479 meters 0.016353528133662653 Centerline is valid? [True, True] Translation: X:103.53, Y:-22.68, Z:-0.06 [[ 8.24438279e-01 5.65914966e-01 -6.46344539e-03 1.03531657e+02] [-5.65899054e-01 8.24463600e-01 4.24662503e-03 -2.26777290e+01] [ 7.73210411e-03 1.56577398e-04 9.99970095e-01 -6.35217238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.120888479 meters 0.01713172655858432 Centerline is valid? [True, True] Translation: X:103.56, Y:-22.70, Z:-0.06 [[ 8.23809960e-01 5.66832710e-01 -6.15054454e-03 1.03557599e+02] [-5.66818313e-01 8.23832905e-01 4.04298229e-03 -2.26952889e+01] [ 7.35871558e-03 1.55592205e-04 9.99972912e-01 -6.41361159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.150888479 meters 0.017531093565977564 Centerline is valid? [True, True] Translation: X:103.58, Y:-22.71, Z:-0.07 [[ 8.22670076e-01 5.68483406e-01 -6.36893855e-03 1.03583657e+02] [-5.68468002e-01 8.22694711e-01 4.18852362e-03 -2.27131906e+01] [ 7.62079823e-03 1.74764727e-04 9.99970946e-01 -6.54145096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.180888479 meters 0.018713805525189718 Centerline is valid? [True, True] Translation: X:103.61, Y:-22.73, Z:-0.07 [[ 8.21976963e-01 5.69480836e-01 -6.74168917e-03 1.03610026e+02] [-5.69463593e-01 8.22004587e-01 4.43574352e-03 -2.27300749e+01] [ 8.06777035e-03 1.93067557e-04 9.99967436e-01 -6.68594226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210888479 meters 0.018391919881199495 Centerline is valid? [True, True] Translation: X:103.64, Y:-22.75, Z:-0.07 [[ 8.21363016e-01 5.70361857e-01 -7.08152869e-03 1.03635419e+02] [-5.70342844e-01 8.21393516e-01 4.66173040e-03 -2.27507076e+01] [ 8.47559496e-03 2.09926273e-04 9.99964059e-01 -6.68671422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24088847899999 meters 0.01810313529401022 Centerline is valid? [True, True] Translation: X:103.66, Y:-22.77, Z:-0.07 [[ 8.20873117e-01 5.71058848e-01 -7.68876563e-03 1.03660377e+02] [-5.71036442e-01 8.20909092e-01 5.06408124e-03 -2.27715116e+01] [ 9.20366601e-03 2.33597218e-04 9.99957618e-01 -6.62028541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27088847899999 meters 0.01773212307947572 Centerline is valid? [True, True] Translation: X:103.68, Y:-22.79, Z:-0.07 [[ 8.20434039e-01 5.71683676e-01 -8.10937713e-03 1.03683684e+02] [-5.71658754e-01 8.20474077e-01 5.34393715e-03 -2.27940744e+01] [ 9.70857535e-03 2.51448489e-04 9.99952839e-01 -6.61737420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.300888479 meters 0.017943790407567942 Centerline is valid? [True, True] Translation: X:103.71, Y:-22.81, Z:-0.07 [[ 8.20272739e-01 5.71917013e-01 -7.97275179e-03 1.03709364e+02] [-5.71892906e-01 8.20311446e-01 5.25689865e-03 -2.28129564e+01] [ 9.54664932e-03 2.47469533e-04 9.99954399e-01 -6.64323804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.330888479 meters 0.018330391480566477 Centerline is valid? [True, True] Translation: X:103.74, Y:-22.83, Z:-0.07 [[ 8.20099950e-01 5.72166498e-01 -7.84671055e-03 1.03735027e+02] [-5.72143141e-01 8.20137451e-01 5.17561193e-03 -2.28319242e+01] [ 9.39669294e-03 2.44922537e-04 9.99955820e-01 -6.69040274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.360888479 meters 0.01746055517393195 Centerline is valid? [True, True] Translation: X:103.76, Y:-22.85, Z:-0.07 [[ 8.20089305e-01 5.72186687e-01 -7.47839801e-03 1.03759559e+02] [-5.72165448e-01 8.20123370e-01 4.93544705e-03 -2.28527953e+01] [ 8.95720608e-03 2.31373608e-04 9.99959857e-01 -6.60769408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.390888479 meters 0.018054698725723975 Centerline is valid? [True, True] Translation: X:103.79, Y:-22.87, Z:-0.07 [[ 8.20070249e-01 5.72215384e-01 -7.37157474e-03 1.03785544e+02] [-5.72194724e-01 8.20103349e-01 4.86775796e-03 -2.28715303e+01] [ 8.83085912e-03 2.26072684e-04 9.99960982e-01 -6.65700789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.420888479 meters 0.016871447075458068 Centerline is valid? [True, True] Translation: X:103.81, Y:-22.90, Z:-0.06 [[ 8.20840476e-01 5.71110140e-01 -7.35665097e-03 1.03807145e+02] [-5.71089496e-01 8.20873415e-01 4.86053312e-03 -2.28968651e+01] [ 8.81477896e-03 2.11583771e-04 9.99961127e-01 -6.48204343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.450888479 meters 0.01768766267467761 Centerline is valid? [True, True] Translation: X:103.83, Y:-22.92, Z:-0.07 [[ 8.21594169e-01 5.70031631e-01 -6.85282007e-03 1.03832216e+02] [-5.70013670e-01 8.21622727e-01 4.52893016e-03 -2.29153080e+01] [ 8.21206615e-03 1.85258509e-04 9.99966263e-01 -6.52283256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.480888479 meters 0.01608240920326106 Centerline is valid? [True, True] Translation: X:103.85, Y:-22.94, Z:-0.06 [[ 8.23756095e-01 5.66920310e-01 -5.22090963e-03 1.03852127e+02] [-5.66909813e-01 8.23772631e-01 3.45187943e-03 -2.29415021e+01] [ 6.25778302e-03 1.16278185e-04 9.99980413e-01 -6.18977051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.510888479 meters 0.01615799605133606 Centerline is valid? [True, True] Translation: X:103.88, Y:-22.96, Z:-0.06 [[ 8.25124402e-01 5.64933585e-01 -4.44600697e-03 1.03876441e+02] [-5.64925939e-01 8.25136375e-01 2.94041120e-03 -2.29612571e+01] [ 5.32969911e-03 8.54596252e-05 9.99985793e-01 -6.16596967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.540888479 meters 0.01515773853922623 Centerline is valid? [True, True] Translation: X:103.90, Y:-22.98, Z:-0.06 [[ 8.26238572e-01 5.63303677e-01 -4.33475092e-03 1.03900237e+02] [-5.63296378e-01 8.26249940e-01 2.86850086e-03 -2.29841942e+01] [ 5.19742477e-03 7.16834413e-05 9.99986491e-01 -6.11910975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570888479 meters 0.014840139430050761 Centerline is valid? [True, True] Translation: X:103.92, Y:-23.00, Z:-0.06 [[ 8.27332557e-01 5.61696002e-01 -4.29442747e-03 1.03924653e+02] [-5.61688809e-01 8.27343700e-01 2.84318121e-03 -2.30044280e+01] [ 5.14997103e-03 5.98754688e-05 9.99986737e-01 -6.17855260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60088847899999 meters 0.014840139430050761 Centerline is valid? [True, True] Translation: X:103.95, Y:-23.02, Z:-0.06 [[ 8.27177301e-01 5.61924619e-01 -4.29360881e-03 1.03951637e+02] [-5.61917423e-01 8.27188442e-01 2.84441743e-03 -2.30223814e+01] [ 5.14997177e-03 5.98160634e-05 9.99986737e-01 -6.18229129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63088847899999 meters 0.014588915216115182 Centerline is valid? [True, True] Translation: X:103.97, Y:-23.04, Z:-0.06 [[ 8.28858576e-01 5.59449528e-01 -3.11239749e-03 1.03974795e+02] [-5.59445726e-01 8.28864419e-01 2.06291949e-03 -2.30438680e+01] [ 3.73385487e-03 3.13489579e-05 9.99993029e-01 -6.22579299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.660888479 meters 0.014524384684068007 Centerline is valid? [True, True] Translation: X:104.00, Y:-23.06, Z:-0.06 [[ 8.29493979e-01 5.58510533e-01 -2.39222674e-03 1.03999677e+02] [-5.58508280e-01 8.29497429e-01 1.58650133e-03 -2.30636927e+01] [ 2.87042363e-03 2.00851359e-05 9.99995880e-01 -6.22197180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.690888479 meters 0.014441581367912472 Centerline is valid? [True, True] Translation: X:104.02, Y:-23.09, Z:-0.06 [[ 8.30325687e-01 5.57273935e-01 -2.23929865e-03 1.04022332e+02] [-5.57271954e-01 8.30328707e-01 1.48578538e-03 -2.30860145e+01] [ 2.68734342e-03 1.42125632e-05 9.99996389e-01 -6.14486947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.720888479 meters 0.014495833115369519 Centerline is valid? [True, True] Translation: X:104.05, Y:-23.11, Z:-0.06 [[ 8.30778425e-01 5.56595357e-01 -2.96938341e-03 1.04047968e+02] [-5.56591866e-01 8.30783732e-01 1.97133559e-03 -2.31067964e+01] [ 3.56415167e-03 1.49915724e-05 9.99993648e-01 -6.17167837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.750888479 meters 0.014520756857482277 Centerline is valid? [True, True] Translation: X:104.07, Y:-23.13, Z:-0.06 [[ 8.31248920e-01 5.55891433e-01 -3.15393052e-03 1.04074318e+02] [-5.55887485e-01 8.31254903e-01 2.09506632e-03 -2.31271539e+01] [ 3.78634963e-03 1.17088842e-05 9.99992832e-01 -6.24600541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.780888479 meters 0.014714460059109912 Centerline is valid? [True, True] Translation: X:104.10, Y:-23.15, Z:-0.06 [[ 8.32547129e-01 5.53943862e-01 -3.38739784e-03 1.04098866e+02] [-5.53939290e-01 8.32554021e-01 2.25080699e-03 -2.31478671e+01] [ 4.06701241e-03 2.50985858e-06 9.99991730e-01 -6.33479647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.810888479 meters 0.014590576896504446 Centerline is valid? [True, True] Translation: X:104.13, Y:-23.17, Z:-0.06 [[ 8.33384698e-01 5.52684121e-01 -3.19485851e-03 1.04125527e+02] [-5.52680039e-01 8.33390822e-01 2.12427799e-03 -2.31679704e+01] [ 3.83662048e-03 -4.60624088e-06 9.99992640e-01 -6.30754212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.840888479 meters 0.014805980059306266 Centerline is valid? [True, True] Translation: X:104.15, Y:-23.19, Z:-0.06 [[ 8.34361032e-01 5.51212306e-01 -2.58125732e-03 1.04151775e+02] [-5.51209630e-01 8.34365025e-01 1.71736247e-03 -2.31887224e+01] [ 3.10034216e-03 -1.00864257e-05 9.99995194e-01 -6.28759855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.870888479 meters 0.01496186173922764 Centerline is valid? [True, True] Translation: X:104.18, Y:-23.21, Z:-0.06 [[ 8.35451724e-01 5.49557066e-01 -2.72895660e-03 1.04177486e+02] [-5.49554064e-01 8.35456181e-01 1.81667704e-03 -2.32100542e+01] [ 3.27829137e-03 -1.80367737e-05 9.99994626e-01 -6.24716346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.900888479 meters 0.015450781182755636 Centerline is valid? [True, True] Translation: X:104.20, Y:-23.23, Z:-0.06 [[ 8.37712832e-01 5.46100930e-01 -3.31447885e-03 1.04200497e+02] [-5.46096469e-01 8.37719388e-01 2.20748652e-03 -2.32333829e+01] [ 3.98211364e-03 -3.92145802e-05 9.99992071e-01 -6.22643811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930888479 meters 0.01578577733321935 Centerline is valid? [True, True] Translation: X:104.22, Y:-23.25, Z:-0.06 [[ 8.38560073e-01 5.44801476e-01 -2.89052969e-03 1.04224893e+02] [-5.44798073e-01 8.38565054e-01 1.92606804e-03 -2.32523267e+01] [ 3.47322190e-03 -4.03687551e-05 9.99993968e-01 -6.18755958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.960888479 meters 0.015886397389437458 Centerline is valid? [True, True] Translation: X:104.25, Y:-23.27, Z:-0.06 [[ 8.38842407e-01 5.44370337e-01 -2.08630614e-03 1.04252068e+02] [-5.44368560e-01 8.38845001e-01 1.39115214e-03 -2.32715372e+01] [ 2.50738944e-03 -3.12379362e-05 9.99996856e-01 -6.14296041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99088847899999 meters 0.015781701223884906 Centerline is valid? [True, True] Translation: X:104.28, Y:-23.29, Z:-0.06 [[ 8.38356172e-01 5.45122717e-01 -3.91099542e-04 1.04279506e+02] [-5.45122654e-01 8.38356263e-01 2.61179352e-04 -2.32886364e+01] [ 4.70255549e-04 -5.76410093e-06 9.99999889e-01 -6.04223589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02088847899999 meters 0.015677459292846103 Centerline is valid? [True, True] Translation: X:104.31, Y:-23.31, Z:-0.06 [[ 8.37494547e-01 5.46445645e-01 -2.03749674e-04 1.04305074e+02] [-5.46445628e-01 8.37494572e-01 1.36262171e-04 -2.33056260e+01] [ 2.45099116e-04 -2.78070622e-06 9.99999970e-01 -5.98999318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.050888479 meters 0.01547849010864718 Centerline is valid? [True, True] Translation: X:104.33, Y:-23.32, Z:-0.06 [[ 8.36440635e-01 5.48057311e-01 -4.97635279e-04 1.04331839e+02] [-5.48057210e-01 8.36440783e-01 3.32554533e-04 -2.33229274e+01] [ 5.98501385e-04 -5.42952186e-06 9.99999821e-01 -6.01549607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.080888479 meters 0.015138193147994083 Centerline is valid? [True, True] Translation: X:104.36, Y:-23.34, Z:-0.06 [[ 8.34219279e-01 5.51430825e-01 -1.49693003e-03 1.04360675e+02] [-5.51429918e-01 8.34220622e-01 1.00023930e-03 -2.33380959e+01] [ 1.80033268e-03 -8.96690119e-06 9.99998379e-01 -6.17884535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.110888479 meters 0.015083388181987555 Centerline is valid? [True, True] Translation: X:104.39, Y:-23.35, Z:-0.06 [[ 8.32944450e-01 5.53351380e-01 -2.40691861e-03 1.04388125e+02] [-5.53349040e-01 8.32947928e-01 1.60900183e-03 -2.33544786e+01] [ 2.89518125e-03 -8.34304575e-06 9.99995809e-01 -6.34436307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.140888479 meters 0.015052457577078949 Centerline is valid? [True, True] Translation: X:104.42, Y:-23.37, Z:-0.06 [[ 8.31390099e-01 5.55682868e-01 -2.65579341e-03 1.04416991e+02] [-5.55680029e-01 8.31394341e-01 1.77639868e-03 -2.33713634e+01] [ 3.19512592e-03 -1.10891441e-06 9.99994896e-01 -6.48571802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.170888479 meters 0.015247019178687874 Centerline is valid? [True, True] Translation: X:104.45, Y:-23.39, Z:-0.06 [[ 8.28774699e-01 5.59577851e-01 -2.26436027e-03 1.04445966e+02] [-5.59575799e-01 8.28777792e-01 1.51557236e-03 -2.33867670e+01] [ 2.72473223e-03 1.10131770e-05 9.99996288e-01 -6.43817646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.200888479 meters 0.015264070650570952 Centerline is valid? [True, True] Translation: X:104.47, Y:-23.40, Z:-0.06 [[ 8.27892774e-01 5.60884917e-01 -1.29022182e-03 1.04472926e+02] [-5.60884252e-01 8.27893779e-01 8.64193556e-04 -2.34029940e+01] [ 1.55287975e-03 8.20549866e-06 9.99998794e-01 -6.35498389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.230888479 meters 0.015460392529360654 Centerline is valid? [True, True] Translation: X:104.50, Y:-23.42, Z:-0.06 [[ 8.26874100e-01 5.62386370e-01 -8.91083646e-04 1.04500681e+02] [-5.62386053e-01 8.26874580e-01 5.97340904e-04 -2.34201138e+01] [ 1.07275080e-03 7.20729257e-06 9.99999425e-01 -6.25743324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.260888479 meters 0.015762078650129255 Centerline is valid? [True, True] Translation: X:104.53, Y:-23.44, Z:-0.06 [[ 8.26226938e-01 5.63337201e-01 -4.95208658e-04 1.04528378e+02] [-5.63337103e-01 8.26227086e-01 3.32293760e-04 -2.34359461e+01] [ 5.96348243e-04 4.41935451e-06 9.99999822e-01 -6.25164990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290888479 meters 0.01586254502122934 Centerline is valid? [True, True] Translation: X:104.56, Y:-23.45, Z:-0.06 [[ 8.25214248e-01 5.64819337e-01 -7.48702048e-04 1.04556391e+02] [-5.64819114e-01 8.25214588e-01 5.02442597e-04 -2.34515197e+01] [ 9.01629147e-04 8.25843772e-06 9.99999594e-01 -6.39812008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.320888479 meters 0.015970773760529473 Centerline is valid? [True, True] Translation: X:104.58, Y:-23.47, Z:-0.06 [[ 8.24817890e-01 5.65398174e-01 -5.94145220e-04 1.04583036e+02] [-5.65398033e-01 8.24818104e-01 3.99031459e-04 -2.34685517e+01] [ 7.15673392e-04 6.80025288e-06 9.99999744e-01 -6.42089606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35088847899999 meters 0.015917206263574745 Centerline is valid? [True, True] Translation: X:104.61, Y:-23.49, Z:-0.06 [[ 8.24580662e-01 5.65744305e-01 -3.36617865e-04 1.04610031e+02] [-5.65744259e-01 8.24580731e-01 2.26391847e-04 -2.34880212e+01] [ 4.05648503e-04 3.76128541e-06 9.99999918e-01 -6.36105701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38088847899999 meters 0.015934009202948032 Centerline is valid? [True, True] Translation: X:104.64, Y:-23.51, Z:-0.06 [[ 8.24986566e-01 5.65152337e-01 -3.30133653e-05 1.04635364e+02] [-5.65152337e-01 8.24986567e-01 2.25094144e-05 -2.35072861e+01] [ 3.99568312e-05 8.76160817e-08 9.99999999e-01 -6.20382683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.410888479 meters 0.015912993755544603 Centerline is valid? [True, True] Translation: X:104.66, Y:-23.53, Z:-0.06 [[ 8.25351374e-01 5.64619417e-01 1.51155975e-04 1.04662568e+02] [-5.64619408e-01 8.25351388e-01 -1.01220396e-04 -2.35257818e+01] [-1.81907795e-04 -1.80320428e-06 9.99999983e-01 -6.19116509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.440888479 meters 0.015805620558116764 Centerline is valid? [True, True] Translation: X:104.69, Y:-23.54, Z:-0.06 [[ 8.25632335e-01 5.64208283e-01 5.11456495e-04 1.04689436e+02] [-5.64208178e-01 8.25632493e-01 -3.43670304e-04 -2.35435847e+01] [-6.16176734e-04 -4.82262172e-06 9.99999810e-01 -6.23418399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.470888479 meters 0.015977119920974815 Centerline is valid? [True, True] Translation: X:104.72, Y:-23.56, Z:-0.06 [[ 8.25605595e-01 5.64247549e-01 3.22952627e-04 1.04715738e+02] [-5.64247508e-01 8.25605658e-01 -2.16924505e-04 -2.35616419e+01] [-3.89030637e-04 -3.13113040e-06 9.99999924e-01 -6.30452400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.500888479 meters 0.015820982515387987 Centerline is valid? [True, True] Translation: X:104.74, Y:-23.58, Z:-0.06 [[ 8.25146829e-01 5.64918319e-01 -6.09596108e-05 1.04742838e+02] [-5.64918317e-01 8.25146831e-01 4.14281603e-05 -2.35809124e+01] [ 7.37041564e-05 2.52885608e-07 9.99999997e-01 -6.25691486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.530888479 meters 0.01609375056619932 Centerline is valid? [True, True] Translation: X:104.77, Y:-23.60, Z:-0.06 [[ 8.24488450e-01 5.65878664e-01 -3.64255812e-04 1.04769849e+02] [-5.65878611e-01 8.24488531e-01 2.45713791e-04 -2.35985744e+01] [ 4.39368931e-04 3.53638990e-06 9.99999903e-01 -6.26654237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.560888479 meters 0.01644452372375835 Centerline is valid? [True, True] Translation: X:104.80, Y:-23.62, Z:-0.06 [[ 8.23796411e-01 5.66884372e-01 -1.25790630e-03 1.04797107e+02] [-5.66883738e-01 8.23797371e-01 8.48111565e-04 -2.36152890e+01] [ 1.51704109e-03 1.44153600e-05 9.99998849e-01 -6.34231614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.590888479 meters 0.016211742941320717 Centerline is valid? [True, True] Translation: X:104.82, Y:-23.63, Z:-0.06 [[ 8.23509357e-01 5.67300992e-01 -1.38717367e-03 1.04823975e+02] [-5.67300220e-01 8.23510525e-01 9.35802704e-04 -2.36340710e+01] [ 1.67323392e-03 1.63016463e-05 9.99998600e-01 -6.34920877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.620888479 meters 0.01636622160971094 Centerline is valid? [True, True] Translation: X:104.85, Y:-23.65, Z:-0.06 [[ 8.23099576e-01 5.67894904e-01 -1.57010837e-03 1.04851243e+02] [-5.67893916e-01 8.23101074e-01 1.05971785e-03 -2.36512882e+01] [ 1.89416626e-03 1.94016779e-05 9.99998206e-01 -6.40656233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.650888479 meters 0.01655843308526229 Centerline is valid? [True, True] Translation: X:104.88, Y:-23.67, Z:-0.07 [[ 8.22389607e-01 5.68920973e-01 -2.06426686e-03 1.04878544e+02] [-5.68919266e-01 8.22392197e-01 1.39382713e-03 -2.36682846e+01] [ 2.49061444e-03 2.81322464e-05 9.99996898e-01 -6.57155813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.680888479 meters 0.016611647355830973 Centerline is valid? [True, True] Translation: X:104.91, Y:-23.69, Z:-0.07 [[ 8.22115524e-01 5.69317594e-01 -1.88213926e-03 1.04905036e+02] [-5.69316175e-01 8.22117678e-01 1.27125200e-03 -2.36855319e+01] [ 2.27108609e-03 2.64163219e-05 9.99997421e-01 -6.62558155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710888479 meters 0.016537900833737348 Centerline is valid? [True, True] Translation: X:104.93, Y:-23.70, Z:-0.06 [[ 8.21759774e-01 5.69832357e-01 -1.39991594e-03 1.04931737e+02] [-5.69831571e-01 8.21760966e-01 9.46314723e-04 -2.37047382e+01] [ 1.68963702e-03 2.00729258e-05 9.99998572e-01 -6.49849113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74088847899999 meters 0.016691225466209835 Centerline is valid? [True, True] Translation: X:104.96, Y:-23.72, Z:-0.06 [[ 8.21463301e-01 5.70261332e-01 2.39343314e-04 1.04957865e+02] [-5.70261310e-01 8.21463336e-01 -1.61458432e-04 -2.37236467e+01] [-2.88685258e-04 -3.85605485e-06 9.99999958e-01 -6.11541537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77088847899999 meters 0.01677689284508046 Centerline is valid? [True, True] Translation: X:104.98, Y:-23.74, Z:-0.06 [[ 8.21435365e-01 5.70301376e-01 5.30225126e-04 1.04983807e+02] [-5.70301264e-01 8.21435536e-01 -3.58370907e-04 -2.37418244e+01] [-6.39925183e-04 -8.00952237e-06 9.99999795e-01 -5.99485268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.800888479 meters 0.01646088789166565 Centerline is valid? [True, True] Translation: X:105.01, Y:-23.76, Z:-0.06 [[ 8.21608339e-01 5.70051812e-01 8.17998002e-04 1.05011005e+02] [-5.70051544e-01 8.21608746e-01 -5.53178862e-04 -2.37611842e+01] [-9.87414925e-04 -1.18046583e-05 9.99999512e-01 -5.95463844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.830888479 meters 0.01673235353185099 Centerline is valid? [True, True] Translation: X:105.04, Y:-23.78, Z:-0.06 [[ 8.21463214e-01 5.70261415e-01 3.26025101e-04 1.05038624e+02] [-5.70261372e-01 8.21463279e-01 -2.20395150e-04 -2.37769328e+01] [-3.93500498e-04 -4.87301330e-06 9.99999923e-01 -6.09498267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.860888479 meters 0.016405923957330128 Centerline is valid? [True, True] Translation: X:105.07, Y:-23.80, Z:-0.06 [[ 8.21075460e-01 5.70819661e-01 6.50435328e-05 1.05065091e+02] [-5.70819659e-01 8.21075462e-01 -4.36831989e-05 -2.37961649e+01] [-7.83408775e-05 -1.26092468e-06 9.99999997e-01 -6.13474625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.890888479 meters 0.01636825100853512 Centerline is valid? [True, True] Translation: X:105.09, Y:-23.81, Z:-0.06 [[ 8.21105782e-01 5.70776027e-01 1.49929347e-04 1.05091903e+02] [-5.70776018e-01 8.21105795e-01 -1.01257247e-04 -2.38148272e+01] [-1.80903065e-04 -2.43316431e-06 9.99999984e-01 -6.12772521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.920888479 meters 0.016056716065197145 Centerline is valid? [True, True] Translation: X:105.12, Y:-23.84, Z:-0.06 [[ 8.21372401e-01 5.70391855e-01 -7.14539034e-04 1.05117476e+02] [-5.70391649e-01 8.21372712e-01 4.85062753e-04 -2.38356315e+01] [ 8.63578707e-04 9.14993967e-06 9.99999627e-01 -6.00129654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.950888479 meters 0.01595274088555064 Centerline is valid? [True, True] Translation: X:105.14, Y:-23.85, Z:-0.06 [[ 8.21824911e-01 5.69739418e-01 -9.01273803e-04 1.05143063e+02] [-5.69739089e-01 8.21825405e-01 6.11993548e-04 -2.38542357e+01] [ 1.08936656e-03 1.05393730e-05 9.99999407e-01 -5.98627171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.980888479 meters 0.015685234917201512 Centerline is valid? [True, True] Translation: X:105.17, Y:-23.87, Z:-0.06 [[ 8.22366903e-01 5.68956325e-01 -1.17343281e-03 1.05169561e+02] [-5.68955767e-01 8.22367740e-01 7.97118314e-04 -2.38726374e+01] [ 1.41851880e-03 1.21076454e-05 9.99998994e-01 -6.01859870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.010888479 meters 0.015687905486230048 Centerline is valid? [True, True] Translation: X:105.20, Y:-23.89, Z:-0.06 [[ 8.22916055e-01 5.68162771e-01 -4.83056535e-04 1.05196376e+02] [-5.68162676e-01 8.22916196e-01 3.28473519e-04 -2.38877221e+01] [ 5.84141471e-04 4.14856137e-06 9.99999829e-01 -6.15172645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.040888479 meters 0.015428233353240992 Centerline is valid? [True, True] Translation: X:105.22, Y:-23.91, Z:-0.06 [[ 8.22984703e-01 5.68063411e-01 3.72054411e-04 1.05223541e+02] [-5.68063355e-01 8.22984788e-01 -2.52518525e-04 -2.39067710e+01] [-4.49641655e-04 -3.53159396e-06 9.99999899e-01 -6.08348744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070888479 meters 0.015475344089212405 Centerline is valid? [True, True] Translation: X:105.25, Y:-23.92, Z:-0.06 [[ 8.23013494e-01 5.68021297e-01 7.71595836e-04 1.05249547e+02] [-5.68021055e-01 8.23013855e-01 -5.24446068e-04 -2.39249310e+01] [-9.32930599e-04 -6.65648959e-06 9.99999565e-01 -5.96885520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10088847899999 meters 0.01531893000786697 Centerline is valid? [True, True] Translation: X:105.28, Y:-23.94, Z:-0.06 [[ 8.23124787e-01 5.67859711e-01 9.66335049e-04 1.05276242e+02] [-5.67859331e-01 8.23125354e-01 -6.57114233e-04 -2.39442437e+01] [-1.16856358e-03 -7.85536052e-06 9.99999317e-01 -5.86791958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13088847899999 meters 0.0151886410350558 Centerline is valid? [True, True] Translation: X:105.30, Y:-23.96, Z:-0.06 [[ 8.23898038e-01 5.66738031e-01 1.65855310e-04 1.05302424e+02] [-5.66738020e-01 8.23898055e-01 -1.12749630e-04 -2.39637824e+01] [-2.00547370e-04 -1.10231041e-06 9.99999980e-01 -5.80032326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.160888479 meters 0.015061004520926366 Centerline is valid? [True, True] Translation: X:105.33, Y:-23.98, Z:-0.06 [[ 8.24102909e-01 5.66440094e-01 -1.19608489e-04 1.05329295e+02] [-5.66440089e-01 8.24102918e-01 8.18267862e-05 -2.39823248e+01] [ 1.44919678e-04 3.17350643e-07 9.99999990e-01 -5.85609817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.190888479 meters 0.01494762478615179 Centerline is valid? [True, True] Translation: X:105.36, Y:-24.00, Z:-0.06 [[ 8.24264346e-01 5.66203578e-01 -1.34029539e-03 1.05356964e+02] [-5.66202842e-01 8.24265435e-01 9.13218567e-04 -2.39984349e+01] [ 1.62182678e-03 6.14555532e-06 9.99998685e-01 -6.10566357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.220888479 meters 0.01498910210127325 Centerline is valid? [True, True] Translation: X:105.38, Y:-24.02, Z:-0.06 [[ 8.23863159e-01 5.66783691e-01 -2.39635261e-03 1.05384433e+02] [-5.66781336e-01 8.23866644e-01 1.63368974e-03 -2.40157154e+01] [ 2.90022369e-03 1.22711469e-05 9.99995794e-01 -6.27654199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.250888479 meters 0.015002084939296046 Centerline is valid? [True, True] Translation: X:105.41, Y:-24.03, Z:-0.06 [[ 8.23333729e-01 5.67545907e-01 -3.63516258e-03 1.05410997e+02] [-5.67540492e-01 8.23341753e-01 2.47937183e-03 -2.40328109e+01] [ 4.40013847e-03 2.17515049e-05 9.99990319e-01 -6.43934214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.280888479 meters 0.014963646238727 Centerline is valid? [True, True] Translation: X:105.44, Y:-24.05, Z:-0.06 [[ 8.22561817e-01 5.68656148e-01 -4.71616687e-03 1.05436979e+02] [-5.68647042e-01 8.22575337e-01 3.21819590e-03 -2.40510646e+01] [ 5.70944944e-03 3.46692741e-05 9.99983700e-01 -6.37917718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.310888479 meters 0.014940521040069644 Centerline is valid? [True, True] Translation: X:105.46, Y:-24.07, Z:-0.06 [[ 8.22339150e-01 5.68975462e-01 -5.02461372e-03 1.05464107e+02] [-5.68965120e-01 8.22354499e-01 3.43070621e-03 -2.40696335e+01] [ 6.08400135e-03 3.76259252e-05 9.99981492e-01 -6.34021185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.340888479 meters 0.014880771010232835 Centerline is valid? [True, True] Translation: X:105.49, Y:-24.09, Z:-0.06 [[ 8.22192936e-01 5.69187983e-01 -4.88008857e-03 1.05491647e+02] [-5.69178219e-01 8.22207418e-01 3.33408625e-03 -2.40884978e+01] [ 5.91016685e-03 3.63779589e-05 9.99982534e-01 -6.32798564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.370888479 meters 0.014906831201855642 Centerline is valid? [True, True] Translation: X:105.52, Y:-24.10, Z:-0.07 [[ 8.21827239e-01 5.69711746e-01 -5.33995350e-03 1.05518963e+02] [-5.69700054e-01 8.21844586e-01 3.65027217e-03 -2.41049118e+01] [ 6.46821481e-03 4.22786982e-05 9.99979080e-01 -6.53439077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.400888479 meters 0.015003527193305301 Centerline is valid? [True, True] Translation: X:105.55, Y:-24.12, Z:-0.07 [[ 8.21142410e-01 5.70694244e-01 -5.76392532e-03 1.05546384e+02] [-5.70680629e-01 8.21162637e-01 3.94238492e-03 -2.41232836e+01] [ 6.98301650e-03 5.21010697e-05 9.99975617e-01 -6.56051170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430888479 meters 0.01513318323604948 Centerline is valid? [True, True] Translation: X:105.57, Y:-24.14, Z:-0.06 [[ 8.20522878e-01 5.71590916e-01 -5.10207316e-03 1.05572906e+02] [-5.71580254e-01 8.20538739e-01 3.49161773e-03 -2.41411346e+01] [ 6.18222565e-03 5.12920453e-05 9.99980889e-01 -6.48080317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.460888479 meters 0.015218683055681881 Centerline is valid? [True, True] Translation: X:105.60, Y:-24.16, Z:-0.06 [[ 8.19745436e-01 5.72709397e-01 -4.62250865e-03 1.05599337e+02] [-5.72700653e-01 8.19758467e-01 3.16516688e-03 -2.41582163e+01] [ 5.60206142e-03 5.26826187e-05 9.99984307e-01 -6.38379766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49088847899999 meters 0.015218683055681881 Centerline is valid? [True, True] Translation: X:105.63, Y:-24.18, Z:-0.06 [[ 8.19591442e-01 5.72929759e-01 -4.62164665e-03 1.05626030e+02] [-5.72921011e-01 8.19604471e-01 3.16642549e-03 -2.41765956e+01] [ 5.60206165e-03 5.26632340e-05 9.99984307e-01 -6.38753784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52088847899999 meters 0.015417516732985163 Centerline is valid? [True, True] Translation: X:105.65, Y:-24.19, Z:-0.06 [[ 8.17976163e-01 5.75238125e-01 -4.01199393e-03 1.05653075e+02] [-5.75231554e-01 8.17986000e-01 2.75004450e-03 -2.41930023e+01] [ 4.86368531e-03 5.83546541e-05 9.99988171e-01 -6.33746785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.550888479 meters 0.01561518449051002 Centerline is valid? [True, True] Translation: X:105.68, Y:-24.21, Z:-0.06 [[ 8.16963744e-01 5.76670708e-01 -4.59735427e-03 1.05680688e+02] [-5.76662094e-01 8.16976676e-01 3.15289404e-03 -2.42099293e+01] [ 5.57411285e-03 7.53198219e-05 9.99984462e-01 -6.43021209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.580888479 meters 0.0156772425686404 Centerline is valid? [True, True] Translation: X:105.71, Y:-24.23, Z:-0.06 [[ 8.16095885e-01 5.77896918e-01 -4.76017976e-03 1.05708130e+02] [-5.77887693e-01 8.16109763e-01 3.26625499e-03 -2.42272941e+01] [ 5.77238787e-03 8.52720456e-05 9.99983336e-01 -6.49993334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.610888479 meters 0.016039253799462416 Centerline is valid? [True, True] Translation: X:105.74, Y:-24.24, Z:-0.06 [[ 8.14540641e-01 5.80090581e-01 -4.29679089e-03 1.05735639e+02] [-5.80083088e-01 8.14551969e-01 2.94985406e-03 -2.42440284e+01] [ 5.21114203e-03 8.97197096e-05 9.99986418e-01 -6.42510720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.640888479 meters 0.01613305664023788 Centerline is valid? [True, True] Translation: X:105.76, Y:-24.26, Z:-0.06 [[ 8.13806097e-01 5.81114954e-01 -5.00467325e-03 1.05762170e+02] [-5.81104797e-01 8.13821478e-01 3.43757145e-03 -2.42626654e+01] [ 6.07053475e-03 1.10723032e-04 9.99981568e-01 -6.32681499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.670888479 meters 0.01602416872961695 Centerline is valid? [True, True] Translation: X:105.79, Y:-24.28, Z:-0.06 [[ 8.13445974e-01 5.81612935e-01 -5.66055977e-03 1.05788606e+02] [-5.81599940e-01 8.13465659e-01 3.89008259e-03 -2.42816541e+01] [ 6.86719333e-03 1.27809200e-04 9.99976412e-01 -6.32323338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.700888479 meters 0.016978934423109375 Centerline is valid? [True, True] Translation: X:105.82, Y:-24.30, Z:-0.07 [[ 8.12922477e-01 5.82304469e-01 -8.86294006e-03 1.05815395e+02] [-5.82272622e-01 8.12970764e-01 6.09356212e-03 -2.42970402e+01] [ 1.07536196e-02 2.07053730e-04 9.99942157e-01 -6.83342656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.730888479 meters 0.016355734371466736 Centerline is valid? [True, True] Translation: X:105.84, Y:-24.32, Z:-0.07 [[ 8.12673067e-01 5.82633609e-01 -1.00281376e-02 1.05841570e+02] [-5.82592819e-01 8.12734903e-01 6.89822872e-03 -2.43157777e+01] [ 1.21693574e-02 2.36316272e-04 9.99925923e-01 -6.97103050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.760888479 meters 0.017108692324375407 Centerline is valid? [True, True] Translation: X:105.87, Y:-24.33, Z:-0.07 [[ 8.12387393e-01 5.83020738e-01 -1.06556386e-02 1.05868149e+02] [-5.82974671e-01 8.12457233e-01 7.33333384e-03 -2.43314862e+01] [ 1.29327363e-02 2.54459420e-04 9.99916336e-01 -7.22542597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.790888479 meters 0.01612477170293597 Centerline is valid? [True, True] Translation: X:105.89, Y:-24.35, Z:-0.07 [[ 8.12654348e-01 5.82641739e-01 -1.10233673e-02 1.05893627e+02] [-5.82592343e-01 8.12729069e-01 7.59097024e-03 -2.43530427e+01] [ 1.33818271e-02 2.53294398e-04 9.99910427e-01 -7.16757526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.820888479 meters 0.015969332708373182 Centerline is valid? [True, True] Translation: X:105.92, Y:-24.37, Z:-0.07 [[ 8.13418226e-01 5.81574473e-01 -1.10418181e-02 1.05918042e+02] [-5.81524765e-01 8.13493133e-01 7.60722448e-03 -2.43720510e+01] [ 1.34066108e-02 2.33235659e-04 9.99910100e-01 -7.14966445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85088847899999 meters 0.01547847325757231 Centerline is valid? [True, True] Translation: X:105.94, Y:-24.39, Z:-0.07 [[ 8.14207032e-01 5.80472232e-01 -1.09039912e-02 1.05943100e+02] [-5.80423607e-01 8.14280016e-01 7.51615550e-03 -2.43928569e+01] [ 1.32418217e-02 2.09227238e-04 9.99912301e-01 -7.05375388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88088847899999 meters 0.014335841359167734 Centerline is valid? [True, True] Translation: X:105.97, Y:-24.41, Z:-0.07 [[ 8.16157859e-01 5.77754933e-01 -9.25135588e-03 1.05967054e+02] [-5.77719717e-01 8.16210279e-01 6.38041140e-03 -2.44149037e+01] [ 1.12373659e-02 1.37267790e-04 9.99936849e-01 -6.77854632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.910888479 meters 0.014225843220387455 Centerline is valid? [True, True] Translation: X:105.99, Y:-24.43, Z:-0.07 [[ 8.16809029e-01 5.76852055e-01 -8.04468883e-03 1.05992177e+02] [-5.76825356e-01 8.16848637e-01 5.55091934e-03 -2.44334095e+01] [ 9.77335234e-03 1.06339464e-04 9.99952234e-01 -6.74137745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.940888479 meters 0.014068913257851473 Centerline is valid? [True, True] Translation: X:106.02, Y:-24.45, Z:-0.07 [[ 8.17257396e-01 5.76227601e-01 -7.21801793e-03 1.06016877e+02] [-5.76206063e-01 8.17289266e-01 4.98290626e-03 -2.44518489e+01] [ 8.77049670e-03 8.67486970e-05 9.99961535e-01 -6.64685295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.970888479 meters 0.014192455965291962 Centerline is valid? [True, True] Translation: X:106.04, Y:-24.47, Z:-0.07 [[ 8.17388710e-01 5.76052905e-01 -6.22470065e-03 1.06042267e+02] [-5.76036866e-01 8.17412409e-01 4.29923209e-03 -2.44701307e+01] [ 7.56473268e-03 7.15132853e-05 9.99971384e-01 -6.62657841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.000888479 meters 0.013861032976442662 Centerline is valid? [True, True] Translation: X:106.07, Y:-24.49, Z:-0.07 [[ 8.17406445e-01 5.76021177e-01 -6.80499833e-03 1.06067362e+02] [-5.76001984e-01 8.17434767e-01 4.70282892e-03 -2.44916256e+01] [ 8.27157128e-03 7.55698673e-05 9.99965787e-01 -6.50407114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.030888479 meters 0.013899531146734187 Centerline is valid? [True, True] Translation: X:106.09, Y:-24.51, Z:-0.07 [[ 8.17161169e-01 5.76364260e-01 -7.20169061e-03 1.06093389e+02] [-5.76342754e-01 8.17192898e-01 4.97963786e-03 -2.45105957e+01] [ 8.75525571e-03 8.14755078e-05 9.99961669e-01 -6.55352381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.060888479 meters 0.013921978313164987 Centerline is valid? [True, True] Translation: X:106.12, Y:-24.53, Z:-0.07 [[ 8.16885738e-01 5.76745513e-01 -7.89328706e-03 1.06119565e+02] [-5.76719664e-01 8.16923867e-01 5.46111512e-03 -2.45304772e+01] [ 9.59788823e-03 9.11068060e-05 9.99953935e-01 -6.53603835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.090888479 meters 0.013978301915310848 Centerline is valid? [True, True] Translation: X:106.14, Y:-24.55, Z:-0.07 [[ 8.16764474e-01 5.76900010e-01 -9.06491006e-03 1.06143987e+02] [-5.76865910e-01 8.16814770e-01 6.27324986e-03 -2.45492318e+01] [ 1.10233903e-02 1.05469973e-04 9.99939235e-01 -6.73564423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.120888479 meters 0.014071677009138316 Centerline is valid? [True, True] Translation: X:106.17, Y:-24.57, Z:-0.07 [[ 8.16609106e-01 5.77106916e-01 -9.85777922e-03 1.06170025e+02] [-5.77066563e-01 8.16668595e-01 6.82550707e-03 -2.45685479e+01] [ 1.19895860e-02 1.14823549e-04 9.99928116e-01 -6.85385294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.150888479 meters 0.01404540976585265 Centerline is valid? [True, True] Translation: X:106.20, Y:-24.59, Z:-0.07 [[ 8.16014120e-01 5.77937018e-01 -1.04766467e-02 1.06196096e+02] [-5.77891460e-01 8.16081360e-01 7.25770272e-03 -2.45874945e+01] [ 1.27442912e-02 1.31976775e-04 9.99918780e-01 -7.06201169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.180888479 meters 0.01401418403342688 Centerline is valid? [True, True] Translation: X:106.22, Y:-24.61, Z:-0.07 [[ 8.15499226e-01 5.78663825e-01 -1.04493851e-02 1.06223445e+02] [-5.78618509e-01 8.15566158e-01 7.24318781e-03 -2.46064327e+01] [ 1.27135356e-02 1.39393589e-04 9.99919170e-01 -7.04368924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210888479 meters 0.01390643177232594 Centerline is valid? [True, True] Translation: X:106.25, Y:-24.63, Z:-0.07 [[ 8.14993014e-01 5.79389977e-01 -9.67681310e-03 1.06250723e+02] [-5.79351117e-01 8.15050450e-01 6.71170928e-03 -2.46254617e+01] [ 1.17757880e-02 1.36276304e-04 9.99930654e-01 -6.99908465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24088847899999 meters 0.013781622549389163 Centerline is valid? [True, True] Translation: X:106.27, Y:-24.65, Z:-0.07 [[ 8.15088176e-01 5.79271299e-01 -8.71932705e-03 1.06274816e+02] [-5.79239712e-01 8.15134803e-01 6.05048460e-03 -2.46455225e+01] [ 1.06122990e-02 1.18902033e-04 9.99943681e-01 -6.72252067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27088847899999 meters 0.01373356719148477 Centerline is valid? [True, True] Translation: X:106.30, Y:-24.67, Z:-0.07 [[ 8.15610111e-01 5.78542326e-01 -8.30199203e-03 1.06300229e+02] [-5.78513623e-01 8.15652356e-01 5.76387135e-03 -2.46654715e+01] [ 1.01061829e-02 1.01743736e-04 9.99948926e-01 -6.61434392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.300888479 meters 0.013638411352287364 Centerline is valid? [True, True] Translation: X:106.32, Y:-24.68, Z:-0.07 [[ 8.16195183e-01 5.77717465e-01 -8.24342087e-03 1.06324880e+02] [-5.77689107e-01 8.16236806e-01 5.72471201e-03 -2.46846957e+01] [ 1.00358496e-02 8.96520713e-05 9.99949636e-01 -6.57984316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.330888479 meters 0.01348250419400256 Centerline is valid? [True, True] Translation: X:106.35, Y:-24.70, Z:-0.07 [[ 8.17461650e-01 5.75921329e-01 -8.43049576e-03 1.06349372e+02] [-5.75891546e-01 8.17505118e-01 5.85744819e-03 -2.47045559e+01] [ 1.02654028e-02 6.68119756e-05 9.99947307e-01 -6.71693230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.360888479 meters 0.013181344098662492 Centerline is valid? [True, True] Translation: X:106.38, Y:-24.72, Z:-0.07 [[ 8.17942096e-01 5.75235281e-01 -8.66601756e-03 1.06375367e+02] [-5.75203734e-01 8.17988000e-01 6.02461404e-03 -2.47245017e+01] [ 1.05542689e-02 5.69402252e-05 9.99944301e-01 -6.69934645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.390888479 meters 0.013013861154571102 Centerline is valid? [True, True] Translation: X:106.40, Y:-24.74, Z:-0.07 [[ 8.18794624e-01 5.74027735e-01 -8.21730054e-03 1.06400984e+02] [-5.73999281e-01 8.18835856e-01 5.71548927e-03 -2.47438431e+01] [ 1.00094697e-02 3.69127154e-05 9.99949903e-01 -6.81387295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.420888479 meters 0.012756355453754736 Centerline is valid? [True, True] Translation: X:106.43, Y:-24.76, Z:-0.07 [[ 8.19260100e-01 5.73370791e-01 -7.66971764e-03 1.06426516e+02] [-5.73345948e-01 8.19296000e-01 5.33742796e-03 -2.47632735e+01] [ 9.34409427e-03 2.46597721e-05 9.99956343e-01 -6.75852505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.450888479 meters 0.012699140596419498 Centerline is valid? [True, True] Translation: X:106.45, Y:-24.78, Z:-0.07 [[ 8.19737021e-01 5.72687226e-01 -7.78193325e-03 1.06453115e+02] [-5.72661589e-01 8.19773958e-01 5.41876000e-03 -2.47830442e+01] [ 9.48268085e-03 1.44560832e-05 9.99955038e-01 -6.79187321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.480888479 meters 0.012711859144897211 Centerline is valid? [True, True] Translation: X:106.48, Y:-24.80, Z:-0.07 [[ 8.20519891e-01 5.71570839e-01 -7.34055442e-03 1.06477486e+02] [-5.71547972e-01 8.20552726e-01 5.11270678e-03 -2.48028156e+01] [ 8.94558605e-03 4.01382169e-07 9.99959987e-01 -6.75884882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.510888479 meters 0.012527965650053827 Centerline is valid? [True, True] Translation: X:106.50, Y:-24.82, Z:-0.07 [[ 8.20544219e-01 5.71541458e-01 -6.89538168e-03 1.06503483e+02] [-5.71521254e-01 8.20573191e-01 4.80564431e-03 -2.48222028e+01] [ 8.40479030e-03 -2.38648004e-06 9.99964679e-01 -6.60783722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.540888479 meters 0.012485394703954192 Centerline is valid? [True, True] Translation: X:106.53, Y:-24.84, Z:-0.06 [[ 8.20388112e-01 5.71764674e-01 -6.96450762e-03 1.06530015e+02] [-5.71744047e-01 8.20417673e-01 4.85663254e-03 -2.48418457e+01] [ 8.49065605e-03 -2.40782331e-06 9.99963954e-01 -6.49163040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570888479 meters 0.012423290671130155 Centerline is valid? [True, True] Translation: X:106.56, Y:-24.86, Z:-0.07 [[ 8.19377645e-01 5.73200313e-01 -7.85340521e-03 1.06557009e+02] [-5.73174121e-01 8.19415280e-01 5.47962928e-03 -2.48601911e+01] [ 9.57612545e-03 1.14828896e-05 9.99954148e-01 -6.56725164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60088847899999 meters 0.012377233622880884 Centerline is valid? [True, True] Translation: X:106.58, Y:-24.88, Z:-0.07 [[ 8.18594721e-01 5.74308599e-01 -8.50391606e-03 1.06583900e+02] [-5.74277914e-01 8.18638890e-01 5.93666589e-03 -2.48773224e+01] [ 1.03711147e-02 2.38878219e-05 9.99946218e-01 -6.73498943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63088847899999 meters 0.012506271970271448 Centerline is valid? [True, True] Translation: X:106.61, Y:-24.89, Z:-0.07 [[ 8.17822891e-01 5.75405699e-01 -8.60237096e-03 1.06611185e+02] [-5.75374328e-01 8.17868131e-01 6.00860263e-03 -2.48938366e+01] [ 1.04929893e-02 3.56106321e-05 9.99944946e-01 -6.88868815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.660888479 meters 0.012367074291261064 Centerline is valid? [True, True] Translation: X:106.64, Y:-24.91, Z:-0.07 [[ 8.17067096e-01 5.76481794e-01 -8.37266437e-03 1.06639089e+02] [-5.76452097e-01 8.17109992e-01 5.85160084e-03 -2.49120047e+01] [ 1.02147291e-02 4.52894305e-05 9.99947827e-01 -6.79869495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.690888479 meters 0.012297070057241755 Centerline is valid? [True, True] Translation: X:106.67, Y:-24.93, Z:-0.07 [[ 8.16294999e-01 5.77566146e-01 -8.93431789e-03 1.06666142e+02] [-5.77532362e-01 8.16343888e-01 6.24721138e-03 -2.49300688e+01] [ 1.09016536e-02 6.02903134e-05 9.99940573e-01 -6.87242843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.720888479 meters 0.012103850791833633 Centerline is valid? [True, True] Translation: X:106.69, Y:-24.95, Z:-0.07 [[ 8.16367208e-01 5.77461610e-01 -9.09237881e-03 1.06692437e+02] [-5.77426571e-01 8.16417838e-01 6.36150420e-03 -2.49499865e+01] [ 1.10967047e-02 5.68577007e-05 9.99938428e-01 -6.83939029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.750888479 meters 0.011961886350867871 Centerline is valid? [True, True] Translation: X:106.72, Y:-24.97, Z:-0.07 [[ 8.17014925e-01 5.76571690e-01 -7.19020731e-03 1.06716888e+02] [-5.76549724e-01 8.17046562e-01 5.03301662e-03 -2.49685025e+01] [ 8.77662907e-03 3.34623413e-05 9.99961484e-01 -6.63181889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.780888479 meters 0.011858990529174657 Centerline is valid? [True, True] Translation: X:106.74, Y:-24.99, Z:-0.06 [[ 8.17132830e-01 5.76422257e-01 -5.59641417e-03 1.06743307e+02] [-5.76408932e-01 8.17151994e-01 3.91946404e-03 -2.49867918e+01] [ 6.83238731e-03 2.31003726e-05 9.99976659e-01 -6.46439439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.810888479 meters 0.011816961206020386 Centerline is valid? [True, True] Translation: X:106.77, Y:-25.01, Z:-0.06 [[ 8.17109520e-01 5.76462210e-01 -4.83260050e-03 1.06770428e+02] [-5.76452262e-01 8.17123810e-01 3.38656175e-03 -2.50055758e+01] [ 5.90105780e-03 1.85716461e-05 9.99982588e-01 -6.34800016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.840888479 meters 0.01181333980173172 Centerline is valid? [True, True] Translation: X:106.80, Y:-25.02, Z:-0.06 [[ 8.16694627e-01 5.77045199e-01 -5.35955163e-03 1.06797865e+02] [-5.77032964e-01 8.16712212e-01 3.75777868e-03 -2.50223993e+01] [ 6.54561941e-03 2.36803109e-05 9.99978577e-01 -6.37859367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.870888479 meters 0.01193907903043047 Centerline is valid? [True, True] Translation: X:106.82, Y:-25.04, Z:-0.07 [[ 8.16341112e-01 5.77538495e-01 -6.03943370e-03 1.06824837e+02] [-5.77522956e-01 8.16363452e-01 4.23665470e-03 -2.50394122e+01] [ 7.37720412e-03 2.93561999e-05 9.99972788e-01 -6.58915212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.900888479 meters 0.011913830966014534 Centerline is valid? [True, True] Translation: X:106.85, Y:-25.06, Z:-0.07 [[ 8.15919851e-01 5.78127322e-01 -6.60280898e-03 1.06851893e+02] [-5.78108746e-01 8.15946566e-01 4.63454346e-03 -2.50578831e+01] [ 8.06689551e-03 3.57256157e-05 9.99967461e-01 -6.60270185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930888479 meters 0.011976852339568673 Centerline is valid? [True, True] Translation: X:106.88, Y:-25.08, Z:-0.07 [[ 8.15551445e-01 5.78631136e-01 -7.86438369e-03 1.06878304e+02] [-5.78604782e-01 8.15589361e-01 5.52273375e-03 -2.50762801e+01] [ 9.60973337e-03 4.62965217e-05 9.99953824e-01 -6.71608520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.960888479 meters 0.012148499046253885 Centerline is valid? [True, True] Translation: X:106.90, Y:-25.09, Z:-0.07 [[ 8.15659337e-01 5.78452613e-01 -9.61356483e-03 1.06903866e+02] [-5.78413182e-01 8.15715988e-01 6.75414630e-03 -2.50942434e+01] [ 1.17488921e-02 5.15301324e-05 9.99930978e-01 -6.98764659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99088847899999 meters 0.012073960741012111 Centerline is valid? [True, True] Translation: X:106.93, Y:-25.11, Z:-0.07 [[ 8.15941996e-01 5.78052408e-01 -9.69914707e-03 1.06930908e+02] [-5.78012197e-01 8.15999640e-01 6.81826415e-03 -2.51131643e+01] [ 1.18558145e-02 4.29172473e-05 9.99929716e-01 -7.05714967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02088847899999 meters 0.011865645972315798 Centerline is valid? [True, True] Translation: X:106.96, Y:-25.13, Z:-0.07 [[ 8.17106829e-01 5.76414217e-01 -9.11487645e-03 1.06957210e+02] [-5.76378567e-01 8.17157666e-01 6.41071742e-03 -2.51320358e+01] [ 1.11435198e-02 1.53784413e-05 9.99937909e-01 -7.02388661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.050888479 meters 0.011694125098394917 Centerline is valid? [True, True] Translation: X:106.98, Y:-25.15, Z:-0.07 [[ 8.17820271e-01 5.75424590e-01 -7.51969837e-03 1.06982836e+02] [-5.75400259e-01 8.17854841e-01 5.29158131e-03 -2.51511953e+01] [ 9.19492772e-03 -7.26067312e-07 9.99957726e-01 -6.78589945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.080888479 meters 0.011565877255424354 Centerline is valid? [True, True] Translation: X:107.01, Y:-25.17, Z:-0.07 [[ 8.18478719e-01 5.74509318e-01 -5.62403126e-03 1.07007404e+02] [-5.74495673e-01 8.18498041e-01 3.95954650e-03 -2.51698943e+01] [ 6.87805493e-03 -9.82292175e-06 9.99976346e-01 -6.56951915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.110888479 meters 0.011650122597208679 Centerline is valid? [True, True] Translation: X:107.03, Y:-25.19, Z:-0.06 [[ 8.19037851e-01 5.73723195e-01 -4.32377194e-03 1.07032341e+02] [-5.73715111e-01 8.19049263e-01 3.04559051e-03 -2.51886731e+01] [ 5.28870814e-03 -1.38406046e-05 9.99986015e-01 -6.42354422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.140888479 meters 0.011706182819673571 Centerline is valid? [True, True] Translation: X:107.06, Y:-25.21, Z:-0.06 [[ 8.19422956e-01 5.73162877e-01 -5.50774585e-03 1.07058961e+02] [-5.73149735e-01 8.19441466e-01 3.88143363e-03 -2.52071744e+01] [ 6.73796900e-03 -2.37727477e-05 9.99977299e-01 -6.39744594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.170888479 meters 0.011701482012179564 Centerline is valid? [True, True] Translation: X:107.09, Y:-25.23, Z:-0.06 [[ 8.19256256e-01 5.73395552e-01 -6.06033763e-03 1.07086404e+02] [-5.73379628e-01 8.19278671e-01 4.27342249e-03 -2.52250356e+01] [ 7.41546681e-03 -2.61539718e-05 9.99972505e-01 -6.45700357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.200888479 meters 0.011675018814052397 Centerline is valid? [True, True] Translation: X:107.11, Y:-25.24, Z:-0.07 [[ 8.18944780e-01 5.73831853e-01 -6.81559564e-03 1.07113657e+02] [-5.73811714e-01 8.18973140e-01 4.80755867e-03 -2.52422628e+01] [ 8.34052006e-03 -2.62564544e-05 9.99965217e-01 -6.60456323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.230888479 meters 0.011803284958278265 Centerline is valid? [True, True] Translation: X:107.14, Y:-25.26, Z:-0.07 [[ 8.18378353e-01 5.74624504e-01 -7.97184546e-03 1.07141370e+02] [-5.74596962e-01 8.18417179e-01 5.62602559e-03 -2.52578226e+01] [ 9.75714744e-03 -2.36193757e-05 9.99952398e-01 -6.89396603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.260888479 meters 0.011678814845869622 Centerline is valid? [True, True] Translation: X:107.17, Y:-25.28, Z:-0.07 [[ 8.17904006e-01 5.75293131e-01 -8.41719472e-03 1.07168522e+02] [-5.75262425e-01 8.17947316e-01 5.94387072e-03 -2.52764021e+01] [ 1.03042898e-02 -1.94198318e-05 9.99946909e-01 -6.87497039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.290888479 meters 0.01190648732699508 Centerline is valid? [True, True] Translation: X:107.19, Y:-25.29, Z:-0.07 [[ 8.17405807e-01 5.75985103e-01 -9.42905524e-03 1.07194034e+02] [-5.75946581e-01 8.17460189e-01 6.66144411e-03 -2.52939161e+01] [ 1.15447699e-02 -1.44709686e-05 9.99933357e-01 -6.91025977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.320888479 meters 0.01173647550775781 Centerline is valid? [True, True] Translation: X:107.22, Y:-25.31, Z:-0.07 [[ 8.16820812e-01 5.76812516e-01 -9.54372237e-03 1.07221401e+02] [-5.76773061e-01 8.16876565e-01 6.74646177e-03 -2.53117583e+01] [ 1.16874867e-02 -6.08842247e-06 9.99931699e-01 -6.82454840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35088847899999 meters 0.011785454441231658 Centerline is valid? [True, True] Translation: X:107.25, Y:-25.33, Z:-0.07 [[ 8.16385563e-01 5.77436011e-01 -9.07005111e-03 1.07249095e+02] [-5.77400372e-01 8.16435945e-01 6.41543041e-03 -2.53294212e+01] [ 1.11096163e-02 -4.13878163e-07 9.99938286e-01 -6.76190658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38088847899999 meters 0.011785454441231658 Centerline is valid? [True, True] Translation: X:107.28, Y:-25.35, Z:-0.07 [[ 8.16225543e-01 5.77662211e-01 -9.06827387e-03 1.07275506e+02] [-5.77626557e-01 8.16275915e-01 6.41794238e-03 -2.53481904e+01] [ 1.11096163e-02 -4.12685828e-07 9.99938286e-01 -6.76564764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.410888479 meters 0.011718129532328527 Centerline is valid? [True, True] Translation: X:107.30, Y:-25.37, Z:-0.07 [[ 8.15780113e-01 5.78301648e-01 -8.36725674e-03 1.07302513e+02] [-5.78271296e-01 8.15823023e-01 5.92487353e-03 -2.53655405e+01] [ 1.02525648e-02 5.15040110e-06 9.99947441e-01 -6.69085683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.440888479 meters 0.011832540141141459 Centerline is valid? [True, True] Translation: X:107.33, Y:-25.38, Z:-0.07 [[ 8.15479585e-01 5.78736981e-01 -7.52016189e-03 1.07328876e+02] [-5.78712459e-01 8.15514259e-01 5.32760444e-03 -2.53818061e+01] [ 9.21608097e-03 7.45871835e-06 9.99957531e-01 -6.61143664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.470888479 meters 0.011790283337020719 Centerline is valid? [True, True] Translation: X:107.36, Y:-25.40, Z:-0.06 [[ 8.15210613e-01 5.79121019e-01 -7.10643020e-03 1.07356117e+02] [-5.79099109e-01 8.15241587e-01 5.03758321e-03 -2.54005768e+01] [ 8.71082776e-03 8.63609503e-06 9.99962060e-01 -6.49555024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.500888479 meters 0.011791430753985503 Centerline is valid? [True, True] Translation: X:107.38, Y:-25.42, Z:-0.07 [[ 8.15029465e-01 5.79371764e-01 -7.43840368e-03 1.07382782e+02] [-5.79347743e-01 8.15063408e-01 5.27578242e-03 -2.54189388e+01] [ 9.11941002e-03 9.50426407e-06 9.99958417e-01 -6.53609366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.530888479 meters 0.011967186593942788 Centerline is valid? [True, True] Translation: X:107.41, Y:-25.44, Z:-0.06 [[ 8.14617793e-01 5.79939771e-01 -8.22884793e-03 1.07409364e+02] [-5.79910368e-01 8.14659353e-01 5.83980817e-03 -2.54375420e+01] [ 1.00904449e-02 1.47825883e-05 9.99949090e-01 -6.48134839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.560888479 meters 0.011961745043847016 Centerline is valid? [True, True] Translation: X:107.44, Y:-25.46, Z:-0.07 [[ 8.14388948e-01 5.80258763e-01 -8.39101300e-03 1.07435141e+02] [-5.80228174e-01 8.14432175e-01 5.95808742e-03 -2.54560954e+01] [ 1.02911434e-02 1.65016094e-05 9.99947045e-01 -6.52492700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.590888479 meters 0.01203115137387017 Centerline is valid? [True, True] Translation: X:107.46, Y:-25.48, Z:-0.06 [[ 8.14279905e-01 5.80411623e-01 -8.40149387e-03 1.07461463e+02] [-5.80380929e-01 8.14323245e-01 5.96900420e-03 -2.54751262e+01] [ 1.03060112e-02 1.56266503e-05 9.99946892e-01 -6.49363887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.620888479 meters 0.012062979621616439 Centerline is valid? [True, True] Translation: X:107.49, Y:-25.49, Z:-0.06 [[ 8.14081502e-01 5.80696972e-01 -7.89522991e-03 1.07488594e+02] [-5.80669848e-01 8.14119786e-01 5.61259505e-03 -2.54936815e+01] [ 9.68687984e-03 1.54121370e-05 9.99953081e-01 -6.45489056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.650888479 meters 0.01198533473835183 Centerline is valid? [True, True] Translation: X:107.51, Y:-25.51, Z:-0.06 [[ 8.13742847e-01 5.81176297e-01 -7.52928110e-03 1.07514962e+02] [-5.81151633e-01 8.13777679e-01 5.35425840e-03 -2.55118034e+01] [ 9.23892898e-03 1.86645310e-05 9.99957320e-01 -6.47921854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.680888479 meters 0.01204703452870025 Centerline is valid? [True, True] Translation: X:107.54, Y:-25.53, Z:-0.06 [[ 8.13098756e-01 5.82076517e-01 -7.57233730e-03 1.07542164e+02] [-5.82051580e-01 8.13134016e-01 5.38806930e-03 -2.55310664e+01] [ 9.29359365e-03 2.64584436e-05 9.99956813e-01 -6.45423534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710888479 meters 0.012187936849863936 Centerline is valid? [True, True] Translation: X:107.57, Y:-25.55, Z:-0.06 [[ 8.11433959e-01 5.84384208e-01 -8.36826816e-03 1.07568437e+02] [-5.84353843e-01 8.11477107e-01 5.95747005e-03 -2.55497625e+01] [ 1.02721095e-02 5.59361496e-05 9.99947239e-01 -6.33488824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74088847899999 meters 0.012330164952721503 Centerline is valid? [True, True] Translation: X:107.59, Y:-25.57, Z:-0.06 [[ 8.10338490e-01 5.85896407e-01 -8.77104502e-03 1.07594868e+02] [-5.85863102e-01 8.10385954e-01 6.24747931e-03 -2.55678211e+01] [ 1.07683074e-02 7.60586940e-05 9.99942017e-01 -6.38278352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77088847899999 meters 0.01261237830719538 Centerline is valid? [True, True] Translation: X:107.62, Y:-25.58, Z:-0.06 [[ 8.09404192e-01 5.87181366e-01 -9.10483151e-03 1.07621163e+02] [-5.87145541e-01 8.09455394e-01 6.48692141e-03 -2.55844723e+01] [ 1.11789543e-02 9.53198409e-05 9.99937509e-01 -6.47623260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.800888479 meters 0.013151952170982825 Centerline is valid? [True, True] Translation: X:107.65, Y:-25.60, Z:-0.07 [[ 8.07817465e-01 5.89347504e-01 -1.00231400e-02 1.07648080e+02] [-5.89304210e-01 8.07879633e-01 7.14468068e-03 -2.55997287e+01] [ 1.23081904e-02 1.35080777e-04 9.99924242e-01 -6.72329853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.830888479 meters 0.013484957285260177 Centerline is valid? [True, True] Translation: X:107.67, Y:-25.62, Z:-0.07 [[ 8.07069861e-01 5.90359525e-01 -1.06710186e-02 1.07674601e+02] [-5.90310491e-01 8.07140388e-01 7.61039377e-03 -2.56185611e+01] [ 1.31058786e-02 1.57094803e-04 9.99914102e-01 -6.75966845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.860888479 meters 0.014269334775572837 Centerline is valid? [True, True] Translation: X:107.70, Y:-25.64, Z:-0.07 [[ 8.06181671e-01 5.91559721e-01 -1.13229869e-02 1.07699937e+02] [-5.91504577e-01 8.06261163e-01 8.07912046e-03 -2.56358274e+01] [ 1.39085668e-02 1.84359726e-04 9.99903254e-01 -6.86788333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.890888479 meters 0.01379490323769975 Centerline is valid? [True, True] Translation: X:107.72, Y:-25.66, Z:-0.06 [[ 8.05035686e-01 5.93114769e-01 -1.15071914e-02 1.07723855e+02] [-5.93057914e-01 8.05117896e-01 8.21488485e-03 -2.56569605e+01] [ 1.41370152e-02 2.11155462e-04 9.99900045e-01 -6.41449011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.920888479 meters 0.014322311829611085 Centerline is valid? [True, True] Translation: X:107.75, Y:-25.67, Z:-0.07 [[ 8.04668371e-01 5.93624978e-01 -1.08718648e-02 1.07750425e+02] [-5.93574216e-01 8.04741787e-01 7.76569649e-03 -2.56743398e+01] [ 1.33589553e-02 2.04448295e-04 9.99910744e-01 -6.50321321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.950888479 meters 0.015784819270722915 Centerline is valid? [True, True] Translation: X:107.78, Y:-25.69, Z:-0.07 [[ 8.04494648e-01 5.93878910e-01 -9.80820061e-03 1.07778362e+02] [-5.93837575e-01 8.04554414e-01 7.00918024e-03 -2.56882812e+01] [ 1.20538354e-02 1.85630071e-04 9.99927333e-01 -6.85182806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.980888479 meters 0.014260004205327522 Centerline is valid? [True, True] Translation: X:107.80, Y:-25.71, Z:-0.07 [[ 8.04468172e-01 5.93931228e-01 -8.75540720e-03 1.07802643e+02] [-5.93898259e-01 8.04515798e-01 6.26008167e-03 -2.57091956e+01] [ 1.07619214e-02 1.63784636e-04 9.99942075e-01 -6.61083571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.010888479 meters 0.014081481607840271 Centerline is valid? [True, True] Translation: X:107.83, Y:-25.73, Z:-0.07 [[ 8.04666222e-01 5.93679369e-01 -7.55504060e-03 1.07827956e+02] [-5.93654783e-01 8.04701677e-01 5.40463738e-03 -2.57282453e+01] [ 9.28817554e-03 1.36156847e-04 9.99956855e-01 -6.55499370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.040888479 meters 0.013841411384801161 Centerline is valid? [True, True] Translation: X:107.85, Y:-25.75, Z:-0.06 [[ 8.05671959e-01 5.92327051e-01 -6.43104277e-03 1.07851934e+02] [-5.92309184e-01 8.05697620e-01 4.60172016e-03 -2.57508675e+01] [ 7.90719918e-03 1.01688800e-04 9.99968732e-01 -6.30367815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070888479 meters 0.013666942788474502 Centerline is valid? [True, True] Translation: X:107.88, Y:-25.77, Z:-0.06 [[ 8.06063033e-01 5.91794536e-01 -6.45079671e-03 1.07876602e+02] [-5.91776523e-01 8.06088840e-01 4.61839280e-03 -2.57719096e+01] [ 7.93305486e-03 9.47143375e-05 9.99968528e-01 -6.19502212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10088847899999 meters 0.013714883563479432 Centerline is valid? [True, True] Translation: X:107.90, Y:-25.79, Z:-0.06 [[ 8.06640133e-01 5.90999706e-01 -7.14452757e-03 1.07902214e+02] [-5.90977563e-01 8.06671766e-01 5.11679580e-03 -2.57908281e+01] [ 8.78731349e-03 9.48426512e-05 9.99961386e-01 -6.34102232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13088847899999 meters 0.013580590535024606 Centerline is valid? [True, True] Translation: X:107.93, Y:-25.81, Z:-0.06 [[ 8.06851286e-01 5.90701967e-01 -7.88591565e-03 1.07928184e+02] [-5.90674943e-01 8.06889817e-01 5.65116701e-03 -2.58103893e+01] [ 9.70122050e-03 9.83614094e-05 9.99952937e-01 -6.45728403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.160888479 meters 0.013784431400286543 Centerline is valid? [True, True] Translation: X:107.95, Y:-25.83, Z:-0.07 [[ 8.06995564e-01 5.90474958e-01 -9.87338815e-03 1.07954058e+02] [-5.90432536e-01 8.07055952e-01 7.07883761e-03 -2.58293377e+01] [ 1.21482530e-02 1.16979053e-04 9.99926200e-01 -6.79046600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.190888479 meters 0.013783413374882574 Centerline is valid? [True, True] Translation: X:107.98, Y:-25.85, Z:-0.07 [[ 8.06990276e-01 5.90473702e-01 -1.03683091e-02 1.07979965e+02] [-5.90426865e-01 8.07056871e-01 7.43799389e-03 -2.58491725e+01] [ 1.27597549e-02 1.19339481e-04 9.99918584e-01 -6.82147659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.220888479 meters 0.013932162557766954 Centerline is valid? [True, True] Translation: X:108.01, Y:-25.87, Z:-0.07 [[ 8.06771096e-01 5.90772352e-01 -1.04128118e-02 1.08006211e+02] [-5.90725082e-01 8.06838282e-01 7.47421972e-03 -2.58696136e+01] [ 1.28170175e-02 1.21124652e-04 9.99917851e-01 -6.80627666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.250888479 meters 0.01401469068309415 Centerline is valid? [True, True] Translation: X:108.03, Y:-25.89, Z:-0.07 [[ 8.06536289e-01 5.91092180e-01 -1.04522254e-02 1.08031636e+02] [-5.91044523e-01 8.06604004e-01 7.50683673e-03 -2.58906132e+01] [ 1.28680393e-02 1.23194316e-04 9.99917196e-01 -6.76036856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.280888479 meters 0.014070427389239566 Centerline is valid? [True, True] Translation: X:108.06, Y:-25.91, Z:-0.07 [[ 8.06196683e-01 5.91561446e-01 -1.00977312e-02 1.08058017e+02] [-5.91516952e-01 8.06259908e-01 7.25642662e-03 -2.59097575e+01] [ 1.24340181e-02 1.22872125e-04 9.99922687e-01 -6.80185356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.310888479 meters 0.014034138457433641 Centerline is valid? [True, True] Translation: X:108.09, Y:-25.93, Z:-0.07 [[ 8.05737061e-01 5.92196720e-01 -9.53062795e-03 1.08085223e+02] [-5.92157080e-01 8.05793416e-01 6.85290240e-03 -2.59288136e+01] [ 1.17379836e-02 1.21991375e-04 9.99931100e-01 -6.78014244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.340888479 meters 0.014223017047331643 Centerline is valid? [True, True] Translation: X:108.11, Y:-25.95, Z:-0.07 [[ 8.05205119e-01 5.92936033e-01 -8.46035392e-03 1.08111892e+02] [-5.92904806e-01 8.05249556e-01 6.08640884e-03 -2.59467043e+01] [ 1.04215473e-02 1.15376943e-04 9.99945688e-01 -6.79881241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.370888479 meters 0.014387237041464704 Centerline is valid? [True, True] Translation: X:108.14, Y:-25.97, Z:-0.07 [[ 8.04223869e-01 5.94282893e-01 -7.19799239e-03 1.08138220e+02] [-5.94260316e-01 8.04256073e-01 5.18137463e-03 -2.59666041e+01] [ 8.86823140e-03 1.10496081e-04 9.99960670e-01 -6.63021435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.400888479 meters 0.014528865841399133 Centerline is valid? [True, True] Translation: X:108.16, Y:-25.99, Z:-0.07 [[ 8.03868249e-01 5.94760740e-01 -7.44984443e-03 1.08162511e+02] [-5.94736564e-01 8.03902760e-01 5.36395200e-03 -2.59856928e+01] [ 9.17921856e-03 1.18784175e-04 9.99957863e-01 -6.52787498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430888479 meters 0.0148499189795989 Centerline is valid? [True, True] Translation: X:108.19, Y:-26.00, Z:-0.06 [[ 8.02898915e-01 5.96067522e-01 -7.53930364e-03 1.08188084e+02] [-5.96042792e-01 8.02934301e-01 5.43122810e-03 -2.60048510e+01] [ 9.29094417e-03 1.33020443e-04 9.99956829e-01 -6.46689366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.460888479 meters 0.014736995272903675 Centerline is valid? [True, True] Translation: X:108.22, Y:-26.02, Z:-0.06 [[ 8.02349673e-01 5.96813127e-01 -7.00673380e-03 1.08215241e+02] [-5.96791770e-01 8.02380256e-01 5.05061090e-03 -2.60241876e+01] [ 8.63633574e-03 1.29205064e-04 9.99962698e-01 -6.49555555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49088847899999 meters 0.01491244946652888 Centerline is valid? [True, True] Translation: X:108.24, Y:-26.04, Z:-0.07 [[ 8.01949005e-01 5.97356813e-01 -6.52924603e-03 1.08242469e+02] [-5.97338264e-01 8.01975575e-01 4.70920380e-03 -2.60428241e+01] [ 8.04937081e-03 1.23627188e-04 9.99967596e-01 -6.55331195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52088847899999 meters 0.016068218456858057 Centerline is valid? [True, True] Translation: X:108.27, Y:-26.06, Z:-0.07 [[ 8.00884687e-01 5.98775007e-01 -7.22558431e-03 1.08268485e+02] [-5.98752327e-01 8.00917266e-01 5.21376839e-03 -2.60591593e+01] [ 8.90896944e-03 1.50708158e-04 9.99960303e-01 -6.81839987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.550888479 meters 0.015826825139691327 Centerline is valid? [True, True] Translation: X:108.29, Y:-26.08, Z:-0.07 [[ 8.00286358e-01 5.99564075e-01 -8.04149432e-03 1.08293221e+02] [-5.99535997e-01 8.00326739e-01 5.80513635e-03 -2.60788784e+01] [ 9.91637413e-03 1.75393883e-04 9.99950816e-01 -6.82167568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.580888479 meters 0.01564337930926448 Centerline is valid? [True, True] Translation: X:108.32, Y:-26.10, Z:-0.07 [[ 7.99900539e-01 6.00070005e-01 -8.66704370e-03 1.08319001e+02] [-6.00037384e-01 7.99947468e-01 6.25989791e-03 -2.60986240e+01] [ 1.06895566e-02 1.93254511e-04 9.99942846e-01 -6.87340042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.610888479 meters 0.01571858031799781 Centerline is valid? [True, True] Translation: X:108.35, Y:-26.12, Z:-0.07 [[ 7.99536991e-01 6.00549508e-01 -8.99374985e-03 1.08345181e+02] [-6.00514372e-01 7.99587548e-01 6.49941175e-03 -2.61177486e+01] [ 1.10945089e-02 2.04355935e-04 9.99938433e-01 -6.92519005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.640888479 meters 0.01587817843593596 Centerline is valid? [True, True] Translation: X:108.37, Y:-26.14, Z:-0.07 [[ 8.00024600e-01 5.99899462e-01 -9.01529898e-03 1.08370429e+02] [-5.99864083e-01 8.00075370e-01 6.51797387e-03 -2.61365057e+01] [ 1.11230477e-02 1.93414616e-04 9.99938118e-01 -7.04118877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.670888479 meters 0.015286717565743672 Centerline is valid? [True, True] Translation: X:108.40, Y:-26.16, Z:-0.07 [[ 8.00483458e-01 5.99283159e-01 -9.26976971e-03 1.08395470e+02] [-5.99245674e-01 8.00537107e-01 6.70536606e-03 -2.61568631e+01] [ 1.14392076e-02 1.87334789e-04 9.99934553e-01 -7.02857748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.700888479 meters 0.014761128861485314 Centerline is valid? [True, True] Translation: X:108.42, Y:-26.18, Z:-0.07 [[ 8.02599084e-01 5.96457568e-01 -8.54866880e-03 1.08418894e+02] [-5.96425494e-01 8.02644599e-01 6.18688410e-03 -2.61789937e+01] [ 1.05517567e-02 1.33056499e-04 9.99944320e-01 -6.87267011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.730888479 meters 0.014570722759352858 Centerline is valid? [True, True] Translation: X:108.44, Y:-26.20, Z:-0.07 [[ 8.03914868e-01 5.94692946e-01 -7.82214978e-03 1.08442536e+02] [-5.94665983e-01 8.03952916e-01 5.66370492e-03 -2.61986776e+01] [ 9.65680548e-03 9.84297959e-05 9.99953367e-01 -6.81540405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.760888479 meters 0.013897357740351186 Centerline is valid? [True, True] Translation: X:108.47, Y:-26.22, Z:-0.07 [[ 8.05707917e-01 5.92273982e-01 -6.80309248e-03 1.08466747e+02] [-5.92253495e-01 8.05736636e-01 4.92657848e-03 -2.62209904e+01] [ 8.39938511e-03 5.97720124e-05 9.99964723e-01 -6.56529324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.790888479 meters 0.013711876939673958 Centerline is valid? [True, True] Translation: X:108.49, Y:-26.24, Z:-0.07 [[ 8.07523013e-01 5.89803935e-01 -6.15644803e-03 1.08490328e+02] [-5.89787075e-01 8.07546480e-01 4.45964762e-03 -2.62409411e+01] [ 7.60193565e-03 2.97253976e-05 9.99971104e-01 -6.56855074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.820888479 meters 0.013504137075073466 Centerline is valid? [True, True] Translation: X:108.51, Y:-26.26, Z:-0.07 [[ 8.11048046e-01 5.84959911e-01 -4.79257477e-03 1.08514074e+02] [-5.84949598e-01 8.11062206e-01 3.47360514e-03 -2.62629691e+01] [ 5.91899602e-03 -1.38459847e-05 9.99982483e-01 -6.56694057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85088847899999 meters 0.013630661835250444 Centerline is valid? [True, True] Translation: X:108.54, Y:-26.28, Z:-0.07 [[ 8.12330795e-01 5.83181066e-01 -4.30384359e-03 1.08539719e+02] [-5.83172714e-01 8.12342196e-01 3.12128984e-03 -2.62835035e+01] [ 5.31647089e-03 -2.56357107e-05 9.99985867e-01 -6.56014707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88088847899999 meters 0.013743887226106782 Centerline is valid? [True, True] Translation: X:108.57, Y:-26.30, Z:-0.07 [[ 8.13430536e-01 5.81648436e-01 -3.98234975e-03 1.08565391e+02] [-5.81641258e-01 8.13440284e-01 2.88983998e-03 -2.63042702e+01] [ 4.92027462e-03 -3.43851715e-05 9.99987895e-01 -6.54959848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.910888479 meters 0.014394690353263734 Centerline is valid? [True, True] Translation: X:108.59, Y:-26.33, Z:-0.07 [[ 8.15462411e-01 5.78789731e-01 -4.84812952e-03 1.08588055e+02] [-5.78779033e-01 8.15476820e-01 3.51958710e-03 -2.63253561e+01] [ 5.99063812e-03 -6.40952680e-05 9.99982054e-01 -6.58474545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.940888479 meters 0.014834006458528394 Centerline is valid? [True, True] Translation: X:108.61, Y:-26.35, Z:-0.07 [[ 8.16240500e-01 5.77687606e-01 -5.33631764e-03 1.08612388e+02] [-5.77674611e-01 8.16257939e-01 3.87575712e-03 -2.63454443e+01] [ 6.59478849e-03 -8.08947156e-05 9.99978251e-01 -6.67514914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.970888479 meters 0.015088351942077574 Centerline is valid? [True, True] Translation: X:108.64, Y:-26.36, Z:-0.07 [[ 8.17092452e-01 5.76473578e-01 -6.17568544e-03 1.08638097e+02] [-5.76456122e-01 8.17115783e-01 4.48739337e-03 -2.63638908e+01] [ 7.63311375e-03 -1.06603574e-04 9.99970862e-01 -6.81572905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.000888479 meters 0.015220690089621474 Centerline is valid? [True, True] Translation: X:108.67, Y:-26.38, Z:-0.07 [[ 8.16942318e-01 5.76685939e-01 -6.21100107e-03 1.08665038e+02] [-5.76668269e-01 8.16965921e-01 4.51566682e-03 -2.63824477e+01] [ 7.67829777e-03 -1.07352089e-04 9.99970516e-01 -6.90907915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.030888479 meters 0.015002274802505735 Centerline is valid? [True, True] Translation: X:108.69, Y:-26.40, Z:-0.07 [[ 8.16441048e-01 5.77394991e-01 -6.24813934e-03 1.08692720e+02] [-5.77377110e-01 8.16464949e-01 4.54524021e-03 -2.64004126e+01] [ 7.72578570e-03 -1.03388044e-04 9.99970150e-01 -6.97354280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.060888479 meters 0.0150273848933835 Centerline is valid? [True, True] Translation: X:108.72, Y:-26.42, Z:-0.07 [[ 8.15907954e-01 5.78143580e-01 -6.64919792e-03 1.08718894e+02] [-5.78123345e-01 8.15935040e-01 4.83810926e-03 -2.64178534e+01] [ 8.22243538e-03 -1.03395285e-04 9.99966190e-01 -7.13792326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.090888479 meters 0.014531327710243704 Centerline is valid? [True, True] Translation: X:108.75, Y:-26.43, Z:-0.07 [[ 8.14167653e-01 5.80588526e-01 -6.92789459e-03 1.08747548e+02] [-5.80566636e-01 8.14197124e-01 5.04223079e-03 -2.64338006e+01] [ 8.56813319e-03 -8.31167508e-05 9.99963289e-01 -7.19312347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.120888479 meters 0.014352326711421204 Centerline is valid? [True, True] Translation: X:108.77, Y:-26.45, Z:-0.07 [[ 8.13135842e-01 5.82038633e-01 -6.41337661e-03 1.08774639e+02] [-5.82019900e-01 8.13161131e-01 4.67022959e-03 -2.64516718e+01] [ 7.93336263e-03 -6.48182623e-05 9.99968528e-01 -7.06585596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.150888479 meters 0.01373680122063699 Centerline is valid? [True, True] Translation: X:108.80, Y:-26.47, Z:-0.07 [[ 8.11288797e-01 5.84629236e-01 -4.37534416e-03 1.08803166e+02] [-5.84620552e-01 8.11300595e-01 3.18659796e-03 -2.64678237e+01] [ 5.41269765e-03 -2.73351115e-05 9.99985351e-01 -6.70409389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.180888479 meters 0.01359419853355912 Centerline is valid? [True, True] Translation: X:108.83, Y:-26.48, Z:-0.07 [[ 8.10096013e-01 5.86283788e-01 -3.97126588e-03 1.08830663e+02] [-5.86276645e-01 8.10105746e-01 2.89399432e-03 -2.64846574e+01] [ 4.91384726e-03 -1.61528200e-05 9.99987927e-01 -6.62676623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210888479 meters 0.013580388304753992 Centerline is valid? [True, True] Translation: X:108.86, Y:-26.50, Z:-0.07 [[ 8.08697885e-01 5.88209715e-01 -4.13061667e-03 1.08859250e+02] [-5.88202004e-01 8.08708434e-01 3.01188277e-03 -2.65020299e+01] [ 5.11208325e-03 -6.06622594e-06 9.99986933e-01 -6.66921535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24088847899999 meters 0.013551661069848696 Centerline is valid? [True, True] Translation: X:108.89, Y:-26.52, Z:-0.07 [[ 8.06100836e-01 5.91760569e-01 -4.56835608e-03 1.08889124e+02] [-5.91751184e-01 8.06113781e-01 3.33292610e-03 -2.65171997e+01] [ 5.65490904e-03 1.66556009e-05 9.99984011e-01 -6.80885476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27088847899999 meters 0.013619526749755242 Centerline is valid? [True, True] Translation: X:108.92, Y:-26.53, Z:-0.07 [[ 8.04984383e-01 5.93276818e-01 -4.77063776e-03 1.08916772e+02] [-5.93266598e-01 8.04998519e-01 3.48246429e-03 -2.65348509e+01] [ 5.90642167e-03 2.69306666e-05 9.99982557e-01 -6.83995065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.300888479 meters 0.013619526749755242 Centerline is valid? [True, True] Translation: X:108.94, Y:-26.55, Z:-0.07 [[ 8.04823717e-01 5.93494764e-01 -4.76969464e-03 1.08942895e+02] [-5.93484540e-01 8.04837850e-01 3.48375598e-03 -2.65540193e+01] [ 5.90642171e-03 2.69305930e-05 9.99982557e-01 -6.84369147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.330888479 meters 0.013793543964598328 Centerline is valid? [True, True] Translation: X:108.97, Y:-26.57, Z:-0.07 [[ 8.03487370e-01 5.95302773e-01 -4.75965096e-03 1.08970949e+02] [-5.95292612e-01 8.03501467e-01 3.47842528e-03 -2.65710698e+01] [ 5.89510274e-03 3.85142672e-05 9.99982623e-01 -6.90782663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.360888479 meters 0.013841935955915579 Centerline is valid? [True, True] Translation: X:109.00, Y:-26.59, Z:-0.07 [[ 8.03120059e-01 5.95799948e-01 -4.53792947e-03 1.08998320e+02] [-5.95790708e-01 8.03132879e-01 3.31830345e-03 -2.65895754e+01] [ 5.62160538e-03 3.86601555e-05 9.99984198e-01 -6.94323215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.390888479 meters 0.013750584820818913 Centerline is valid? [True, True] Translation: X:109.03, Y:-26.61, Z:-0.07 [[ 8.03053128e-01 5.95895665e-01 -3.74569324e-03 1.09025062e+02] [-5.95889363e-01 8.03061863e-01 2.74066196e-03 -2.66080526e+01] [ 4.64117197e-03 3.11216030e-05 9.99989229e-01 -6.87476351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.420888479 meters 0.013720556824300192 Centerline is valid? [True, True] Translation: X:109.05, Y:-26.63, Z:-0.07 [[ 8.02868793e-01 5.96152179e-01 -2.06890628e-03 1.09051777e+02] [-5.96150255e-01 8.02871459e-01 1.51467773e-03 -2.66258128e+01] [ 2.56404423e-03 1.72915239e-05 9.99996713e-01 -6.56826886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.450888479 meters 0.013890645927682542 Centerline is valid? [True, True] Translation: X:109.08, Y:-26.65, Z:-0.06 [[ 8.02493439e-01 5.96658696e-01 -1.63697255e-03 1.09078646e+02] [-5.96657491e-01 8.02495109e-01 1.19927038e-03 -2.66450375e+01] [ 2.02921757e-03 1.43053186e-05 9.99997941e-01 -6.41437331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.480888479 meters 0.013999116946514381 Centerline is valid? [True, True] Translation: X:109.11, Y:-26.66, Z:-0.06 [[ 8.02065809e-01 5.97233537e-01 -1.59357788e-03 1.09105993e+02] [-5.97232395e-01 8.02067392e-01 1.16816275e-03 -2.66642138e+01] [ 1.97582283e-03 1.47929357e-05 9.99998048e-01 -6.29786573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.510888479 meters 0.014104639580814506 Centerline is valid? [True, True] Translation: X:109.13, Y:-26.68, Z:-0.06 [[ 8.01371448e-01 5.98161236e-01 -2.63396268e-03 1.09133966e+02] [-5.98158118e-01 8.01375776e-01 1.93147805e-03 -2.66809224e+01] [ 3.26612919e-03 2.76948034e-05 9.99994666e-01 -6.34318355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.540888479 meters 0.014354095782708345 Centerline is valid? [True, True] Translation: X:109.16, Y:-26.70, Z:-0.07 [[ 8.01119059e-01 5.98494109e-01 -3.61313492e-03 1.09161315e+02] [-5.98488239e-01 8.01127206e-01 2.65082284e-03 -2.66971797e+01] [ 4.48108253e-03 3.87940528e-05 9.99989959e-01 -6.55601042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570888479 meters 0.014207310910648361 Centerline is valid? [True, True] Translation: X:109.19, Y:-26.72, Z:-0.07 [[ 8.01038731e-01 5.98596038e-01 -4.44246804e-03 1.09188449e+02] [-5.98587156e-01 8.01051048e-01 3.26109357e-03 -2.67150508e+01] [ 5.51072137e-03 4.69420624e-05 9.99984815e-01 -6.75232235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60088847899999 meters 0.014222321838919406 Centerline is valid? [True, True] Translation: X:109.22, Y:-26.73, Z:-0.07 [[ 8.01915021e-01 5.97408421e-01 -5.95629294e-03 1.09215464e+02] [-5.97392406e-01 8.01937140e-01 4.37453522e-03 -2.67328216e+01] [ 7.38995671e-03 5.02386652e-05 9.99972693e-01 -7.08597288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63088847899999 meters 0.013956476918846156 Centerline is valid? [True, True] Translation: X:109.24, Y:-26.75, Z:-0.07 [[ 8.02938821e-01 5.96032342e-01 -5.89034733e-03 1.09240318e+02] [-5.96016627e-01 8.02960426e-01 4.32827989e-03 -2.67539458e+01] [ 7.30951060e-03 3.54009994e-05 9.99973285e-01 -6.92515320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.660888479 meters 0.0138839720298437 Centerline is valid? [True, True] Translation: X:109.26, Y:-26.77, Z:-0.07 [[ 8.04102388e-01 5.94463351e-01 -5.71620261e-03 1.09264340e+02] [-5.94448498e-01 8.04122705e-01 4.20225925e-03 -2.67741933e+01] [ 7.09461742e-03 1.89413538e-05 9.99974833e-01 -6.76728351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.690888479 meters 0.01391072439092041 Centerline is valid? [True, True] Translation: X:109.29, Y:-26.79, Z:-0.07 [[ 8.05582504e-01 5.92461789e-01 -5.08495118e-03 1.09288837e+02] [-5.92449984e-01 8.05598553e-01 3.74011529e-03 -2.67945793e+01] [ 6.31230471e-03 -3.92197579e-07 9.99980077e-01 -6.60688024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.720888479 meters 0.014301781624541402 Centerline is valid? [True, True] Translation: X:109.31, Y:-26.82, Z:-0.06 [[ 8.08384507e-01 5.88637900e-01 -4.46228428e-03 1.09314369e+02] [-5.88628739e-01 8.08396822e-01 3.28410966e-03 -2.68152657e+01] [ 5.54044784e-03 -2.81945952e-05 9.99984651e-01 -6.43725947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.750888479 meters 0.014525248268424657 Centerline is valid? [True, True] Translation: X:109.34, Y:-26.83, Z:-0.06 [[ 8.09296412e-01 5.87384739e-01 -4.29950027e-03 1.09341227e+02] [-5.87376207e-01 8.09307832e-01 3.16615438e-03 -2.68344683e+01] [ 5.33937000e-03 -3.69332206e-05 9.99985745e-01 -6.41989354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.780888479 meters 0.015063898713781268 Centerline is valid? [True, True] Translation: X:109.37, Y:-26.85, Z:-0.06 [[ 8.10818522e-01 5.85278547e-01 -4.72725557e-03 1.09366066e+02] [-5.85268188e-01 8.10832301e-01 3.48265991e-03 -2.68536043e+01] [ 5.87133764e-03 -5.70928632e-05 9.99982762e-01 -6.47470713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.810888479 meters 0.01522705772718907 Centerline is valid? [True, True] Translation: X:109.39, Y:-26.87, Z:-0.06 [[ 8.11069295e-01 5.84924617e-01 -5.45816707e-03 1.09391708e+02] [-5.84910785e-01 8.11087657e-01 4.02310924e-03 -2.68724325e+01] [ 6.78026757e-03 -7.04795914e-05 9.99977011e-01 -6.41999678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.840888479 meters 0.015125966155276293 Centerline is valid? [True, True] Translation: X:109.42, Y:-26.89, Z:-0.06 [[ 8.11222593e-01 5.84709439e-01 -5.72518681e-03 1.09418388e+02] [-5.84694198e-01 8.11242791e-01 4.22243635e-03 -2.68911458e+01] [ 7.11341492e-03 -7.78522496e-05 9.99974696e-01 -6.40536910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.870888479 meters 0.015513119757689958 Centerline is valid? [True, True] Translation: X:109.44, Y:-26.91, Z:-0.06 [[ 8.11041957e-01 5.84956732e-01 -6.04695486e-03 1.09444686e+02] [-5.84939726e-01 8.11064495e-01 4.46119200e-03 -2.69089362e+01] [ 7.51407468e-03 -8.11097666e-05 9.99971766e-01 -6.46995033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.900888479 meters 0.015359704839897853 Centerline is valid? [True, True] Translation: X:109.47, Y:-26.93, Z:-0.06 [[ 8.10610381e-01 5.85557860e-01 -5.72738747e-03 1.09472123e+02] [-5.85542601e-01 8.10630610e-01 4.22798486e-03 -2.69269184e+01] [ 7.11852537e-03 -7.36190630e-05 9.99974660e-01 -6.44356287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930888479 meters 0.01521948954001003 Centerline is valid? [True, True] Translation: X:109.50, Y:-26.94, Z:-0.06 [[ 8.10206560e-01 5.86121865e-01 -5.14683801e-03 1.09499226e+02] [-5.86109541e-01 8.10222905e-01 3.80133241e-03 -2.69447047e+01] [ 6.39813008e-03 -6.32535955e-05 9.99979530e-01 -6.37185596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.960888479 meters 0.015400014498532308 Centerline is valid? [True, True] Translation: X:109.53, Y:-26.96, Z:-0.06 [[ 8.09424140e-01 5.87208181e-01 -4.37183553e-03 1.09526295e+02] [-5.87199296e-01 8.09435945e-01 3.23060013e-03 -2.69627186e+01] [ 5.43575565e-03 -4.77869803e-05 9.99985225e-01 -6.16394924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99088847899999 meters 0.015204599651303236 Centerline is valid? [True, True] Translation: X:109.55, Y:-26.98, Z:-0.06 [[ 8.08930868e-01 5.87890052e-01 -4.01706318e-03 1.09553614e+02] [-5.87882550e-01 8.08940841e-01 2.97020450e-03 -2.69815639e+01] [ 4.99572015e-03 -4.11287635e-05 9.99987520e-01 -6.10869688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02088847899999 meters 0.016245439467119538 Centerline is valid? [True, True] Translation: X:109.58, Y:-27.00, Z:-0.06 [[ 8.07909770e-01 5.89288787e-01 -4.53093993e-03 1.09580428e+02] [-5.89279256e-01 8.07922474e-01 3.35186082e-03 -2.69986390e+01] [ 5.63586220e-03 -3.80121905e-05 9.99984118e-01 -6.41777231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.050888479 meters 0.014657819873711212 Centerline is valid? [True, True] Translation: X:109.61, Y:-27.01, Z:-0.06 [[ 8.06039156e-01 5.91852401e-01 -3.40799470e-03 1.09608586e+02] [-5.91847026e-01 8.06046360e-01 2.52250653e-03 -2.70140874e+01] [ 4.23995327e-03 -1.62275051e-05 9.99991011e-01 -6.11540097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.080888479 meters 0.014582759960406623 Centerline is valid? [True, True] Translation: X:109.64, Y:-27.03, Z:-0.06 [[ 8.04769773e-01 5.93579136e-01 -3.06958882e-03 1.09636608e+02] [-5.93574782e-01 8.04775627e-01 2.27343712e-03 -2.70308762e+01] [ 3.81979510e-03 -7.56295633e-06 9.99992705e-01 -6.10483402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.110888479 meters 0.01465302609570928 Centerline is valid? [True, True] Translation: X:109.67, Y:-27.05, Z:-0.06 [[ 8.02383612e-01 5.96796938e-01 -3.73541499e-03 1.09666802e+02] [-5.96790519e-01 8.02392307e-01 2.76811325e-03 -2.70452072e+01] [ 4.64926976e-03 8.17154186e-06 9.99989192e-01 -6.23896451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.140888479 meters 0.014684164312221335 Centerline is valid? [True, True] Translation: X:109.69, Y:-27.06, Z:-0.06 [[ 8.01142265e-01 5.98457061e-01 -4.49647719e-03 1.09694685e+02] [-5.98447774e-01 8.01154883e-01 3.33399283e-03 -2.70631701e+01] [ 5.59762620e-03 1.99042016e-05 9.99984333e-01 -6.30443974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.170888479 meters 0.014807268132400478 Centerline is valid? [True, True] Translation: X:109.72, Y:-27.08, Z:-0.06 [[ 7.99888954e-01 6.00130447e-01 -4.59443837e-03 1.09722072e+02] [-6.00120767e-01 7.99902148e-01 3.40863265e-03 -2.70812369e+01] [ 5.72072536e-03 3.06902758e-05 9.99983636e-01 -6.31432031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.200888479 meters 0.014964245840277038 Centerline is valid? [True, True] Translation: X:109.75, Y:-27.10, Z:-0.06 [[ 7.97642680e-01 6.03116241e-01 -4.11751488e-03 1.09749971e+02] [-6.03108499e-01 7.97653307e-01 3.05639286e-03 -2.70969480e+01] [ 5.12770953e-03 4.53988240e-05 9.99986852e-01 -6.21830046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.230888479 meters 0.015395928014543111 Centerline is valid? [True, True] Translation: X:109.78, Y:-27.11, Z:-0.06 [[ 7.96498984e-01 6.04626124e-01 -4.07670486e-03 1.09776747e+02] [-6.04618546e-01 7.96509415e-01 3.02753957e-03 -2.71122975e+01] [ 5.07766331e-03 5.34191764e-05 9.99987107e-01 -6.31665880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.260888479 meters 0.015476047322615778 Centerline is valid? [True, True] Translation: X:109.80, Y:-27.13, Z:-0.06 [[ 7.95283977e-01 6.06225482e-01 -3.74962102e-03 1.09803077e+02] [-6.06219083e-01 7.95292815e-01 2.78612452e-03 -2.71303367e+01] [ 4.67106633e-03 5.73316274e-05 9.99989089e-01 -6.29840148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.290888479 meters 0.015676351791269146 Centerline is valid? [True, True] Translation: X:109.83, Y:-27.15, Z:-0.06 [[ 7.94296474e-01 6.07522851e-01 -3.01606778e-03 1.09829337e+02] [-6.07518718e-01 7.94302199e-01 2.24160679e-03 -2.71468633e+01] [ 3.75749661e-03 5.18172630e-05 9.99992939e-01 -6.26955555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.320888479 meters 0.016334280860765334 Centerline is valid? [True, True] Translation: X:109.86, Y:-27.16, Z:-0.06 [[ 7.92495541e-01 6.09872732e-01 -2.46338665e-03 1.09856992e+02] [-6.09869985e-01 7.92499368e-01 1.83136604e-03 -2.71617389e+01] [ 3.06913257e-03 5.09961547e-05 9.99995289e-01 -6.22017205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35088847899999 meters 0.018110494439108032 Centerline is valid? [True, True] Translation: X:109.88, Y:-27.18, Z:-0.06 [[ 7.91389297e-01 6.11304317e-01 -3.16418709e-03 1.09884620e+02] [-6.11299791e-01 7.91395620e-01 2.35331830e-03 -2.71758518e+01] [ 3.94271744e-03 7.18759868e-05 9.99992225e-01 -6.44984522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38088847899999 meters 0.01691310503408479 Centerline is valid? [True, True] Translation: X:109.91, Y:-27.20, Z:-0.07 [[ 7.90355810e-01 6.12636974e-01 -3.69217801e-03 1.09909492e+02] [-6.12630820e-01 7.90364429e-01 2.74742481e-03 -2.71962506e+01] [ 4.60134019e-03 9.04988751e-05 9.99989410e-01 -6.51641430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.410888479 meters 0.0179550421053998 Centerline is valid? [True, True] Translation: X:109.94, Y:-27.21, Z:-0.07 [[ 7.88604645e-01 6.14886917e-01 -4.09799515e-03 1.09936731e+02] [-6.14879359e-01 7.88615284e-01 3.05075732e-03 -2.72121612e+01] [ 5.10761238e-03 1.13931239e-04 9.99986950e-01 -6.51330344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.440888479 meters 0.017967233853623386 Centerline is valid? [True, True] Translation: X:109.96, Y:-27.23, Z:-0.06 [[ 7.88172252e-01 6.15442956e-01 -3.80375202e-03 1.09962665e+02] [-6.15436443e-01 7.88181423e-01 2.83340934e-03 -2.72316679e+01] [ 4.74184850e-03 1.07752987e-04 9.99988752e-01 -6.40459888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.470888479 meters 0.0172828349383519 Centerline is valid? [True, True] Translation: X:109.99, Y:-27.25, Z:-0.06 [[ 7.87908518e-01 6.15774911e-01 -4.62886093e-03 1.09988510e+02] [-6.15765260e-01 7.87922104e-01 3.44999406e-03 -2.72521725e+01] [ 5.77160163e-03 1.32012044e-04 9.99983335e-01 -6.39862941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.500888479 meters 0.016727704496722878 Centerline is valid? [True, True] Translation: X:110.02, Y:-27.27, Z:-0.06 [[ 7.87832147e-01 6.15868820e-01 -5.10931803e-03 1.10015218e+02] [-6.15857050e-01 7.87848701e-01 3.81035204e-03 -2.72718478e+01] [ 6.37204658e-03 1.44691705e-04 9.99979688e-01 -6.46757034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.530888479 meters 0.0172271726481351 Centerline is valid? [True, True] Translation: X:110.04, Y:-27.29, Z:-0.07 [[ 7.87402510e-01 6.16415330e-01 -5.42481871e-03 1.10041580e+02] [-6.16402061e-01 7.87421181e-01 4.04749650e-03 -2.72887305e+01] [ 6.76655605e-03 1.56860532e-04 9.99977094e-01 -6.64959786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.560888479 meters 0.01703514234053017 Centerline is valid? [True, True] Translation: X:110.07, Y:-27.31, Z:-0.07 [[ 7.87137458e-01 6.16753626e-01 -5.43943017e-03 1.10068036e+02] [-6.16740277e-01 7.87156236e-01 4.06089117e-03 -2.73075813e+01] [ 6.78625074e-03 1.58236116e-04 9.99976961e-01 -6.71188496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.590888479 meters 0.017046558559985818 Centerline is valid? [True, True] Translation: X:110.09, Y:-27.33, Z:-0.07 [[ 7.87054727e-01 6.16858986e-01 -5.46339503e-03 1.10094449e+02] [-6.16845505e-01 7.87073673e-01 4.08121140e-03 -2.73275376e+01] [ 6.81762632e-03 1.57933944e-04 9.99976747e-01 -6.77118014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.620888479 meters 0.016909581975013372 Centerline is valid? [True, True] Translation: X:110.12, Y:-27.35, Z:-0.07 [[ 7.87104377e-01 6.16800656e-01 -4.86327519e-03 1.10119867e+02] [-6.16789961e-01 7.87119389e-01 3.63480854e-03 -2.73471369e+01] [ 6.06993049e-03 1.38645608e-04 9.99981568e-01 -6.78990432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.650888479 meters 0.018006463057229603 Centerline is valid? [True, True] Translation: X:110.15, Y:-27.36, Z:-0.07 [[ 7.87291865e-01 6.16571382e-01 -3.35405972e-03 1.10146369e+02] [-6.16566288e-01 7.87299004e-01 2.50811736e-03 -2.73633395e+01] [ 4.18708127e-03 9.33797544e-05 9.99991230e-01 -6.81688195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.680888479 meters 0.016898666081256047 Centerline is valid? [True, True] Translation: X:110.17, Y:-27.38, Z:-0.07 [[ 7.87489775e-01 6.16321812e-01 -2.69771821e-03 1.10170538e+02] [-6.16318511e-01 7.87494393e-01 2.01845258e-03 -2.73839975e+01] [ 3.36845431e-03 7.31429061e-05 9.99994324e-01 -6.71037651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710888479 meters 0.01694469210174507 Centerline is valid? [True, True] Translation: X:110.20, Y:-27.40, Z:-0.07 [[ 7.87434094e-01 6.16395911e-01 -1.90452875e-03 1.10196674e+02] [-6.16394264e-01 7.87436396e-01 1.42597925e-03 -2.74036113e+01] [ 2.37866303e-03 5.10759117e-05 9.99997170e-01 -6.69052149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74088847899999 meters 0.01654898650991367 Centerline is valid? [True, True] Translation: X:110.22, Y:-27.42, Z:-0.07 [[ 7.87761762e-01 6.15978260e-01 -1.47941571e-03 1.10221611e+02] [-6.15977264e-01 7.87763151e-01 1.10830654e-03 -2.74234639e+01] [ 1.84812192e-03 3.82049240e-05 9.99998292e-01 -6.69441304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77088847899999 meters 0.016924909281824392 Centerline is valid? [True, True] Translation: X:110.25, Y:-27.44, Z:-0.07 [[ 7.88834756e-01 6.14604097e-01 -1.23783724e-03 1.10246545e+02] [-6.14603398e-01 7.88835726e-01 9.27505789e-04 -2.74424409e+01] [ 1.54649910e-03 2.91301720e-05 9.99998804e-01 -6.74625265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.800888479 meters 0.015985949966926982 Centerline is valid? [True, True] Translation: X:110.27, Y:-27.46, Z:-0.07 [[ 7.89450351e-01 6.13813031e-01 -1.30621157e-03 1.10270769e+02] [-6.13812251e-01 7.89451431e-01 9.78833113e-04 -2.74644742e+01] [ 1.63201111e-03 2.90285168e-05 9.99998668e-01 -6.77054851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.830888479 meters 0.015876904251512156 Centerline is valid? [True, True] Translation: X:110.30, Y:-27.48, Z:-0.07 [[ 7.90103279e-01 6.12973492e-01 -5.53347047e-04 1.10295471e+02] [-6.12973352e-01 7.90103473e-01 4.14931673e-04 -2.74828685e+01] [ 6.91543541e-04 1.13481185e-05 9.99999761e-01 -6.91192356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.860888479 meters 0.01583154765688914 Centerline is valid? [True, True] Translation: X:110.32, Y:-27.50, Z:-0.07 [[ 7.90148854e-01 6.12914981e-01 1.20418692e-04 1.10321722e+02] [-6.12914974e-01 7.90148863e-01 -8.99007033e-05 -2.75020614e+01] [-1.50250181e-04 -2.77148207e-06 9.99999989e-01 -6.95136741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.890888479 meters 0.015713510150123077 Centerline is valid? [True, True] Translation: X:110.35, Y:-27.52, Z:-0.07 [[ 7.90128662e-01 6.12940002e-01 1.11869354e-03 1.10347970e+02] [-6.12939428e-01 7.90129454e-01 -8.39030355e-04 -2.75219634e+01] [-1.39818799e-03 -2.27494488e-05 9.99999022e-01 -6.93258212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.920888479 meters 0.015969718756400183 Centerline is valid? [True, True] Translation: X:110.37, Y:-27.54, Z:-0.07 [[ 7.89825181e-01 6.13330322e-01 1.44878305e-03 1.10373883e+02] [-6.13329359e-01 7.89826510e-01 -1.08734726e-03 -2.75409648e+01] [-1.81119031e-03 -2.97669321e-05 9.99998359e-01 -6.91860499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.950888479 meters 0.016150143240833994 Centerline is valid? [True, True] Translation: X:110.40, Y:-27.56, Z:-0.07 [[ 7.89468702e-01 6.13789270e-01 1.37857084e-03 1.10400003e+02] [-6.13788397e-01 7.89469905e-01 -1.03520973e-03 -2.75614471e+01] [-1.72374082e-03 -2.88851022e-05 9.99998514e-01 -6.91970608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.980888479 meters 0.015859227923668125 Centerline is valid? [True, True] Translation: X:110.43, Y:-27.58, Z:-0.07 [[ 7.89381405e-01 6.13901221e-01 1.51278578e-03 1.10425141e+02] [-6.13900169e-01 7.89382854e-01 -1.13668999e-03 -2.75834617e+01] [-1.89198253e-03 -3.14175020e-05 9.99998210e-01 -6.91471540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.010888479 meters 0.015867682205191833 Centerline is valid? [True, True] Translation: X:110.45, Y:-27.60, Z:-0.07 [[ 7.89331947e-01 6.13962891e-01 2.15564699e-03 1.10450926e+02] [-6.13960753e-01 7.89334889e-01 -1.62084541e-03 -2.76031624e+01] [-2.69666631e-03 -4.40975888e-05 9.99996363e-01 -6.97328292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.040888479 meters 0.015948585212114744 Centerline is valid? [True, True] Translation: X:110.48, Y:-27.62, Z:-0.07 [[ 7.89242085e-01 6.14077556e-01 2.38451246e-03 1.10477646e+02] [-6.14074938e-01 7.89245686e-01 -1.79401869e-03 -2.76222425e+01] [-2.98363279e-03 -4.83542844e-05 9.99995548e-01 -7.10656375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070888479 meters 0.01609733363154763 Centerline is valid? [True, True] Translation: X:110.50, Y:-27.64, Z:-0.07 [[ 7.88792129e-01 6.14656581e-01 2.06521777e-03 1.10504829e+02] [-6.14654616e-01 7.88794831e-01 -1.55463921e-03 -2.76408219e+01] [-2.58460232e-03 -4.31084609e-05 9.99996659e-01 -7.49164308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10088847899999 meters 0.016285563624896162 Centerline is valid? [True, True] Translation: X:110.53, Y:-27.66, Z:-0.08 [[ 7.88351905e-01 6.15221728e-01 1.87045278e-03 1.10530304e+02] [-6.15220116e-01 7.88354123e-01 -1.40877371e-03 -2.76608891e+01] [-2.34128735e-03 -4.01307385e-05 9.99997258e-01 -7.53819531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13088847899999 meters 0.016222580718578725 Centerline is valid? [True, True] Translation: X:110.56, Y:-27.68, Z:-0.07 [[ 7.87888674e-01 6.15812985e-01 2.40930058e-03 1.10555588e+02] [-6.15810310e-01 7.87892356e-01 -1.81575232e-03 -2.76821436e+01] [-3.01643336e-03 -5.30614497e-05 9.99995449e-01 -7.48068249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.160888479 meters 0.0163045504611727 Centerline is valid? [True, True] Translation: X:110.58, Y:-27.70, Z:-0.07 [[ 7.86948940e-01 6.17014141e-01 2.21711895e-03 1.10580007e+02] [-6.17011878e-01 7.86952062e-01 -1.67178967e-03 -2.77033818e+01] [-2.77628420e-03 -5.23756219e-05 9.99996145e-01 -7.36458351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.190888479 meters 0.0163045504611727 Centerline is valid? [True, True] Translation: X:110.61, Y:-27.72, Z:-0.07 [[ 7.86774353e-01 6.17236748e-01 2.21667053e-03 1.10605847e+02] [-6.17234485e-01 7.86777474e-01 -1.67238413e-03 -2.77229557e+01] [-2.77628338e-03 -5.24165519e-05 9.99996145e-01 -7.36832329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.220888479 meters 0.01723018192178559 Centerline is valid? [True, True] Translation: X:110.63, Y:-27.74, Z:-0.07 [[ 7.86294808e-01 6.17847782e-01 2.14322753e-03 1.10632207e+02] [-6.17845667e-01 7.86297727e-01 -1.61762944e-03 -2.77398191e+01] [-2.68466370e-03 -5.22502127e-05 9.99996395e-01 -7.47189227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.250888479 meters 0.016318881839386148 Centerline is valid? [True, True] Translation: X:110.66, Y:-27.76, Z:-0.08 [[ 7.85850715e-01 6.18414313e-01 1.54653021e-03 1.10658108e+02] [-6.18413212e-01 7.85852235e-01 -1.16769001e-03 -2.77607629e+01] [-1.93746044e-03 -3.87646802e-05 9.99998122e-01 -7.69019592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.280888479 meters 0.016356643408833603 Centerline is valid? [True, True] Translation: X:110.68, Y:-27.78, Z:-0.08 [[ 7.85879032e-01 6.18378220e-01 1.58863842e-03 1.10684711e+02] [-6.18377057e-01 7.85880637e-01 -1.20019350e-03 -2.77792637e+01] [-1.99065369e-03 -3.91706412e-05 9.99998018e-01 -7.95796361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.310888479 meters 0.016505735566526725 Centerline is valid? [True, True] Translation: X:110.71, Y:-27.80, Z:-0.08 [[ 7.86178233e-01 6.17995726e-01 2.25156297e-03 1.10708458e+02] [-6.17993384e-01 7.86181455e-01 -1.70205367e-03 -2.77987846e+01] [-2.82199894e-03 -5.33334754e-05 9.99996017e-01 -7.94575497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.340888479 meters 0.016042494007681447 Centerline is valid? [True, True] Translation: X:110.73, Y:-27.82, Z:-0.08 [[ 7.86815632e-01 6.17182375e-01 2.66038198e-03 1.10731755e+02] [-6.17179098e-01 7.86820127e-01 -2.01216799e-03 -2.78204109e+01] [-3.33511670e-03 -5.87269173e-05 9.99994437e-01 -7.86407800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.370888479 meters 0.01650696943087439 Centerline is valid? [True, True] Translation: X:110.76, Y:-27.84, Z:-0.08 [[ 7.88159433e-01 6.15459606e-01 3.76587395e-03 1.10755225e+02] [-6.15453012e-01 7.88168426e-01 -2.84982893e-03 -2.78408391e+01] [-4.72209754e-03 -7.15989123e-05 9.99988848e-01 -7.65704499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.400888479 meters 0.015504460949462775 Centerline is valid? [True, True] Translation: X:110.78, Y:-27.86, Z:-0.08 [[ 7.88543808e-01 6.14963641e-01 4.28756019e-03 1.10779303e+02] [-6.14955077e-01 7.88555461e-01 -3.24628864e-03 -2.78623076e+01] [-5.37732848e-03 -7.68160998e-05 9.99985539e-01 -7.64468945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430888479 meters 0.015383731781340575 Centerline is valid? [True, True] Translation: X:110.81, Y:-27.88, Z:-0.08 [[ 7.88935165e-01 6.14453297e-01 5.33393139e-03 1.10805820e+02] [-6.14440016e-01 7.88953191e-01 -4.04095161e-03 -2.78819563e+01] [-6.69119823e-03 -8.93320563e-05 9.99977610e-01 -7.68204025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.460888479 meters 0.014993678357565158 Centerline is valid? [True, True] Translation: X:110.83, Y:-27.90, Z:-0.08 [[ 7.89452157e-01 6.13781350e-01 6.14381784e-03 1.10832400e+02] [-6.13763687e-01 7.89476057e-01 -4.65735984e-03 -2.79007802e+01] [-7.70899769e-03 -9.40895225e-05 9.99970281e-01 -7.82506797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49088847899999 meters 0.015109712369150144 Centerline is valid? [True, True] Translation: X:110.86, Y:-27.92, Z:-0.08 [[ 7.89759430e-01 6.13389309e-01 5.79629202e-03 1.10856393e+02] [-6.13373567e-01 7.89780696e-01 -4.39539574e-03 -2.79200851e+01] [-7.27388831e-03 -8.39870761e-05 9.99973541e-01 -7.82717274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52088847899999 meters 0.014831119383126572 Centerline is valid? [True, True] Translation: X:110.88, Y:-27.94, Z:-0.08 [[ 7.90351755e-01 6.12635411e-01 4.68573390e-03 1.10880672e+02] [-6.12625100e-01 7.90365643e-01 -3.55488825e-03 -2.79418988e+01] [-5.88129351e-03 -6.09860307e-05 9.99982703e-01 -7.82481559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.550888479 meters 0.01450066064532541 Centerline is valid? [True, True] Translation: X:110.90, Y:-27.96, Z:-0.08 [[ 7.91546153e-01 6.11100630e-01 3.27226541e-03 1.10903546e+02] [-6.11095583e-01 7.91552916e-01 -2.48370992e-03 -2.79643192e+01] [-4.10796793e-03 -3.36959036e-05 9.99991562e-01 -7.90831184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.580888479 meters 0.014376960567837094 Centerline is valid? [True, True] Translation: X:110.93, Y:-27.98, Z:-0.08 [[ 7.92334741e-01 6.10080407e-01 2.74871881e-03 1.10928133e+02] [-6.10076837e-01 7.92339508e-01 -2.08728345e-03 -2.79838555e+01] [-3.45132924e-03 -2.31024877e-05 9.99994044e-01 -8.00127257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.610888479 meters 0.014179987820052656 Centerline is valid? [True, True] Translation: X:110.95, Y:-28.00, Z:-0.08 [[ 7.93659016e-01 6.08352675e-01 3.51983978e-03 1.10953663e+02] [-6.08346797e-01 7.93666821e-01 -2.67426820e-03 -2.80030113e+01] [-4.42047826e-03 -1.88261876e-05 9.99990229e-01 -8.20815981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.640888479 meters 0.014231677569030876 Centerline is valid? [True, True] Translation: X:110.98, Y:-28.02, Z:-0.08 [[ 7.94091526e-01 6.07784041e-01 4.14812453e-03 1.10979546e+02] [-6.07775860e-01 7.94102361e-01 -3.15348991e-03 -2.80232448e+01] [-5.21067632e-03 -1.69703409e-05 9.99986424e-01 -8.18934771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.670888479 meters 0.014195349326286017 Centerline is valid? [True, True] Translation: X:111.00, Y:-28.04, Z:-0.08 [[ 7.94285693e-01 6.07524617e-01 4.90699671e-03 1.11004436e+02] [-6.07513151e-01 7.94300850e-01 -3.73255810e-03 -2.80430875e+01] [-6.16525258e-03 -1.63475339e-05 9.99980995e-01 -8.05205262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.700888479 meters 0.014242702919004728 Centerline is valid? [True, True] Translation: X:111.03, Y:-28.06, Z:-0.08 [[ 7.94767124e-01 6.06887516e-01 5.72376381e-03 1.11029037e+02] [-6.06871881e-01 7.94787734e-01 -4.35638950e-03 -2.80649438e+01] [-7.19301568e-03 -1.12761569e-05 9.99974130e-01 -7.91885175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.730888479 meters 0.014225071133680527 Centerline is valid? [True, True] Translation: X:111.05, Y:-28.09, Z:-0.08 [[ 7.94638596e-01 6.07059658e-01 5.29852015e-03 1.11054552e+02] [-6.07046247e-01 7.94656260e-01 -4.03504845e-03 -2.80862511e+01] [-6.66001734e-03 -1.00415390e-05 9.99977822e-01 -7.90154226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.760888479 meters 0.014249973747019877 Centerline is valid? [True, True] Translation: X:111.08, Y:-28.11, Z:-0.08 [[ 7.94413328e-01 6.07357781e-01 4.89809214e-03 1.11080053e+02] [-6.07346313e-01 7.94428427e-01 -3.73226592e-03 -2.81071454e+01] [-6.15800439e-03 -9.87641405e-06 9.99981039e-01 -7.86957916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.790888479 meters 0.014519676897490489 Centerline is valid? [True, True] Translation: X:111.11, Y:-28.13, Z:-0.08 [[ 7.93448530e-01 6.08614775e-01 5.24265373e-03 1.11106050e+02] [-6.08601650e-01 7.93465850e-01 -3.99706093e-03 -2.81254215e+01] [-6.59253703e-03 -1.92255905e-05 9.99978269e-01 -7.83297601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.820888479 meters 0.014758793246078056 Centerline is valid? [True, True] Translation: X:111.13, Y:-28.14, Z:-0.08 [[ 7.92328073e-01 6.10065601e-01 6.01560522e-03 1.11133587e+02] [-6.10048342e-01 7.92350908e-01 -4.58903339e-03 -2.81439285e+01] [-7.56608167e-03 -3.37900079e-05 9.99971376e-01 -7.86143476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85088847899999 meters 0.015163077227019948 Centerline is valid? [True, True] Translation: X:111.16, Y:-28.16, Z:-0.08 [[ 7.89833099e-01 6.13288690e-01 6.37636962e-03 1.11161095e+02] [-6.13269385e-01 7.89858834e-01 -4.86658812e-03 -2.81597695e+01] [-8.02105533e-03 -6.66399017e-05 9.99967829e-01 -7.95052813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88088847899999 meters 0.015250392485408343 Centerline is valid? [True, True] Translation: X:111.19, Y:-28.18, Z:-0.08 [[ 7.88378624e-01 6.15162124e-01 5.89128629e-03 1.11186897e+02] [-6.15145680e-01 7.88400631e-01 -4.49860185e-03 -2.81787403e+01] [-7.41206329e-03 -7.73977766e-05 9.99972527e-01 -8.02309295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.910888479 meters 0.015562997261938792 Centerline is valid? [True, True] Translation: X:111.21, Y:-28.20, Z:-0.08 [[ 7.86973917e-01 6.16965759e-01 5.03052683e-03 1.11212902e+02] [-6.16953794e-01 7.86989991e-01 -3.84323006e-03 -2.81983209e+01] [-6.33011562e-03 -7.90808014e-05 9.99979961e-01 -8.07117161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.940888479 meters 0.0158307709766684 Centerline is valid? [True, True] Translation: X:111.24, Y:-28.22, Z:-0.08 [[ 7.85761030e-01 6.18515513e-01 4.26196626e-03 1.11238949e+02] [-6.18506938e-01 7.85772585e-01 -3.25766430e-03 -2.82177457e+01] [-5.36385215e-03 -7.63100420e-05 9.99985612e-01 -8.11865182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.970888479 meters 0.01664804039332633 Centerline is valid? [True, True] Translation: X:111.26, Y:-28.24, Z:-0.08 [[ 7.84032321e-01 6.20713701e-01 2.79649454e-03 1.11264509e+02] [-6.20710020e-01 7.84037306e-01 -2.13842629e-03 -2.82354407e+01] [-3.51990654e-03 -5.92168561e-05 9.99993803e-01 -8.28290162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.000888479 meters 0.016584354313169652 Centerline is valid? [True, True] Translation: X:111.29, Y:-28.25, Z:-0.08 [[ 7.83297555e-01 6.21641679e-01 2.56175500e-03 1.11289676e+02] [-6.21638592e-01 7.83301742e-01 -1.95986491e-03 -2.82546884e+01] [-3.22496087e-03 -5.73283815e-05 9.99994798e-01 -8.35040963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.030888479 meters 0.0168843727054901 Centerline is valid? [True, True] Translation: X:111.32, Y:-28.27, Z:-0.08 [[ 7.82433647e-01 6.22725415e-01 3.26291893e-03 1.11315368e+02] [-6.22720411e-01 7.82440446e-01 -2.49765186e-03 -2.82733467e+01] [-4.10839103e-03 -7.76393618e-05 9.99991558e-01 -8.36537374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.060888479 meters 0.017655457798702482 Centerline is valid? [True, True] Translation: X:111.34, Y:-28.29, Z:-0.08 [[ 7.80731670e-01 6.24858757e-01 3.09731759e-03 1.11340550e+02] [-6.24854263e-01 7.80737809e-01 -2.37149794e-03 -2.82907503e+01] [-3.90004420e-03 -8.38685482e-05 9.99992391e-01 -8.30392160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.090888479 meters 0.01819131706117598 Centerline is valid? [True, True] Translation: X:111.37, Y:-28.31, Z:-0.08 [[ 7.80124499e-01 6.25615299e-01 3.35614062e-03 1.11365578e+02] [-6.25610024e-01 7.80131713e-01 -2.57065580e-03 -2.83094084e+01] [-4.22647333e-03 -9.42036419e-05 9.99991064e-01 -8.25391222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.120888479 meters 0.01854763277717891 Centerline is valid? [True, True] Translation: X:111.39, Y:-28.33, Z:-0.08 [[ 7.79714486e-01 6.26127577e-01 3.09482804e-03 1.11391095e+02] [-6.26123091e-01 7.79720623e-01 -2.37168144e-03 -2.83292292e+01] [-3.89807640e-03 -8.85089200e-05 9.99992399e-01 -8.21596782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.150888479 meters 0.01731216109086304 Centerline is valid? [True, True] Translation: X:111.41, Y:-28.35, Z:-0.08 [[ 7.80284592e-01 6.25418350e-01 2.80042188e-03 1.11414271e+02] [-6.25414669e-01 7.80289614e-01 -2.14714255e-03 -2.83523481e+01] [-3.52800246e-03 -7.60426745e-05 9.99993774e-01 -8.19556319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.180888479 meters 0.018007415383124087 Centerline is valid? [True, True] Translation: X:111.44, Y:-28.37, Z:-0.08 [[ 7.81114247e-01 6.24383152e-01 2.49243935e-03 1.11439026e+02] [-6.24380228e-01 7.81118221e-01 -1.91189705e-03 -2.83708725e+01] [-3.14064610e-03 -6.28198256e-05 9.99995066e-01 -8.24742071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210888479 meters 0.016799770817393648 Centerline is valid? [True, True] Translation: X:111.46, Y:-28.39, Z:-0.08 [[ 7.81732106e-01 6.23610752e-01 2.13194973e-03 1.11462489e+02] [-6.23608608e-01 7.81735011e-01 -1.63613501e-03 -2.83935852e+01] [-2.68693113e-03 -5.04829338e-05 9.99996389e-01 -8.39772339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24088847899999 meters 0.01644582889952825 Centerline is valid? [True, True] Translation: X:111.48, Y:-28.42, Z:-0.09 [[ 7.83361513e-01 6.21564546e-01 1.50154480e-03 1.11484683e+02] [-6.21563478e-01 7.83362952e-01 -1.15280533e-03 -2.84154959e+01] [-1.89279749e-03 -3.02420852e-05 9.99998208e-01 -8.51176675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27088847899999 meters 0.016144058175554372 Centerline is valid? [True, True] Translation: X:111.51, Y:-28.44, Z:-0.08 [[ 7.84169536e-01 6.20545127e-01 1.37254017e-03 1.11508540e+02] [-6.20544232e-01 7.84170737e-01 -1.05424303e-03 -2.84369176e+01] [-1.73051121e-03 -2.50166154e-05 9.99998502e-01 -8.48477697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.300888479 meters 0.015825600899258923 Centerline is valid? [True, True] Translation: X:111.53, Y:-28.46, Z:-0.08 [[ 7.85532674e-01 6.18817258e-01 1.90238373e-03 1.11531898e+02] [-6.18815531e-01 7.85534977e-01 -1.46208968e-03 -2.84598403e+01] [-2.39915529e-03 -2.87053799e-05 9.99997122e-01 -8.39012957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.330888479 meters 0.015723457454098772 Centerline is valid? [True, True] Translation: X:111.56, Y:-28.48, Z:-0.08 [[ 7.86018035e-01 6.18201459e-01 1.61390023e-03 1.11556273e+02] [-6.18200214e-01 7.86019692e-01 -1.24094685e-03 -2.84800216e+01] [-2.03571251e-03 -2.23068638e-05 9.99997928e-01 -8.44905252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.360888479 meters 0.01558305258602527 Centerline is valid? [True, True] Translation: X:111.58, Y:-28.50, Z:-0.08 [[ 7.86667926e-01 6.17375181e-01 1.20854408e-03 1.11580412e+02] [-6.17374481e-01 7.86668854e-01 -9.29644835e-04 -2.85019536e+01] [-1.52466363e-03 -1.48024985e-05 9.99998838e-01 -8.42759817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.390888479 meters 0.015639728016532368 Centerline is valid? [True, True] Translation: X:111.61, Y:-28.52, Z:-0.08 [[ 7.86683963e-01 6.17355191e-01 9.54179630e-04 1.11605858e+02] [-6.17354754e-01 7.86684542e-01 -7.34281537e-04 -2.85234926e+01] [-1.20395088e-03 -1.14198218e-05 9.99999275e-01 -8.43852264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.420888479 meters 0.015547393458315222 Centerline is valid? [True, True] Translation: X:111.63, Y:-28.54, Z:-0.08 [[ 7.86787534e-01 6.17223914e-01 1.31189597e-04 1.11631151e+02] [-6.17223905e-01 7.86787545e-01 -1.00659387e-04 -2.85448740e+01] [-1.65347722e-04 -1.77580458e-06 9.99999986e-01 -8.49808161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.450888479 meters 0.015616660995888931 Centerline is valid? [True, True] Translation: X:111.66, Y:-28.57, Z:-0.09 [[ 7.87105557e-01 6.16815800e-01 -1.76372717e-03 1.11655263e+02] [-6.16814301e-01 7.87107533e-01 1.35994213e-03 -2.85657282e+01] [ 2.22707674e-03 1.74741317e-05 9.99997520e-01 -8.70244855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.480888479 meters 0.01544204875659202 Centerline is valid? [True, True] Translation: X:111.68, Y:-28.59, Z:-0.09 [[ 7.87354113e-01 6.16497408e-01 -2.10876544e-03 1.11680929e+02] [-6.16495262e-01 7.87356936e-01 1.62686684e-03 -2.85865172e+01] [ 2.66331028e-03 1.91236022e-05 9.99996453e-01 -8.76254847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.510888479 meters 0.015409394974602674 Centerline is valid? [True, True] Translation: X:111.71, Y:-28.61, Z:-0.09 [[ 7.87648646e-01 6.16121620e-01 -1.93898590e-03 1.11706271e+02] [-6.16119802e-01 7.87651033e-01 1.49669024e-03 -2.86061918e+01] [ 2.44938746e-03 1.57815705e-05 9.99997000e-01 -8.78641091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.540888479 meters 0.015324914440424426 Centerline is valid? [True, True] Translation: X:111.73, Y:-28.63, Z:-0.09 [[ 7.87869714e-01 6.15840624e-01 -1.28000923e-03 1.11731548e+02] [-6.15839831e-01 7.87870754e-01 9.88747821e-04 -2.86266887e+01] [ 1.61739291e-03 9.27620431e-06 9.99998692e-01 -8.71817740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570888479 meters 0.015207398798139675 Centerline is valid? [True, True] Translation: X:111.76, Y:-28.65, Z:-0.09 [[ 7.88903733e-01 6.14516729e-01 -2.99546172e-04 1.11755014e+02] [-6.14516685e-01 7.88903790e-01 2.31554085e-04 -2.86477645e+01] [ 3.78606970e-04 1.40223901e-06 9.99999928e-01 -8.55884739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60088847899999 meters 0.015235584236453088 Centerline is valid? [True, True] Translation: X:111.78, Y:-28.67, Z:-0.08 [[ 7.89292494e-01 6.14017351e-01 -2.27511028e-04 1.11779447e+02] [-6.14017326e-01 7.89292526e-01 1.76223484e-04 -2.86694505e+01] [ 2.87777031e-04 6.03840123e-07 9.99999959e-01 -8.44052696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63088847899999 meters 0.015310434467688278 Centerline is valid? [True, True] Translation: X:111.80, Y:-28.69, Z:-0.08 [[ 7.89445752e-01 6.13819364e-01 -1.09175056e-03 1.11803051e+02] [-6.13818783e-01 7.89446507e-01 8.44619237e-04 -2.86923654e+01] [ 1.38032231e-03 3.35593222e-06 9.99999047e-01 -8.28511049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.660888479 meters 0.015365382362517704 Centerline is valid? [True, True] Translation: X:111.83, Y:-28.71, Z:-0.08 [[ 7.88997723e-01 6.14393005e-01 -1.95668254e-03 1.11828007e+02] [-6.14391139e-01 7.89000149e-01 1.51423640e-03 -2.87125416e+01] [ 2.47415907e-03 7.43933774e-06 9.99996939e-01 -8.37931847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.690888479 meters 0.015520651698851678 Centerline is valid? [True, True] Translation: X:111.85, Y:-28.73, Z:-0.09 [[ 7.88355636e-01 6.15215223e-01 -2.37070411e-03 1.11853408e+02] [-6.15212486e-01 7.88359200e-01 1.83509358e-03 -2.87314465e+01] [ 2.99794391e-03 1.17804028e-05 9.99995506e-01 -8.53737352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.720888479 meters 0.015721601662151627 Centerline is valid? [True, True] Translation: X:111.88, Y:-28.75, Z:-0.09 [[ 7.87079241e-01 6.16847662e-01 -2.28714718e-03 1.11879823e+02] [-6.16845118e-01 7.87082564e-01 1.77145594e-03 -2.87496321e+01] [ 2.89289212e-03 1.65393738e-05 9.99995815e-01 -8.70167923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.750888479 meters 0.015841575538064437 Centerline is valid? [True, True] Translation: X:111.91, Y:-28.77, Z:-0.09 [[ 7.86435354e-01 6.17669611e-01 -1.91969303e-03 1.11905199e+02] [-6.17667820e-01 7.86437697e-01 1.48767576e-03 -2.87690807e+01] [ 2.42861107e-03 1.57717948e-05 9.99997051e-01 -8.67517182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.780888479 meters 0.01597516288142213 Centerline is valid? [True, True] Translation: X:111.93, Y:-28.79, Z:-0.09 [[ 7.85953863e-01 6.18281994e-01 -1.97526050e-03 1.11930578e+02] [-6.18280097e-01 7.85956345e-01 1.53158611e-03 -2.87896014e+01] [ 2.49942064e-03 1.75082336e-05 9.99996876e-01 -8.65856410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.810888479 meters 0.016146100448460862 Centerline is valid? [True, True] Translation: X:111.95, Y:-28.81, Z:-0.08 [[ 7.85060233e-01 6.19412383e-01 -2.95471742e-03 1.11954380e+02] [-6.19408143e-01 7.85065793e-01 2.29194757e-03 -2.88119027e+01] [ 3.73930828e-03 3.08591398e-05 9.99993008e-01 -8.49836726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.840888479 meters 0.01647502765131359 Centerline is valid? [True, True] Translation: X:111.98, Y:-28.83, Z:-0.09 [[ 7.84531294e-01 6.20079639e-01 -3.44820335e-03 1.11979051e+02] [-6.20073869e-01 7.84538871e-01 2.67524990e-03 -2.88315954e+01] [ 4.36411756e-03 3.93235276e-05 9.99990476e-01 -8.53450278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.870888479 meters 0.016373846057536303 Centerline is valid? [True, True] Translation: X:112.00, Y:-28.85, Z:-0.08 [[ 7.83989540e-01 6.20762826e-01 -3.73032201e-03 1.12003885e+02] [-6.20756072e-01 7.83998413e-01 2.89593795e-03 -2.88527174e+01] [ 4.72225716e-03 4.52349758e-05 9.99988849e-01 -8.47619923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.900888479 meters 0.016769759867854006 Centerline is valid? [True, True] Translation: X:112.03, Y:-28.87, Z:-0.08 [[ 7.83025621e-01 6.21982743e-01 -2.88870972e-03 1.12028601e+02] [-6.21978697e-01 7.83030948e-01 2.24380534e-03 -2.88726836e+01] [ 3.65755731e-03 3.97588348e-05 9.99993310e-01 -8.33148996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.930888479 meters 0.016927086382212967 Centerline is valid? [True, True] Translation: X:112.05, Y:-28.89, Z:-0.08 [[ 7.82959614e-01 6.22070104e-01 -1.73990439e-03 1.12054094e+02] [-6.22068637e-01 7.82961547e-01 1.35160343e-03 -2.88925566e+01] [ 2.20307032e-03 2.40890550e-05 9.99997573e-01 -8.24367090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.960888479 meters 0.01640262119389708 Centerline is valid? [True, True] Translation: X:112.08, Y:-28.92, Z:-0.08 [[ 7.82761014e-01 6.22321194e-01 -1.23516332e-03 1.12078347e+02] [-6.22320454e-01 7.82761989e-01 9.60424546e-04 -2.89152743e+01] [ 1.56453145e-03 1.68845071e-05 9.99998776e-01 -8.15690001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99088847899999 meters 0.016469790882775073 Centerline is valid? [True, True] Translation: X:112.10, Y:-28.94, Z:-0.08 [[ 7.82657492e-01 6.22450838e-01 -1.48494027e-03 1.12103446e+02] [-6.22449766e-01 7.82658900e-01 1.15516005e-03 -2.89356332e+01] [ 1.88123206e-03 2.02060541e-05 9.99998230e-01 -8.17934403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02088847899999 meters 0.017076412506718493 Centerline is valid? [True, True] Translation: X:112.13, Y:-28.95, Z:-0.08 [[ 7.82197971e-01 6.23026027e-01 -2.21449030e-03 1.12129450e+02] [-6.23023644e-01 7.82201105e-01 1.72343487e-03 -2.89548364e+01] [ 2.80592154e-03 3.16125613e-05 9.99996063e-01 -8.25884268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.050888479 meters 0.017234117839399717 Centerline is valid? [True, True] Translation: X:112.16, Y:-28.98, Z:-0.08 [[ 7.81731738e-01 6.23609326e-01 -2.62635726e-03 1.12155157e+02] [-6.23605974e-01 7.81736149e-01 2.04500656e-03 -2.89755360e+01] [ 3.32840357e-03 3.91655464e-05 9.99994460e-01 -8.32685758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.080888479 meters 0.016757101356249245 Centerline is valid? [True, True] Translation: X:112.18, Y:-29.00, Z:-0.08 [[ 7.81315470e-01 6.24126140e-01 -3.56337885e-03 1.12179381e+02] [-6.24119968e-01 7.81323594e-01 2.77610730e-03 -2.89978039e+01] [ 4.51679310e-03 5.49603141e-05 9.99989798e-01 -8.37884144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.110888479 meters 0.016757101356249245 Centerline is valid? [True, True] Translation: X:112.20, Y:-29.02, Z:-0.08 [[ 7.81140421e-01 6.24345217e-01 -3.56260000e-03 1.12204898e+02] [-6.24339043e-01 7.81148544e-01 2.77710682e-03 -2.90177713e+01] [ 4.51679316e-03 5.49598834e-05 9.99989798e-01 -8.38258247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.140888479 meters 0.01670436633772443 Centerline is valid? [True, True] Translation: X:112.23, Y:-29.04, Z:-0.08 [[ 7.81347832e-01 6.24083858e-01 -3.86035654e-03 1.12229866e+02] [-6.24076598e-01 7.81357367e-01 3.01092185e-03 -2.90386273e+01] [ 4.89538574e-03 5.65809164e-05 9.99988016e-01 -8.37925614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.170888479 meters 0.016503165293229177 Centerline is valid? [True, True] Translation: X:112.25, Y:-29.06, Z:-0.08 [[ 7.82068735e-01 6.23178902e-01 -4.06812564e-03 1.12254090e+02] [-6.23170818e-01 7.82079314e-01 3.17452227e-03 -2.90591460e+01] [ 5.15989222e-03 5.24425665e-05 9.99986686e-01 -8.39827976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.200888479 meters 0.01638429133331246 Centerline is valid? [True, True] Translation: X:112.28, Y:-29.08, Z:-0.09 [[ 7.84176620e-01 6.20516026e-01 -5.18549007e-03 1.12277732e+02] [-6.20502822e-01 7.84193764e-01 4.04822987e-03 -2.90793549e+01] [ 6.57842049e-03 4.30840020e-05 9.99978361e-01 -8.76517620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.230888479 meters 0.01611785821829981 Centerline is valid? [True, True] Translation: X:112.30, Y:-29.10, Z:-0.09 [[ 7.85108610e-01 6.19334139e-01 -5.44931740e-03 1.12302319e+02] [-6.19319513e-01 7.85127521e-01 4.25641925e-03 -2.91016785e+01] [ 6.91455481e-03 3.31171933e-05 9.99976094e-01 -8.85749878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.260888479 meters 0.015758915613726537 Centerline is valid? [True, True] Translation: X:112.32, Y:-29.12, Z:-0.09 [[ 7.87818731e-01 6.15893765e-01 -4.06414255e-03 1.12324165e+02] [-6.15885577e-01 7.87829214e-01 3.17593922e-03 -2.91249336e+01] [ 5.15789140e-03 9.82375551e-07 9.99986698e-01 -8.72024865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.290888479 meters 0.015615483211172248 Centerline is valid? [True, True] Translation: X:112.35, Y:-29.15, Z:-0.08 [[ 7.89035229e-01 6.14338651e-01 -3.38068900e-03 1.12349017e+02] [-6.14332963e-01 7.89042472e-01 2.64351331e-03 -2.91465725e+01] [ 4.29151960e-03 -8.95643635e-06 9.99990791e-01 -8.43051132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.320888479 meters 0.015698168754440037 Centerline is valid? [True, True] Translation: X:112.37, Y:-29.17, Z:-0.08 [[ 7.90233711e-01 6.12801775e-01 -2.16027287e-03 1.12373719e+02] [-6.12799444e-01 7.90236664e-01 1.69032253e-03 -2.91683042e+01] [ 2.74295947e-03 -1.19358330e-05 9.99996238e-01 -8.34290204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35088847899999 meters 0.015935448873866567 Centerline is valid? [True, True] Translation: X:112.40, Y:-29.19, Z:-0.08 [[ 7.92855624e-01 6.09409085e-01 -7.25838167e-04 1.12397454e+02] [-6.09408820e-01 7.92855956e-01 5.68441583e-04 -2.91905627e+01] [ 9.21898578e-04 -8.35992492e-06 9.99999575e-01 -8.21108573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38088847899999 meters 0.016138415646104392 Centerline is valid? [True, True] Translation: X:112.42, Y:-29.21, Z:-0.08 [[ 7.93804309e-01 6.08172938e-01 -6.29531582e-04 1.12422001e+02] [-6.08172738e-01 7.93804559e-01 4.93311986e-04 -2.92105055e+01] [ 7.99744040e-04 -8.72923470e-06 9.99999680e-01 -8.19647053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.410888479 meters 0.01633764297932174 Centerline is valid? [True, True] Translation: X:112.45, Y:-29.23, Z:-0.08 [[ 7.94805446e-01 6.06864256e-01 -2.78858506e-04 1.12446619e+02] [-6.06864216e-01 7.94805495e-01 2.18826680e-04 -2.92308847e+01] [ 3.54436364e-04 -4.69538828e-06 9.99999937e-01 -8.18631328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.440888479 meters 0.016370020152820693 Centerline is valid? [True, True] Translation: X:112.47, Y:-29.25, Z:-0.08 [[ 7.95059436e-01 6.06531396e-01 -3.97533731e-04 1.12471930e+02] [-6.06531316e-01 7.95059536e-01 3.12030197e-04 -2.92514440e+01] [ 5.05319094e-04 -6.96589547e-06 9.99999872e-01 -8.14794035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.470888479 meters 0.0165106633994997 Centerline is valid? [True, True] Translation: X:112.50, Y:-29.27, Z:-0.08 [[ 7.95079606e-01 6.06504719e-01 -6.68130350e-04 1.12496755e+02] [-6.06504492e-01 7.95079887e-01 5.24400231e-04 -2.92709810e+01] [ 8.49268218e-04 -1.17158709e-05 9.99999639e-01 -8.14961786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.500888479 meters 0.016462791857597296 Centerline is valid? [True, True] Translation: X:112.52, Y:-29.29, Z:-0.08 [[ 7.94707825e-01 6.06991763e-01 -6.87475229e-04 1.12524006e+02] [-6.06991523e-01 7.94708122e-01 5.39854072e-04 -2.92882592e+01] [ 8.74029123e-04 -1.17346189e-05 9.99999618e-01 -8.32745281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.530888479 meters 0.016472535518530014 Centerline is valid? [True, True] Translation: X:112.55, Y:-29.31, Z:-0.08 [[ 7.94418198e-01 6.07370660e-01 -7.80197057e-04 1.12550095e+02] [-6.07370351e-01 7.94418581e-01 6.12930540e-04 -2.93067338e+01] [ 9.92079065e-04 -1.30546151e-05 9.99999508e-01 -8.43424044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.560888479 meters 0.016472671944904947 Centerline is valid? [True, True] Translation: X:112.58, Y:-29.33, Z:-0.09 [[ 7.94208284e-01 6.07643275e-01 -1.68867994e-03 1.12577138e+02] [-6.07641827e-01 7.94210079e-01 1.32697115e-03 -2.93262264e+01] [ 2.14749172e-03 -2.77789150e-05 9.99997694e-01 -8.56796457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.590888479 meters 0.016229545689038675 Centerline is valid? [True, True] Translation: X:112.60, Y:-29.34, Z:-0.09 [[ 7.93887280e-01 6.08057309e-01 -3.04891382e-03 1.12604947e+02] [-6.08052587e-01 7.93893133e-01 2.39692288e-03 -2.93443069e+01] [ 3.87797822e-03 -4.89866560e-05 9.99992479e-01 -8.65556498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.620888479 meters 0.016213187831601705 Centerline is valid? [True, True] Translation: X:112.63, Y:-29.36, Z:-0.09 [[ 7.93806524e-01 6.08165246e-01 -2.49707660e-03 1.12630508e+02] [-6.08162076e-01 7.93810451e-01 1.96419014e-03 -2.93633592e+01] [ 3.17675768e-03 -4.05596638e-05 9.99994953e-01 -8.70555954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.650888479 meters 0.01629121698902494 Centerline is valid? [True, True] Translation: X:112.66, Y:-29.38, Z:-0.09 [[ 7.93445886e-01 6.08635328e-01 -2.58119382e-03 1.12655940e+02] [-6.08631940e-01 7.93450084e-01 2.03140455e-03 -2.93821391e+01] [ 3.28443303e-03 -4.08125842e-05 9.99994605e-01 -8.70292991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.680888479 meters 0.016057877288301554 Centerline is valid? [True, True] Translation: X:112.68, Y:-29.40, Z:-0.09 [[ 7.93001804e-01 6.09216456e-01 -1.85688117e-03 1.12682497e+02] [-6.09214702e-01 7.93003978e-01 1.46218123e-03 -2.93996657e+01] [ 2.36329902e-03 -2.82730496e-05 9.99997207e-01 -8.67180765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710888479 meters 0.01586542698308231 Centerline is valid? [True, True] Translation: X:112.71, Y:-29.42, Z:-0.09 [[ 7.91815607e-01 6.10759582e-01 -8.82088715e-04 1.12710783e+02] [-6.10759187e-01 7.91816098e-01 6.95119155e-04 -2.94160522e+01] [ 1.12300273e-03 -1.16624096e-05 9.99999369e-01 -8.56797243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74088847899999 meters 0.01570192721362094 Centerline is valid? [True, True] Translation: X:112.74, Y:-29.43, Z:-0.09 [[ 7.90998684e-01 6.11817670e-01 -4.69286278e-04 1.12737394e+02] [-6.11817558e-01 7.90998823e-01 3.70165023e-04 -2.94339274e+01] [ 5.97678395e-04 -5.68246137e-06 9.99999821e-01 -8.51884537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77088847899999 meters 0.015497781474261804 Centerline is valid? [True, True] Translation: X:112.76, Y:-29.45, Z:-0.08 [[ 7.90174496e-01 6.12881920e-01 -1.33954035e-04 1.12764263e+02] [-6.12881911e-01 7.90174507e-01 1.05973508e-04 -2.94515035e+01] [ 1.70796311e-04 -1.63955803e-06 9.99999985e-01 -8.44788832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.800888479 meters 0.015356993585003509 Centerline is valid? [True, True] Translation: X:112.79, Y:-29.47, Z:-0.08 [[ 7.88601667e-01 6.14904392e-01 1.93531680e-05 1.12791136e+02] [-6.14904392e-01 7.88601667e-01 -1.49338432e-05 -2.94680335e+01] [-2.44448262e-05 -1.23494353e-07 1.00000000e+00 -8.40219932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.830888479 meters 0.015317699065925703 Centerline is valid? [True, True] Translation: X:112.82, Y:-29.49, Z:-0.08 [[ 7.87296202e-01 6.16574887e-01 -3.14150367e-04 1.12818699e+02] [-6.16574837e-01 7.87296265e-01 2.48360787e-04 -2.94866454e+01] [ 4.00462435e-04 -1.83629288e-06 9.99999920e-01 -8.39284348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.860888479 meters 0.015331453568396155 Centerline is valid? [True, True] Translation: X:112.85, Y:-29.50, Z:-0.09 [[ 7.85158345e-01 6.19294323e-01 -9.56602378e-04 1.12846103e+02] [-6.19293862e-01 7.85158928e-01 7.55799567e-04 -2.95027370e+01] [ 1.21914728e-03 -1.00435668e-06 9.99999257e-01 -8.52098507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.890888479 meters 0.015235805833687444 Centerline is valid? [True, True] Translation: X:112.87, Y:-29.52, Z:-0.09 [[ 7.84287929e-01 6.20396342e-01 -9.07201983e-04 1.12873723e+02] [-6.20395927e-01 7.84288454e-01 7.17206289e-04 -2.95215653e+01] [ 1.15646020e-03 3.28180377e-07 9.99999331e-01 -8.55206937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.920888479 meters 0.01524417689977256 Centerline is valid? [True, True] Translation: X:112.90, Y:-29.54, Z:-0.09 [[ 7.83304884e-01 6.21636916e-01 -1.00163051e-03 1.12900726e+02] [-6.21636412e-01 7.83305524e-01 7.92292474e-04 -2.95402642e+01] [ 1.27710096e-03 2.04343216e-06 9.99999185e-01 -8.52344000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.950888479 meters 0.015336124234732898 Centerline is valid? [True, True] Translation: X:112.93, Y:-29.56, Z:-0.09 [[ 7.81395277e-01 6.24035852e-01 -8.22995061e-04 1.12929112e+02] [-6.24035512e-01 7.81395710e-01 6.51390915e-04 -2.95556436e+01] [ 1.04957609e-03 4.58436028e-06 9.99999449e-01 -8.51747446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.980888479 meters 0.015428048274433342 Centerline is valid? [True, True] Translation: X:112.96, Y:-29.57, Z:-0.09 [[ 7.80440284e-01 6.25229297e-01 -1.13496868e-03 1.12955663e+02] [-6.25228652e-01 7.80441110e-01 8.98643311e-04 -2.95732119e+01] [ 1.44763435e-03 8.27749852e-06 9.99998952e-01 -8.56710253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.010888479 meters 0.015606206142238609 Centerline is valid? [True, True] Translation: X:112.98, Y:-29.59, Z:-0.09 [[ 7.79338406e-01 6.26602048e-01 -1.23384879e-03 1.12982619e+02] [-6.26601286e-01 7.79339382e-01 9.77498335e-04 -2.95921592e+01] [ 1.57408941e-03 1.13292420e-05 9.99998761e-01 -8.60597234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.040888479 meters 0.015659624523200893 Centerline is valid? [True, True] Translation: X:113.01, Y:-29.61, Z:-0.09 [[ 7.78369640e-01 6.27805202e-01 -1.15394566e-03 1.13008811e+02] [-6.27804537e-01 7.78370495e-01 9.14260108e-04 -2.96091784e+01] [ 1.47217451e-03 1.28200101e-05 9.99998916e-01 -8.57801761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070888479 meters 0.015804445768997893 Centerline is valid? [True, True] Translation: X:113.03, Y:-29.63, Z:-0.09 [[ 7.78315079e-01 6.27873505e-01 -7.07059009e-04 1.13034978e+02] [-6.27873255e-01 7.78315400e-01 5.60752205e-04 -2.96275657e+01] [ 9.02396368e-04 7.50154485e-06 9.99999593e-01 -8.57951962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10088847899999 meters 0.015314906910498785 Centerline is valid? [True, True] Translation: X:113.06, Y:-29.65, Z:-0.08 [[ 7.79846142e-01 6.25971235e-01 -8.95889722e-05 1.13060106e+02] [-6.25971231e-01 7.79846147e-01 7.14118596e-05 -2.96471182e+01] [ 1.14567385e-04 3.89856058e-07 9.99999993e-01 -8.49374284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13088847899999 meters 0.015345170608022934 Centerline is valid? [True, True] Translation: X:113.09, Y:-29.67, Z:-0.09 [[ 7.80850446e-01 6.24717869e-01 -4.05389947e-04 1.13085261e+02] [-6.24717787e-01 7.80850551e-01 3.21951685e-04 -2.96659123e+01] [ 5.17677935e-04 1.85819382e-06 9.99999866e-01 -8.51060508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.160888479 meters 0.015194867579197342 Centerline is valid? [True, True] Translation: X:113.11, Y:-29.69, Z:-0.08 [[ 7.82124030e-01 6.23122682e-01 -3.54928326e-04 1.13110873e+02] [-6.23122618e-01 7.82124110e-01 2.82158925e-04 -2.96872886e+01] [ 4.53417627e-04 4.80592252e-07 9.99999897e-01 -8.49779468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.190888479 meters 0.015050787368305977 Centerline is valid? [True, True] Translation: X:113.14, Y:-29.71, Z:-0.09 [[ 7.83212791e-01 6.21753687e-01 -2.77882721e-04 1.13136352e+02] [-6.21753648e-01 7.83212840e-01 2.21128084e-04 -2.97078542e+01] [ 3.55128517e-04 -4.15748343e-07 9.99999937e-01 -8.54156709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.220888479 meters 0.015098008989273978 Centerline is valid? [True, True] Translation: X:113.16, Y:-29.73, Z:-0.08 [[ 7.85518361e-01 6.18838049e-01 -6.11666037e-04 1.13159237e+02] [-6.18837858e-01 7.85518599e-01 4.86158586e-04 -2.97289059e+01] [ 7.81328479e-04 -3.36439550e-06 9.99999695e-01 -8.46689217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.250888479 meters 0.015227763010121702 Centerline is valid? [True, True] Translation: X:113.18, Y:-29.75, Z:-0.08 [[ 7.86666720e-01 6.17377371e-01 -8.08983118e-04 1.13184636e+02] [-6.17377035e-01 7.86667135e-01 6.43503450e-04 -2.97496158e+01] [ 1.03368490e-03 -6.77514909e-06 9.99999466e-01 -8.44921964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.280888479 meters 0.015683237947218955 Centerline is valid? [True, True] Translation: X:113.21, Y:-29.77, Z:-0.09 [[ 7.88761782e-01 6.14697458e-01 -1.37346275e-03 1.13209545e+02] [-6.14696487e-01 7.88762978e-01 1.09265494e-03 -2.97680953e+01] [ 1.75498878e-03 -1.75817324e-05 9.99998460e-01 -8.61166557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.310888479 meters 0.015746330470523897 Centerline is valid? [True, True] Translation: X:113.24, Y:-29.79, Z:-0.09 [[ 7.89476220e-01 6.13777804e-01 -2.02620329e-03 1.13235095e+02] [-6.13775686e-01 7.89478820e-01 1.61260577e-03 -2.97869297e+01] [ 2.58942621e-03 -2.94795973e-05 9.99996647e-01 -8.68843890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.340888479 meters 0.016058932494209817 Centerline is valid? [True, True] Translation: X:113.26, Y:-29.81, Z:-0.09 [[ 7.89954440e-01 6.13162141e-01 -2.04241969e-03 1.13259290e+02] [-6.13159987e-01 7.89957079e-01 1.62573081e-03 -2.98057129e+01] [ 2.61026048e-03 -3.19232368e-05 9.99996593e-01 -8.74290642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.370888479 meters 0.015674217996228416 Centerline is valid? [True, True] Translation: X:113.29, Y:-29.82, Z:-0.09 [[ 7.90293558e-01 6.12727602e-01 -9.89071996e-04 1.13287017e+02] [-6.12727095e-01 7.90294177e-01 7.88078951e-04 -2.98240446e+01] [ 1.26453556e-03 -1.67825074e-05 9.99999200e-01 -8.51002206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.400888479 meters 0.015867003030958268 Centerline is valid? [True, True] Translation: X:113.31, Y:-29.84, Z:-0.08 [[ 7.89948727e-01 6.13172459e-01 -7.37422363e-04 1.13312672e+02] [-6.13172178e-01 7.89949071e-01 5.87964918e-04 -2.98424773e+01] [ 9.43050006e-04 -1.22952625e-05 9.99999555e-01 -8.45401103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.430888479 meters 0.015508484018393772 Centerline is valid? [True, True] Translation: X:113.34, Y:-29.86, Z:-0.09 [[ 7.88649466e-01 6.14842732e-01 -6.59220987e-04 1.13341956e+02] [-6.14842507e-01 7.88649742e-01 5.25889372e-04 -2.98567603e+01] [ 8.43233720e-04 -9.42528844e-06 9.99999644e-01 -8.56043618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.460888479 meters 0.01544340421712481 Centerline is valid? [True, True] Translation: X:113.37, Y:-29.87, Z:-0.09 [[ 7.87732794e-01 6.16016495e-01 -8.50465700e-04 1.13368673e+02] [-6.16016122e-01 7.87733253e-01 6.78692509e-04 -2.98743429e+01] [ 1.08802589e-03 -1.07277639e-05 9.99999408e-01 -8.58110568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49088847899999 meters 0.01522442036013624 Centerline is valid? [True, True] Translation: X:113.40, Y:-29.89, Z:-0.09 [[ 7.86537802e-01 6.17541346e-01 -9.86128094e-04 1.13395841e+02] [-6.17540844e-01 7.86538420e-01 7.86809852e-04 -2.98926307e+01] [ 1.26151525e-03 -9.88131532e-06 9.99999204e-01 -8.52867430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52088847899999 meters 0.015162697479726898 Centerline is valid? [True, True] Translation: X:113.42, Y:-29.91, Z:-0.09 [[ 7.85782531e-01 6.18502219e-01 -9.05063412e-04 1.13421256e+02] [-6.18501797e-01 7.85783053e-01 7.22421695e-04 -2.99103535e+01] [ 1.15800291e-03 -7.88300190e-06 9.99999329e-01 -8.51405143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.550888479 meters 0.015122225195566424 Centerline is valid? [True, True] Translation: X:113.45, Y:-29.93, Z:-0.08 [[ 7.84023174e-01 6.20731370e-01 -4.78745982e-04 1.13448426e+02] [-6.20731252e-01 7.84023320e-01 3.82538435e-04 -2.99261393e+01] [ 6.12801621e-04 -2.74640482e-06 9.99999812e-01 -8.42946521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.580888479 meters 0.014978916376633096 Centerline is valid? [True, True] Translation: X:113.48, Y:-29.94, Z:-0.08 [[ 7.83116856e-01 6.21874558e-01 1.58179909e-04 1.13475858e+02] [-6.21874545e-01 7.83116872e-01 -1.25940260e-04 -2.99443917e+01] [-2.02192399e-04 2.57882106e-07 9.99999980e-01 -8.37076679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.610888479 meters 0.014876918457908542 Centerline is valid? [True, True] Translation: X:113.51, Y:-29.96, Z:-0.08 [[ 7.80934085e-01 6.24610113e-01 2.03992604e-03 1.13505628e+02] [-6.24607986e-01 7.80936749e-01 -1.63003314e-03 -2.99594565e+01] [-2.61118840e-03 -1.20565659e-06 9.99996591e-01 -8.32561439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.640888479 meters 0.014927494112311403 Centerline is valid? [True, True] Translation: X:113.53, Y:-29.98, Z:-0.08 [[ 7.79468208e-01 6.26437787e-01 2.23868650e-03 1.13533290e+02] [-6.26435230e-01 7.79471423e-01 -1.78992724e-03 -2.99770779e+01] [-2.86627021e-03 -7.20071635e-06 9.99995892e-01 -8.36438339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.670888479 meters 0.014894856292980338 Centerline is valid? [True, True] Translation: X:113.56, Y:-29.99, Z:-0.08 [[ 7.78007535e-01 6.28251209e-01 2.16660849e-03 1.13560131e+02] [-6.28248818e-01 7.78010551e-01 -1.73323988e-03 -2.99949640e+01] [-2.77455432e-03 -1.26955382e-05 9.99996151e-01 -8.42079191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.700888479 meters 0.01506930739019439 Centerline is valid? [True, True] Translation: X:113.59, Y:-30.01, Z:-0.08 [[ 7.76676480e-01 6.29895940e-01 2.17974717e-03 1.13586781e+02] [-6.29893524e-01 7.76679538e-01 -1.74473289e-03 -3.00141604e+01] [-2.79196519e-03 -1.79156319e-05 9.99996102e-01 -8.48553644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.730888479 meters 0.015341916206037826 Centerline is valid? [True, True] Translation: X:113.61, Y:-30.03, Z:-0.08 [[ 7.74548180e-01 6.32513639e-01 1.26992861e-03 1.13613137e+02] [-6.32512822e-01 7.74549221e-01 -1.01688372e-03 -3.00326098e+01] [-1.62681503e-03 -1.56206954e-05 9.99998677e-01 -8.45998106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.760888479 meters 0.015491323563723772 Centerline is valid? [True, True] Translation: X:113.64, Y:-30.05, Z:-0.08 [[ 7.73870169e-01 6.33342599e-01 1.45419545e-03 1.13638821e+02] [-6.33341527e-01 7.73871535e-01 -1.16509975e-03 -3.00514517e+01] [-1.86326777e-03 -1.93664257e-05 9.99998264e-01 -8.46860575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.790888479 meters 0.015569133635684166 Centerline is valid? [True, True] Translation: X:113.67, Y:-30.07, Z:-0.09 [[ 7.73378179e-01 6.33943955e-01 1.12039380e-03 1.13665511e+02] [-6.33943319e-01 7.73378990e-01 -8.98063861e-04 -3.00714637e+01] [-1.43581118e-03 -1.57231694e-05 9.99998969e-01 -8.50841340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.820888479 meters 0.015711779897210846 Centerline is valid? [True, True] Translation: X:113.69, Y:-30.09, Z:-0.09 [[ 7.72268760e-01 6.35295525e-01 7.47095229e-04 1.13692189e+02] [-6.35295243e-01 7.72269121e-01 -5.99057867e-04 -3.00894421e+01] [-9.57537358e-04 -1.19923685e-05 9.99999541e-01 -8.69548621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85088847899999 meters 0.016197866995711973 Centerline is valid? [True, True] Translation: X:113.72, Y:-30.11, Z:-0.09 [[ 7.71458218e-01 6.36278700e-01 1.27791691e-03 1.13717365e+02] [-6.36277874e-01 7.71459276e-01 -1.02545674e-03 -3.01079467e+01] [-1.63833714e-03 -2.20132257e-05 9.99998658e-01 -8.69138921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88088847899999 meters 0.016359682158876586 Centerline is valid? [True, True] Translation: X:113.74, Y:-30.13, Z:-0.09 [[ 7.70361475e-01 6.37603423e-01 2.25232876e-03 1.13741766e+02] [-6.37600860e-01 7.70364766e-01 -1.80850149e-03 -3.01294469e+01] [-2.88822146e-03 -4.28868800e-05 9.99995828e-01 -8.65695121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.910888479 meters 0.01657133041604929 Centerline is valid? [True, True] Translation: X:113.77, Y:-30.15, Z:-0.09 [[ 7.69993824e-01 6.38047056e-01 2.33771617e-03 1.13767364e+02] [-6.38044293e-01 7.69997372e-01 -1.87809911e-03 -3.01508418e+01] [-2.99835091e-03 -4.54417457e-05 9.99995504e-01 -8.69269288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.940888479 meters 0.016714363768364913 Centerline is valid? [True, True] Translation: X:113.79, Y:-30.17, Z:-0.09 [[ 7.69624134e-01 6.38493218e-01 2.25912185e-03 1.13792428e+02] [-6.38490637e-01 7.69627448e-01 -1.81597531e-03 -3.01719675e+01] [-2.89817010e-03 -4.48097282e-05 9.99995799e-01 -8.73838581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.970888479 meters 0.0169400260877644 Centerline is valid? [True, True] Translation: X:113.82, Y:-30.19, Z:-0.09 [[ 7.69107054e-01 6.39117355e-01 1.82953370e-03 1.13816513e+02] [-6.39115662e-01 7.69109229e-01 -1.47138105e-03 -3.01925024e+01] [-2.34749642e-03 -3.76340995e-05 9.99997244e-01 -8.81017143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.000888479 meters 0.0169400260877644 Centerline is valid? [True, True] Translation: X:113.84, Y:-30.21, Z:-0.09 [[ 7.68933484e-01 6.39326170e-01 1.82914421e-03 1.13841728e+02] [-6.39324477e-01 7.68935658e-01 -1.47186516e-03 -3.02128929e+01] [-2.34749612e-03 -3.76502536e-05 9.99997244e-01 -8.81391200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.030888479 meters 0.016472533025083603 Centerline is valid? [True, True] Translation: X:113.87, Y:-30.23, Z:-0.09 [[ 7.68262120e-01 6.40133745e-01 1.45035749e-03 1.13866076e+02] [-6.40132681e-01 7.68263489e-01 -1.16764287e-03 -3.02348309e+01] [-1.86170431e-03 -3.13654434e-05 9.99998267e-01 -8.85701809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.060888479 meters 0.017191004954422367 Centerline is valid? [True, True] Translation: X:113.89, Y:-30.26, Z:-0.09 [[ 7.66945997e-01 6.41710874e-01 9.96062697e-04 1.13889612e+02] [-6.41710373e-01 7.66946643e-01 -8.02228777e-04 -3.02552780e+01] [-1.27872587e-03 -2.39176154e-05 9.99999182e-01 -8.98102305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.090888479 meters 0.017598693334782194 Centerline is valid? [True, True] Translation: X:113.91, Y:-30.28, Z:-0.09 [[ 7.65937229e-01 6.42915320e-01 2.28210645e-04 1.13913620e+02] [-6.42915294e-01 7.65937263e-01 -1.83611022e-04 -3.02760450e+01] [-2.92841376e-04 -6.08559593e-06 9.99999957e-01 -9.09026011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.120888479 meters 0.018829377938392754 Centerline is valid? [True, True] Translation: X:113.94, Y:-30.29, Z:-0.09 [[ 7.65181779e-01 6.43814276e-01 -1.53833444e-04 1.13938455e+02] [-6.43814264e-01 7.65181794e-01 1.24239444e-04 -3.02943286e+01] [ 1.97697679e-04 3.97440729e-06 9.99999980e-01 -9.15982681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.150888479 meters 0.019403971801959234 Centerline is valid? [True, True] Translation: X:113.96, Y:-30.32, Z:-0.09 [[ 7.63507799e-01 6.45798277e-01 -6.52531378e-04 1.13962374e+02] [-6.45798062e-01 7.63508078e-01 5.26767826e-04 -3.03152124e+01] [ 8.38398732e-04 1.92121554e-05 9.99999648e-01 -9.30899714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.180888479 meters 0.018865285676282893 Centerline is valid? [True, True] Translation: X:113.99, Y:-30.34, Z:-0.09 [[ 7.62877158e-01 6.46542704e-01 -9.86422429e-04 1.13985166e+02] [-6.46542215e-01 7.62877795e-01 7.96198777e-04 -3.03373420e+01] [ 1.26729628e-03 3.03618810e-05 9.99999197e-01 -9.35505392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21088847899999 meters 0.018879159915641285 Centerline is valid? [True, True] Translation: X:114.01, Y:-30.36, Z:-0.09 [[ 7.62618138e-01 6.46848658e-01 -6.24074991e-04 1.14009621e+02] [-6.46848461e-01 7.62618393e-01 5.04296211e-04 -3.03592913e+01] [ 8.02134394e-04 1.90965098e-05 9.99999678e-01 -9.36176729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24088847899999 meters 0.01927191764211726 Centerline is valid? [True, True] Translation: X:114.03, Y:-30.38, Z:-0.09 [[ 7.63307011e-01 6.46035909e-01 1.10107036e-04 1.14031282e+02] [-6.46035903e-01 7.63307019e-01 -8.87239171e-05 -3.03820810e+01] [-1.41364310e-04 -3.40951029e-06 9.99999990e-01 -9.29171223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27088847899999 meters 0.017910933595018233 Centerline is valid? [True, True] Translation: X:114.05, Y:-30.41, Z:-0.09 [[ 7.64173513e-01 6.45010726e-01 -7.40771467e-05 1.14052231e+02] [-6.45010723e-01 7.64173517e-01 6.02232974e-05 -3.04070241e+01] [ 9.54524665e-05 1.75950529e-06 9.99999995e-01 -9.24463672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.300888479 meters 0.0177976561761088 Centerline is valid? [True, True] Translation: X:114.07, Y:-30.43, Z:-0.09 [[ 7.65597583e-01 6.43319781e-01 3.38266284e-05 1.14074015e+02] [-6.43319780e-01 7.65597584e-01 -2.70096003e-05 -3.04299799e+01] [-4.32733950e-05 -1.08285450e-06 9.99999999e-01 -9.26841919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.330888479 meters 0.01698050484411175 Centerline is valid? [True, True] Translation: X:114.10, Y:-30.45, Z:-0.09 [[ 7.67332810e-01 6.41249055e-01 8.86325012e-05 1.14095117e+02] [-6.41249051e-01 7.67332815e-01 -7.13232049e-05 -3.04546131e+01] [-1.13746564e-04 -2.10687200e-06 9.99999994e-01 -9.23302502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.360888479 meters 0.01644300681225164 Centerline is valid? [True, True] Translation: X:114.11, Y:-30.48, Z:-0.09 [[ 7.71076204e-01 6.36742156e-01 9.56658967e-04 1.14114745e+02] [-6.36741686e-01 7.71076797e-01 -7.73805862e-04 -3.04806081e+01] [-1.23037234e-03 -1.24813565e-05 9.99999243e-01 -9.15741743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.390888479 meters 0.015945455047559596 Centerline is valid? [True, True] Translation: X:114.13, Y:-30.51, Z:-0.09 [[ 7.73830438e-01 6.33390949e-01 1.53586120e-03 1.14134582e+02] [-6.33389729e-01 7.73831963e-01 -1.24313954e-03 -3.05076756e+01] [-1.97589182e-03 -1.08194948e-05 9.99998048e-01 -9.17630557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.420888479 meters 0.015789793835095066 Centerline is valid? [True, True] Translation: X:114.16, Y:-30.53, Z:-0.09 [[ 7.74383451e-01 6.32714084e-01 1.77719282e-03 1.14158103e+02] [-6.32712447e-01 7.74385491e-01 -1.43929709e-03 -3.05311745e+01] [-2.28689587e-03 -9.88417296e-06 9.99997385e-01 -9.16198499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.450888479 meters 0.015754501225175223 Centerline is valid? [True, True] Translation: X:114.18, Y:-30.55, Z:-0.09 [[ 7.74958293e-01 6.32008993e-01 2.06802751e-03 1.14181780e+02] [-6.32006771e-01 7.74961053e-01 -1.67585785e-03 -3.05544213e+01] [-2.66179801e-03 -8.28744805e-06 9.99996457e-01 -9.15056781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.480888479 meters 0.015768594431671338 Centerline is valid? [True, True] Translation: X:114.20, Y:-30.58, Z:-0.09 [[ 7.75912735e-01 6.30834783e-01 2.62739353e-03 1.14203718e+02] [-6.30831186e-01 7.75917184e-01 -2.13047557e-03 -3.05790618e+01] [-3.38261789e-03 -4.37864846e-06 9.99994279e-01 -8.97820464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.510888479 meters 0.015806126224776597 Centerline is valid? [True, True] Translation: X:114.23, Y:-30.60, Z:-0.09 [[ 7.76312691e-01 6.30340124e-01 3.15172563e-03 1.14227620e+02] [-6.30334937e-01 7.76319089e-01 -2.55718369e-03 -3.06012487e+01] [-4.05864026e-03 -1.46862146e-06 9.99991764e-01 -8.94543750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.540888479 meters 0.015767263810803046 Centerline is valid? [True, True] Translation: X:114.25, Y:-30.62, Z:-0.09 [[ 7.76565199e-01 6.30029569e-01 3.03878643e-03 1.14251691e+02] [-6.30024739e-01 7.76571145e-01 -2.46694048e-03 -3.06234572e+01] [-3.91407930e-03 1.22950064e-06 9.99992340e-01 -8.94598494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570888479 meters 0.015712354817503226 Centerline is valid? [True, True] Translation: X:114.28, Y:-30.65, Z:-0.09 [[ 7.76699584e-01 6.29863307e-01 3.15766761e-03 1.14276040e+02] [-6.29858085e-01 7.76706003e-01 -2.56492260e-03 -3.06456635e+01] [-4.06813002e-03 3.29184378e-06 9.99991725e-01 -8.95476777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60088847899999 meters 0.0158761274707102 Centerline is valid? [True, True] Translation: X:114.30, Y:-30.67, Z:-0.09 [[ 7.76375901e-01 6.30263851e-01 2.81753731e-03 1.14298959e+02] [-6.30259691e-01 7.76381014e-01 -2.28983245e-03 -3.06682706e+01] [-3.63068109e-03 1.99053852e-06 9.99993409e-01 -9.06610951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63088847899999 meters 0.01581631868295714 Centerline is valid? [True, True] Translation: X:114.32, Y:-30.69, Z:-0.09 [[ 7.76239460e-01 6.30434230e-01 2.23191059e-03 1.14324039e+02] [-6.30431618e-01 7.76242669e-01 -1.81479885e-03 -3.06898798e+01] [-2.87661555e-03 1.65147649e-06 9.99995863e-01 -9.19452098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.660888479 meters 0.015843645354285934 Centerline is valid? [True, True] Translation: X:114.35, Y:-30.71, Z:-0.09 [[ 7.76131928e-01 6.30568414e-01 1.64489078e-03 1.14349137e+02] [-6.30566994e-01 7.76133671e-01 -1.33812306e-03 -3.07119484e+01] [-2.12043325e-03 1.34619285e-06 9.99997752e-01 -9.31837257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.690888479 meters 0.015878793431248473 Centerline is valid? [True, True] Translation: X:114.37, Y:-30.73, Z:-0.09 [[ 7.76324678e-01 6.30331612e-01 1.43255843e-03 1.14372139e+02] [-6.30330534e-01 7.76326000e-01 -1.16596941e-03 -3.07339680e+01] [-1.84707973e-03 2.18550653e-06 9.99998294e-01 -9.45711269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.720888479 meters 0.015911027639058547 Centerline is valid? [True, True] Translation: X:114.40, Y:-30.76, Z:-0.09 [[ 7.76463328e-01 6.30159965e-01 1.76609887e-03 1.14396367e+02] [-6.30158323e-01 7.76465337e-01 -1.43826593e-03 -3.07553635e+01] [-2.27765216e-03 3.83884203e-06 9.99997406e-01 -9.45327087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.750888479 meters 0.01599268767079544 Centerline is valid? [True, True] Translation: X:114.42, Y:-30.78, Z:-0.09 [[ 7.76482237e-01 6.30132174e-01 2.96286922e-03 1.14419769e+02] [-6.30127549e-01 7.76487890e-01 -2.41435954e-03 -3.07766487e+01] [-3.82199769e-03 7.72178043e-06 9.99992696e-01 -9.34932356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.780888479 meters 0.015971722093685477 Centerline is valid? [True, True] Translation: X:114.45, Y:-30.80, Z:-0.09 [[ 7.76055687e-01 6.30657574e-01 2.93172595e-03 1.14445094e+02] [-6.30653044e-01 7.76061225e-01 -2.39023309e-03 -3.07982263e+01] [-3.78261743e-03 6.05208461e-06 9.99992846e-01 -9.32464241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.810888479 meters 0.015992700794148638 Centerline is valid? [True, True] Translation: X:114.47, Y:-30.82, Z:-0.09 [[ 7.75803859e-01 6.30966886e-01 3.02671220e-03 1.14470086e+02] [-6.30962055e-01 7.75809763e-01 -2.46899909e-03 -3.08192754e+01] [-3.90600955e-03 5.71847150e-06 9.99992372e-01 -9.31057736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.840888479 meters 0.01609296674148717 Centerline is valid? [True, True] Translation: X:114.50, Y:-30.84, Z:-0.09 [[ 7.75113698e-01 6.31815024e-01 2.92064087e-03 1.14495877e+02] [-6.31810528e-01 7.75119201e-01 -2.38371822e-03 -3.08404434e+01] [-3.76991380e-03 2.36099345e-06 9.99992894e-01 -9.34063428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.870888479 meters 0.01607307216586276 Centerline is valid? [True, True] Translation: X:114.52, Y:-30.86, Z:-0.09 [[ 7.73949632e-01 6.33242707e-01 2.37523946e-03 1.14521015e+02] [-6.33239737e-01 7.73953276e-01 -1.93948894e-03 -3.08593597e+01] [-3.06649159e-03 -3.02926304e-06 9.99995298e-01 -9.39081793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.900888479 meters 0.016136472396539973 Centerline is valid? [True, True] Translation: X:114.55, Y:-30.88, Z:-0.09 [[ 7.73210198e-01 6.34143572e-01 2.81441776e-03 1.14547213e+02] [-6.34139403e-01 7.73215320e-01 -2.29933381e-03 -3.08792295e+01] [-3.63425868e-03 -6.86484896e-06 9.99993396e-01 -9.39776723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.930888479 meters 0.01631063163862819 Centerline is valid? [True, True] Translation: X:114.57, Y:-30.90, Z:-0.09 [[ 7.71959351e-01 6.35659038e-01 4.04311052e-03 1.14573112e+02] [-6.35650447e-01 7.71969939e-01 -3.30493715e-03 -3.08975632e+01] [-5.22197295e-03 -1.87278692e-05 9.99986365e-01 -9.34149143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96088847899999 meters 0.016202643372920905 Centerline is valid? [True, True] Translation: X:114.60, Y:-30.92, Z:-0.09 [[ 7.71461309e-01 6.36259724e-01 4.58393797e-03 1.14598010e+02] [-6.36248678e-01 7.71474927e-01 -3.74918225e-03 -3.09185538e+01] [-5.92184688e-03 -2.41754266e-05 9.99982465e-01 -9.46471248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99088847899999 meters 0.01640857709507087 Centerline is valid? [True, True] Translation: X:114.62, Y:-30.94, Z:-0.09 [[ 7.71276301e-01 6.36484475e-01 4.51453042e-03 1.14623537e+02] [-6.36473753e-01 7.71289513e-01 -3.69444192e-03 -3.09384059e+01] [-5.83346489e-03 -2.39446231e-05 9.99982985e-01 -9.38059143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02088847899999 meters 0.01624887230606023 Centerline is valid? [True, True] Translation: X:114.65, Y:-30.96, Z:-0.10 [[ 7.71584423e-01 6.36113904e-01 4.07176847e-03 1.14647540e+02] [-6.36105167e-01 7.71595167e-01 -3.33398150e-03 -3.09602907e+01] [-5.26254885e-03 -1.76247706e-05 9.99986153e-01 -9.72090738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.050888479 meters 0.016167734173780687 Centerline is valid? [True, True] Translation: X:114.67, Y:-30.98, Z:-0.10 [[ 7.71638254e-01 6.36048357e-01 4.11007784e-03 1.14673152e+02] [-6.36039444e-01 7.71649199e-01 -3.36730697e-03 -3.09814229e+01] [-5.31330834e-03 -1.58287531e-05 9.99985884e-01 -9.77026779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.080888479 meters 0.016214217012344767 Centerline is valid? [True, True] Translation: X:114.70, Y:-31.00, Z:-0.10 [[ 7.71660028e-01 6.36021266e-01 4.21297340e-03 1.14697659e+02] [-6.36011890e-01 7.71671529e-01 -3.45351205e-03 -3.10020254e+01] [-5.44753873e-03 -1.45639739e-05 9.99985162e-01 -9.71496437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.110888479 meters 0.01634810166844055 Centerline is valid? [True, True] Translation: X:114.72, Y:-31.02, Z:-0.10 [[ 7.71753440e-01 6.35902708e-01 4.93704725e-03 1.14722005e+02] [-6.35889819e-01 7.71769231e-01 -4.04869933e-03 -3.10221156e+01] [-6.38484003e-03 -1.48204464e-05 9.99979617e-01 -9.55498920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.140888479 meters 0.016461277776317704 Centerline is valid? [True, True] Translation: X:114.75, Y:-31.04, Z:-0.10 [[ 7.71544456e-01 6.36156321e-01 4.92823496e-03 1.14748027e+02] [-6.36143471e-01 7.71560195e-01 -4.04357552e-03 -3.10428181e+01] [-6.37477605e-03 -1.52662193e-05 9.99979681e-01 -9.63173390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.170888479 meters 0.01664882077906752 Centerline is valid? [True, True] Translation: X:114.77, Y:-31.06, Z:-0.10 [[ 7.71327866e-01 6.36428628e-01 3.45323283e-03 1.14774159e+02] [-6.36422315e-01 7.71335596e-01 -2.83479695e-03 -3.10620468e+01] [-4.46774733e-03 -1.11565459e-05 9.99990020e-01 -9.63748639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.200888479 meters 0.016487258977056815 Centerline is valid? [True, True] Translation: X:114.80, Y:-31.08, Z:-0.10 [[ 7.70976798e-01 6.36848369e-01 4.35093842e-03 1.14799441e+02] [-6.36838342e-01 7.70989075e-01 -3.57383968e-03 -3.10830501e+01] [-5.63051996e-03 -1.54969361e-05 9.99984148e-01 -9.89005660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.230888479 meters 0.016536557456214913 Centerline is valid? [True, True] Translation: X:114.82, Y:-31.10, Z:-0.10 [[ 7.71079294e-01 6.36727640e-01 3.82568841e-03 1.14823701e+02] [-6.36719877e-01 7.71088784e-01 -3.14402477e-03 -3.11036261e+01] [-4.95183289e-03 -1.15994591e-05 9.99987740e-01 -9.95269085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.260888479 meters 0.016422114792087293 Centerline is valid? [True, True] Translation: X:114.85, Y:-31.13, Z:-0.10 [[ 7.71369742e-01 6.36377083e-01 3.59582116e-03 1.14848766e+02] [-6.36370214e-01 7.71378123e-01 -2.95672094e-03 -3.11251720e+01] [-4.65532722e-03 -7.54841102e-06 9.99989164e-01 -1.00132491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.290888479 meters 0.016555734788831062 Centerline is valid? [True, True] Translation: X:114.87, Y:-31.15, Z:-0.10 [[ 7.71833886e-01 6.35816005e-01 3.23434336e-03 1.14872706e+02] [-6.35810437e-01 7.71840662e-01 -2.66086345e-03 -3.11461472e+01] [-4.18821729e-03 -2.68468647e-06 9.99991229e-01 -1.00598416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.320888479 meters 0.016446839232440755 Centerline is valid? [True, True] Translation: X:114.90, Y:-31.17, Z:-0.10 [[ 7.72997316e-01 6.34404020e-01 2.58644960e-03 1.14896909e+02] [-6.34400448e-01 7.73001643e-01 -2.12886844e-03 -3.11663800e+01] [-3.34989248e-03 4.76480152e-06 9.99994389e-01 -1.02702910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35088847899999 meters 0.016392100709001118 Centerline is valid? [True, True] Translation: X:114.92, Y:-31.19, Z:-0.10 [[ 7.73163362e-01 6.34201076e-01 2.72242627e-03 1.14921678e+02] [-6.34197113e-01 7.73168155e-01 -2.24194834e-03 -3.11869377e+01] [-3.52673935e-03 6.83743371e-06 9.99993781e-01 -1.03006492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38088847899999 meters 0.01646539510852408 Centerline is valid? [True, True] Translation: X:114.95, Y:-31.21, Z:-0.10 [[ 7.73377954e-01 6.33932747e-01 3.97652718e-03 1.14946005e+02] [-6.33924279e-01 7.73388177e-01 -3.27663199e-03 -3.12091526e+01] [-5.15256342e-03 1.32578187e-05 9.99986725e-01 -1.00529422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.410888479 meters 0.016467943612981213 Centerline is valid? [True, True] Translation: X:114.97, Y:-31.23, Z:-0.10 [[ 7.73234363e-01 6.34107711e-01 4.00390790e-03 1.14970929e+02] [-6.34099118e-01 7.73244729e-01 -3.30104865e-03 -3.12304971e+01] [-5.18922108e-03 1.36097825e-05 9.99986536e-01 -9.97379108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.440888479 meters 0.016559485785499168 Centerline is valid? [True, True] Translation: X:115.00, Y:-31.25, Z:-0.10 [[ 7.72969818e-01 6.34432834e-01 3.55520443e-03 1.14995625e+02] [-6.34426056e-01 7.72977994e-01 -2.93264105e-03 -3.12513078e+01] [-4.60865856e-03 1.13286963e-05 9.99989380e-01 -9.96648027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.470888479 meters 0.01660411618039122 Centerline is valid? [True, True] Translation: X:115.02, Y:-31.27, Z:-0.10 [[ 7.72024653e-01 6.35586040e-01 2.88448529e-03 1.15021490e+02] [-6.35581583e-01 7.72030042e-01 -2.38025488e-03 -3.12700595e+01] [-3.73976607e-03 4.28972035e-06 9.99993007e-01 -1.01677909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.500888479 meters 0.016636153836686738 Centerline is valid? [True, True] Translation: X:115.05, Y:-31.29, Z:-0.10 [[ 7.71126024e-01 6.36678201e-01 2.35028303e-03 1.15048148e+02] [-6.36675244e-01 7.71129605e-01 -1.94032836e-03 -3.12900203e+01] [-3.04773759e-03 -1.29327441e-07 9.99995356e-01 -1.02862747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.530888479 meters 0.0166259095100402 Centerline is valid? [True, True] Translation: X:115.07, Y:-31.31, Z:-0.10 [[ 7.70116902e-01 6.37898886e-01 2.22894353e-03 1.15074210e+02] [-6.37896229e-01 7.70120128e-01 -1.84117887e-03 -3.13099802e+01] [-2.89104023e-03 -3.91170354e-06 9.99995821e-01 -1.03464126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.560888479 meters 0.016751064853397318 Centerline is valid? [True, True] Translation: X:115.10, Y:-31.33, Z:-0.10 [[ 7.69540897e-01 6.38593609e-01 2.23817388e-03 1.15099530e+02] [-6.38590930e-01 7.69544152e-01 -1.84985963e-03 -3.13307673e+01] [-2.90368216e-03 -5.73489758e-06 9.99995784e-01 -1.03203344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.590888479 meters 0.016695738777874756 Centerline is valid? [True, True] Translation: X:115.12, Y:-31.35, Z:-0.10 [[ 7.69280091e-01 6.38906558e-01 2.55979348e-03 1.15124581e+02] [-6.38903051e-01 7.69284349e-01 -2.11694372e-03 -3.13516264e+01] [-3.32173829e-03 -6.93720575e-06 9.99994483e-01 -1.03187408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.620888479 meters 0.01659049690403898 Centerline is valid? [True, True] Translation: X:115.15, Y:-31.37, Z:-0.10 [[ 7.69278972e-01 6.38908283e-01 2.46347450e-03 1.15150245e+02] [-6.38905031e-01 7.69282917e-01 -2.03842876e-03 -3.13726867e+01] [-3.19747787e-03 -5.80586884e-06 9.99994888e-01 -1.02905647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.650888479 meters 0.0166151353188676 Centerline is valid? [True, True] Translation: X:115.18, Y:-31.39, Z:-0.10 [[ 7.69285312e-01 6.38901664e-01 2.18485043e-03 1.15175213e+02] [-6.38899103e-01 7.69288414e-01 -1.80886311e-03 -3.13943789e+01] [-2.83646577e-03 -4.36716170e-06 9.99995977e-01 -1.03011413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.680888479 meters 0.016611323111156574 Centerline is valid? [True, True] Translation: X:115.20, Y:-31.42, Z:-0.10 [[ 7.69662611e-01 6.38448721e-01 1.64153097e-03 1.15200144e+02] [-6.38447273e-01 7.69664362e-01 -1.35971705e-03 -3.14164943e+01] [-2.13153750e-03 -1.50760082e-06 9.99997728e-01 -1.03541932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71088847899999 meters 0.016635957895011655 Centerline is valid? [True, True] Translation: X:115.22, Y:-31.44, Z:-0.10 [[ 7.70135744e-01 6.37877512e-01 1.79338539e-03 1.15223985e+02] [-6.37875780e-01 7.70137832e-01 -1.48636207e-03 -3.14373472e+01] [-2.32927087e-03 7.43452582e-07 9.99997287e-01 -1.04665919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74088847899999 meters 0.01661421051224655 Centerline is valid? [True, True] Translation: X:115.25, Y:-31.46, Z:-0.10 [[ 7.70058346e-01 6.37969879e-01 2.13920673e-03 1.15249624e+02] [-6.37967413e-01 7.70061318e-01 -1.77404315e-03 -3.14582591e+01] [-2.77910644e-03 1.37254991e-06 9.99996138e-01 -1.04844405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77088847899999 meters 0.01659977596050095 Centerline is valid? [True, True] Translation: X:115.27, Y:-31.48, Z:-0.10 [[ 7.69766909e-01 6.38321077e-01 2.26033030e-03 1.15274128e+02] [-6.38318321e-01 7.69770227e-01 -1.87554463e-03 -3.14780454e+01] [-2.93713464e-03 9.21942202e-07 9.99995687e-01 -1.04885490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.800888479 meters 0.016652153647219507 Centerline is valid? [True, True] Translation: X:115.30, Y:-31.50, Z:-0.10 [[ 7.69065837e-01 6.39164862e-01 2.45313136e-03 1.15299158e+02] [-6.39161618e-01 7.69069749e-01 -2.03640702e-03 -3.14985158e+01] [-3.18822893e-03 -1.81634048e-06 9.99994918e-01 -1.04291563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.830888479 meters 0.016702185048293815 Centerline is valid? [True, True] Translation: X:115.32, Y:-31.52, Z:-0.10 [[ 7.68643783e-01 6.39672854e-01 2.31829726e-03 1.15324878e+02] [-6.39669956e-01 7.68647279e-01 -1.92539695e-03 -3.15193951e+01] [-3.01357705e-03 -3.00071135e-06 9.99995459e-01 -1.04372790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.860888479 meters 0.016674618161344693 Centerline is valid? [True, True] Translation: X:115.35, Y:-31.54, Z:-0.10 [[ 7.68185473e-01 6.40225159e-01 1.68089483e-03 1.15349818e+02] [-6.40223635e-01 7.68187312e-01 -1.39667093e-03 -3.15394616e+01] [-2.18542595e-03 -3.24628238e-06 9.99997612e-01 -1.04851633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.890888479 meters 0.016772945874653205 Centerline is valid? [True, True] Translation: X:115.37, Y:-31.56, Z:-0.10 [[ 7.67200739e-01 6.41405825e-01 1.26248480e-03 1.15374751e+02] [-6.41404967e-01 7.67201777e-01 -1.04946217e-03 -3.15597224e+01] [-1.64171173e-03 -4.61586528e-06 9.99998652e-01 -1.04708612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.920888479 meters 0.016772945874653205 Centerline is valid? [True, True] Translation: X:115.40, Y:-31.58, Z:-0.10 [[ 7.67028457e-01 6.41611839e-01 1.26221503e-03 1.15399615e+02] [-6.41610981e-01 7.67029496e-01 -1.04978656e-03 -3.15805078e+01] [-1.64171164e-03 -4.63486182e-06 9.99998652e-01 -1.04746011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.950888479 meters 0.01671502981342336 Centerline is valid? [True, True] Translation: X:115.43, Y:-31.60, Z:-0.10 [[ 7.66832441e-01 6.41845355e-01 1.59642829e-03 1.15425090e+02] [-6.41843980e-01 7.66834102e-01 -1.32858333e-03 -3.16014599e+01] [-2.07694069e-03 -5.85709103e-06 9.99997843e-01 -1.04650024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.980888479 meters 0.016656828029404883 Centerline is valid? [True, True] Translation: X:115.45, Y:-31.62, Z:-0.10 [[ 7.67369645e-01 6.41199501e-01 2.65105069e-03 1.15450475e+02] [-6.41195700e-01 7.67374224e-01 -2.20776280e-03 -3.16217732e+01] [-3.44996437e-03 -5.67214717e-06 9.99994049e-01 -1.04597450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.010888479 meters 0.016690187732954984 Centerline is valid? [True, True] Translation: X:115.48, Y:-31.64, Z:-0.11 [[ 7.67611841e-01 6.40909256e-01 2.71807722e-03 1.15475439e+02] [-6.40905255e-01 7.67616653e-01 -2.26454683e-03 -3.16420848e+01] [-3.53781036e-03 -3.73701423e-06 9.99993742e-01 -1.05261726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.040888479 meters 0.01659860596830175 Centerline is valid? [True, True] Translation: X:115.50, Y:-31.66, Z:-0.11 [[ 7.67718836e-01 6.40780845e-01 2.77461475e-03 1.15500989e+02] [-6.40776671e-01 7.67723849e-01 -2.31281388e-03 -3.16628725e+01] [-3.61214475e-03 -2.31762725e-06 9.99993476e-01 -1.05962443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070888479 meters 0.01656397065382629 Centerline is valid? [True, True] Translation: X:115.53, Y:-31.68, Z:-0.11 [[ 7.67667615e-01 6.40843089e-01 2.56288128e-03 1.15525747e+02] [-6.40839525e-01 7.67671893e-01 -2.13745177e-03 -3.16832244e+01] [-3.33722312e-03 -1.54312247e-06 9.99994431e-01 -1.06037188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10088847899999 meters 0.016540285683095447 Centerline is valid? [True, True] Translation: X:115.55, Y:-31.70, Z:-0.11 [[ 7.67366431e-01 6.41203442e-01 2.62799436e-03 1.15550542e+02] [-6.41199692e-01 7.67370931e-01 -2.19291657e-03 -3.17038897e+01] [-3.42275213e-03 -2.29860951e-06 9.99994142e-01 -1.05029110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13088847899999 meters 0.016531974384085883 Centerline is valid? [True, True] Translation: X:115.58, Y:-31.72, Z:-0.10 [[ 7.67169797e-01 6.41440029e-01 2.27845172e-03 1.15576437e+02] [-6.41437208e-01 7.67173181e-01 -1.90223753e-03 -3.17249222e+01] [-2.96813835e-03 -2.14453443e-06 9.99995595e-01 -1.04712498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.160888479 meters 0.01656277651642762 Centerline is valid? [True, True] Translation: X:115.60, Y:-31.75, Z:-0.11 [[ 7.66913689e-01 6.41746188e-01 2.28569116e-03 1.15602936e+02] [-6.41743347e-01 7.66917095e-01 -1.90936366e-03 -3.17451908e+01] [-2.97826248e-03 -2.50997158e-06 9.99995565e-01 -1.05301414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.190888479 meters 0.016514167706381835 Centerline is valid? [True, True] Translation: X:115.63, Y:-31.76, Z:-0.11 [[ 7.66392294e-01 6.42370680e-01 1.66161106e-03 1.15630626e+02] [-6.42369179e-01 7.66394095e-01 -1.38870443e-03 -3.17638707e+01] [-2.16551192e-03 -3.07536123e-06 9.99997655e-01 -1.07842913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.220888479 meters 0.016401257769360744 Centerline is valid? [True, True] Translation: X:115.66, Y:-31.78, Z:-0.11 [[ 7.66134246e-01 6.42679594e-01 1.12131707e-03 1.15656661e+02] [-6.42678910e-01 7.66135066e-01 -9.37541413e-04 -3.17840083e+01] [-1.46161906e-03 -2.36425097e-06 9.99998932e-01 -1.08584503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.250888479 meters 0.016435819437870144 Centerline is valid? [True, True] Translation: X:115.68, Y:-31.80, Z:-0.11 [[ 7.65343314e-01 6.43621730e-01 8.24920464e-04 1.15683505e+02] [-6.43621360e-01 7.65343758e-01 -6.89998788e-04 -3.18039245e+01] [-1.07544594e-03 -2.85047228e-06 9.99999422e-01 -1.08654053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.280888479 meters 0.016539884409358472 Centerline is valid? [True, True] Translation: X:115.71, Y:-31.82, Z:-0.11 [[ 7.65084301e-01 6.43929616e-01 8.13424887e-04 1.15708125e+02] [-6.43929256e-01 7.65084733e-01 -6.80762689e-04 -3.18236496e+01] [-1.06070222e-03 -2.94723588e-06 9.99999437e-01 -1.08179842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.310888479 meters 0.016454721410304976 Centerline is valid? [True, True] Translation: X:115.73, Y:-31.84, Z:-0.11 [[ 7.64683157e-01 6.44406266e-01 4.82980741e-04 1.15733602e+02] [-6.44406140e-01 7.64683310e-01 -4.04253763e-04 -3.18445700e+01] [-6.29830969e-04 -2.10971147e-06 9.99999802e-01 -1.07765541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.340888479 meters 0.016463949422119595 Centerline is valid? [True, True] Translation: X:115.76, Y:-31.87, Z:-0.11 [[ 7.64397502e-01 6.44745251e-01 -1.42793066e-04 1.15759365e+02] [-6.44745239e-01 7.64397516e-01 1.20128215e-04 -3.18651553e+01] [ 1.86602761e-04 2.39442129e-07 9.99999983e-01 -1.07570938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.370888479 meters 0.016486801940408462 Centerline is valid? [True, True] Translation: X:115.79, Y:-31.88, Z:-0.11 [[ 7.63695039e-01 6.45576852e-01 -6.44888969e-04 1.15785385e+02] [-6.45576625e-01 7.63695311e-01 5.41306987e-04 -3.18833566e+01] [ 8.41953942e-04 2.93178395e-06 9.99999646e-01 -1.07685001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.400888479 meters 0.01642620383847153 Centerline is valid? [True, True] Translation: X:115.81, Y:-31.90, Z:-0.11 [[ 7.63290388e-01 6.46055209e-01 -6.71692332e-04 1.15811521e+02] [-6.46054962e-01 7.63290683e-01 5.64141704e-04 -3.19037921e+01] [ 8.77163185e-04 3.34622462e-06 9.99999615e-01 -1.08437190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.430888479 meters 0.01656881042042239 Centerline is valid? [True, True] Translation: X:115.84, Y:-31.92, Z:-0.11 [[ 7.62525897e-01 6.46956620e-01 -1.17820573e-03 1.15837405e+02] [-6.46955863e-01 7.62526808e-01 9.89424933e-04 -3.19229773e+01] [ 1.53852846e-03 7.78496984e-06 9.99998816e-01 -1.09572995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46088847899999 meters 0.016430122834858802 Centerline is valid? [True, True] Translation: X:115.86, Y:-31.94, Z:-0.11 [[ 7.61922093e-01 6.47666671e-01 -1.61443246e-03 1.15862420e+02] [-6.47665251e-01 7.61923804e-01 1.35657910e-03 -3.19436034e+01] [ 2.10868559e-03 1.20042195e-05 9.99997777e-01 -1.09972376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49088847899999 meters 0.016485619567079158 Centerline is valid? [True, True] Translation: X:115.89, Y:-31.96, Z:-0.11 [[ 7.61458658e-01 6.48211807e-01 -1.47129075e-03 1.15888141e+02] [-6.48210627e-01 7.61460080e-01 1.23704032e-03 -3.19644934e+01] [ 1.92219331e-03 1.17512376e-05 9.99998153e-01 -1.09723807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52088847899999 meters 0.016515394149698232 Centerline is valid? [True, True] Translation: X:115.91, Y:-31.98, Z:-0.11 [[ 7.61165180e-01 6.48557338e-01 -9.73669084e-04 1.15913837e+02] [-6.48556820e-01 7.61165803e-01 8.19253260e-04 -3.19843340e+01] [ 1.27245632e-03 7.89267012e-06 9.99999190e-01 -1.09236999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.550888479 meters 0.016538964836655883 Centerline is valid? [True, True] Translation: X:115.94, Y:-32.00, Z:-0.11 [[ 7.60913099e-01 6.48853364e-01 -7.54074177e-04 1.15939466e+02] [-6.48853053e-01 7.60913472e-01 6.34884476e-04 -3.20037695e+01] [ 9.85732129e-04 6.19141855e-06 9.99999514e-01 -1.09438724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.580888479 meters 0.016422391771488246 Centerline is valid? [True, True] Translation: X:115.97, Y:-32.02, Z:-0.11 [[ 7.60791704e-01 6.48995216e-01 -1.09219959e-03 1.15965674e+02] [-6.48994564e-01 7.60792488e-01 9.19924910e-04 -3.20239622e+01] [ 1.42796411e-03 8.96035811e-06 9.99998980e-01 -1.09461205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.610888479 meters 0.016377121111948324 Centerline is valid? [True, True] Translation: X:115.99, Y:-32.05, Z:-0.11 [[ 7.60727270e-01 6.49069501e-01 -1.67449688e-03 1.15990533e+02] [-6.49067967e-01 7.60729113e-01 1.41094410e-03 -3.20456887e+01] [ 2.18963931e-03 1.35186350e-05 9.99997603e-01 -1.09811347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.640888479 meters 0.0163504457344227 Centerline is valid? [True, True] Translation: X:116.01, Y:-32.07, Z:-0.11 [[ 7.60865860e-01 6.48905484e-01 -2.19443239e-03 1.16014546e+02] [-6.48902848e-01 7.60869025e-01 1.84984828e-03 -3.20662940e+01] [ 2.87005232e-03 1.64870289e-05 9.99995881e-01 -1.09803288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.670888479 meters 0.016345404200823345 Centerline is valid? [True, True] Translation: X:116.04, Y:-32.09, Z:-0.11 [[ 7.60839989e-01 6.48934312e-01 -2.60210592e-03 1.16039401e+02] [-6.48930601e-01 7.60844438e-01 2.19467766e-03 -3.20871925e+01] [ 3.40399945e-03 1.87876344e-05 9.99994206e-01 -1.09888337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.700888479 meters 0.01608147467883148 Centerline is valid? [True, True] Translation: X:116.06, Y:-32.11, Z:-0.11 [[ 7.62163451e-01 6.47379650e-01 -2.54199697e-03 1.16062978e+02] [-6.47376097e-01 7.62167690e-01 2.14486854e-03 -3.21074587e+01] [ 3.32597220e-03 1.08876693e-05 9.99994469e-01 -1.11076408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.730888479 meters 0.015935203429030736 Centerline is valid? [True, True] Translation: X:116.09, Y:-32.13, Z:-0.11 [[ 7.63147385e-01 6.46216239e-01 -3.26211116e-03 1.16086587e+02] [-6.46210371e-01 7.63154357e-01 2.75383731e-03 -3.21287967e+01] [ 4.26906873e-03 6.42632064e-06 9.99990887e-01 -1.11967197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.760888479 meters 0.01587959392320648 Centerline is valid? [True, True] Translation: X:116.11, Y:-32.15, Z:-0.11 [[ 7.65451256e-01 6.43484912e-01 -3.39734098e-03 1.16109672e+02] [-6.43478514e-01 7.65458796e-01 2.86954560e-03 -3.21525201e+01] [ 4.44703383e-03 -1.03813588e-05 9.99990112e-01 -1.11573535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.790888479 meters 0.01622061118034396 Centerline is valid? [True, True] Translation: X:116.13, Y:-32.18, Z:-0.11 [[ 7.66353190e-01 6.42415476e-01 -2.26806359e-03 1.16132050e+02] [-6.42412617e-01 7.66356546e-01 1.91677082e-03 -3.21757586e+01] [ 2.96950862e-03 -1.18907631e-05 9.99995591e-01 -1.12505061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.820888479 meters 0.015820045169810813 Centerline is valid? [True, True] Translation: X:116.16, Y:-32.20, Z:-0.11 [[ 7.66807372e-01 6.41868161e-01 -3.42309486e-03 1.16158024e+02] [-6.41861635e-01 7.66815013e-01 2.89442265e-03 -3.21963908e+01] [ 4.48271828e-03 -2.23113608e-05 9.99989952e-01 -1.10113554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85088847899999 meters 0.015873393109445893 Centerline is valid? [True, True] Translation: X:116.18, Y:-32.22, Z:-0.11 [[ 7.67015357e-01 6.41617194e-01 -3.84943159e-03 1.16182077e+02] [-6.41608930e-01 7.67025016e-01 3.25656785e-03 -3.22175038e+01] [ 5.04208025e-03 -2.80078718e-05 9.99987288e-01 -1.10248581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88088847899999 meters 0.015873036779817773 Centerline is valid? [True, True] Translation: X:116.21, Y:-32.24, Z:-0.11 [[ 7.66392714e-01 6.42362256e-01 -3.59733129e-03 1.16207203e+02] [-6.42355039e-01 7.66401156e-01 3.04504059e-03 -3.22382655e+01] [ 4.71301800e-03 -2.29330413e-05 9.99988893e-01 -1.09906932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.910888479 meters 0.015688810463115054 Centerline is valid? [True, True] Translation: X:116.23, Y:-32.26, Z:-0.11 [[ 7.65501331e-01 6.43428350e-01 -2.76963824e-03 1.16232396e+02] [-6.43424074e-01 7.65506341e-01 2.34565571e-03 -3.22576214e+01] [ 3.62943702e-03 -1.35506437e-05 9.99993413e-01 -1.07625859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.940888479 meters 0.01569204902508301 Centerline is valid? [True, True] Translation: X:116.26, Y:-32.28, Z:-0.11 [[ 7.65134183e-01 6.43866273e-01 -2.42985215e-03 1.16256609e+02] [-6.43862981e-01 7.65138041e-01 2.05905715e-03 -3.22780248e+01] [ 3.18492977e-03 -1.09631579e-05 9.99994928e-01 -1.07212095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.970888479 meters 0.01556151088343452 Centerline is valid? [True, True] Translation: X:116.28, Y:-32.30, Z:-0.11 [[ 7.64674422e-01 6.44411460e-01 -2.62657062e-03 1.16281814e+02] [-6.44407612e-01 7.64678933e-01 2.22702620e-03 -3.22993091e+01] [ 3.44360442e-03 -1.03678696e-05 9.99994071e-01 -1.06705137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.000888479 meters 0.015476047758844074 Centerline is valid? [True, True] Translation: X:116.31, Y:-32.32, Z:-0.11 [[ 7.64001995e-01 6.45208172e-01 -2.71389923e-03 1.16305870e+02] [-6.45204065e-01 7.64006816e-01 2.30225119e-03 -3.23195385e+01] [ 3.55886879e-03 -7.90568949e-06 9.99993667e-01 -1.07215339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.030888479 meters 0.015452186883492121 Centerline is valid? [True, True] Translation: X:116.33, Y:-32.34, Z:-0.11 [[ 7.62524263e-01 6.46956424e-01 -2.03302915e-03 1.16332075e+02] [-6.46954123e-01 7.62526973e-01 1.72574668e-03 -3.23394363e+01] [ 2.66672247e-03 -6.47130116e-07 9.99996444e-01 -1.07124388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.060888479 meters 0.015406958133335499 Centerline is valid? [True, True] Translation: X:116.36, Y:-32.36, Z:-0.11 [[ 7.61625218e-01 6.48014404e-01 -2.08786632e-03 1.16357536e+02] [-6.48011978e-01 7.61628080e-01 1.77327971e-03 -3.23597391e+01] [ 2.73928841e-03 2.38784147e-06 9.99996248e-01 -1.06818584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.090888479 meters 0.015419223318279628 Centerline is valid? [True, True] Translation: X:116.38, Y:-32.38, Z:-0.11 [[ 7.59678145e-01 6.50295289e-01 -2.27013737e-03 1.16383645e+02] [-6.50292427e-01 7.59681537e-01 1.92913135e-03 -3.23804802e+01] [ 2.97908647e-03 1.07342135e-05 9.99995562e-01 -1.06178882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.120888479 meters 0.015422345877532651 Centerline is valid? [True, True] Translation: X:116.41, Y:-32.40, Z:-0.11 [[ 7.58818119e-01 6.51298466e-01 -2.31721209e-03 1.16408413e+02] [-6.51295487e-01 7.58821657e-01 1.97015203e-03 -3.24014029e+01] [ 3.04150771e-03 1.42027174e-05 9.99995375e-01 -1.05685946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.150888479 meters 0.015431741492642724 Centerline is valid? [True, True] Translation: X:116.43, Y:-32.42, Z:-0.11 [[ 7.57626755e-01 6.52683678e-01 -2.39074775e-03 1.16433894e+02] [-6.52680510e-01 7.57630527e-01 2.03382984e-03 -3.24221402e+01] [ 3.13875102e-03 1.95105624e-05 9.99995074e-01 -1.05368987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.180888479 meters 0.015788438626361687 Centerline is valid? [True, True] Translation: X:116.46, Y:-32.44, Z:-0.11 [[ 7.55364887e-01 6.55301519e-01 -1.95095120e-03 1.16459947e+02] [-6.55299416e-01 7.55367406e-01 1.66052577e-03 -3.24409048e+01] [ 2.56183001e-03 2.41543202e-05 9.99996718e-01 -1.05093555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21088847899999 meters 0.01603677828479649 Centerline is valid? [True, True] Translation: X:116.49, Y:-32.46, Z:-0.11 [[ 7.53935508e-01 6.56945134e-01 -2.08358342e-03 1.16485168e+02] [-6.56942738e-01 7.53938386e-01 1.77426776e-03 -3.24609341e+01] [ 2.73649010e-03 3.11115355e-05 9.99996255e-01 -1.05298004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24088847899999 meters 0.01599169247385098 Centerline is valid? [True, True] Translation: X:116.51, Y:-32.48, Z:-0.11 [[ 7.52771874e-01 6.58277727e-01 -2.22264988e-03 1.16510212e+02] [-6.58275004e-01 7.52775154e-01 1.89362286e-03 -3.24810832e+01] [ 2.91968536e-03 3.76488340e-05 9.99995737e-01 -1.05934446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27088847899999 meters 0.016240975664866996 Centerline is valid? [True, True] Translation: X:116.53, Y:-32.50, Z:-0.11 [[ 7.51787199e-01 6.59398536e-01 -3.09481364e-03 1.16534591e+02] [-6.59393263e-01 7.51793567e-01 2.63786211e-03 -3.25013334e+01] [ 4.06606340e-03 5.75882985e-05 9.99991732e-01 -1.06667340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.300888479 meters 0.016260866441568992 Centerline is valid? [True, True] Translation: X:116.56, Y:-32.52, Z:-0.11 [[ 7.51822365e-01 6.59352867e-01 -4.11444941e-03 1.16558684e+02] [-6.59343535e-01 7.51833619e-01 3.50872926e-03 -3.25225620e+01] [ 5.40687209e-03 7.48944915e-05 9.99985380e-01 -1.07758317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.330888479 meters 0.01584409442142251 Centerline is valid? [True, True] Translation: X:116.58, Y:-32.55, Z:-0.11 [[ 7.52570363e-01 6.58497993e-01 -4.27099528e-03 1.16582325e+02] [-6.58487915e-01 7.52582479e-01 3.64398929e-03 -3.25450020e+01] [ 5.61383585e-03 7.00404350e-05 9.99984240e-01 -1.08008010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.360888479 meters 0.015507988114452509 Centerline is valid? [True, True] Translation: X:116.61, Y:-32.57, Z:-0.11 [[ 7.53976510e-01 6.56888826e-01 -4.06119159e-03 1.16605048e+02] [-6.56879681e-01 7.53987445e-01 3.46655852e-03 -3.25665010e+01] [ 5.33923103e-03 5.40105404e-05 9.99985745e-01 -1.08329796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.390888479 meters 0.014820878982361792 Centerline is valid? [True, True] Translation: X:116.63, Y:-32.59, Z:-0.11 [[ 7.57442842e-01 6.52893589e-01 -3.20991886e-03 1.16626057e+02] [-6.52887834e-01 7.57449643e-01 2.74138484e-03 -3.25912548e+01] [ 4.22118448e-03 1.92746513e-05 9.99991091e-01 -1.06885654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.420888479 meters 0.014772293955955392 Centerline is valid? [True, True] Translation: X:116.65, Y:-32.61, Z:-0.11 [[ 7.59350414e-01 6.50675286e-01 -2.93600666e-03 1.16647828e+02] [-6.50670453e-01 7.59356090e-01 2.50802028e-03 -3.26136953e+01] [ 3.86138135e-03 5.90654216e-06 9.99992545e-01 -1.06279321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.450888479 meters 0.014668000687332256 Centerline is valid? [True, True] Translation: X:116.67, Y:-32.64, Z:-0.11 [[ 7.61062118e-01 6.48672616e-01 -2.87912271e-03 1.16670936e+02] [-6.48667948e-01 7.61067564e-01 2.46103268e-03 -3.26369856e+01] [ 3.78761141e-03 -5.40412316e-06 9.99992827e-01 -1.05663197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.480888479 meters 0.014851328902512603 Centerline is valid? [True, True] Translation: X:116.69, Y:-32.66, Z:-0.11 [[ 7.64284322e-01 6.44870804e-01 -3.33493188e-03 1.16693045e+02] [-6.44864498e-01 7.64291597e-01 2.85192603e-03 -3.26609886e+01] [ 4.38798425e-03 -2.91031805e-05 9.99990372e-01 -1.06503758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.510888479 meters 0.01508234166512496 Centerline is valid? [True, True] Translation: X:116.72, Y:-32.68, Z:-0.11 [[ 7.65694542e-01 6.43194392e-01 -3.58376150e-03 1.16716038e+02] [-6.43187085e-01 7.65702927e-01 3.06620606e-03 -3.26827981e+01] [ 4.71626321e-03 -4.27481308e-05 9.99988877e-01 -1.07055550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.540888479 meters 0.015428289435308004 Centerline is valid? [True, True] Translation: X:116.74, Y:-32.71, Z:-0.11 [[ 7.68218159e-01 6.40177283e-01 -3.72916405e-03 1.16738871e+02] [-6.40169327e-01 7.68227208e-01 3.19219486e-03 -3.27056847e+01] [ 4.90841592e-03 -6.50056206e-05 9.99987952e-01 -1.07670151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570888479 meters 0.01564213490441548 Centerline is valid? [True, True] Translation: X:116.76, Y:-32.73, Z:-0.11 [[ 7.69084037e-01 6.39136729e-01 -3.73985046e-03 1.16762491e+02] [-6.39128707e-01 7.69093126e-01 3.20292951e-03 -3.27278100e+01] [ 4.92340318e-03 -7.30761677e-05 9.99987877e-01 -1.08083524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60088847899999 meters 0.015923384630323438 Centerline is valid? [True, True] Translation: X:116.78, Y:-32.75, Z:-0.11 [[ 7.70136036e-01 6.37858870e-01 -5.15247511e-03 1.16784788e+02] [-6.37843601e-01 7.70153264e-01 4.41479997e-03 -3.27505312e+01] [ 6.78421485e-03 -1.13523272e-04 9.99976981e-01 -1.08034207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63088847899999 meters 0.015864355668974185 Centerline is valid? [True, True] Translation: X:116.81, Y:-32.77, Z:-0.11 [[ 7.70283401e-01 6.37682137e-01 -4.99744462e-03 1.16809403e+02] [-6.37667754e-01 7.70299603e-01 4.28447672e-03 -3.27721877e+01] [ 6.58166388e-03 -1.13552010e-04 9.99978334e-01 -1.07902846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.660888479 meters 0.016094395883157742 Centerline is valid? [True, True] Translation: X:116.83, Y:-32.79, Z:-0.11 [[ 7.69815786e-01 6.38246837e-01 -4.96292486e-03 1.16832693e+02] [-6.38232651e-01 7.69831776e-01 4.25675635e-03 -3.27924229e+01] [ 6.53747854e-03 -1.09417545e-04 9.99978624e-01 -1.07872604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.690888479 meters 0.015487203937464505 Centerline is valid? [True, True] Translation: X:116.86, Y:-32.81, Z:-0.11 [[ 7.67800454e-01 6.40675203e-01 -4.21280414e-03 1.16858943e+02] [-6.40665007e-01 7.67812007e-01 3.61522988e-03 -3.28111126e+01] [ 5.55082975e-03 -7.67789482e-05 9.99984591e-01 -1.08187037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.720888479 meters 0.014668754194612377 Centerline is valid? [True, True] Translation: X:116.89, Y:-32.83, Z:-0.11 [[ 7.64380774e-01 6.44746256e-01 -4.92930361e-03 1.16885524e+02] [-6.44732368e-01 7.64396665e-01 4.23213176e-03 -3.28297237e+01] [ 6.49659435e-03 -5.68785550e-05 9.99978895e-01 -1.09979258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.750888479 meters 0.014668754194612377 Centerline is valid? [True, True] Translation: X:116.91, Y:-32.85, Z:-0.11 [[ 7.64200232e-01 6.44960246e-01 -4.92809228e-03 1.16910070e+02] [-6.44946354e-01 7.64216119e-01 4.23354230e-03 -3.28508838e+01] [ 6.49659405e-03 -5.69188523e-05 9.99978895e-01 -1.10016651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.780888479 meters 0.014504177233694673 Centerline is valid? [True, True] Translation: X:116.94, Y:-32.87, Z:-0.11 [[ 7.62146593e-01 6.47383935e-01 -5.15857357e-03 1.16935380e+02] [-6.47368754e-01 7.62164050e-01 4.43365517e-03 -3.28711736e+01] [ 6.80195645e-03 -3.95958383e-05 9.99976866e-01 -1.10458314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.810888479 meters 0.014504177233694673 Centerline is valid? [True, True] Translation: X:116.96, Y:-32.89, Z:-0.11 [[ 7.61965555e-01 6.47597016e-01 -5.15730712e-03 1.16959914e+02] [-6.47581829e-01 7.61983008e-01 4.43512833e-03 -3.28923475e+01] [ 6.80195626e-03 -3.96366458e-05 9.99976866e-01 -1.10495706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.840888479 meters 0.014206488956774243 Centerline is valid? [True, True] Translation: X:116.99, Y:-32.91, Z:-0.11 [[ 7.57679679e-01 6.52618118e-01 -3.33103543e-03 1.16985653e+02] [-6.52611824e-01 7.57687002e-01 2.86609796e-03 -3.29118134e+01] [ 4.39434971e-03 2.28892579e-06 9.99990345e-01 -1.09095414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.870888479 meters 0.014303879737253314 Centerline is valid? [True, True] Translation: X:117.01, Y:-32.93, Z:-0.11 [[ 7.55616481e-01 6.55010467e-01 -2.24089581e-03 1.17010989e+02] [-6.55007625e-01 7.55619804e-01 1.92940434e-03 -3.29325329e+01] [ 2.95704529e-03 9.91412785e-06 9.99995628e-01 -1.07695430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.900888479 meters 0.014349979529584809 Centerline is valid? [True, True] Translation: X:117.04, Y:-32.95, Z:-0.11 [[ 7.53353454e-01 6.57611404e-01 -2.41118739e-03 1.17035503e+02] [-6.57608127e-01 7.53357313e-01 2.07634213e-03 -3.29525747e+01] [ 3.18191192e-03 2.13969050e-05 9.99994937e-01 -1.07379719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.930888479 meters 0.01569265154804363 Centerline is valid? [True, True] Translation: X:117.06, Y:-32.97, Z:-0.11 [[ 7.49353651e-01 6.62165179e-01 -2.52620129e-03 1.17061908e+02] [-6.62161606e-01 7.49357908e-01 2.17585084e-03 -3.29689580e+01] [ 3.33380157e-03 4.22717314e-05 9.99994442e-01 -1.09170316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96088847899999 meters 0.016529802031727315 Centerline is valid? [True, True] Translation: X:117.09, Y:-32.99, Z:-0.11 [[ 7.47359505e-01 6.64415876e-01 -2.30531010e-03 1.17087272e+02] [-6.64412907e-01 7.47363059e-01 1.98668710e-03 -3.29886307e+01] [ 3.04289006e-03 4.69082948e-05 9.99995369e-01 -1.09641820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99088847899999 meters 0.01731618499927455 Centerline is valid? [True, True] Translation: X:117.11, Y:-33.01, Z:-0.11 [[ 7.45646771e-01 6.66339374e-01 -1.65258521e-03 1.17111622e+02] [-6.66337852e-01 7.45648602e-01 1.42492155e-03 -3.30090487e+01] [ 2.18172919e-03 3.86919244e-05 9.99997619e-01 -1.08851217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02088847899999 meters 0.01628596756320941 Centerline is valid? [True, True] Translation: X:117.13, Y:-33.03, Z:-0.11 [[ 7.44156677e-01 6.68004182e-01 -1.11911690e-03 1.17133155e+02] [-6.68003485e-01 7.44157518e-01 9.65568441e-04 -3.30326614e+01] [ 1.47780301e-03 2.90397852e-05 9.99998908e-01 -1.07376763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.050888479 meters 0.016788775197371937 Centerline is valid? [True, True] Translation: X:117.16, Y:-33.06, Z:-0.11 [[ 7.42094168e-01 6.70295615e-01 1.85613572e-04 1.17156436e+02] [-6.70295596e-01 7.42094191e-01 -1.59786191e-04 -3.30553166e+01] [-2.44846737e-04 -5.83955980e-06 9.99999970e-01 -1.05859022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.080888479 meters 0.0173247201885743 Centerline is valid? [True, True] Translation: X:117.18, Y:-33.08, Z:-0.11 [[ 7.41277490e-01 6.71198514e-01 4.88036907e-04 1.17180180e+02] [-6.71198382e-01 7.41277650e-01 -4.21034579e-04 -3.30760247e+01] [-6.44368635e-04 -1.54661267e-05 9.99999792e-01 -1.05443539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.110888479 meters 0.017406167325858327 Centerline is valid? [True, True] Translation: X:117.20, Y:-33.10, Z:-0.11 [[ 7.40867868e-01 6.71650775e-01 -1.97407708e-04 1.17203493e+02] [-6.71650753e-01 7.40867894e-01 1.70914548e-04 -3.31000393e+01] [ 2.61047921e-04 5.96393900e-06 9.99999966e-01 -1.06103602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.140888479 meters 0.016975413233547076 Centerline is valid? [True, True] Translation: X:117.23, Y:-33.12, Z:-0.11 [[ 7.41139292e-01 6.71350631e-01 -9.38742071e-04 1.17225684e+02] [-6.71350141e-01 7.41139886e-01 8.11505825e-04 -3.31229937e+01] [ 1.24054414e-03 2.87857693e-05 9.99999230e-01 -1.07140836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.170888479 meters 0.016688020118825902 Centerline is valid? [True, True] Translation: X:117.25, Y:-33.15, Z:-0.11 [[ 7.41892882e-01 6.70517684e-01 -9.93696041e-04 1.17248627e+02] [-6.70517134e-01 7.41893547e-01 8.58902111e-04 -3.31464014e+01] [ 1.31312573e-03 2.90768592e-05 9.99999137e-01 -1.08105750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.200888479 meters 0.016357529019147603 Centerline is valid? [True, True] Translation: X:117.27, Y:-33.17, Z:-0.11 [[ 7.42639698e-01 6.69689002e-01 -1.70865812e-03 1.17271093e+02] [-6.69687373e-01 7.42641662e-01 1.47776978e-03 -3.31696602e+01] [ 2.25856688e-03 4.68162613e-05 9.99997448e-01 -1.08841925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.230888479 meters 0.015723244909505767 Centerline is valid? [True, True] Translation: X:117.29, Y:-33.20, Z:-0.11 [[ 7.44503028e-01 6.67615187e-01 -2.28086076e-03 1.17291063e+02] [-6.67612273e-01 7.44506520e-01 1.97352261e-03 -3.31956630e+01] [ 3.01566938e-03 5.34370706e-05 9.99995451e-01 -1.09246069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.260888479 meters 0.015624202922452719 Centerline is valid? [True, True] Translation: X:117.31, Y:-33.22, Z:-0.11 [[ 7.45597976e-01 6.66390777e-01 -2.64395988e-03 1.17313174e+02] [-6.66386850e-01 7.45602661e-01 2.28866517e-03 -3.32175954e+01] [ 3.49648889e-03 5.54759798e-05 9.99993886e-01 -1.09791631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.290888479 meters 0.014960464276088176 Centerline is valid? [True, True] Translation: X:117.33, Y:-33.24, Z:-0.11 [[ 7.46929021e-01 6.64897386e-01 -2.91608353e-03 1.17334855e+02] [-6.64892592e-01 7.46934712e-01 2.52548824e-03 -3.32412986e+01] [ 3.85731454e-03 5.25218747e-05 9.99992559e-01 -1.10234314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.320888479 meters 0.014630407297532028 Centerline is valid? [True, True] Translation: X:117.35, Y:-33.27, Z:-0.11 [[ 7.49253425e-01 6.62269112e-01 -4.35065878e-03 1.17354957e+02] [-6.62258388e-01 7.49266054e-01 3.76943909e-03 -3.32660763e+01] [ 5.75618402e-03 5.69951213e-05 9.99983431e-01 -1.12184780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35088847899999 meters 0.014427034755241331 Centerline is valid? [True, True] Translation: X:117.38, Y:-33.29, Z:-0.11 [[ 7.50010063e-01 6.61408168e-01 -4.91334377e-03 1.17377983e+02] [-6.61394456e-01 7.50026154e-01 4.25932526e-03 -3.32900541e+01] [ 6.50228885e-03 5.51215258e-05 9.99978858e-01 -1.12088232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38088847899999 meters 0.01425731946466462 Centerline is valid? [True, True] Translation: X:117.40, Y:-33.31, Z:-0.11 [[ 7.50824411e-01 6.60481253e-01 -5.21709863e-03 1.17400630e+02] [-6.60465752e-01 7.50842535e-01 4.52520001e-03 -3.33140834e+01] [ 6.90602934e-03 4.80843345e-05 9.99976152e-01 -1.11532289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.410888479 meters 0.014056505071514408 Centerline is valid? [True, True] Translation: X:117.42, Y:-33.34, Z:-0.11 [[ 7.51587547e-01 6.59607150e-01 -5.87936795e-03 1.17423690e+02] [-6.59587415e-01 7.51610542e-01 5.10247909e-03 -3.33378512e+01] [ 7.78462661e-03 4.29973665e-05 9.99969698e-01 -1.11023093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.440888479 meters 0.013986553774941984 Centerline is valid? [True, True] Translation: X:117.45, Y:-33.36, Z:-0.11 [[ 7.51595258e-01 6.59595727e-01 -6.16811070e-03 1.17448790e+02] [-6.59573982e-01 7.51620566e-01 5.35610894e-03 -3.33595996e+01] [ 8.16894542e-03 4.26992530e-05 9.99966633e-01 -1.11599430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.470888479 meters 0.014092591369942531 Centerline is valid? [True, True] Translation: X:117.47, Y:-33.38, Z:-0.11 [[ 7.51331671e-01 6.59891630e-01 -6.61486243e-03 1.17473219e+02] [-6.59866617e-01 7.51360789e-01 5.74567287e-03 -3.33794288e+01] [ 8.76166968e-03 4.80208925e-05 9.99961615e-01 -1.12456178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.500888479 meters 0.014041428453301892 Centerline is valid? [True, True] Translation: X:117.50, Y:-33.40, Z:-0.11 [[ 7.50548348e-01 6.60787553e-01 -6.08162891e-03 1.17499710e+02] [-6.60766414e-01 7.50572986e-01 5.28574424e-03 -3.33987657e+01] [ 8.05746038e-03 5.13295173e-05 9.99967537e-01 -1.13352844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.530888479 meters 0.014032446063208701 Centerline is valid? [True, True] Translation: X:117.52, Y:-33.42, Z:-0.11 [[ 7.50353201e-01 6.61008465e-01 -6.15489173e-03 1.17524719e+02] [-6.60986796e-01 7.50378442e-01 5.35242730e-03 -3.34197498e+01] [ 8.15649782e-03 5.20912054e-05 9.99966734e-01 -1.13187706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.560888479 meters 0.014008105849784671 Centerline is valid? [True, True] Translation: X:117.55, Y:-33.44, Z:-0.11 [[ 7.50204637e-01 6.61174204e-01 -6.45560062e-03 1.17549714e+02] [-6.61150346e-01 7.50232410e-01 5.61705184e-03 -3.34415782e+01] [ 8.55705059e-03 5.41842460e-05 9.99963386e-01 -1.12617060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.590888479 meters 0.013977457272782347 Centerline is valid? [True, True] Translation: X:117.57, Y:-33.46, Z:-0.11 [[ 7.50740427e-01 6.60562147e-01 -6.81624075e-03 1.17573744e+02] [-6.60535496e-01 7.50771368e-01 5.93388793e-03 -3.34629799e+01] [ 9.03714015e-03 4.75594062e-05 9.99959163e-01 -1.12310758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.620888479 meters 0.013964458580907405 Centerline is valid? [True, True] Translation: X:117.60, Y:-33.48, Z:-0.11 [[ 7.51391785e-01 6.59823308e-01 -6.60209779e-03 1.17598444e+02] [-6.59798270e-01 7.51420788e-01 5.74820003e-03 -3.34843089e+01] [ 8.75374989e-03 3.69024216e-05 9.99961685e-01 -1.12516751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.650888479 meters 0.013861383759558116 Centerline is valid? [True, True] Translation: X:117.62, Y:-33.51, Z:-0.11 [[ 7.52179559e-01 6.58926414e-01 -6.47234905e-03 1.17623223e+02] [-6.58902288e-01 7.52207405e-01 5.63863051e-03 -3.35052325e+01] [ 8.58399147e-03 2.33829829e-05 9.99963157e-01 -1.12865524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.680888479 meters 0.013873659471960365 Centerline is valid? [True, True] Translation: X:117.65, Y:-33.52, Z:-0.11 [[ 7.52751571e-01 6.58277406e-01 -5.99404887e-03 1.17647535e+02] [-6.58256676e-01 7.52775436e-01 5.22420141e-03 -3.35248264e+01] [ 7.95114650e-03 1.30968628e-05 9.99968389e-01 -1.13680324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71088847899999 meters 0.013811116722199075 Centerline is valid? [True, True] Translation: X:117.67, Y:-33.54, Z:-0.12 [[ 7.54217656e-01 6.56599238e-01 -5.75919894e-03 1.17672770e+02] [-6.56580032e-01 7.54239644e-01 5.02211172e-03 -3.35441865e+01] [ 7.64133089e-03 -6.39030144e-06 9.99970805e-01 -1.16076476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74088847899999 meters 0.013962170206458287 Centerline is valid? [True, True] Translation: X:117.70, Y:-33.57, Z:-0.12 [[ 7.55021363e-01 6.55677889e-01 -5.40803387e-03 1.17696355e+02] [-6.55660913e-01 7.55040731e-01 4.71827565e-03 -3.35652964e+01] [ 7.17695487e-03 -1.65624956e-05 9.99974245e-01 -1.16001943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77088847899999 meters 0.013953395679061694 Centerline is valid? [True, True] Translation: X:117.72, Y:-33.59, Z:-0.11 [[ 7.56069552e-01 6.54473156e-01 -4.87031367e-03 1.17720922e+02] [-6.54459347e-01 7.56085238e-01 4.25153937e-03 -3.35877589e+01] [ 6.46489066e-03 -2.70371609e-05 9.99979102e-01 -1.14697523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.800888479 meters 0.014119278636359263 Centerline is valid? [True, True] Translation: X:117.74, Y:-33.61, Z:-0.11 [[ 7.58027136e-01 6.52211291e-01 -3.91046380e-03 1.17744118e+02] [-6.52202349e-01 7.58037222e-01 3.41564845e-03 -3.36108998e+01] [ 5.19200160e-03 -3.87405395e-05 9.99986521e-01 -1.12730437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.830888479 meters 0.0142215563865474 Centerline is valid? [True, True] Translation: X:117.77, Y:-33.63, Z:-0.11 [[ 7.59180359e-01 6.50869406e-01 -3.76824526e-03 1.17768067e+02] [-6.50861077e-01 7.59189709e-01 3.29304627e-03 -3.36318907e+01] [ 5.00415609e-03 -4.74118840e-05 9.99987478e-01 -1.12073175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.860888479 meters 0.014378355303804423 Centerline is valid? [True, True] Translation: X:117.79, Y:-33.65, Z:-0.11 [[ 7.60202131e-01 6.49678437e-01 -3.26319265e-03 1.17791589e+02] [-6.49672174e-01 7.60209133e-01 2.85301834e-03 -3.36523257e+01] [ 4.33425335e-03 -4.88651596e-05 9.99990606e-01 -1.12497734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.890888479 meters 0.014653104315284065 Centerline is valid? [True, True] Translation: X:117.82, Y:-33.67, Z:-0.11 [[ 7.62039760e-01 6.47525990e-01 -2.34432705e-03 1.17816760e+02] [-6.47522744e-01 7.62043365e-01 2.05081124e-03 -3.36724016e+01] [ 3.11443245e-03 -4.47946239e-05 9.99995149e-01 -1.14097765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.920888479 meters 0.015218417347037185 Centerline is valid? [True, True] Translation: X:117.84, Y:-33.69, Z:-0.11 [[ 7.62737394e-01 6.46704220e-01 -2.30646132e-03 1.17839217e+02] [-6.46701072e-01 7.62740879e-01 2.01859942e-03 -3.36939036e+01] [ 3.06466910e-03 -4.80702550e-05 9.99995303e-01 -1.14138152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.950888479 meters 0.01570531257302962 Centerline is valid? [True, True] Translation: X:117.86, Y:-33.72, Z:-0.11 [[ 7.64190411e-01 6.44986657e-01 -2.28664689e-03 1.17862153e+02] [-6.44983552e-01 7.64193830e-01 2.00224679e-03 -3.37166920e+01] [ 3.03886391e-03 -5.52481637e-05 9.99995381e-01 -1.13557471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.980888479 meters 0.01570531257302962 Centerline is valid? [True, True] Translation: X:117.89, Y:-33.74, Z:-0.11 [[ 7.64013179e-01 6.45196587e-01 -2.28607055e-03 1.17886486e+02] [-6.45193481e-01 7.64016597e-01 2.00290488e-03 -3.37380923e+01] [ 3.03886323e-03 -5.52879070e-05 9.99995381e-01 -1.13594867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.010888479 meters 0.016408172089608743 Centerline is valid? [True, True] Translation: X:117.91, Y:-33.76, Z:-0.11 [[ 7.65445832e-01 6.43496135e-01 -2.32434173e-03 1.17909869e+02] [-6.43492915e-01 7.65449358e-01 2.03671814e-03 -3.37587234e+01] [ 3.08978614e-03 -6.32999760e-05 9.99995225e-01 -1.14689788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.040888479 meters 0.01667036110167533 Centerline is valid? [True, True] Translation: X:117.93, Y:-33.78, Z:-0.12 [[ 7.66080511e-01 6.42739936e-01 -2.45441705e-03 1.17934499e+02] [-6.42736338e-01 7.66084440e-01 2.15189522e-03 -3.37794966e+01] [ 3.26339970e-03 -7.09819645e-05 9.99994673e-01 -1.15235248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.070888479 meters 0.01669019140426402 Centerline is valid? [True, True] Translation: X:117.96, Y:-33.80, Z:-0.12 [[ 7.66798152e-01 6.41883675e-01 -2.43744587e-03 1.17959991e+02] [-6.41880119e-01 7.66802023e-01 2.13806950e-03 -3.37995695e+01] [ 3.24143034e-03 -7.49196995e-05 9.99994744e-01 -1.15863312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10088847899999 meters 0.01684939271569562 Centerline is valid? [True, True] Translation: X:117.98, Y:-33.82, Z:-0.12 [[ 7.66844340e-01 6.41828056e-01 -2.55054773e-03 1.17984368e+02] [-6.41824159e-01 7.66848577e-01 2.23793279e-03 -3.38202394e+01] [ 3.39225195e-03 -7.91429371e-05 9.99994243e-01 -1.15847998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13088847899999 meters 0.01668142785228819 Centerline is valid? [True, True] Translation: X:118.01, Y:-33.84, Z:-0.11 [[ 7.67094821e-01 6.41532617e-01 -1.19858945e-03 1.18010419e+02] [-6.41531754e-01 7.67095757e-01 1.05257585e-03 -3.38407583e+01] [ 1.59469462e-03 -3.84922957e-05 9.99998728e-01 -1.14970006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.160888479 meters 0.017220778704699728 Centerline is valid? [True, True] Translation: X:118.03, Y:-33.86, Z:-0.11 [[ 7.67601616e-01 6.40926480e-01 -1.00308837e-03 1.18034075e+02] [-6.40925875e-01 7.67602271e-01 8.81333800e-04 -3.38620795e+01] [ 1.33484308e-03 -3.36079565e-05 9.99999109e-01 -1.14811799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.190888479 meters 0.017575905916437908 Centerline is valid? [True, True] Translation: X:118.06, Y:-33.88, Z:-0.12 [[ 7.68360824e-01 6.40015601e-01 -1.29382859e-03 1.18058310e+02] [-6.40014593e-01 7.68361912e-01 1.13722830e-03 -3.38836384e+01] [ 1.72197246e-03 -4.57324994e-05 9.99998516e-01 -1.15016906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.220888479 meters 0.018290789354928574 Centerline is valid? [True, True] Translation: X:118.08, Y:-33.90, Z:-0.12 [[ 7.70601489e-01 6.37314578e-01 -1.86356653e-03 1.18083180e+02] [-6.37312476e-01 7.70603739e-01 1.63857147e-03 -3.39031607e+01] [ 2.48035682e-03 -7.50114121e-05 9.99996921e-01 -1.17061111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.250888479 meters 0.018602448806552388 Centerline is valid? [True, True] Translation: X:118.11, Y:-33.92, Z:-0.12 [[ 7.71834952e-01 6.35819168e-01 -2.18907850e-03 1.18107842e+02] [-6.35816259e-01 7.71838051e-01 1.92561277e-03 -3.39230557e+01] [ 2.91395559e-03 -9.44035304e-05 9.99995750e-01 -1.18567107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.280888479 meters 0.018556500357877186 Centerline is valid? [True, True] Translation: X:118.13, Y:-33.94, Z:-0.12 [[ 7.72841749e-01 6.34595546e-01 -2.03080804e-03 1.18132243e+02] [-6.34593036e-01 7.72844411e-01 1.78725383e-03 -3.39431918e+01] [ 2.70368196e-03 -9.25277379e-05 9.99996341e-01 -1.20043197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.310888479 meters 0.02092421090437447 Centerline is valid? [True, True] Translation: X:118.15, Y:-33.97, Z:-0.12 [[ 7.75539241e-01 6.31296426e-01 -1.92571346e-03 1.18153104e+02] [-6.31294158e-01 7.75541625e-01 1.69500258e-03 -3.39658152e+01] [ 2.56352002e-03 -9.88493608e-05 9.99996709e-01 -1.20308204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.340888479 meters 0.020991013009234113 Centerline is valid? [True, True] Translation: X:118.18, Y:-33.99, Z:-0.12 [[ 7.76922469e-01 6.29594907e-01 -1.31525754e-03 1.18177345e+02] [-6.29593847e-01 7.76923579e-01 1.15783268e-03 -3.39865791e+01] [ 1.75082015e-03 -7.14681691e-05 9.99998465e-01 -1.19698472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.370888479 meters 0.02159311835046318 Centerline is valid? [True, True] Translation: X:118.20, Y:-34.01, Z:-0.12 [[ 7.78124953e-01 6.28108390e-01 -1.18630641e-03 1.18201836e+02] [-6.28107525e-01 7.78125855e-01 1.04447403e-03 -3.40077167e+01] [ 1.57913859e-03 -6.76033208e-05 9.99998751e-01 -1.19587691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.400888479 meters 0.022597010177100137 Centerline is valid? [True, True] Translation: X:118.23, Y:-34.03, Z:-0.12 [[ 7.80178567e-01 6.25555132e-01 -1.47674359e-03 1.18226480e+02] [-6.25553786e-01 7.80179959e-01 1.30097201e-03 -3.40274234e+01] [ 1.96595547e-03 -9.12079381e-05 9.99998063e-01 -1.19813556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.430888479 meters 0.0210179244574507 Centerline is valid? [True, True] Translation: X:118.25, Y:-34.05, Z:-0.12 [[ 7.81059651e-01 6.24455080e-01 -1.29388314e-03 1.18253932e+02] [-6.24454044e-01 7.81060719e-01 1.14051356e-03 -3.40452069e+01] [ 1.72280079e-03 -8.28385660e-05 9.99998513e-01 -1.19893384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46088847899999 meters 0.024200951210369616 Centerline is valid? [True, True] Translation: X:118.28, Y:-34.07, Z:-0.12 [[ 7.81639905e-01 6.23729657e-01 -6.10931334e-04 1.18276135e+02] [-6.23729426e-01 7.81640143e-01 5.38946780e-04 -3.40673718e+01] [ 8.13685546e-04 -4.02064600e-05 9.99999668e-01 -1.20542405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49088847899999 meters 0.022724253659436134 Centerline is valid? [True, True] Translation: X:118.31, Y:-34.08, Z:-0.12 [[ 7.82179191e-01 6.23053052e-01 7.79300622e-04 1.18305215e+02] [-6.23052676e-01 7.82179577e-01 -6.86986608e-04 -3.40834289e+01] [-1.03758213e-03 5.18012917e-05 9.99999460e-01 -1.20145324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52088847899999 meters 0.023076664129633863 Centerline is valid? [True, True] Translation: X:118.33, Y:-34.10, Z:-0.12 [[ 7.81946487e-01 6.23344564e-01 1.11635232e-03 1.18330454e+02] [-6.23343790e-01 7.81947280e-01 -9.84780364e-04 -3.41043150e+01] [-1.48678615e-03 7.41742601e-05 9.99998892e-01 -1.19829674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.550888479 meters 0.02427634366783923 Centerline is valid? [True, True] Translation: X:118.35, Y:-34.12, Z:-0.12 [[ 7.81625143e-01 6.23747582e-01 1.04391557e-03 1.18353685e+02] [-6.23746905e-01 7.81625837e-01 -9.21356330e-04 -3.41244168e+01] [-1.39064516e-03 6.90161669e-05 9.99999031e-01 -1.19375862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.580888479 meters 0.026121508152220148 Centerline is valid? [True, True] Translation: X:118.38, Y:-34.14, Z:-0.12 [[ 7.81252917e-01 6.24213446e-01 1.20543585e-03 1.18376817e+02] [-6.24212544e-01 7.81253843e-01 -1.06444931e-03 -3.41447379e+01] [-1.60619496e-03 7.91559458e-05 9.99998707e-01 -1.19361995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.610888479 meters 0.024853727980738625 Centerline is valid? [True, True] Translation: X:118.41, Y:-34.16, Z:-0.12 [[ 7.81097198e-01 6.24406298e-01 1.98574546e-03 1.18407488e+02] [-6.24403846e-01 7.81099711e-01 -1.75459785e-03 -3.41595287e+01] [-2.64664715e-03 1.30604363e-04 9.99996489e-01 -1.19846246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.640888479 meters 0.022765838056935477 Centerline is valid? [True, True] Translation: X:118.44, Y:-34.18, Z:-0.12 [[ 7.80820036e-01 6.24751983e-01 2.24307222e-03 1.18436254e+02] [-6.24748853e-01 7.80823244e-01 -1.98313290e-03 -3.41770890e+01] [-2.99040914e-03 1.47113103e-04 9.99995518e-01 -1.19973870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.670888479 meters 0.023606939426386527 Centerline is valid? [True, True] Translation: X:118.46, Y:-34.20, Z:-0.12 [[ 7.80466621e-01 6.25192950e-01 2.37265830e-03 1.18460642e+02] [-6.25189446e-01 7.80470212e-01 -2.09876565e-03 -3.41967289e+01] [-3.16392261e-03 1.54655605e-04 9.99994983e-01 -1.20085281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.700888479 meters 0.02537283640634815 Centerline is valid? [True, True] Translation: X:118.49, Y:-34.22, Z:-0.12 [[ 7.79409223e-01 6.26509217e-01 2.73226043e-03 1.18486386e+02] [-6.26504574e-01 7.79413993e-01 -2.41799737e-03 -3.42150683e+01] [-3.64445965e-03 1.72835794e-04 9.99993344e-01 -1.21238824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.730888479 meters 0.02537283640634815 Centerline is valid? [True, True] Translation: X:118.51, Y:-34.24, Z:-0.12 [[ 7.79242189e-01 6.26716961e-01 2.73164946e-03 1.18510634e+02] [-6.26712318e-01 7.79246957e-01 -2.41868752e-03 -3.42366339e+01] [-3.64446202e-03 1.72784994e-04 9.99993344e-01 -1.21276253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.760888479 meters 0.024009351502454646 Centerline is valid? [True, True] Translation: X:118.54, Y:-34.25, Z:-0.12 [[ 7.78432477e-01 6.27723448e-01 2.48013126e-03 1.18538158e+02] [-6.27719623e-01 7.78436413e-01 -2.19672869e-03 -3.42546050e+01] [-3.30956259e-03 1.53177894e-04 9.99994512e-01 -1.22069027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.790888479 meters 0.022871978484546484 Centerline is valid? [True, True] Translation: X:118.57, Y:-34.27, Z:-0.12 [[ 7.75966824e-01 6.30770416e-01 2.04221403e-03 1.18566721e+02] [-6.30767832e-01 7.75969503e-01 -1.80910096e-03 -3.42702238e+01] [-2.72582317e-03 1.15639411e-04 9.99996278e-01 -1.23635151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.820888479 meters 0.022004296270296243 Centerline is valid? [True, True] Translation: X:118.59, Y:-34.29, Z:-0.12 [[ 7.74179214e-01 6.32964456e-01 1.59414543e-03 1.18593523e+02] [-6.32962886e-01 7.74180851e-01 -1.41229392e-03 -3.42878878e+01] [-2.12808872e-03 8.43337094e-05 9.99997732e-01 -1.24467482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85088847899999 meters 0.02066523351828141 Centerline is valid? [True, True] Translation: X:118.62, Y:-34.30, Z:-0.13 [[ 7.72443470e-01 6.35082184e-01 1.30617502e-03 1.18620988e+02] [-6.35081133e-01 7.72444571e-01 -1.15726503e-03 -3.43045113e+01] [-1.74390620e-03 6.43947057e-05 9.99998477e-01 -1.25632300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88088847899999 meters 0.021203053304384416 Centerline is valid? [True, True] Translation: X:118.65, Y:-34.32, Z:-0.13 [[ 7.70510162e-01 6.37426810e-01 1.07336633e-03 1.18645929e+02] [-6.37426103e-01 7.70510908e-01 -9.51053950e-04 -3.43229767e+01] [-1.43326775e-03 4.86050140e-05 9.99998972e-01 -1.26793032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.910888479 meters 0.017938967375939485 Centerline is valid? [True, True] Translation: X:118.68, Y:-34.33, Z:-0.13 [[ 7.66135149e-01 6.42679193e-01 6.23265001e-04 1.18678021e+02] [-6.42678956e-01 7.66135402e-01 -5.52258385e-04 -3.43344081e+01] [-8.32430355e-04 2.25452598e-05 9.99999653e-01 -1.28061545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.940888479 meters 0.016781131539488774 Centerline is valid? [True, True] Translation: X:118.71, Y:-34.35, Z:-0.13 [[ 7.63491658e-01 6.45817566e-01 3.99017856e-04 1.18705199e+02] [-6.45817469e-01 7.63491762e-01 -3.53564178e-04 -3.43508728e+01] [-5.32984802e-04 1.22505986e-05 9.99999858e-01 -1.28791849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.970888479 meters 0.015293115273458373 Centerline is valid? [True, True] Translation: X:118.73, Y:-34.36, Z:-0.13 [[ 7.58282630e-01 6.51925929e-01 1.90550773e-04 1.18734176e+02] [-6.51925907e-01 7.58282654e-01 -1.68849501e-04 -3.43639348e+01] [-2.54568713e-04 3.81065841e-06 9.99999968e-01 -1.29814228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.000888479 meters 0.01485270830925227 Centerline is valid? [True, True] Translation: X:118.76, Y:-34.38, Z:-0.13 [[ 7.55740427e-01 6.54870934e-01 6.82641662e-04 1.18761114e+02] [-6.54870655e-01 7.55740735e-01 -6.04916197e-04 -3.43821936e+01] [-9.12042147e-04 1.01176323e-05 9.99999584e-01 -1.29788728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.030888479 meters 0.014478413666540164 Centerline is valid? [True, True] Translation: X:118.79, Y:-34.40, Z:-0.13 [[ 7.53666388e-01 6.57255471e-01 1.49049649e-03 1.18788168e+02] [-6.57254142e-01 7.53667861e-01 -1.32185987e-03 -3.44006751e+01] [-1.99213893e-03 1.66063616e-05 9.99998016e-01 -1.29078363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.060888479 meters 0.014168828282084042 Centerline is valid? [True, True] Translation: X:118.82, Y:-34.42, Z:-0.13 [[ 7.50562736e-01 6.60790747e-01 3.34182780e-03 1.18816269e+02] [-6.60784093e-01 7.50570175e-01 -2.96562209e-03 -3.44178716e+01] [-4.46793191e-03 1.76587818e-05 9.99990019e-01 -1.27630359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.090888479 meters 0.014090714728733543 Centerline is valid? [True, True] Translation: X:118.84, Y:-34.44, Z:-0.13 [[ 7.49526800e-01 6.61963137e-01 3.79236495e-03 1.18841678e+02] [-6.61954573e-01 7.49536394e-01 -3.36720301e-03 -3.44374672e+01] [-5.07147981e-03 1.34355759e-05 9.99987140e-01 -1.27018240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.120888479 meters 0.01430072416029855 Centerline is valid? [True, True] Translation: X:118.87, Y:-34.46, Z:-0.13 [[ 7.48387750e-01 6.63248268e-01 4.18442808e-03 1.18868062e+02] [-6.63237851e-01 7.48399448e-01 -3.71733543e-03 -3.44579344e+01] [-5.59713996e-03 6.73721239e-06 9.99984336e-01 -1.26630251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.150888479 meters 0.014372608893415562 Centerline is valid? [True, True] Translation: X:118.89, Y:-34.48, Z:-0.13 [[ 7.47295720e-01 6.64475231e-01 4.66631301e-03 1.18894097e+02] [-6.64462285e-01 7.47310289e-01 -4.14781454e-03 -3.44780657e+01] [-6.24330375e-03 -9.44948095e-07 9.99980510e-01 -1.27015873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.180888479 meters 0.0146034585424396 Centerline is valid? [True, True] Translation: X:118.92, Y:-34.50, Z:-0.13 [[ 7.45212329e-01 6.66808390e-01 5.01561166e-03 1.18920504e+02] [-6.66793470e-01 7.45229207e-01 -4.46072690e-03 -3.44962102e+01] [-6.71223042e-03 -2.01884157e-05 9.99977473e-01 -1.26169984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21088847899999 meters 0.01468323402491911 Centerline is valid? [True, True] Translation: X:118.95, Y:-34.52, Z:-0.13 [[ 7.44250798e-01 6.67880396e-01 5.15039019e-03 1.18945844e+02] [-6.67864672e-01 7.44268618e-01 -4.58302442e-03 -3.45166606e+01] [-6.89418595e-03 -2.88440732e-05 9.99976234e-01 -1.25825295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24088847899999 meters 0.014616053016226527 Centerline is valid? [True, True] Translation: X:118.97, Y:-34.54, Z:-0.13 [[ 7.43588981e-01 6.68615963e-01 5.30291891e-03 1.18970661e+02] [-6.68599294e-01 7.43607889e-01 -4.72139810e-03 -3.45380082e+01] [-7.10009448e-03 -3.47482425e-05 9.99974793e-01 -1.26344653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27088847899999 meters 0.014798253291464225 Centerline is valid? [True, True] Translation: X:118.99, Y:-34.56, Z:-0.13 [[ 7.43463971e-01 6.68752394e-01 5.61778570e-03 1.18994836e+02] [-6.68733670e-01 7.43485195e-01 -5.00442022e-03 -3.45587665e+01] [-7.52345849e-03 -3.61963180e-05 9.99971698e-01 -1.25754789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.300888479 meters 0.014772998737001494 Centerline is valid? [True, True] Translation: X:119.02, Y:-34.58, Z:-0.13 [[ 7.43687756e-01 6.68506047e-01 5.30915683e-03 1.19018555e+02] [-6.68489300e-01 7.43706706e-01 -4.73190624e-03 -3.45803676e+01] [-7.11176347e-03 -3.00538004e-05 9.99974711e-01 -1.25616896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.330888479 meters 0.014832934243668954 Centerline is valid? [True, True] Translation: X:119.04, Y:-34.60, Z:-0.13 [[ 7.43963663e-01 6.68202703e-01 4.81822249e-03 1.19042083e+02] [-6.68188889e-01 7.43979265e-01 -4.29672245e-03 -3.46032771e+01] [-6.45573918e-03 -2.28773526e-05 9.99979161e-01 -1.27310339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.360888479 meters 0.014705990642755757 Centerline is valid? [True, True] Translation: X:119.07, Y:-34.63, Z:-0.13 [[ 7.44533162e-01 6.67574485e-01 3.83107157e-03 1.19065009e+02] [-6.67565735e-01 7.44543018e-01 -3.41808176e-03 -3.46251369e+01] [-5.13422176e-03 -1.26168850e-05 9.99986820e-01 -1.28770271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.390888479 meters 0.014603750756513451 Centerline is valid? [True, True] Translation: X:119.09, Y:-34.65, Z:-0.13 [[ 7.46519266e-01 6.65359150e-01 2.48760565e-03 1.19087073e+02] [-6.65355445e-01 7.46523410e-01 -2.22045888e-03 -3.46489949e+01] [-3.33445849e-03 2.47336723e-06 9.99994441e-01 -1.30683965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.420888479 meters 0.014740058429100745 Centerline is valid? [True, True] Translation: X:119.11, Y:-34.67, Z:-0.13 [[ 7.47499815e-01 6.64259359e-01 1.87893974e-03 1.19109525e+02] [-6.64257240e-01 7.47502176e-01 -1.67794061e-03 -3.46715505e+01] [-2.51909930e-03 6.16096713e-06 9.99996827e-01 -1.31116789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.450888479 meters 0.014865489430080075 Centerline is valid? [True, True] Translation: X:119.13, Y:-34.70, Z:-0.13 [[ 7.49842976e-01 6.61613856e-01 1.61755285e-03 1.19131448e+02] [-6.61612278e-01 7.49844721e-01 -1.44519921e-03 -3.46950069e+01] [-2.16907729e-03 1.34796543e-05 9.99997647e-01 -1.31014095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.480888479 meters 0.015028194357926643 Centerline is valid? [True, True] Translation: X:119.15, Y:-34.72, Z:-0.13 [[ 7.50709063e-01 6.60631441e-01 1.41496485e-03 1.19153392e+02] [-6.60630230e-01 7.50710397e-01 -1.26479745e-03 -3.47176887e+01] [-1.89779379e-03 1.47263524e-05 9.99998199e-01 -1.30992504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.510888479 meters 0.015120138601212392 Centerline is valid? [True, True] Translation: X:119.17, Y:-34.74, Z:-0.13 [[ 7.51855712e-01 6.59327150e-01 8.35593175e-04 1.19174908e+02] [-6.59326727e-01 7.51856176e-01 -7.47148804e-04 -3.47404151e+01] [-1.12086138e-03 1.08191827e-05 9.99999372e-01 -1.30779470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.540888479 meters 0.015526433135730605 Centerline is valid? [True, True] Translation: X:119.20, Y:-34.77, Z:-0.13 [[ 7.53561651e-01 6.57377160e-01 -3.26988204e-04 1.19196110e+02] [-6.57377095e-01 7.53561722e-01 2.92978237e-04 -3.47651048e+01] [ 4.39002996e-04 -5.82260864e-06 9.99999904e-01 -1.30564451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.570888479 meters 0.01591860791122472 Centerline is valid? [True, True] Translation: X:119.22, Y:-34.79, Z:-0.13 [[ 7.54287705e-01 6.56543749e-01 -6.03224146e-04 1.19217500e+02] [-6.56543527e-01 7.54287946e-01 5.40290866e-04 -3.47871446e+01] [ 8.09729293e-04 -1.14918488e-05 9.99999672e-01 -1.30633179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60088847899999 meters 0.015944225038410736 Centerline is valid? [True, True] Translation: X:119.24, Y:-34.81, Z:-0.13 [[ 7.54536065e-01 6.56258293e-01 -6.17037818e-04 1.19241576e+02] [-6.56258060e-01 7.54536317e-01 5.53101469e-04 -3.48094109e+01] [ 8.28554868e-04 -1.23989644e-05 9.99999657e-01 -1.30506245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63088847899999 meters 0.016085209509957694 Centerline is valid? [True, True] Translation: X:119.26, Y:-34.83, Z:-0.13 [[ 7.54658711e-01 6.56116486e-01 -1.17784565e-03 1.19264443e+02] [-6.56115637e-01 7.54659629e-01 1.05592964e-03 -3.48317940e+01] [ 1.58168541e-03 -2.40635559e-05 9.99998749e-01 -1.30859046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.660888479 meters 0.015849680903319015 Centerline is valid? [True, True] Translation: X:119.29, Y:-34.85, Z:-0.13 [[ 7.54261081e-01 6.56573798e-01 -1.03386749e-03 1.19289069e+02] [-6.56573143e-01 7.54261790e-01 9.27449068e-04 -3.48530352e+01] [ 1.38874550e-03 -2.07291095e-05 9.99999035e-01 -1.30784513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.690888479 meters 0.01595114595624082 Centerline is valid? [True, True] Translation: X:119.31, Y:-34.87, Z:-0.13 [[ 7.53482913e-01 6.57467118e-01 -6.98407857e-04 1.19312253e+02] [-6.57466820e-01 7.53483237e-01 6.26856544e-04 -3.48739171e+01] [ 9.38376179e-04 -1.31457028e-05 9.99999560e-01 -1.30528025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.720888479 meters 0.01533298767023047 Centerline is valid? [True, True] Translation: X:119.34, Y:-34.89, Z:-0.13 [[ 7.52524711e-01 6.58563964e-01 2.52641259e-04 1.19336366e+02] [-6.58563925e-01 7.52524754e-01 -2.26360617e-04 -3.48945925e+01] [-3.39191746e-04 3.96153878e-06 9.99999942e-01 -1.28725063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.750888479 meters 0.01542219027205147 Centerline is valid? [True, True] Translation: X:119.36, Y:-34.92, Z:-0.13 [[ 7.51794600e-01 6.59397357e-01 -7.13735444e-05 1.19358660e+02] [-6.59397353e-01 7.51794604e-01 6.44447479e-05 -3.49161378e+01] [ 9.61529420e-05 -1.38568717e-06 9.99999995e-01 -1.28192610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.780888479 meters 0.0153149276098606 Centerline is valid? [True, True] Translation: X:119.38, Y:-34.94, Z:-0.13 [[ 7.50813713e-01 6.60513742e-01 -6.04245554e-04 1.19382672e+02] [-6.60513519e-01 7.50813956e-01 5.43209087e-04 -3.49372287e+01] [ 8.12473062e-04 -8.73647395e-06 9.99999670e-01 -1.28436108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.810888479 meters 0.014924981206484552 Centerline is valid? [True, True] Translation: X:119.41, Y:-34.96, Z:-0.13 [[ 7.48755990e-01 6.62845524e-01 -5.28476675e-04 1.19407119e+02] [-6.62845353e-01 7.48756176e-01 4.75379149e-04 -3.49578467e+01] [ 7.10803115e-04 -5.64467699e-06 9.99999747e-01 -1.27583449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.840888479 meters 0.014734291038153704 Centerline is valid? [True, True] Translation: X:119.43, Y:-34.98, Z:-0.13 [[ 7.47602042e-01 6.64146910e-01 -2.62789753e-04 1.19431658e+02] [-6.64146868e-01 7.47602088e-01 2.36694635e-04 -3.49792373e+01] [ 3.53662178e-04 -2.42240091e-06 9.99999937e-01 -1.26631976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.870888479 meters 0.014539374957198656 Centerline is valid? [True, True] Translation: X:119.45, Y:-35.00, Z:-0.13 [[ 7.46428342e-01 6.65465767e-01 -2.06885681e-04 1.19454801e+02] [-6.65465741e-01 7.46428371e-01 1.86477778e-04 -3.49994323e+01] [ 2.78519919e-04 -1.51696601e-06 9.99999961e-01 -1.26143652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.900888479 meters 0.014666169292220282 Centerline is valid? [True, True] Translation: X:119.48, Y:-35.02, Z:-0.13 [[ 7.45202139e-01 6.66838369e-01 -6.01854007e-04 1.19478875e+02] [-6.66838149e-01 7.45202382e-01 5.41922819e-04 -3.50206691e+01] [ 8.09877968e-04 -2.50283184e-06 9.99999672e-01 -1.26618107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.930888479 meters 0.014568583520285361 Centerline is valid? [True, True] Translation: X:119.50, Y:-35.04, Z:-0.13 [[ 7.42323310e-01 6.70040675e-01 -1.26372891e-03 1.19503454e+02] [-6.70039708e-01 7.42324386e-01 1.13840359e-03 -3.50421396e+01] [ 1.70087349e-03 1.68502751e-06 9.99998554e-01 -1.26870311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96088847899999 meters 0.014702624277502524 Centerline is valid? [True, True] Translation: X:119.53, Y:-35.06, Z:-0.13 [[ 7.40795746e-01 6.71728410e-01 -1.61448953e-03 1.19526928e+02] [-6.71726834e-01 7.40797505e-01 1.45499354e-03 -3.50639583e+01] [ 2.17337031e-03 6.64292115e-06 9.99997638e-01 -1.27008328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99088847899999 meters 0.01489816895099715 Centerline is valid? [True, True] Translation: X:119.55, Y:-35.08, Z:-0.13 [[ 7.38425931e-01 6.74330576e-01 -2.32801938e-03 1.19550424e+02] [-6.74327310e-01 7.38429600e-01 2.09874486e-03 -3.50849621e+01] [ 3.13432625e-03 2.00794184e-05 9.99995088e-01 -1.26916521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02088847899999 meters 0.014967510008706495 Centerline is valid? [True, True] Translation: X:119.58, Y:-35.11, Z:-0.13 [[ 7.37168414e-01 6.75705171e-01 -2.29151098e-03 1.19575012e+02] [-6.75702010e-01 7.37171975e-01 2.06709539e-03 -3.51075179e+01] [ 3.08598472e-03 2.45811405e-05 9.99995238e-01 -1.26230644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.050888479 meters 0.015174349288081377 Centerline is valid? [True, True] Translation: X:119.60, Y:-35.13, Z:-0.13 [[ 7.35937930e-01 6.77045890e-01 -2.05575497e-03 1.19598672e+02] [-6.77043350e-01 7.35940801e-01 1.85475005e-03 -3.51285185e+01] [ 2.76866485e-03 2.68543215e-05 9.99996167e-01 -1.25965607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.080888479 meters 0.0160408898027349 Centerline is valid? [True, True] Translation: X:119.62, Y:-35.15, Z:-0.13 [[ 7.33236958e-01 6.79967409e-01 -2.80811029e-03 1.19622473e+02] [-6.79962687e-01 7.33242334e-01 2.53475702e-03 -3.51487690e+01] [ 3.78257751e-03 5.08326935e-05 9.99992845e-01 -1.26461229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.110888479 meters 0.016745194586707965 Centerline is valid? [True, True] Translation: X:119.65, Y:-35.17, Z:-0.13 [[ 7.31934102e-01 6.81369248e-01 -2.90146268e-03 1.19646206e+02] [-6.81364213e-01 7.31939850e-01 2.62014821e-03 -3.51689195e+01] [ 3.90898458e-03 5.91770070e-05 9.99992358e-01 -1.26654403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.140888479 meters 0.016916883263995975 Centerline is valid? [True, True] Translation: X:119.67, Y:-35.19, Z:-0.13 [[ 7.30344748e-01 6.83074221e-01 -2.48151080e-03 1.19669298e+02] [-6.83070544e-01 7.30348962e-01 2.24204882e-03 -3.51908305e+01] [ 3.34385458e-03 5.75783489e-05 9.99994408e-01 -1.25459495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.170888479 meters 0.01702367651757019 Centerline is valid? [True, True] Translation: X:119.69, Y:-35.21, Z:-0.12 [[ 7.28832390e-01 6.84688138e-01 -2.34553844e-03 1.19691971e+02] [-6.84684857e-01 7.28836162e-01 2.12025128e-03 -3.52133717e+01] [ 3.16122413e-03 6.06468396e-05 9.99995001e-01 -1.24542106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.200888479 meters 0.017999538315859816 Centerline is valid? [True, True] Translation: X:119.71, Y:-35.23, Z:-0.12 [[ 7.26483387e-01 6.87176924e-01 -3.12447765e-03 1.19714407e+02] [-6.87171125e-01 7.26490100e-01 2.82475055e-03 -3.52349240e+01] [ 4.21100548e-03 9.49164715e-05 9.99991129e-01 -1.24942035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.230888479 meters 0.01849327835643253 Centerline is valid? [True, True] Translation: X:119.74, Y:-35.26, Z:-0.13 [[ 7.25558827e-01 6.88147300e-01 -4.20512116e-03 1.19738088e+02] [-6.88136800e-01 7.25571000e-01 3.80366298e-03 -3.52562067e+01] [ 5.66859438e-03 1.33917374e-04 9.99983924e-01 -1.26505499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.260888479 meters 0.019576907541243277 Centerline is valid? [True, True] Translation: X:119.76, Y:-35.28, Z:-0.13 [[ 7.24709169e-01 6.89035243e-01 -5.20137718e-03 1.19762079e+02] [-6.89019189e-01 7.24727813e-01 4.70676479e-03 -3.52761566e+01] [ 7.01270953e-03 1.72813087e-04 9.99975396e-01 -1.28628420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.290888479 meters 0.020843745211695068 Centerline is valid? [True, True] Translation: X:119.78, Y:-35.30, Z:-0.13 [[ 7.23515226e-01 6.90274682e-01 -6.82509624e-03 1.19784279e+02] [-6.90247084e-01 7.23547376e-01 6.17724179e-03 -3.52974072e+01] [ 9.20227409e-03 2.41674288e-04 9.99957629e-01 -1.31460300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.320888479 meters 0.01933028809338144 Centerline is valid? [True, True] Translation: X:119.80, Y:-35.32, Z:-0.13 [[ 7.22804426e-01 6.91010562e-01 -7.62657116e-03 1.19804595e+02] [-6.90976106e-01 7.22844607e-01 6.90614408e-03 -3.53229471e+01] [ 1.02850443e-02 2.77986934e-04 9.99947069e-01 -1.30654033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35088847899999 meters 0.019775660810650814 Centerline is valid? [True, True] Translation: X:119.83, Y:-35.35, Z:-0.13 [[ 7.22418417e-01 6.91405307e-01 -8.38645774e-03 1.19825990e+02] [-6.91363632e-01 7.22467027e-01 7.59756897e-03 -3.53463241e+01] [ 1.13119387e-02 3.09468133e-04 9.99935970e-01 -1.30820508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38088847899999 meters 0.019954783451786973 Centerline is valid? [True, True] Translation: X:119.84, Y:-35.37, Z:-0.13 [[ 7.22494067e-01 6.91308519e-01 -9.73933967e-03 1.19844671e+02] [-6.91252253e-01 7.22559621e-01 8.82702065e-03 -3.53720587e+01] [ 1.31394482e-02 3.54870442e-04 9.99913611e-01 -1.30849621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.410888479 meters 0.019934080337580016 Centerline is valid? [True, True] Translation: X:119.87, Y:-35.40, Z:-0.13 [[ 7.22419137e-01 6.91381724e-01 -1.00946568e-02 1.19866955e+02] [-6.91321217e-01 7.22489570e-01 9.15408010e-03 -3.53964998e+01] [ 1.36222479e-02 3.65567760e-04 9.99907146e-01 -1.30524962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.440888479 meters 0.02093740964970425 Centerline is valid? [True, True] Translation: X:119.89, Y:-35.42, Z:-0.13 [[ 7.22088330e-01 6.91726439e-01 -1.01477469e-02 1.19888527e+02] [-6.91665265e-01 7.22159536e-01 9.20683301e-03 -3.54202362e+01] [ 1.36969020e-02 3.70697413e-04 9.99906124e-01 -1.31866144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.470888479 meters 0.02119076320157865 Centerline is valid? [True, True] Translation: X:119.91, Y:-35.44, Z:-0.13 [[ 7.21689057e-01 6.92143565e-01 -1.01088973e-02 1.19911730e+02] [-6.92082833e-01 7.21759756e-01 9.17642666e-03 -3.54438433e+01] [ 1.36475999e-02 3.73667549e-04 9.99906797e-01 -1.32157684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.500888479 meters 0.021215181094561414 Centerline is valid? [True, True] Translation: X:119.93, Y:-35.47, Z:-0.13 [[ 7.21189679e-01 6.92665253e-01 -1.00146459e-02 1.19934359e+02] [-6.92605634e-01 7.21259111e-01 9.09566707e-03 -3.54684954e+01] [ 1.35234071e-02 3.76498936e-04 9.99908484e-01 -1.31935851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.530888479 meters 0.0210918920521913 Centerline is valid? [True, True] Translation: X:119.96, Y:-35.49, Z:-0.13 [[ 7.20913332e-01 6.92958970e-01 -9.58295204e-03 1.19956136e+02] [-6.92904345e-01 7.20976931e-01 8.70824816e-03 -3.54933477e+01] [ 1.29435460e-02 3.62176910e-04 9.99916163e-01 -1.30934662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.560888479 meters 0.020560834543999016 Centerline is valid? [True, True] Translation: X:119.97, Y:-35.52, Z:-0.13 [[ 7.20542070e-01 6.93359645e-01 -8.45743096e-03 1.19974203e+02] [-6.93317085e-01 7.20591630e-01 7.68910251e-03 -3.55213792e+01] [ 1.14256674e-02 3.23359543e-04 9.99934673e-01 -1.27525537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.590888479 meters 0.018884077279626214 Centerline is valid? [True, True] Translation: X:119.99, Y:-35.55, Z:-0.12 [[ 7.20321705e-01 6.93595244e-01 -7.89166945e-03 1.19994115e+02] [-6.93558157e-01 7.20364870e-01 7.17895519e-03 -3.55479593e+01] [ 1.06641706e-02 3.02174469e-04 9.99943090e-01 -1.24810067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.620888479 meters 0.018884077279626214 Centerline is valid? [True, True] Translation: X:120.02, Y:-35.57, Z:-0.12 [[ 7.20123520e-01 6.93801031e-01 -7.88961782e-03 1.20018057e+02] [-6.93763931e-01 7.20166674e-01 7.18120993e-03 -3.55698285e+01] [ 1.06641707e-02 3.02174104e-04 9.99943090e-01 -1.24847491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.650888479 meters 0.020224346853682525 Centerline is valid? [True, True] Translation: X:120.04, Y:-35.59, Z:-0.13 [[ 7.20199249e-01 6.93729252e-01 -7.26403804e-03 1.20040932e+02] [-6.93697769e-01 7.20235829e-01 6.61480543e-03 -3.55908113e+01] [ 9.82070448e-03 2.75069074e-04 9.99951738e-01 -1.25262681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.680888479 meters 0.020365242733386288 Centerline is valid? [True, True] Translation: X:120.06, Y:-35.62, Z:-0.12 [[ 7.20634337e-01 6.93291372e-01 -5.76423231e-03 1.20060819e+02] [-6.93271514e-01 7.20657359e-01 5.25161403e-03 -3.56157870e+01] [ 7.79493512e-03 2.11684666e-04 9.99969597e-01 -1.23569797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71088847899999 meters 0.019666287959006514 Centerline is valid? [True, True] Translation: X:120.08, Y:-35.64, Z:-0.12 [[ 7.20313259e-01 6.93630748e-01 -5.01938687e-03 1.20082519e+02] [-6.93615680e-01 7.20330723e-01 4.57565823e-03 -3.56412900e+01] [ 6.78943581e-03 1.85618149e-04 9.99976934e-01 -1.21800543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74088847899999 meters 0.018471462324136125 Centerline is valid? [True, True] Translation: X:120.10, Y:-35.67, Z:-0.12 [[ 7.20122702e-01 6.93831200e-01 -4.64325939e-03 1.20103845e+02] [-6.93818294e-01 7.20137651e-01 4.23528858e-03 -3.56667918e+01] [ 6.28236127e-03 1.71650853e-04 9.99980251e-01 -1.20358155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77088847899999 meters 0.02090919646778536 Centerline is valid? [True, True] Translation: X:120.13, Y:-35.69, Z:-0.12 [[ 7.19859835e-01 6.94104367e-01 -4.57663079e-03 1.20129675e+02] [-6.94091826e-01 7.19874363e-01 4.17585198e-03 -3.56864739e+01] [ 6.19307627e-03 1.70573901e-04 9.99980808e-01 -1.21612547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.800888479 meters 0.01918665501264877 Centerline is valid? [True, True] Translation: X:120.15, Y:-35.71, Z:-0.12 [[ 7.19113839e-01 6.94864468e-01 -6.21751928e-03 1.20149523e+02] [-6.94841327e-01 7.19140678e-01 5.67589086e-03 -3.57124007e+01] [ 8.41524591e-03 2.38577684e-04 9.99964563e-01 -1.23057594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.830888479 meters 0.01957631708384133 Centerline is valid? [True, True] Translation: X:120.17, Y:-35.73, Z:-0.12 [[ 7.18565424e-01 6.95422122e-01 -7.19739637e-03 1.20171606e+02] [-6.95391112e-01 7.18601414e-01 6.57334865e-03 -3.57341503e+01] [ 9.74331128e-03 2.81624402e-04 9.99952493e-01 -1.24504648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.860888479 meters 0.01920023214851434 Centerline is valid? [True, True] Translation: X:120.19, Y:-35.76, Z:-0.12 [[ 7.18593239e-01 6.95385233e-01 -7.94573900e-03 1.20193763e+02] [-6.95347391e-01 7.18637101e-01 7.26101495e-03 -3.57583432e+01] [ 1.07593054e-02 3.07332632e-04 9.99942070e-01 -1.24897866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.890888479 meters 0.022084298635698357 Centerline is valid? [True, True] Translation: X:120.22, Y:-35.78, Z:-0.13 [[ 7.19009614e-01 6.94945697e-01 -8.69782858e-03 1.20218648e+02] [-6.94900279e-01 7.19062147e-01 7.95183434e-03 -3.57776261e+01] [ 1.17803723e-02 3.26678162e-04 9.99930556e-01 -1.27235109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.920888479 meters 0.018563324956695652 Centerline is valid? [True, True] Translation: X:120.24, Y:-35.81, Z:-0.13 [[ 7.21406738e-01 6.92450777e-01 -9.17822681e-03 1.20235148e+02] [-6.92399992e-01 7.21465059e-01 8.39171786e-03 -3.58068072e+01] [ 1.24326215e-02 3.01162363e-04 9.99922667e-01 -1.25382819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.950888479 meters 0.01816406416846917 Centerline is valid? [True, True] Translation: X:120.26, Y:-35.83, Z:-0.13 [[ 7.22884690e-01 6.90908355e-01 -9.13067951e-03 1.20257255e+02] [-6.90857917e-01 7.22942302e-01 8.35261037e-03 -3.58296006e+01] [ 1.23718428e-02 2.70028064e-04 9.99923429e-01 -1.26211716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.980888479 meters 0.016881626152346375 Centerline is valid? [True, True] Translation: X:120.28, Y:-35.85, Z:-0.13 [[ 7.26833210e-01 6.86753014e-01 -9.15321757e-03 1.20276292e+02] [-6.86701992e-01 7.26890815e-01 8.37359132e-03 -3.58548130e+01] [ 1.24039789e-02 1.99328475e-04 9.99923048e-01 -1.25470615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.010888479 meters 0.016168825429163973 Centerline is valid? [True, True] Translation: X:120.30, Y:-35.88, Z:-0.13 [[ 7.28959123e-01 6.84491584e-01 -9.47991812e-03 1.20297481e+02] [-6.84436604e-01 7.29020744e-01 8.67697670e-03 -3.58792376e+01] [ 1.28503745e-02 1.63241647e-04 9.99917417e-01 -1.25150719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.040888479 meters 0.015736005030287565 Centerline is valid? [True, True] Translation: X:120.32, Y:-35.90, Z:-0.13 [[ 7.31177638e-01 6.82115873e-01 -9.85892576e-03 1.20318176e+02] [-6.82056134e-01 7.31244091e-01 9.02821565e-03 -3.59035328e+01] [ 1.33675704e-02 1.23111406e-04 9.99910642e-01 -1.25103964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.070888479 meters 0.015099730981092952 Centerline is valid? [True, True] Translation: X:120.34, Y:-35.93, Z:-0.13 [[ 7.36593795e-01 6.76266240e-01 -9.67229615e-03 1.20335893e+02] [-6.76208183e-01 7.36657296e-01 8.86121626e-03 -3.59305581e+01] [ 1.31177089e-02 1.33688823e-05 9.99913959e-01 -1.25397879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10088847899999 meters 0.015085750912830357 Centerline is valid? [True, True] Translation: X:120.36, Y:-35.95, Z:-0.12 [[ 7.39260901e-01 6.73361288e-01 -8.82583230e-03 1.20356516e+02] [-6.73312698e-01 7.39313583e-01 8.08927894e-03 -3.59547080e+01] [ 1.19720650e-02 -3.75426830e-05 9.99928332e-01 -1.24433320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13088847899999 meters 0.01562705078886938 Centerline is valid? [True, True] Translation: X:120.38, Y:-35.98, Z:-0.12 [[ 7.43466959e-01 6.68746450e-01 -5.92171344e-03 1.20378711e+02] [-6.68724404e-01 7.43490538e-01 5.43060694e-03 -3.59793146e+01] [ 8.03443702e-03 -7.74825348e-05 9.99967720e-01 -1.21782027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.160888479 meters 0.016197329788745978 Centerline is valid? [True, True] Translation: X:120.40, Y:-36.00, Z:-0.12 [[ 7.45324287e-01 6.66681835e-01 -5.19980444e-03 1.20400383e+02] [-6.66664772e-01 7.45342420e-01 4.77058589e-03 -3.60012361e+01] [ 7.05609778e-03 -8.91070778e-05 9.99975101e-01 -1.21702980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.190888479 meters 0.01693703475002934 Centerline is valid? [True, True] Translation: X:120.42, Y:-36.02, Z:-0.12 [[ 7.47292339e-01 6.64477138e-01 -4.92887886e-03 1.20422750e+02] [-6.64461746e-01 7.47308586e-01 4.52396566e-03 -3.60237229e+01] [ 6.68946524e-03 -1.05673426e-04 9.99977620e-01 -1.21585228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.220888479 meters 0.01720200980276929 Centerline is valid? [True, True] Translation: X:120.45, Y:-36.05, Z:-0.12 [[ 7.49134883e-01 6.62397757e-01 -5.11249152e-03 1.20445832e+02] [-6.62381134e-01 7.49152317e-01 4.69454732e-03 -3.60452638e+01] [ 6.93969248e-03 -1.30431226e-04 9.99975912e-01 -1.20628973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.250888479 meters 0.017743762690114174 Centerline is valid? [True, True] Translation: X:120.47, Y:-36.07, Z:-0.12 [[ 7.52122996e-01 6.58999180e-01 -5.57494370e-03 1.20469455e+02] [-6.58979317e-01 7.52143636e-01 5.11964501e-03 -3.60673792e+01] [ 7.56700029e-03 -1.76830150e-04 9.99971354e-01 -1.20368407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.280888479 meters 0.018114550840035132 Centerline is valid? [True, True] Translation: X:120.49, Y:-36.09, Z:-0.12 [[ 7.52935274e-01 6.58064580e-01 -6.28345002e-03 1.20492582e+02] [-6.58039301e-01 7.52961463e-01 5.77185399e-03 -3.60888501e+01] [ 8.52944839e-03 -2.11075405e-04 9.99963601e-01 -1.21379442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.310888479 meters 0.020007131778741194 Centerline is valid? [True, True] Translation: X:120.51, Y:-36.11, Z:-0.12 [[ 7.53701629e-01 6.57177360e-01 -7.19525212e-03 1.20514280e+02] [-6.57144142e-01 7.53735930e-01 6.61248005e-03 -3.61113756e+01] [ 9.76889223e-03 -2.55519202e-04 9.99952251e-01 -1.24295753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.340888479 meters 0.019169771791740464 Centerline is valid? [True, True] Translation: X:120.54, Y:-36.13, Z:-0.13 [[ 7.54084973e-01 6.56725729e-01 -8.19572144e-03 1.20540325e+02] [-6.56682564e-01 7.54129449e-01 7.53547322e-03 -3.61299709e+01] [ 1.11293740e-02 -3.00399744e-04 9.99938021e-01 -1.25197298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.370888479 meters 0.019484404253695884 Centerline is valid? [True, True] Translation: X:120.57, Y:-36.15, Z:-0.13 [[ 7.54226129e-01 6.56561059e-01 -8.39770973e-03 1.20567100e+02] [-6.56515688e-01 7.54272814e-01 7.72484482e-03 -3.61479467e+01] [ 1.14059964e-02 -3.13051628e-04 9.99934901e-01 -1.27645314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.400888479 meters 0.018555480557614204 Centerline is valid? [True, True] Translation: X:120.59, Y:-36.17, Z:-0.13 [[ 7.53966723e-01 6.56861879e-01 -8.16411100e-03 1.20593473e+02] [-6.56818967e-01 7.54010862e-01 7.51425732e-03 -3.61675388e+01] [ 1.10916576e-02 -3.03157016e-04 9.99938440e-01 -1.26881312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.430888479 meters 0.018828288415902353 Centerline is valid? [True, True] Translation: X:120.62, Y:-36.19, Z:-0.13 [[ 7.53938319e-01 6.56899543e-01 -7.74607472e-03 1.20617960e+02] [-6.56860873e-01 7.53978055e-01 7.13348324e-03 -3.61889253e+01] [ 1.05263522e-02 -2.90112957e-04 9.99944554e-01 -1.26494926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46088847899999 meters 0.018860530550336124 Centerline is valid? [True, True] Translation: X:120.64, Y:-36.21, Z:-0.13 [[ 7.53509131e-01 6.57394037e-01 -7.55444782e-03 1.20643912e+02] [-6.57357248e-01 7.53546948e-01 6.96034636e-03 -3.62083699e+01] [ 1.02683213e-02 -2.78713513e-04 9.99947241e-01 -1.26624515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49088847899999 meters 0.019824056409494296 Centerline is valid? [True, True] Translation: X:120.67, Y:-36.23, Z:-0.13 [[ 7.53238451e-01 6.57706294e-01 -7.36663879e-03 1.20667378e+02] [-6.57671291e-01 7.53274424e-01 6.79085029e-03 -3.62299546e+01] [ 1.00154856e-02 -2.70302711e-04 9.99949807e-01 -1.27905277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52088847899999 meters 0.01866128772603794 Centerline is valid? [True, True] Translation: X:120.70, Y:-36.25, Z:-0.13 [[ 7.52226478e-01 6.58865756e-01 -7.15834141e-03 1.20695343e+02] [-6.58832725e-01 7.52260496e-01 6.60201845e-03 -3.62466735e+01] [ 9.73478134e-03 -2.50063505e-04 9.99952585e-01 -1.28056892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.550888479 meters 0.018668489556981582 Centerline is valid? [True, True] Translation: X:120.72, Y:-36.27, Z:-0.13 [[ 7.51627057e-01 6.59552841e-01 -6.84229286e-03 1.20719277e+02] [-6.59522677e-01 7.51658164e-01 6.31212259e-03 -3.62662077e+01] [ 9.30624368e-03 -2.31714823e-04 9.99956669e-01 -1.28679627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.580888479 meters 0.018095529428358403 Centerline is valid? [True, True] Translation: X:120.74, Y:-36.29, Z:-0.13 [[ 7.50838802e-01 6.60450156e-01 -6.83257494e-03 1.20744742e+02] [-6.60420084e-01 7.50869856e-01 6.30642061e-03 -3.62853290e+01] [ 9.29545104e-03 -2.22735578e-04 9.99956772e-01 -1.28275359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.610888479 meters 0.01820508860220616 Centerline is valid? [True, True] Translation: X:120.77, Y:-36.31, Z:-0.13 [[ 7.50159817e-01 6.61227245e-01 -6.22728786e-03 1.20768733e+02] [-6.61202279e-01 7.50185639e-01 5.74922010e-03 -3.63051427e+01] [ 8.47316288e-03 -1.95336974e-04 9.99964083e-01 -1.28540631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.640888479 meters 0.01758562906712481 Centerline is valid? [True, True] Translation: X:120.80, Y:-36.32, Z:-0.13 [[ 7.48432076e-01 6.63197288e-01 -4.33418391e-03 1.20795578e+02] [-6.63185214e-01 7.48444615e-01 4.00362529e-03 -3.63237814e+01] [ 5.89909004e-03 -1.22074905e-04 9.99982593e-01 -1.27089384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.670888479 meters 0.017290575036244024 Centerline is valid? [True, True] Translation: X:120.82, Y:-36.34, Z:-0.13 [[ 7.47296253e-01 6.64479626e-01 -3.89058180e-03 1.20820773e+02] [-6.64469906e-01 7.47306373e-01 3.59563926e-03 -3.63440033e+01] [ 5.29668560e-03 -1.01833226e-04 9.99985967e-01 -1.26616263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.700888479 meters 0.017029615069995868 Centerline is valid? [True, True] Translation: X:120.85, Y:-36.36, Z:-0.13 [[ 7.45799989e-01 6.66158990e-01 -3.81800538e-03 1.20845942e+02] [-6.66149641e-01 7.45809756e-01 3.53028098e-03 -3.63639598e+01] [ 5.19923407e-03 -8.95205990e-05 9.99986480e-01 -1.26685886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.730888479 meters 0.016727656725788177 Centerline is valid? [True, True] Translation: X:120.87, Y:-36.38, Z:-0.13 [[ 7.44137836e-01 6.68014123e-01 -4.00152316e-03 1.20871372e+02] [-6.68003872e-01 7.44148590e-01 3.70174169e-03 -3.63838840e+01] [ 5.45054355e-03 -8.15730880e-05 9.99985142e-01 -1.27213502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.760888479 meters 0.0162205209879065 Centerline is valid? [True, True] Translation: X:120.90, Y:-36.40, Z:-0.13 [[ 7.40205034e-01 6.72366386e-01 -4.46667236e-03 1.20898512e+02] [-6.72353679e-01 7.40218508e-01 4.13402361e-03 -3.64016543e+01] [ 6.08589207e-03 -5.68414946e-05 9.99981479e-01 -1.27502488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.790888479 meters 0.016110361296285177 Centerline is valid? [True, True] Translation: X:120.92, Y:-36.42, Z:-0.13 [[ 7.37819340e-01 6.74983725e-01 -4.42637174e-03 1.20923162e+02] [-6.74971283e-01 7.37832616e-01 4.09854495e-03 -3.64212025e+01] [ 6.03237258e-03 -3.63119175e-05 9.99981804e-01 -1.28110422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.820888479 meters 0.016034338541613742 Centerline is valid? [True, True] Translation: X:120.95, Y:-36.44, Z:-0.13 [[ 7.35516360e-01 6.77490380e-01 -4.74019310e-03 1.20949016e+02] [-6.77476149e-01 7.35531634e-01 4.39120663e-03 -3.64406362e+01] [ 6.46156222e-03 -1.84365442e-05 9.99979124e-01 -1.28484600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85088847899999 meters 0.016020730793251056 Centerline is valid? [True, True] Translation: X:120.97, Y:-36.46, Z:-0.13 [[ 7.33318061e-01 6.79868789e-01 -4.80119419e-03 1.20974988e+02] [-6.79854223e-01 7.33333778e-01 4.45031948e-03 -3.64604956e+01] [ 6.54651119e-03 6.12498670e-07 9.99978571e-01 -1.28831307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88088847899999 meters 0.016268835715063972 Centerline is valid? [True, True] Translation: X:121.00, Y:-36.48, Z:-0.13 [[ 7.30600018e-01 6.82789774e-01 -4.66236289e-03 1.21001063e+02] [-6.82776083e-01 7.30614894e-01 4.32391070e-03 -3.64796092e+01] [ 6.35871378e-03 2.43006362e-05 9.99979783e-01 -1.30573762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.910888479 meters 0.01627571822183197 Centerline is valid? [True, True] Translation: X:121.02, Y:-36.50, Z:-0.13 [[ 7.29955973e-01 6.83478856e-01 -4.57511122e-03 1.21024852e+02] [-6.83465671e-01 7.29970310e-01 4.24541167e-03 -3.65019268e+01] [ 6.24134446e-03 2.79678473e-05 9.99980522e-01 -1.29654038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.940888479 meters 0.01638351977258632 Centerline is valid? [True, True] Translation: X:121.05, Y:-36.52, Z:-0.13 [[ 7.30725397e-01 6.82661666e-01 -3.66675324e-03 1.21046585e+02] [-6.82653179e-01 7.30734596e-01 3.40405707e-03 -3.65248756e+01] [ 5.00324271e-03 1.56898036e-05 9.99987484e-01 -1.29051201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.970888479 meters 0.01631743817143157 Centerline is valid? [True, True] Translation: X:121.07, Y:-36.55, Z:-0.13 [[ 7.31763808e-01 6.81550297e-01 -3.30468567e-03 1.21068927e+02] [-6.81543384e-01 7.31771270e-01 3.06977196e-03 -3.65484951e+01] [ 4.51047802e-03 5.93863832e-06 9.99989828e-01 -1.27969878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.000888479 meters 0.016396618260836784 Centerline is valid? [True, True] Translation: X:121.09, Y:-36.57, Z:-0.13 [[ 7.32925387e-01 6.80301972e-01 -3.09909706e-03 1.21091184e+02] [-6.80295875e-01 7.32931939e-01 2.88029696e-03 -3.65718137e+01] [ 4.23089892e-03 -2.73981326e-06 9.99991050e-01 -1.28462570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.030888479 meters 0.016556144914144096 Centerline is valid? [True, True] Translation: X:121.11, Y:-36.60, Z:-0.13 [[ 7.36005494e-01 6.76971878e-01 -2.23384766e-03 1.21113071e+02] [-6.76968690e-01 7.36008883e-01 2.07744701e-03 -3.65970695e+01] [ 3.05050493e-03 -1.67674864e-05 9.99995347e-01 -1.27433574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.060888479 meters 0.016907393331738556 Centerline is valid? [True, True] Translation: X:121.13, Y:-36.62, Z:-0.13 [[ 7.37494381e-01 6.75350765e-01 -1.83902871e-03 1.21133927e+02] [-6.75348598e-01 7.37496674e-01 1.71103536e-03 -3.66202450e+01] [ 2.51182660e-03 -1.98935035e-05 9.99996845e-01 -1.27804839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.090888479 meters 0.01724152338839773 Centerline is valid? [True, True] Translation: X:121.16, Y:-36.64, Z:-0.13 [[ 7.39136087e-01 6.73554326e-01 -1.55386433e-03 1.21155751e+02] [-6.73552773e-01 7.39137720e-01 1.44651049e-03 -3.66435143e+01] [ 2.12282314e-03 -2.25584782e-05 9.99997747e-01 -1.27602830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.120888479 meters 0.01732419621242483 Centerline is valid? [True, True] Translation: X:121.18, Y:-36.67, Z:-0.13 [[ 7.40840621e-01 6.71678128e-01 -1.91498662e-03 1.21177605e+02] [-6.71675761e-01 7.40843095e-01 1.78346664e-03 -3.66670331e+01] [ 2.61662015e-03 -3.50144402e-05 9.99996576e-01 -1.27385623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.150888479 meters 0.018184687488805924 Centerline is valid? [True, True] Translation: X:121.20, Y:-36.69, Z:-0.13 [[ 7.44140729e-01 6.68020209e-01 -1.89116711e-03 1.21197940e+02] [-6.68017886e-01 7.44143130e-01 1.76205685e-03 -3.66916997e+01] [ 2.58438860e-03 -4.78848172e-05 9.99996659e-01 -1.27503055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.180888479 meters 0.019056501429042368 Centerline is valid? [True, True] Translation: X:121.22, Y:-36.72, Z:-0.13 [[ 7.45581729e-01 6.66412570e-01 -1.47381931e-03 1.21218439e+02] [-6.66411155e-01 7.45583184e-01 1.37389294e-03 -3.67153642e+01] [ 2.01443442e-03 -4.21798427e-05 9.99997970e-01 -1.27953176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21088847899999 meters 0.018985685366886162 Centerline is valid? [True, True] Translation: X:121.24, Y:-36.74, Z:-0.13 [[ 7.46490943e-01 6.65394743e-01 -1.05261638e-03 1.21241520e+02] [-6.65394019e-01 7.46491684e-01 9.81850617e-04 -3.67375859e+01] [ 1.43908761e-03 -3.25379502e-05 9.99998964e-01 -1.27560319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24088847899999 meters 0.019091662702332087 Centerline is valid? [True, True] Translation: X:121.26, Y:-36.76, Z:-0.13 [[ 7.47879378e-01 6.63834629e-01 1.46778211e-04 1.21264450e+02] [-6.63834615e-01 7.47879392e-01 -1.36561238e-04 -3.67592776e+01] [-2.00426478e-04 4.69487587e-06 9.99999980e-01 -1.26417706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27088847899999 meters 0.020092440294709635 Centerline is valid? [True, True] Translation: X:121.29, Y:-36.78, Z:-0.13 [[ 7.48247149e-01 6.63419532e-01 8.53704424e-04 1.21285884e+02] [-6.63419055e-01 7.48247635e-01 -7.96373108e-04 -3.67815997e+01] [-1.16711179e-03 2.95201254e-05 9.99999318e-01 -1.26103512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.300888479 meters 0.019211290990193308 Centerline is valid? [True, True] Translation: X:121.31, Y:-36.80, Z:-0.13 [[ 7.48588624e-01 6.63034100e-01 9.23803831e-04 1.21310645e+02] [-6.63033541e-01 7.48589193e-01 -8.62188423e-04 -3.68014955e+01] [-1.26320989e-03 3.29115208e-05 9.99999202e-01 -1.25987289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.330888479 meters 0.020739178034842255 Centerline is valid? [True, True] Translation: X:121.33, Y:-36.83, Z:-0.13 [[ 7.48526125e-01 6.63104817e-01 8.01041923e-04 1.21331151e+02] [-6.63104396e-01 7.48526553e-01 -7.47933825e-04 -3.68256118e+01] [-1.09555967e-03 2.86735871e-05 9.99999399e-01 -1.26051606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.360888479 meters 0.02035911270985337 Centerline is valid? [True, True] Translation: X:121.36, Y:-36.85, Z:-0.13 [[ 7.48036589e-01 6.63657472e-01 -1.44838015e-04 1.21356524e+02] [-6.63657458e-01 7.48036603e-01 1.35465765e-04 -3.68462620e+01] [ 1.98247004e-04 -5.21052045e-06 9.99999980e-01 -1.26536271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.390888479 meters 0.019748059176645988 Centerline is valid? [True, True] Translation: X:121.38, Y:-36.87, Z:-0.13 [[ 7.46871427e-01 6.64968473e-01 1.98386888e-05 1.21382313e+02] [-6.64968473e-01 7.46871428e-01 -1.81657022e-05 -3.68660911e+01] [-2.68965690e-05 3.75341360e-07 1.00000000e+00 -1.27245179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.420888479 meters 0.020197879487102 Centerline is valid? [True, True] Translation: X:121.40, Y:-36.89, Z:-0.13 [[ 7.45315097e-01 6.66712211e-01 4.84378266e-04 1.21404768e+02] [-6.66712057e-01 7.45315254e-01 -4.52663455e-04 -3.68876779e+01] [-6.62810763e-04 1.44360767e-05 9.99999780e-01 -1.27027700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.450888479 meters 0.018943797749529596 Centerline is valid? [True, True] Translation: X:121.43, Y:-36.91, Z:-0.13 [[ 7.44020707e-01 6.68155424e-01 1.23165356e-03 1.21431402e+02] [-6.68154432e-01 7.44021725e-01 -1.15207951e-03 -3.69061882e+01] [-1.68614518e-03 3.42362254e-05 9.99998578e-01 -1.25949683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.480888479 meters 0.018327262211554486 Centerline is valid? [True, True] Translation: X:121.46, Y:-36.92, Z:-0.12 [[ 7.40903363e-01 6.71607576e-01 2.33892674e-03 1.21458071e+02] [-6.71604010e-01 7.40907053e-01 -2.18916302e-03 -3.69234520e+01] [-3.20318579e-03 5.11256695e-05 9.99994868e-01 -1.24564942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.510888479 meters 0.017830883060669767 Centerline is valid? [True, True] Translation: X:121.48, Y:-36.94, Z:-0.12 [[ 7.38931343e-01 6.73774803e-01 2.82587072e-03 1.21484073e+02] [-6.73769608e-01 7.38936745e-01 -2.64625876e-03 -3.69419924e+01] [-3.87112218e-03 5.14177336e-05 9.99992506e-01 -1.24817348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.540888479 meters 0.017830883060669767 Centerline is valid? [True, True] Translation: X:121.51, Y:-36.96, Z:-0.12 [[ 7.38743493e-01 6.73980764e-01 2.82516065e-03 1.21507684e+02] [-6.73975568e-01 7.38748893e-01 -2.64701676e-03 -3.69641987e+01] [-3.87112268e-03 5.13771532e-05 9.99992506e-01 -1.24854742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.570888479 meters 0.01770285280106685 Centerline is valid? [True, True] Translation: X:121.53, Y:-36.98, Z:-0.12 [[ 7.36464402e-01 6.76469948e-01 2.93156702e-03 1.21531651e+02] [-6.76464369e-01 7.36470235e-01 -2.74771474e-03 -3.69835035e+01] [-4.01775830e-03 4.04934605e-05 9.99991928e-01 -1.24559872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60088847899999 meters 0.01735931464890083 Centerline is valid? [True, True] Translation: X:121.56, Y:-37.00, Z:-0.12 [[ 7.31539323e-01 6.81792220e-01 3.09625374e-03 1.21560894e+02] [-6.81786041e-01 7.31545876e-01 -2.90267294e-03 -3.69999617e+01] [-4.24407148e-03 1.24368209e-05 9.99990994e-01 -1.24741500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63088847899999 meters 0.017407788453912595 Centerline is valid? [True, True] Translation: X:121.59, Y:-37.02, Z:-0.13 [[ 7.28813874e-01 6.84705123e-01 3.03836438e-03 1.21587572e+02] [-6.84699193e-01 7.28820207e-01 -2.84968656e-03 -3.70191711e+01] [-4.16561635e-03 -3.47453634e-06 9.99991324e-01 -1.25316716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.660888479 meters 0.017521260910219404 Centerline is valid? [True, True] Translation: X:121.61, Y:-37.04, Z:-0.13 [[ 7.26307562e-01 6.87363321e-01 2.99833576e-03 1.21614386e+02] [-6.87357562e-01 7.26313751e-01 -2.81370297e-03 -3.70388837e+01] [-4.11176871e-03 -1.73150095e-05 9.99991547e-01 -1.25938746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.690888479 meters 0.01812100364463719 Centerline is valid? [True, True] Translation: X:121.64, Y:-37.06, Z:-0.13 [[ 7.22248116e-01 6.91627958e-01 2.90277936e-03 1.21641321e+02] [-6.91622590e-01 7.22253948e-01 -2.72532216e-03 -3.70552383e+01] [-3.98145285e-03 -3.92689771e-05 9.99992073e-01 -1.25929326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.720888479 meters 0.018393814359567072 Centerline is valid? [True, True] Translation: X:121.67, Y:-37.08, Z:-0.13 [[ 7.20344137e-01 6.93610588e-01 2.94571923e-03 1.21665920e+02] [-6.93605070e-01 7.20350158e-01 -2.76698744e-03 -3.70765227e+01] [-4.04116109e-03 -4.99826174e-05 9.99991833e-01 -1.26102493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.750888479 meters 0.01871876676745174 Centerline is valid? [True, True] Translation: X:121.69, Y:-37.10, Z:-0.13 [[ 7.18631688e-01 6.95384163e-01 3.05972012e-03 1.21690106e+02] [-6.95378221e-01 7.18638199e-01 -2.87544685e-03 -3.70956467e+01] [-4.19837196e-03 -6.12755104e-05 9.99991185e-01 -1.26198679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.780888479 meters 0.019409611002527253 Centerline is valid? [True, True] Translation: X:121.72, Y:-37.11, Z:-0.13 [[ 7.15992233e-01 6.98099517e-01 3.49085935e-03 1.21716325e+02] [-6.98091806e-01 7.16000738e-01 -3.28227254e-03 -3.71143348e+01] [-4.79081075e-03 -8.68586596e-05 9.99988520e-01 -1.26317718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.810888479 meters 0.019695903381716538 Centerline is valid? [True, True] Translation: X:121.74, Y:-37.13, Z:-0.13 [[ 7.14907376e-01 6.99211580e-01 3.25736244e-03 1.21741706e+02] [-6.99204871e-01 7.14914791e-01 -3.06421257e-03 -3.71347949e+01] [-4.47126950e-03 -8.69355152e-05 9.99990000e-01 -1.26568037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.840888479 meters 0.020940022723090986 Centerline is valid? [True, True] Translation: X:121.77, Y:-37.15, Z:-0.13 [[ 7.12587528e-01 7.01578545e-01 2.56146536e-03 1.21768144e+02] [-7.01574408e-01 7.12592127e-01 -2.41062168e-03 -3.71523123e+01] [-3.51652050e-03 -7.92796041e-05 9.99993814e-01 -1.27838360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.870888479 meters 0.020705553597491974 Centerline is valid? [True, True] Translation: X:121.79, Y:-37.17, Z:-0.13 [[ 7.11550965e-01 7.02630378e-01 2.40350650e-03 1.21791172e+02] [-7.02626738e-01 7.11555020e-01 -2.26302133e-03 -3.71742651e+01] [-3.30029465e-03 -7.85129215e-05 9.99994551e-01 -1.28586559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.900888479 meters 0.022028971167978122 Centerline is valid? [True, True] Translation: X:121.82, Y:-37.19, Z:-0.13 [[ 7.10642260e-01 7.03551511e-01 1.68774609e-03 1.21815468e+02] [-7.03549718e-01 7.10644262e-01 -1.58972787e-03 -3.71934680e+01] [-2.31784252e-03 -5.76854788e-05 9.99997312e-01 -1.28802286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.930888479 meters 0.020742016040388587 Centerline is valid? [True, True] Translation: X:121.84, Y:-37.22, Z:-0.13 [[ 7.10153713e-01 7.04046048e-01 9.30552556e-04 1.21837837e+02] [-7.04045503e-01 7.10154322e-01 -8.76754566e-04 -3.72180034e+01] [-1.27811151e-03 -3.25208323e-05 9.99999183e-01 -1.29256941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96088847899999 meters 0.022731701353566985 Centerline is valid? [True, True] Translation: X:121.86, Y:-37.24, Z:-0.13 [[ 7.09376156e-01 7.04829972e-01 4.24039959e-04 1.21862673e+02] [-7.04829859e-01 7.09376283e-01 -3.99550887e-04 -3.72364616e+01] [-5.82419330e-04 -1.54441528e-05 9.99999830e-01 -1.29972154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99088847899999 meters 0.02293117483402449 Centerline is valid? [True, True] Translation: X:121.89, Y:-37.26, Z:-0.13 [[ 7.08976952e-01 7.05231145e-01 -8.45246140e-04 1.21886690e+02] [-7.05230694e-01 7.08977455e-01 7.97926583e-04 -3.72572049e+01] [ 1.16198313e-03 3.03819654e-05 9.99999324e-01 -1.31595340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02088847899999 meters 0.022287026555131987 Centerline is valid? [True, True] Translation: X:121.91, Y:-37.28, Z:-0.13 [[ 7.09115930e-01 7.05091223e-01 -9.82293735e-04 1.21909318e+02] [-7.05090614e-01 7.09116609e-01 9.27286284e-04 -3.72807571e+01] [ 1.35038222e-03 3.50526177e-05 9.99999088e-01 -1.32639926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.050888479 meters 0.0221629355863953 Centerline is valid? [True, True] Translation: X:121.93, Y:-37.30, Z:-0.13 [[ 7.09365643e-01 7.04839003e-01 -1.53755977e-03 1.21931956e+02] [-7.04837510e-01 7.09367307e-01 1.45218664e-03 -3.73034640e+01] [ 2.11425242e-03 5.35984925e-05 9.99997764e-01 -1.32811779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.080888479 meters 0.02132360961097108 Centerline is valid? [True, True] Translation: X:121.95, Y:-37.33, Z:-0.13 [[ 7.10727630e-01 7.03463845e-01 -2.20322577e-03 1.21952846e+02] [-7.03460771e-01 7.10731042e-01 2.08084691e-03 -3.73288465e+01] [ 3.02970152e-03 7.09675045e-05 9.99995408e-01 -1.32636478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.110888479 meters 0.020929180006656747 Centerline is valid? [True, True] Translation: X:121.97, Y:-37.35, Z:-0.13 [[ 7.11637874e-01 7.02542574e-01 -2.33836125e-03 1.21974756e+02] [-7.02539105e-01 7.11641712e-01 2.20884027e-03 -3.73531263e+01] [ 3.21587973e-03 7.08958259e-05 9.99994827e-01 -1.32521000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.140888479 meters 0.020336048448254433 Centerline is valid? [True, True] Translation: X:122.00, Y:-37.38, Z:-0.13 [[ 7.12560879e-01 7.01606220e-01 -2.38862406e-03 1.21996026e+02] [-7.01602591e-01 7.12564879e-01 2.25762897e-03 -3.73772855e+01] [ 3.28601614e-03 6.71667511e-05 9.99994599e-01 -1.32112703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.170888479 meters 0.01953248072638328 Centerline is valid? [True, True] Translation: X:122.02, Y:-37.40, Z:-0.13 [[ 7.13463001e-01 7.00689323e-01 -2.24023869e-03 1.22017057e+02] [-7.00686123e-01 7.13466516e-01 2.11845578e-03 -3.74016200e+01] [ 3.08271464e-03 5.82643505e-05 9.99995247e-01 -1.31834480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.200888479 meters 0.019626242517676116 Centerline is valid? [True, True] Translation: X:122.04, Y:-37.42, Z:-0.13 [[ 7.15169463e-01 6.98948357e-01 -1.95794314e-03 1.22039256e+02] [-6.98945903e-01 7.15172142e-01 1.85245128e-03 -3.74240536e+01] [ 2.69503416e-03 4.36797471e-05 9.99996367e-01 -1.33005996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.230888479 meters 0.01861592788897763 Centerline is valid? [True, True] Translation: X:122.06, Y:-37.45, Z:-0.13 [[ 7.15771246e-01 6.98331955e-01 -2.00093225e-03 1.22060101e+02] [-6.98329389e-01 7.15774042e-01 1.89345418e-03 -3.74494660e+01] [ 2.75447492e-03 4.20297346e-05 9.99996206e-01 -1.32278489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.260888479 meters 0.019123037948832917 Centerline is valid? [True, True] Translation: X:122.08, Y:-37.47, Z:-0.13 [[ 7.16202984e-01 6.97889569e-01 -1.85335046e-03 1.22082456e+02] [-6.97887364e-01 7.16205381e-01 1.75476605e-03 -3.74711911e+01] [ 2.55201249e-03 3.66611867e-05 9.99996743e-01 -1.32171844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.290888479 meters 0.01815329971111984 Centerline is valid? [True, True] Translation: X:122.10, Y:-37.50, Z:-0.13 [[ 7.17902186e-01 6.96142981e-01 -1.18402216e-03 1.22101158e+02] [-6.96142078e-01 7.17903162e-01 1.12176929e-03 -3.74984968e+01] [ 1.63092506e-03 1.89270222e-05 9.99998670e-01 -1.29638405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.320888479 meters 0.018009857986939243 Centerline is valid? [True, True] Translation: X:122.12, Y:-37.52, Z:-0.13 [[ 7.18737756e-01 6.95279994e-01 -1.32958505e-03 1.22122357e+02] [-6.95278852e-01 7.18738986e-01 1.26018193e-03 -3.75217513e+01] [ 1.83180389e-03 1.86920325e-05 9.99998322e-01 -1.28342158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35088847899999 meters 0.01790164095890267 Centerline is valid? [True, True] Translation: X:122.14, Y:-37.55, Z:-0.13 [[ 7.19575974e-01 6.94413061e-01 -9.57752955e-04 1.22144143e+02] [-6.94412467e-01 7.19576612e-01 9.08327202e-04 -3.75454146e+01] [ 1.31993090e-03 1.14651609e-05 9.99999129e-01 -1.28090831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38088847899999 meters 0.017694638261414677 Centerline is valid? [True, True] Translation: X:122.17, Y:-37.57, Z:-0.13 [[ 7.20538170e-01 6.93414134e-01 -1.25845525e-03 1.22165765e+02] [-6.93413106e-01 7.20539269e-01 1.19397039e-03 -3.75686172e+01] [ 1.73468237e-03 1.23281278e-05 9.99998495e-01 -1.28080712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.410888479 meters 0.01764978434757958 Centerline is valid? [True, True] Translation: X:122.19, Y:-37.59, Z:-0.13 [[ 7.21654705e-01 6.92250125e-01 -2.06174150e-03 1.22187531e+02] [-6.92247359e-01 7.21657650e-01 1.95700774e-03 -3.75938396e+01] [ 2.84261038e-03 1.49512716e-05 9.99995960e-01 -1.28697270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.440888479 meters 0.017500899867434937 Centerline is valid? [True, True] Translation: X:122.21, Y:-37.62, Z:-0.13 [[ 7.22023732e-01 6.91864863e-01 -2.17740727e-03 1.22210525e+02] [-6.91861773e-01 7.22027015e-01 2.06793368e-03 -3.76177775e+01] [ 3.00287753e-03 1.33676656e-05 9.99995491e-01 -1.29000661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.470888479 meters 0.01748863618813248 Centerline is valid? [True, True] Translation: X:122.23, Y:-37.64, Z:-0.13 [[ 7.22284740e-01 6.91591435e-01 -2.45766741e-03 1.22233039e+02] [-6.91587492e-01 7.22288922e-01 2.33537298e-03 -3.76414262e+01] [ 3.39026989e-03 1.28877738e-05 9.99994253e-01 -1.28964985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.500888479 meters 0.01750442787082633 Centerline is valid? [True, True] Translation: X:122.26, Y:-37.66, Z:-0.13 [[ 7.22422065e-01 6.91447497e-01 -2.59218905e-03 1.22255041e+02] [-6.91443105e-01 7.22426715e-01 2.46444432e-03 -3.76646341e+01] [ 3.57670048e-03 1.19822892e-05 9.99993604e-01 -1.28933548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.530888479 meters 0.0173479136042625 Centerline is valid? [True, True] Translation: X:122.28, Y:-37.69, Z:-0.13 [[ 7.22777707e-01 6.91076243e-01 -2.45198579e-03 1.22276875e+02] [-6.91072307e-01 7.22781866e-01 2.33252688e-03 -3.76896037e+01] [ 3.38420478e-03 8.60104062e-06 9.99994274e-01 -1.28462938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.560888479 meters 0.017434390202305628 Centerline is valid? [True, True] Translation: X:122.30, Y:-37.71, Z:-0.13 [[ 7.22877739e-01 6.90971811e-01 -2.39402198e-03 1.22299217e+02] [-6.90968054e-01 7.22881703e-01 2.27856812e-03 -3.77119420e+01] [ 3.30502102e-03 7.06653732e-06 9.99994538e-01 -1.28748793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.590888479 meters 0.01750196505865912 Centerline is valid? [True, True] Translation: X:122.32, Y:-37.74, Z:-0.13 [[ 7.23001985e-01 6.90843097e-01 -1.98610659e-03 1.22322308e+02] [-6.90840508e-01 7.23004713e-01 1.89147741e-03 -3.77353277e+01] [ 2.74267854e-03 4.54096761e-06 9.99996239e-01 -1.28805596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.620888479 meters 0.017258081202995296 Centerline is valid? [True, True] Translation: X:122.34, Y:-37.76, Z:-0.13 [[ 7.23471541e-01 6.90350704e-01 -2.19908137e-03 1.22344071e+02] [-6.90347524e-01 7.23474883e-01 2.09531516e-03 -3.77592584e+01] [ 3.03748243e-03 2.22949057e-06 9.99995387e-01 -1.29114231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.650888479 meters 0.01730675493786831 Centerline is valid? [True, True] Translation: X:122.37, Y:-37.78, Z:-0.13 [[ 7.23473622e-01 6.90347787e-01 -2.41874738e-03 1.22366883e+02] [-6.90343936e-01 7.23477666e-01 2.30588142e-03 -3.77828431e+01] [ 3.34176985e-03 1.52319951e-06 9.99994416e-01 -1.29982020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.680888479 meters 0.017316576742835647 Centerline is valid? [True, True] Translation: X:122.39, Y:-37.81, Z:-0.13 [[ 7.23747211e-01 6.90060116e-01 -2.64781485e-03 1.22390093e+02] [-6.90055494e-01 7.23752054e-01 2.52568027e-03 -3.78064592e+01] [ 3.65923266e-03 -8.14862664e-07 9.99993305e-01 -1.30509861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71088847899999 meters 0.017309476082158746 Centerline is valid? [True, True] Translation: X:122.41, Y:-37.83, Z:-0.13 [[ 7.23947658e-01 6.89849685e-01 -2.68350994e-03 1.22411970e+02] [-6.89844931e-01 7.23952631e-01 2.56105540e-03 -3.78291269e+01] [ 3.70947734e-03 -2.86433324e-06 9.99993120e-01 -1.31056346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74088847899999 meters 0.01714314523954833 Centerline is valid? [True, True] Translation: X:122.43, Y:-37.85, Z:-0.13 [[ 7.24213024e-01 6.89571917e-01 -2.46316299e-03 1.22433481e+02] [-6.89567907e-01 7.24217213e-01 2.35147278e-03 -3.78530538e+01] [ 3.40537463e-03 -4.44906202e-06 9.99994202e-01 -1.31483741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77088847899999 meters 0.0171545426975199 Centerline is valid? [True, True] Translation: X:122.46, Y:-37.88, Z:-0.13 [[ 7.23808688e-01 6.89995919e-01 -2.57211267e-03 1.22456109e+02] [-6.89991545e-01 7.23813258e-01 2.45687714e-03 -3.78762302e+01] [ 3.55696445e-03 -3.57302128e-06 9.99993674e-01 -1.31420942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.800888479 meters 0.017049088740739855 Centerline is valid? [True, True] Translation: X:122.48, Y:-37.90, Z:-0.13 [[ 7.23388788e-01 6.90436117e-01 -2.57490965e-03 1.22479658e+02] [-6.90431731e-01 7.23393371e-01 2.46095498e-03 -3.78993883e+01] [ 3.56180478e-03 -2.42791290e-06 9.99993657e-01 -1.31120283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.830888479 meters 0.01719763087598582 Centerline is valid? [True, True] Translation: X:122.50, Y:-37.92, Z:-0.13 [[ 7.22626068e-01 6.91234515e-01 -2.53178046e-03 1.22502746e+02] [-6.91230275e-01 7.22630504e-01 2.42111346e-03 -3.79221867e+01] [ 3.50309897e-03 4.83602308e-07 9.99993864e-01 -1.30965748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.860888479 meters 0.017207615960821893 Centerline is valid? [True, True] Translation: X:122.53, Y:-37.94, Z:-0.13 [[ 7.20873948e-01 6.93060170e-01 -2.88994875e-03 1.22525177e+02] [-6.93054657e-01 7.20879741e-01 2.76436225e-03 -3.79448246e+01] [ 3.99917487e-03 1.01357106e-05 9.99992003e-01 -1.31907523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.890888479 meters 0.01721621441144559 Centerline is valid? [True, True] Translation: X:122.55, Y:-37.97, Z:-0.13 [[ 7.19859663e-01 6.94112320e-01 -3.18621003e-03 1.22548629e+02] [-6.94105621e-01 7.19866715e-01 3.04959403e-03 -3.79678687e+01] [ 4.41040734e-03 1.62865598e-05 9.99990274e-01 -1.32056710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.920888479 meters 0.017344011862641086 Centerline is valid? [True, True] Translation: X:122.57, Y:-37.99, Z:-0.13 [[ 7.18704794e-01 6.95307519e-01 -3.29746239e-03 1.22571808e+02] [-6.95300352e-01 7.18712358e-01 3.15699456e-03 -3.79902771e+01] [ 4.56500902e-03 2.37796404e-05 9.99989580e-01 -1.32314829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.950888479 meters 0.017465781051602226 Centerline is valid? [True, True] Translation: X:122.59, Y:-38.01, Z:-0.13 [[ 7.16927885e-01 6.97141154e-01 -2.93594482e-03 1.22594753e+02] [-6.97135482e-01 7.16933895e-01 2.81223520e-03 -3.80110960e+01] [ 4.06540325e-03 3.05814692e-05 9.99991736e-01 -1.32532538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.980888479 meters 0.017627254149920803 Centerline is valid? [True, True] Translation: X:122.62, Y:-38.03, Z:-0.13 [[ 7.15983268e-01 6.98114166e-01 -2.13783651e-03 1.22617878e+02] [-6.98111162e-01 7.15986459e-01 2.04848561e-03 -3.80338683e+01] [ 2.96073882e-03 2.57661114e-05 9.99995617e-01 -1.32293549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.010888479 meters 0.01761585626719662 Centerline is valid? [True, True] Translation: X:122.64, Y:-38.06, Z:-0.13 [[ 7.15408294e-01 6.98703545e-01 -2.08066929e-03 1.22640802e+02] [-6.98700698e-01 7.15411319e-01 1.99487784e-03 -3.80564431e+01] [ 2.88236258e-03 2.66129320e-05 9.99995846e-01 -1.31886882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.040888479 meters 0.017725959724997572 Centerline is valid? [True, True] Translation: X:122.66, Y:-38.08, Z:-0.13 [[ 7.14116981e-01 7.00020200e-01 -2.94234742e-03 1.22663117e+02] [-7.00014512e-01 7.14123041e-01 2.82223534e-03 -3.80797518e+01] [ 4.07681984e-03 4.42797096e-05 9.99991689e-01 -1.31984056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.070888479 meters 0.01780952321017983 Centerline is valid? [True, True] Translation: X:122.69, Y:-38.10, Z:-0.13 [[ 7.13422117e-01 7.00725792e-01 -3.49963364e-03 1.22686228e+02] [-7.00717746e-01 7.13430699e-01 3.35835718e-03 -3.81021464e+01] [ 4.85003357e-03 5.63291076e-05 9.99988237e-01 -1.32739014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10088847899999 meters 0.017953834455156883 Centerline is valid? [True, True] Translation: X:122.71, Y:-38.13, Z:-0.13 [[ 7.12740996e-01 7.01416361e-01 -3.91924717e-03 1.22709861e+02] [-7.01406270e-01 7.12751769e-01 3.76317023e-03 -3.81254563e+01] [ 5.43299952e-03 6.68188384e-05 9.99985239e-01 -1.33434499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13088847899999 meters 0.01798160527313057 Centerline is valid? [True, True] Translation: X:122.73, Y:-38.15, Z:-0.13 [[ 7.12231972e-01 7.01931335e-01 -4.24481230e-03 1.22733637e+02] [-7.01919493e-01 7.12244617e-01 4.07802912e-03 -3.81484273e+01] [ 5.88584114e-03 7.50137733e-05 9.99982675e-01 -1.34104524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.160888479 meters 0.017962782944102973 Centerline is valid? [True, True] Translation: X:122.76, Y:-38.17, Z:-0.14 [[ 7.11992543e-01 7.02174738e-01 -4.15396142e-03 1.22757785e+02] [-7.02163388e-01 7.12004657e-01 3.99299966e-03 -3.81714715e+01] [ 5.76142337e-03 7.37736407e-05 9.99983400e-01 -1.35155453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.190888479 meters 0.01789663626330678 Centerline is valid? [True, True] Translation: X:122.78, Y:-38.20, Z:-0.14 [[ 7.11960724e-01 7.02207348e-01 -4.09487282e-03 1.22780993e+02] [-7.02196307e-01 7.11972496e-01 3.93841918e-03 -3.81953542e+01] [ 5.68102371e-03 7.14048046e-05 9.99983860e-01 -1.35262292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.220888479 meters 0.017967301837046076 Centerline is valid? [True, True] Translation: X:122.80, Y:-38.22, Z:-0.14 [[ 7.12232822e-01 7.01929194e-01 -4.45116382e-03 1.22803007e+02] [-7.01916135e-01 7.12246727e-01 4.28238270e-03 -3.82184971e+01] [ 6.17625630e-03 7.42901866e-05 9.99980924e-01 -1.35784988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.250888479 meters 0.017829780459377186 Centerline is valid? [True, True] Translation: X:122.83, Y:-38.24, Z:-0.14 [[ 7.12382663e-01 7.01771676e-01 -5.23992234e-03 1.22825285e+02] [-7.01753552e-01 7.12401929e-01 5.04416464e-03 -3.82434029e+01] [ 7.27278265e-03 8.37586781e-05 9.99973549e-01 -1.35964859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.280888479 meters 0.017676362049181306 Centerline is valid? [True, True] Translation: X:122.85, Y:-38.27, Z:-0.14 [[ 7.13204522e-01 7.00929850e-01 -6.05439015e-03 1.22846336e+02] [-7.00905599e-01 7.13230215e-01 5.83113355e-03 -3.82677448e+01] [ 8.40538954e-03 8.47651380e-05 9.99964671e-01 -1.36865110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.310888479 meters 0.01777949446442224 Centerline is valid? [True, True] Translation: X:122.87, Y:-38.29, Z:-0.14 [[ 7.13408192e-01 7.00719106e-01 -6.44094999e-03 1.22868394e+02] [-7.00691624e-01 7.13437262e-01 6.20657627e-03 -3.82903223e+01] [ 8.94428030e-03 8.52973485e-05 9.99959995e-01 -1.37878767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.340888479 meters 0.017514656602248903 Centerline is valid? [True, True] Translation: X:122.89, Y:-38.31, Z:-0.14 [[ 7.13499053e-01 7.00626690e-01 -6.42980470e-03 1.22890117e+02] [-7.00599268e-01 7.13528020e-01 6.19927084e-03 -3.83149093e+01] [ 8.93122042e-03 8.15425853e-05 9.99960113e-01 -1.36578361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.370888479 meters 0.017497093371528896 Centerline is valid? [True, True] Translation: X:122.91, Y:-38.34, Z:-0.14 [[ 7.13835610e-01 7.00285946e-01 -6.19004651e-03 1.22910419e+02] [-7.00260496e-01 7.13862444e-01 5.97067897e-03 -3.83379515e+01] [ 8.60002430e-03 7.25617763e-05 9.99963016e-01 -1.36048026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.400888479 meters 0.017420848904200054 Centerline is valid? [True, True] Translation: X:122.93, Y:-38.36, Z:-0.14 [[ 7.13836584e-01 7.00282170e-01 -6.49725281e-03 1.22933398e+02] [-7.00254100e-01 7.13866148e-01 6.27046441e-03 -3.83615081e+01] [ 9.02926326e-03 7.36410237e-05 9.99959233e-01 -1.36200194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.430888479 meters 0.01736475752769235 Centerline is valid? [True, True] Translation: X:122.96, Y:-38.39, Z:-0.14 [[ 7.13965971e-01 7.00147098e-01 -6.82885812e-03 1.22955747e+02] [-7.00116048e-01 7.13998625e-01 6.59415585e-03 -3.83851394e+01] [ 9.49267439e-03 7.29902801e-05 9.99954941e-01 -1.35715693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46088847899999 meters 0.01736475752769235 Centerline is valid? [True, True] Translation: X:122.98, Y:-38.41, Z:-0.14 [[ 7.13771743e-01 7.00345123e-01 -6.82702953e-03 1.22979008e+02] [-7.00314064e-01 7.13804387e-01 6.59604906e-03 -3.84077017e+01] [ 9.49267442e-03 7.29913616e-05 9.99954941e-01 -1.35753104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49088847899999 meters 0.017552095362509755 Centerline is valid? [True, True] Translation: X:123.00, Y:-38.43, Z:-0.14 [[ 7.13880355e-01 7.00231739e-01 -7.09581936e-03 1.23000617e+02] [-7.00198146e-01 7.13915616e-01 6.85923935e-03 -3.84306690e+01] [ 9.86887335e-03 7.18033407e-05 9.99951299e-01 -1.37298483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52088847899999 meters 0.017179785089101975 Centerline is valid? [True, True] Translation: X:123.02, Y:-38.45, Z:-0.14 [[ 7.14123556e-01 6.99985737e-01 -6.89304299e-03 1.23022818e+02] [-6.99953991e-01 7.14156820e-01 6.66690488e-03 -3.84548788e+01] [ 9.58945199e-03 6.38191290e-05 9.99954018e-01 -1.36294809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.550888479 meters 0.01727857355389022 Centerline is valid? [True, True] Translation: X:123.04, Y:-38.48, Z:-0.14 [[ 7.14161498e-01 6.99946251e-01 -6.97146202e-03 1.23044883e+02] [-6.99913740e-01 7.14195521e-01 6.74642114e-03 -3.84787849e+01] [ 9.70111913e-03 6.13878255e-05 9.99952941e-01 -1.35700074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.580888479 meters 0.0169415592831057 Centerline is valid? [True, True] Translation: X:123.07, Y:-38.50, Z:-0.13 [[ 7.15600709e-01 6.98478819e-01 -6.55472023e-03 1.23065068e+02] [-6.98449990e-01 7.15630727e-01 6.34621678e-03 -3.85037866e+01] [ 9.12345721e-03 3.67870438e-05 9.99958380e-01 -1.33521159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.610888479 meters 0.016979193040680976 Centerline is valid? [True, True] Translation: X:123.09, Y:-38.53, Z:-0.13 [[ 7.16110734e-01 6.97955885e-01 -6.55735459e-03 1.23087379e+02] [-6.97926980e-01 7.16140755e-01 6.35209090e-03 -3.85270092e+01] [ 9.12946810e-03 2.77542072e-05 9.99958325e-01 -1.33503763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.640888479 meters 0.016980936223455045 Centerline is valid? [True, True] Translation: X:123.11, Y:-38.55, Z:-0.13 [[ 7.16526654e-01 6.97529853e-01 -6.45426190e-03 1.23110801e+02] [-6.97501801e-01 7.16555722e-01 6.25570236e-03 -3.85503230e+01] [ 8.98837745e-03 1.94818227e-05 9.99959604e-01 -1.33204361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.670888479 meters 0.0168964189425325 Centerline is valid? [True, True] Translation: X:123.13, Y:-38.57, Z:-0.13 [[ 7.16515150e-01 6.97538695e-01 -6.76823001e-03 1.23134357e+02] [-6.97507814e-01 7.16547115e-01 6.56364268e-03 -3.85729004e+01] [ 9.42815044e-03 1.79438989e-05 9.99955554e-01 -1.32917803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.700888479 meters 0.016867047275470403 Centerline is valid? [True, True] Translation: X:123.16, Y:-38.60, Z:-0.13 [[ 7.16426882e-01 6.97630598e-01 -6.63865682e-03 1.23157470e+02] [-6.97600861e-01 7.16457639e-01 6.44127080e-03 -3.85951088e+01] [ 9.24994399e-03 1.64331562e-05 9.99957218e-01 -1.33132623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.730888479 meters 0.016891402942177874 Centerline is valid? [True, True] Translation: X:123.18, Y:-38.62, Z:-0.13 [[ 7.16357743e-01 6.97698483e-01 -6.95773937e-03 1.23181147e+02] [-6.97665787e-01 7.16391531e-01 6.75453853e-03 -3.86178726e+01] [ 9.69709685e-03 1.55107359e-05 9.99952982e-01 -1.32853543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.760888479 meters 0.016873915639873102 Centerline is valid? [True, True] Translation: X:123.20, Y:-38.64, Z:-0.13 [[ 7.15874505e-01 6.98193127e-01 -7.07458889e-03 1.23204491e+02] [-6.98159313e-01 7.15909461e-01 6.87141028e-03 -3.86401336e+01] [ 9.86233655e-03 2.01226825e-05 9.99951366e-01 -1.32957085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.790888479 meters 0.016818168081406668 Centerline is valid? [True, True] Translation: X:123.23, Y:-38.66, Z:-0.13 [[ 7.15240501e-01 6.98845408e-01 -6.79128276e-03 1.23228506e+02] [-6.98814243e-01 7.15272742e-01 6.59993864e-03 -3.86631174e+01] [ 9.46995625e-03 2.53017049e-05 9.99955159e-01 -1.31910110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.820888479 meters 0.01674089872674594 Centerline is valid? [True, True] Translation: X:123.25, Y:-38.68, Z:-0.13 [[ 7.14399102e-01 6.99703179e-01 -7.02734147e-03 1.23253639e+02] [-6.99669815e-01 7.14433663e-01 6.83310047e-03 -3.86848702e+01] [ 9.80171143e-03 3.52578587e-05 9.99951961e-01 -1.31806341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85088847899999 meters 0.016803166781444494 Centerline is valid? [True, True] Translation: X:123.28, Y:-38.71, Z:-0.13 [[ 7.13659894e-01 7.00455919e-01 -7.14568854e-03 1.23277403e+02] [-7.00421423e-01 7.13695666e-01 6.95169559e-03 -3.87060840e+01] [ 9.96920326e-03 4.38469980e-05 9.99950305e-01 -1.32929033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88088847899999 meters 0.016795156026317714 Centerline is valid? [True, True] Translation: X:123.30, Y:-38.73, Z:-0.13 [[ 7.12889377e-01 7.01240509e-01 -7.10526068e-03 1.23303575e+02] [-7.01206404e-01 7.12924783e-01 6.91617317e-03 -3.87268927e+01] [ 9.91541722e-03 5.17879073e-05 9.99950840e-01 -1.34552856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.910888479 meters 0.016686138918080573 Centerline is valid? [True, True] Translation: X:123.33, Y:-38.75, Z:-0.13 [[ 7.12192413e-01 7.01944979e-01 -7.43055747e-03 1.23328314e+02] [-7.01907676e-01 7.12231172e-01 7.23683101e-03 -3.87492803e+01] [ 1.03721319e-02 6.15491859e-05 9.99946206e-01 -1.34333412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.940888479 meters 0.01684625144134555 Centerline is valid? [True, True] Translation: X:123.35, Y:-38.77, Z:-0.14 [[ 7.11595515e-01 7.02554941e-01 -6.95541947e-03 1.23351755e+02] [-7.02522263e-01 7.11629504e-01 6.77628455e-03 -3.87704187e+01] [ 9.71039390e-03 6.43633284e-05 9.99952851e-01 -1.35202481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.970888479 meters 0.016960906615197544 Centerline is valid? [True, True] Translation: X:123.38, Y:-38.79, Z:-0.13 [[ 7.10910947e-01 7.03248532e-01 -6.86498181e-03 1.23375568e+02] [-7.03216695e-01 7.10944089e-01 6.69197756e-03 -3.87929824e+01] [ 9.58674163e-03 7.01697129e-05 9.99954044e-01 -1.34740713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.000888479 meters 0.017087136053610084 Centerline is valid? [True, True] Translation: X:123.40, Y:-38.81, Z:-0.13 [[ 7.10340401e-01 7.03831449e-01 -6.14864288e-03 1.23398920e+02] [-7.03805915e-01 7.10367008e-01 5.99559460e-03 -3.88147754e+01] [ 8.58768109e-03 6.85381548e-05 9.99963123e-01 -1.34259473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.030888479 meters 0.017146274142792264 Centerline is valid? [True, True] Translation: X:123.42, Y:-38.84, Z:-0.13 [[ 7.09411358e-01 7.04774634e-01 -5.31414911e-03 1.23423217e+02] [-7.04755565e-01 7.09431258e-01 5.18486927e-03 -3.88366889e+01] [ 7.42418784e-03 6.69710091e-05 9.99972438e-01 -1.32704220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.060888479 meters 0.017101600942370104 Centerline is valid? [True, True] Translation: X:123.45, Y:-38.86, Z:-0.13 [[ 7.09123228e-01 7.05067874e-01 -4.85187360e-03 1.23447473e+02] [-7.05051968e-01 7.09139823e-01 4.73650001e-03 -3.88595517e+01] [ 6.78021078e-03 6.20608536e-05 9.99977012e-01 -1.32298929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.090888479 meters 0.017446788757077378 Centerline is valid? [True, True] Translation: X:123.47, Y:-38.88, Z:-0.13 [[ 7.08829657e-01 7.05365661e-01 -4.44987449e-03 1.23471417e+02] [-7.05352278e-01 7.08843622e-01 4.34541631e-03 -3.88806128e+01] [ 6.21937260e-03 5.85691574e-05 9.99980658e-01 -1.33153342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.120888479 meters 0.017410274955820336 Centerline is valid? [True, True] Translation: X:123.50, Y:-38.90, Z:-0.13 [[ 7.08723236e-01 7.05474490e-01 -4.13755066e-03 1.23495665e+02] [-7.05462908e-01 7.08735311e-01 4.04272539e-03 -3.89033883e+01] [ 5.78446789e-03 5.37150980e-05 9.99983268e-01 -1.33395474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.150888479 meters 0.01737826373545077 Centerline is valid? [True, True] Translation: X:123.52, Y:-38.92, Z:-0.13 [[ 7.08431458e-01 7.05769042e-01 -3.86364905e-03 1.23519316e+02] [-7.05758942e-01 7.08441992e-01 3.77621003e-03 -3.89247598e+01] [ 5.40230337e-03 5.16188881e-05 9.99985406e-01 -1.34270572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.180888479 meters 0.01725199533455254 Centerline is valid? [True, True] Translation: X:123.54, Y:-38.95, Z:-0.13 [[ 7.08531583e-01 7.05669796e-01 -3.62426874e-03 1.23542105e+02] [-7.05660896e-01 7.08540851e-01 3.54433592e-03 -3.89478401e+01] [ 5.06907326e-03 4.62307819e-05 9.99987151e-01 -1.33855710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21088847899999 meters 0.017180305982793857 Centerline is valid? [True, True] Translation: X:123.56, Y:-38.97, Z:-0.13 [[ 7.09304402e-01 7.04891815e-01 -3.84644114e-03 1.23563636e+02] [-7.04881771e-01 7.09314830e-01 3.76312288e-03 -3.89706377e+01] [ 5.38093226e-03 4.20866203e-05 9.99985522e-01 -1.33707838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24088847899999 meters 0.01702473227486843 Centerline is valid? [True, True] Translation: X:123.59, Y:-38.99, Z:-0.13 [[ 7.09913626e-01 7.04277947e-01 -3.90089537e-03 1.23586224e+02] [-7.04267597e-01 7.09924342e-01 3.81847974e-03 -3.89942424e+01] [ 5.45861165e-03 3.64834083e-05 9.99985101e-01 -1.33713434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27088847899999 meters 0.016832031157567665 Centerline is valid? [True, True] Translation: X:123.61, Y:-39.02, Z:-0.13 [[ 7.10592495e-01 7.03592489e-01 -3.98957528e-03 1.23609032e+02] [-7.03581639e-01 7.10603693e-01 3.90741080e-03 -3.90185431e+01] [ 5.58423182e-03 3.04151329e-05 9.99984408e-01 -1.33632243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.300888479 meters 0.016809545459344787 Centerline is valid? [True, True] Translation: X:123.63, Y:-39.04, Z:-0.13 [[ 7.11076845e-01 7.03102410e-01 -4.08922934e-03 1.23631325e+02] [-7.03090992e-01 7.11088602e-01 4.00700400e-03 -3.90416630e+01] [ 5.72513855e-03 2.58125513e-05 9.99983611e-01 -1.33742051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.330888479 meters 0.016679929582309565 Centerline is valid? [True, True] Translation: X:123.65, Y:-39.07, Z:-0.13 [[ 7.11881058e-01 7.02289002e-01 -3.93911744e-03 1.23653525e+02] [-7.02278383e-01 7.11891956e-01 3.86208432e-03 -3.90653326e+01] [ 5.51652537e-03 1.70123525e-05 9.99984784e-01 -1.32877785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.360888479 meters 0.016661746945349824 Centerline is valid? [True, True] Translation: X:123.68, Y:-39.09, Z:-0.13 [[ 7.11846501e-01 7.02325952e-01 -3.58010033e-03 1.23676302e+02] [-7.02317171e-01 7.11855503e-01 3.51188834e-03 -3.90876436e+01] [ 5.01500445e-03 1.44405105e-05 9.99987425e-01 -1.32844895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.390888479 meters 0.01668082493831827 Centerline is valid? [True, True] Translation: X:123.70, Y:-39.11, Z:-0.13 [[ 7.11764734e-01 7.02410299e-01 -3.27627516e-03 1.23699901e+02] [-7.02402939e-01 7.11772275e-01 3.21560143e-03 -3.91103859e+01] [ 4.59063338e-03 1.25136069e-05 9.99989463e-01 -1.32638106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.420888479 meters 0.016719749301285277 Centerline is valid? [True, True] Translation: X:123.72, Y:-39.13, Z:-0.13 [[ 7.11615202e-01 7.02555760e-01 -4.38283779e-03 1.23722671e+02] [-7.02542578e-01 7.11628698e-01 4.30361559e-03 -3.91323545e+01] [ 6.14248307e-03 1.66118842e-05 9.99981135e-01 -1.34057771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.450888479 meters 0.016801403544332953 Centerline is valid? [True, True] Translation: X:123.75, Y:-39.16, Z:-0.14 [[ 7.11412264e-01 7.02756902e-01 -5.03254590e-03 1.23746244e+02] [-7.02739511e-01 7.11430064e-01 4.94410483e-03 -3.91551087e+01] [ 7.05480825e-03 1.92720288e-05 9.99975114e-01 -1.35084021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.480888479 meters 0.016744479095091913 Centerline is valid? [True, True] Translation: X:123.77, Y:-39.18, Z:-0.14 [[ 7.11029645e-01 7.03139548e-01 -5.62310610e-03 1.23769526e+02] [-7.03117824e-01 7.11051879e-01 5.52723331e-03 -3.91781136e+01] [ 7.88473649e-03 2.36793844e-05 9.99968915e-01 -1.35034117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.510888479 meters 0.016817761635463755 Centerline is valid? [True, True] Translation: X:123.79, Y:-39.20, Z:-0.14 [[ 7.11290970e-01 7.02873017e-01 -5.88875829e-03 1.23791305e+02] [-7.02849168e-01 7.11315346e-01 5.79010994e-03 -3.92009911e+01] [ 8.25847619e-03 2.04559513e-05 9.99965898e-01 -1.35400535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.540888479 meters 0.016725167020281838 Centerline is valid? [True, True] Translation: X:123.81, Y:-39.23, Z:-0.13 [[ 7.11928116e-01 7.02226125e-01 -6.06844509e-03 1.23813224e+02] [-7.02200746e-01 7.11953979e-01 5.97019490e-03 -3.92250176e+01] [ 8.51288047e-03 1.09170649e-05 9.99963765e-01 -1.34229432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.570888479 meters 0.01669403192037363 Centerline is valid? [True, True] Translation: X:123.84, Y:-39.25, Z:-0.13 [[ 7.12625780e-01 7.01521191e-01 -5.70228004e-03 1.23835791e+02] [-7.01498735e-01 7.12648594e-01 5.61302538e-03 -3.92492337e+01] [ 8.00137810e-03 1.55645082e-07 9.99967988e-01 -1.33559849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60088847899999 meters 0.016809153944747815 Centerline is valid? [True, True] Translation: X:123.86, Y:-39.27, Z:-0.13 [[ 7.14882212e-01 6.99230001e-01 -4.56396633e-03 1.23856579e+02] [-6.99215554e-01 7.14896780e-01 4.49485739e-03 -3.92735319e+01] [ 6.40570397e-03 -2.20973490e-05 9.99979483e-01 -1.32083422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63088847899999 meters 0.01700259515669922 Centerline is valid? [True, True] Translation: X:123.88, Y:-39.30, Z:-0.13 [[ 7.15763970e-01 6.98328782e-01 -4.34186835e-03 1.23879166e+02] [-6.98315676e-01 7.15777138e-01 4.27843287e-03 -3.92968224e+01] [ 6.09556291e-03 -3.03533689e-05 9.99981421e-01 -1.31734785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.660888479 meters 0.0169975626632005 Centerline is valid? [True, True] Translation: X:123.90, Y:-39.32, Z:-0.13 [[ 7.16205354e-01 6.97876497e-01 -4.27607628e-03 1.23902421e+02] [-6.97863764e-01 7.16218119e-01 4.21592339e-03 -3.93202051e+01] [ 6.00479715e-03 -3.53482201e-05 9.99981970e-01 -1.31418547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.690888479 meters 0.01734242051749878 Centerline is valid? [True, True] Translation: X:123.92, Y:-39.34, Z:-0.13 [[ 7.16962106e-01 6.97100345e-01 -4.05566103e-03 1.23923849e+02] [-6.97088866e-01 7.16973576e-01 4.00063834e-03 -3.93438666e+01] [ 5.69664816e-03 -4.11499373e-05 9.99983773e-01 -1.31586770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.720888479 meters 0.01727603148475713 Centerline is valid? [True, True] Translation: X:123.95, Y:-39.37, Z:-0.13 [[ 7.17104925e-01 6.96952973e-01 -4.13278720e-03 1.23947370e+02] [-6.96941038e-01 7.17116832e-01 4.07900590e-03 -3.93664718e+01] [ 5.80656655e-03 -4.47662181e-05 9.99983141e-01 -1.30714594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.750888479 meters 0.017413157965155534 Centerline is valid? [True, True] Translation: X:123.97, Y:-39.39, Z:-0.13 [[ 7.17378493e-01 6.96668053e-01 -4.66074772e-03 1.23969019e+02] [-6.96652861e-01 7.17393631e-01 4.60103800e-03 -3.93888015e+01] [ 6.54898691e-03 -5.37624691e-05 9.99978554e-01 -1.30911894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.780888479 meters 0.017488553357971233 Centerline is valid? [True, True] Translation: X:123.99, Y:-39.41, Z:-0.13 [[ 7.17553673e-01 6.96482621e-01 -5.35579036e-03 1.23992955e+02] [-6.96462535e-01 7.17573658e-01 5.28985220e-03 -3.94104178e+01] [ 7.52746421e-03 -6.56455479e-05 9.99971666e-01 -1.31169986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.810888479 meters 0.01753320007439837 Centerline is valid? [True, True] Translation: X:124.02, Y:-39.43, Z:-0.13 [[ 7.17339077e-01 6.96702843e-01 -5.45866813e-03 1.24017344e+02] [-6.96681962e-01 7.17359842e-01 5.39446609e-03 -3.94330556e+01] [ 7.67416917e-03 -6.67057068e-05 9.99970551e-01 -1.31072195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.840888479 meters 0.01756106646760037 Centerline is valid? [True, True] Translation: X:124.04, Y:-39.45, Z:-0.13 [[ 7.17236241e-01 6.96809386e-01 -5.37162067e-03 1.24040717e+02] [-6.96789148e-01 7.17256352e-01 5.31112607e-03 -3.94548880e+01] [ 7.55367154e-03 -6.64451059e-05 9.99971468e-01 -1.31056923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.870888479 meters 0.01753929685682949 Centerline is valid? [True, True] Translation: X:124.07, Y:-39.48, Z:-0.13 [[ 7.17171998e-01 6.96874465e-01 -5.50493106e-03 1.24065292e+02] [-6.96853189e-01 7.17193122e-01 5.44589893e-03 -3.94774418e+01] [ 7.74320660e-03 -6.95174478e-05 9.99970019e-01 -1.30697600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.900888479 meters 0.017481456422231124 Centerline is valid? [True, True] Translation: X:124.09, Y:-39.50, Z:-0.13 [[ 7.16547713e-01 6.97515695e-01 -5.58835213e-03 1.24090508e+02] [-6.97493775e-01 7.16569502e-01 5.53010605e-03 -3.94980127e+01] [ 7.86177847e-03 -6.47440134e-05 9.99969094e-01 -1.30966048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.930888479 meters 0.017436140441476903 Centerline is valid? [True, True] Translation: X:124.12, Y:-39.52, Z:-0.13 [[ 7.15887701e-01 6.98193952e-01 -5.47767283e-03 1.24115146e+02] [-6.98172889e-01 7.15908655e-01 5.42362967e-03 -3.95194733e+01] [ 7.70825883e-03 -5.83471124e-05 9.99970289e-01 -1.30816687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96088847899999 meters 0.017379794679008628 Centerline is valid? [True, True] Translation: X:124.14, Y:-39.54, Z:-0.13 [[ 7.15202811e-01 6.98898332e-01 -5.10492657e-03 1.24139373e+02] [-6.98880039e-01 7.15221028e-01 5.05689928e-03 -3.95404168e+01] [ 7.18540930e-03 -4.89773010e-05 9.99974183e-01 -1.30355176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99088847899999 meters 0.017251248078019626 Centerline is valid? [True, True] Translation: X:124.16, Y:-39.56, Z:-0.13 [[ 7.14442369e-01 6.99677443e-01 -4.85555639e-03 1.24164490e+02] [-6.99660893e-01 7.14458868e-01 4.81262217e-03 -3.95624619e+01] [ 6.83637849e-03 -4.10982682e-05 9.99976631e-01 -1.29034542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02088847899998 meters 0.01721125579438705 Centerline is valid? [True, True] Translation: X:124.19, Y:-39.58, Z:-0.13 [[ 7.13195224e-01 7.00948627e-01 -4.85747831e-03 1.24190480e+02] [-7.00932074e-01 7.13211765e-01 4.81720101e-03 -3.95829842e+01] [ 6.84102111e-03 -3.08424067e-05 9.99976599e-01 -1.27579693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05088847899998 meters 0.01714644352420324 Centerline is valid? [True, True] Translation: X:124.22, Y:-39.60, Z:-0.13 [[ 7.12346193e-01 7.01811811e-01 -4.80451229e-03 1.24215551e+02] [-7.01795619e-01 7.12362394e-01 4.76735268e-03 -3.96045029e+01] [ 6.76833830e-03 -2.42198523e-05 9.99977094e-01 -1.27202659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08088847899998 meters 0.017187893715709033 Centerline is valid? [True, True] Translation: X:124.24, Y:-39.63, Z:-0.13 [[ 7.11355593e-01 7.02817227e-01 -4.60064437e-03 1.24240944e+02] [-7.02802384e-01 7.11370470e-01 4.56767168e-03 -3.96258503e+01] [ 6.48300089e-03 -1.58949616e-05 9.99978985e-01 -1.26800985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11088847899998 meters 0.01729534786181048 Centerline is valid? [True, True] Translation: X:124.27, Y:-39.64, Z:-0.13 [[ 7.08585563e-01 7.05610136e-01 -4.56452599e-03 1.24267638e+02] [-7.05595568e-01 7.08600265e-01 4.53417124e-03 -3.96441733e+01] [ 6.43378151e-03 7.86102982e-06 9.99979303e-01 -1.26369190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14088847899998 meters 0.017438624012042065 Centerline is valid? [True, True] Translation: X:124.29, Y:-39.66, Z:-0.13 [[ 7.07066489e-01 7.07132483e-01 -4.54220491e-03 1.24292923e+02] [-7.07118074e-01 7.07081078e-01 4.51437227e-03 -3.96647205e+01] [ 6.40396642e-03 1.99138377e-05 9.99979494e-01 -1.26156821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17088847899998 meters 0.017531608875673066 Centerline is valid? [True, True] Translation: X:124.32, Y:-39.68, Z:-0.13 [[ 7.05640369e-01 7.08554035e-01 -4.78007533e-03 1.24317907e+02] [-7.08538092e-01 7.05656559e-01 4.75323929e-03 -3.96843593e+01] [ 6.74101839e-03 3.27879225e-05 9.99977279e-01 -1.27017744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20088847899999 meters 0.01805065986720845 Centerline is valid? [True, True] Translation: X:124.35, Y:-39.70, Z:-0.13 [[ 7.02768569e-01 7.11397512e-01 -5.46977398e-03 1.24345037e+02] [-7.11376708e-01 7.02789852e-01 5.44094476e-03 -3.97005251e+01] [ 7.71477620e-03 6.73448433e-05 9.99970238e-01 -1.28359306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230888479 meters 0.017935142958796346 Centerline is valid? [True, True] Translation: X:124.37, Y:-39.72, Z:-0.13 [[ 7.01716916e-01 7.12433696e-01 -5.62122546e-03 1.24369105e+02] [-7.12411735e-01 7.01739426e-01 5.59440833e-03 -3.97214466e+01] [ 7.93028053e-03 7.89360227e-05 9.99968552e-01 -1.27474957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.260888479 meters 0.01813290200894884 Centerline is valid? [True, True] Translation: X:124.39, Y:-39.74, Z:-0.13 [[ 7.01114174e-01 7.13026103e-01 -5.71766681e-03 1.24393357e+02] [-7.13003390e-01 7.01137483e-01 5.69173004e-03 -3.97414491e+01] [ 8.06722260e-03 8.61632085e-05 9.99967456e-01 -1.27864162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290888479 meters 0.018184809991912052 Centerline is valid? [True, True] Translation: X:124.42, Y:-39.76, Z:-0.13 [[ 7.00687469e-01 7.13446366e-01 -5.59940460e-03 1.24417636e+02] [-7.13424571e-01 7.00709837e-01 5.57727091e-03 -3.97630375e+01] [ 7.90264154e-03 8.68289796e-05 9.99968770e-01 -1.27410372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.320888479 meters 0.018015129922360328 Centerline is valid? [True, True] Translation: X:124.44, Y:-39.79, Z:-0.13 [[ 7.00420871e-01 7.13706562e-01 -5.79189568e-03 1.24441649e+02] [-7.13683225e-01 7.00444812e-01 5.77227019e-03 -3.97861150e+01] [ 8.17661039e-03 9.05602702e-05 9.99966567e-01 -1.26339972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.350888479 meters 0.018015129922360328 Centerline is valid? [True, True] Translation: X:124.46, Y:-39.81, Z:-0.13 [[ 7.00219261e-01 7.13904377e-01 -5.79026559e-03 1.24464564e+02] [-7.13881033e-01 7.00243195e-01 5.77390543e-03 -3.98090451e+01] [ 8.17661043e-03 9.05609881e-05 9.99966567e-01 -1.26377382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.380888479 meters 0.01801503245851587 Centerline is valid? [True, True] Translation: X:124.49, Y:-39.83, Z:-0.13 [[ 6.99838509e-01 7.14274132e-01 -6.20689936e-03 1.24490558e+02] [-7.14247292e-01 6.99866026e-01 6.19279783e-03 -3.98302437e+01] [ 8.76735329e-03 9.93026598e-05 9.99961561e-01 -1.26361575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.410888479 meters 0.018103958174420273 Centerline is valid? [True, True] Translation: X:124.51, Y:-39.85, Z:-0.13 [[ 6.99340239e-01 7.14760593e-01 -6.36581145e-03 1.24514939e+02] [-7.14732353e-01 6.99369204e-01 6.35462051e-03 -3.98515278e+01] [ 8.99408481e-03 1.05809563e-04 9.99959547e-01 -1.26123233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.440888479 meters 0.018056559871645835 Centerline is valid? [True, True] Translation: X:124.54, Y:-39.87, Z:-0.13 [[ 6.99028378e-01 7.15065978e-01 -6.32247794e-03 1.24539515e+02] [-7.15038102e-01 6.99056961e-01 6.31492000e-03 -3.98735283e+01] [ 8.93535666e-03 1.06504341e-04 9.99960073e-01 -1.25762007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.470888479 meters 0.01809128291432495 Centerline is valid? [True, True] Translation: X:124.56, Y:-39.89, Z:-0.13 [[ 6.98872143e-01 7.15213944e-01 -6.83673602e-03 1.24564662e+02] [-7.15181319e-01 6.98905574e-01 6.83234778e-03 -3.98946031e+01] [ 9.66482331e-03 1.14568349e-04 9.99953288e-01 -1.25885867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.500888479 meters 0.01849010692547915 Centerline is valid? [True, True] Translation: X:124.59, Y:-39.92, Z:-0.13 [[ 6.99061998e-01 7.15026107e-01 -7.07036560e-03 1.24589303e+02] [-7.14991167e-01 6.99097743e-01 7.06945931e-03 -3.99155534e+01] [ 9.99772460e-03 1.13258606e-04 9.99950015e-01 -1.27518459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53088847899997 meters 0.01776751463069056 Centerline is valid? [True, True] Translation: X:124.61, Y:-39.94, Z:-0.13 [[ 6.99346533e-01 7.14747188e-01 -7.13328627e-03 1.24612374e+02] [-7.14711568e-01 6.99382903e-01 7.13649690e-03 -3.99395591e+01] [ 1.00896896e-02 1.07357851e-04 9.99949092e-01 -1.25889862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56088847899997 meters 0.017570535421307796 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.52, Z:0.76 [[ 7.64994897e-01 -6.43971784e-01 -9.11857514e-03 1.25173539e+02] [-6.43922815e-01 -7.65049213e-01 7.94412342e-03 -3.95248905e+01] [-1.20919501e-02 -2.05555297e-04 -9.99926869e-01 7.60456647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59088847899997 meters 0.017694234562673803 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.53, Z:0.76 [[ 8.12898929e-01 -5.82323882e-01 -9.70714354e-03 1.25169486e+02] [-5.82279325e-01 -8.12956859e-01 7.20647053e-03 -3.95336941e+01] [-1.20879888e-02 -2.05863179e-04 -9.99926916e-01 7.60063045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62088847899997 meters 0.017538839574719488 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.54, Z:0.76 [[ 8.55600770e-01 -5.17553619e-01 -9.25064879e-03 1.25167435e+02] [-5.17520992e-01 -8.55650756e-01 5.81434852e-03 -3.95433742e+01] [-1.09245617e-02 -1.87356134e-04 -9.99940308e-01 7.58181199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65088847899997 meters 0.017505665400585933 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.55, Z:0.76 [[ 8.93329317e-01 -4.49304729e-01 -9.38046175e-03 1.25166379e+02] [-4.49277822e-01 -8.93378547e-01 4.92046036e-03 -3.95528280e+01] [-1.05910894e-02 -1.81158068e-04 -9.99943896e-01 7.57009938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68088847899998 meters 0.017730816167808354 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.56, Z:0.76 [[ 9.25557114e-01 -3.78490079e-01 -9.44927068e-03 1.25165651e+02] [-3.78468429e-01 -9.25605331e-01 4.05198464e-03 -3.95624151e+01] [-1.02799313e-02 -1.74092583e-04 -9.99947145e-01 7.57235041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71088847899998 meters 0.017408685061324456 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.57, Z:0.76 [[ 9.52043951e-01 -3.05806627e-01 -9.72738480e-03 1.25166272e+02] [-3.05788892e-01 -9.52093630e-01 3.29756592e-03 -3.95735535e+01] [-1.02697986e-02 -1.64901461e-04 -9.99947251e-01 7.55210104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74088847899998 meters 0.017655081036477758 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.58, Z:0.76 [[ 9.72933380e-01 -2.30841186e-01 -1.06294844e-02 1.25166219e+02] [-2.30825552e-01 -9.72991428e-01 2.69164100e-03 -3.95845589e+01] [-1.09637388e-02 -1.65230771e-04 -9.99939883e-01 7.55700453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77088847899998 meters 0.017794269521625973 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.59, Z:0.76 [[ 9.87875923e-01 -1.54813951e-01 -1.15672953e-02 1.25167658e+02] [-1.54801425e-01 -9.87943629e-01 1.97589536e-03 -3.95938571e+01] [-1.17337319e-02 -1.61305648e-04 -9.99931144e-01 7.56829999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.80088847899998 meters 0.017621777093086016 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.60, Z:0.76 [[ 9.96862726e-01 -7.81440005e-02 -1.25786029e-02 1.25167277e+02] [-7.81358547e-02 -9.96942071e-01 1.13848690e-03 -3.96042572e+01] [-1.26291044e-02 -1.52075264e-04 -9.99920238e-01 7.57171759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83088847899998 meters 0.017749130359135987 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.61, Z:0.76 [[ 9.99884458e-01 -2.66253964e-03 -1.49660037e-02 1.25166566e+02] [-2.66042747e-03 -9.99996448e-01 1.61038699e-04 -3.96147440e+01] [-1.49663793e-02 -1.21204126e-04 -9.99887990e-01 7.59946182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.86088847899998 meters 0.017861728281958044 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.62, Z:0.76 [[ 9.97169552e-01 7.35579908e-02 -1.55597832e-02 1.25167523e+02] [ 7.35504375e-02 -9.97290937e-01 -1.05790756e-03 -3.96223847e+01] [-1.55954483e-02 -8.95156527e-05 -9.99878380e-01 7.59843736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89088847899998 meters 0.01780480723538176 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.63, Z:0.76 [[ 9.88761973e-01 1.48639339e-01 -1.60033751e-02 1.25168964e+02] [ 1.48620598e-01 -9.88891473e-01 -2.36068487e-03 -3.96314401e+01] [-1.61764918e-02 -4.42757441e-05 -9.99869151e-01 7.59492568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92088847899998 meters 0.01816902628258626 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.64, Z:0.76 [[ 9.75425364e-01 2.19716626e-01 -1.64305535e-02 1.25169885e+02] [ 2.19684436e-01 -9.75563735e-01 -3.76132394e-03 -3.96380106e+01] [-1.68554775e-02 5.93538941e-05 -9.99857935e-01 7.59343309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95088847899999 meters 0.01797762870147387 Centerline is valid? [True, True] Translation: X:125.17, Y:-39.65, Z:0.76 [[ 9.56000721e-01 2.92915339e-01 -1.62242342e-02 1.25173321e+02] [ 2.92871295e-01 -9.56138375e-01 -5.08050536e-03 -3.96489505e+01] [-1.70007709e-02 1.05354312e-04 -9.99855471e-01 7.56463625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.980888479 meters 0.018786639830428414 Centerline is valid? [True, True] Translation: X:125.18, Y:-39.66, Z:0.76 [[ 9.30925897e-01 3.64884242e-01 -1.53773957e-02 1.25176393e+02] [ 3.64832066e-01 -9.31052883e-01 -6.17186641e-03 -3.96573040e+01] [-1.65691854e-02 1.35383218e-04 -9.99862712e-01 7.57321042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010888479 meters 0.01871773753890786 Centerline is valid? [True, True] Translation: X:125.18, Y:-39.67, Z:0.76 [[ 9.00227663e-01 4.35163252e-01 -1.49364583e-02 1.25181194e+02] [ 4.35100324e-01 -9.00351552e-01 -7.40208901e-03 -3.96657208e+01] [-1.66691805e-02 1.64707445e-04 -9.99861046e-01 7.55695516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.040888479 meters 0.01854650859419312 Centerline is valid? [True, True] Translation: X:125.19, Y:-39.68, Z:0.75 [[ 8.64331339e-01 5.02724028e-01 -1.41381765e-02 1.25189258e+02] [ 5.02653132e-01 -8.64446942e-01 -8.44474264e-03 -3.96778511e+01] [-1.64670784e-02 1.92457025e-04 -9.99864390e-01 7.54395627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.070888479 meters 0.018605467904821687 Centerline is valid? [True, True] Translation: X:125.20, Y:-39.69, Z:0.75 [[ 8.22494457e-01 5.68606247e-01 -1.37769528e-02 1.25195525e+02] [ 5.68522299e-01 -8.22609807e-01 -9.77246689e-03 -3.96873312e+01] [-1.68897422e-02 2.05294972e-04 -9.99857337e-01 7.54025841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.100888479 meters 0.020485850559445507 Centerline is valid? [True, True] Translation: X:125.20, Y:-39.69, Z:0.76 [[ 7.75574928e-01 6.31115611e-01 -1.32897157e-02 1.25200130e+02] [ 6.31018189e-01 -7.75688752e-01 -1.10908006e-02 -3.96929263e+01] [-1.73082604e-02 2.15694502e-04 -9.99850178e-01 7.57416106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.130888479 meters 0.018646623011862234 Centerline is valid? [True, True] Translation: X:125.21, Y:-39.70, Z:0.75 [[ 7.23187276e-01 6.90535131e-01 -1.27041588e-02 1.25211480e+02] [ 6.90423506e-01 -7.23298824e-01 -1.24174753e-02 -3.97038057e+01] [-1.77636061e-02 2.08910215e-04 -9.99842193e-01 7.54254928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.160888479 meters 0.018471738368075186 Centerline is valid? [True, True] Translation: X:125.22, Y:-39.71, Z:0.75 [[ 6.66568199e-01 7.45350869e-01 -1.17863501e-02 1.25221319e+02] [ 7.45228969e-01 -6.66672364e-01 -1.34812399e-02 -3.97107332e+01] [-1.79058878e-02 2.02636264e-04 -9.99839656e-01 7.53909577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.190888479 meters 0.018151470587936976 Centerline is valid? [True, True] Translation: X:125.23, Y:-39.72, Z:0.75 [[ 6.05118863e-01 7.96058106e-01 -1.10749020e-02 1.25232052e+02] [ 7.95919080e-01 -6.05220172e-01 -1.48782364e-02 -3.97165856e+01] [-1.85466948e-02 1.88375678e-04 -9.99827978e-01 7.53650101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.220888479 meters 0.018203546904188395 Centerline is valid? [True, True] Translation: X:125.24, Y:-39.72, Z:0.75 [[ 5.38035445e-01 8.42853029e-01 -1.07995620e-02 1.25244013e+02] [ 8.42677888e-01 -5.38143800e-01 -1.71821909e-02 -3.97234848e+01] [-2.02937790e-02 1.44075643e-04 -9.99794050e-01 7.54179296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.250888479 meters 0.017932736186357625 Centerline is valid? [True, True] Translation: X:125.26, Y:-39.73, Z:0.75 [[ 4.68200078e-01 8.83569544e-01 -9.67206084e-03 1.25255074e+02] [ 8.83376694e-01 -4.68299959e-01 -1.84598142e-02 -3.97276356e+01] [-2.08399553e-02 9.88133402e-05 -9.99782820e-01 7.53501525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28088847899997 meters 0.017899260505052576 Centerline is valid? [True, True] Translation: X:125.26, Y:-39.73, Z:0.76 [[ 3.95465015e-01 9.18442865e-01 -8.37409973e-03 1.25264516e+02] [ 9.18234116e-01 -3.95553664e-01 -1.95808034e-02 -3.97308342e+01] [-2.12962550e-02 5.41386412e-05 -9.99773208e-01 7.55207120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31088847899997 meters 0.01714628286151228 Centerline is valid? [True, True] Translation: X:125.28, Y:-39.73, Z:0.75 [[ 3.17197133e-01 9.48333041e-01 -7.10089238e-03 1.25281193e+02] [ 9.48099777e-01 -3.17276598e-01 -2.10326757e-02 -3.97337771e+01] [-2.21989283e-02 -6.08500623e-05 -9.99753572e-01 7.53041324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34088847899997 meters 0.017276588462582235 Centerline is valid? [True, True] Translation: X:125.29, Y:-39.74, Z:0.75 [[ 2.39117674e-01 9.70974403e-01 -5.60776218e-03 1.25292526e+02] [ 9.70719803e-01 -2.39183388e-01 -2.22344337e-02 -3.97351716e+01] [-2.29303495e-02 -1.26919735e-04 -9.99737057e-01 7.53269789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37088847899997 meters 0.01736161947121338 Centerline is valid? [True, True] Translation: X:125.30, Y:-39.73, Z:0.75 [[ 1.59770546e-01 9.87146686e-01 -3.84603512e-03 1.25303504e+02] [ 9.86888212e-01 -1.59816722e-01 -2.25891924e-02 -3.97343234e+01] [-2.29135071e-02 -1.86519110e-04 -9.99737434e-01 7.52913407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40088847899997 meters 0.017314586039617507 Centerline is valid? [True, True] Translation: X:125.32, Y:-39.73, Z:0.75 [[ 7.76390352e-02 9.96979332e-01 -2.09552209e-03 1.25315452e+02] [ 9.96709845e-01 -7.76667725e-02 -2.31809805e-02 -3.97319701e+01] [-2.32737109e-02 -2.88878538e-04 -9.99729089e-01 7.51442594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43088847899998 meters 0.017348399671968873 Centerline is valid? [True, True] Translation: X:125.32, Y:-39.73, Z:0.75 [[-2.06893905e-03 9.99997824e-01 -2.67952742e-04 1.25323449e+02] [ 9.99742071e-01 2.06234956e-03 -2.26172087e-02 -3.97291836e+01] [-2.26166069e-02 -3.14677255e-04 -9.99744162e-01 7.50775957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46088847899998 meters 0.01748346204760318 Centerline is valid? [True, True] Translation: X:125.33, Y:-39.73, Z:0.75 [[-8.16830806e-02 9.96657210e-01 1.50980050e-03 1.25331801e+02] [ 9.96400353e-01 8.16963085e-02 -2.26285155e-02 -3.97253147e+01] [-2.26762182e-02 -3.44001103e-04 -9.99742802e-01 7.49628379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49088847899998 meters 0.01777592772511606 Centerline is valid? [True, True] Translation: X:125.34, Y:-39.72, Z:0.75 [[-1.61359760e-01 9.86890599e-01 3.15812346e-03 1.25340603e+02] [ 9.86653346e-01 1.61390224e-01 -2.16418804e-02 -3.97218533e+01] [-2.18678586e-02 -3.76155537e-04 -9.99760799e-01 7.49604150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52088847899998 meters 0.017690963419324413 Centerline is valid? [True, True] Translation: X:125.35, Y:-39.72, Z:0.75 [[-2.39027003e-01 9.71000340e-01 4.94286887e-03 1.25345084e+02] [ 9.70756684e-01 2.39077767e-01 -2.17550311e-02 -3.97168208e+01] [-2.23058726e-02 -4.01716888e-04 -9.99751112e-01 7.48582082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55088847899998 meters 0.01820549857066389 Centerline is valid? [True, True] Translation: X:125.35, Y:-39.71, Z:0.75 [[-3.15325828e-01 9.48959532e-01 6.74016614e-03 1.25350451e+02] [ 9.48712779e-01 3.15397562e-01 -2.16435140e-02 -3.97130280e+01] [-2.26646509e-02 -4.30277224e-04 -9.99743031e-01 7.50036322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58088847899998 meters 0.01826635652139204 Centerline is valid? [True, True] Translation: X:125.35, Y:-39.71, Z:0.75 [[-3.90834697e-01 9.20419661e-01 8.71136498e-03 1.25353707e+02] [ 9.20162014e-01 3.90931453e-01 -2.17822495e-02 -3.97080677e+01] [-2.34543573e-02 -4.97391759e-04 -9.99724785e-01 7.49873255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61088847899998 meters 0.018641564878834102 Centerline is valid? [True, True] Translation: X:125.36, Y:-39.70, Z:0.75 [[-4.63035037e-01 8.86280414e-01 1.02752897e-02 1.25355892e+02] [ 8.86036403e-01 4.63148733e-01 -2.08024757e-02 -3.97029111e+01] [-2.31958142e-02 -5.27994367e-04 -9.99730801e-01 7.50292091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64088847899998 meters 0.018117290976803004 Centerline is valid? [True, True] Translation: X:125.36, Y:-39.70, Z:0.75 [[-5.32465789e-01 8.46365236e-01 1.20859802e-02 1.25359147e+02] [ 8.46122205e-01 5.32602623e-01 -2.02894119e-02 -3.96959453e+01] [-2.36092776e-02 -5.77201513e-04 -9.99721096e-01 7.48565738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67088847899998 meters 0.01825113661533819 Centerline is valid? [True, True] Translation: X:125.36, Y:-39.69, Z:0.75 [[-5.98532789e-01 8.00975680e-01 1.40164695e-02 1.25364064e+02] [ 8.00730884e-01 5.98696549e-01 -1.98114601e-02 -3.96875424e+01] [-2.42601096e-02 -6.34388414e-04 -9.99705479e-01 7.48133223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70088847899999 meters 0.018828852106426944 Centerline is valid? [True, True] Translation: X:125.37, Y:-39.68, Z:0.75 [[-6.60795793e-01 7.50399598e-01 1.57912238e-02 1.25369592e+02] [ 7.50160109e-01 6.60984091e-01 -1.89695218e-02 -3.96787620e+01] [-2.46724693e-02 -6.89034082e-04 -9.99695351e-01 7.49431325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730888479 meters 0.021494670560722236 Centerline is valid? [True, True] Translation: X:125.38, Y:-39.67, Z:0.75 [[-7.19632007e-01 6.94140356e-01 1.72898677e-02 1.25375557e+02] [ 6.93914150e-01 7.19839273e-01 -1.77362227e-02 -3.96693798e+01] [-2.47573537e-02 -7.65869695e-04 -9.99693196e-01 7.53540967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.760888479 meters 0.01980505742781352 Centerline is valid? [True, True] Translation: X:125.38, Y:-39.66, Z:0.75 [[-7.72452534e-01 6.34802307e-01 1.85233287e-02 1.25375207e+02] [ 6.34595076e-01 7.72674193e-01 -1.62382267e-02 -3.96639656e+01] [-2.46205618e-02 -7.88446169e-04 -9.99696557e-01 7.50070428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790888479 meters 0.02004758579571821 Centerline is valid? [True, True] Translation: X:125.39, Y:-39.64, Z:0.75 [[-8.15731952e-01 5.78107373e-01 1.93196388e-02 1.25390382e+02] [ 5.77922369e-01 8.15960327e-01 -1.46451275e-02 -3.96421613e+01] [-2.42305150e-02 -7.81246962e-04 -9.99706093e-01 7.49663289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.820888479 meters 0.02061200358089101 Centerline is valid? [True, True] Translation: X:125.40, Y:-39.62, Z:0.75 [[-8.54932763e-01 5.18358600e-01 1.98578056e-02 1.25400739e+02] [ 5.18197420e-01 8.55162998e-01 -1.29491671e-02 -3.96187726e+01] [-2.36939727e-02 -7.80403525e-04 -9.99718954e-01 7.49035825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.850888479 meters 0.020435809397203145 Centerline is valid? [True, True] Translation: X:125.41, Y:-39.60, Z:0.75 [[-8.89530267e-01 4.56399171e-01 2.08734268e-02 1.25411505e+02] [ 4.56252624e-01 8.89774790e-01 -1.15916672e-02 -3.95950819e+01] [-2.38630762e-02 -7.87583131e-04 -9.99714926e-01 7.48391718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.880888479 meters 0.020421510195327765 Centerline is valid? [True, True] Translation: X:125.42, Y:-39.57, Z:0.75 [[-9.19174212e-01 3.93294929e-01 2.09252928e-02 1.25418087e+02] [ 3.93174690e-01 9.19412071e-01 -9.75229414e-03 -3.95703342e+01] [-2.30744946e-02 -7.36761791e-04 -9.99733477e-01 7.49182206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.910888479 meters 0.020172811714505638 Centerline is valid? [True, True] Translation: X:125.42, Y:-39.55, Z:0.75 [[-9.44449999e-01 3.27954435e-01 2.14496652e-02 1.25424411e+02] [ 3.27852624e-01 9.44693272e-01 -8.20234963e-03 -3.95453787e+01] [-2.29533513e-02 -7.14380073e-04 -9.99736282e-01 7.48899721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.940888479 meters 0.0198289361725743 Centerline is valid? [True, True] Translation: X:125.43, Y:-39.52, Z:0.75 [[-9.65055981e-01 2.61206172e-01 2.09353559e-02 1.25432315e+02] [ 2.61129863e-01 9.65282809e-01 -6.34769416e-03 -3.95211872e+01] [-2.18665961e-02 -6.59033587e-04 -9.99760680e-01 7.48469839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.970888479 meters 0.017094098416380862 Centerline is valid? [True, True] Translation: X:125.43, Y:-39.50, Z:0.74 [[-9.80567538e-01 1.95095297e-01 2.06186608e-02 1.25431414e+02] [ 1.95039824e-01 9.80784122e-01 -4.68749347e-03 -3.95026463e+01] [-2.11369630e-02 -5.74943948e-04 -9.99776424e-01 7.44562546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.000888479 meters 0.018273191000765566 Centerline is valid? [True, True] Translation: X:125.43, Y:-39.47, Z:0.75 [[-9.91691836e-01 1.26998003e-01 2.04648322e-02 1.25433248e+02] [ 1.26960076e-01 9.91902835e-01 -3.14727094e-03 -3.94743603e+01] [-2.06988222e-02 -5.22906249e-04 -9.99785620e-01 7.47472694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03088847899997 meters 0.017541539780218676 Centerline is valid? [True, True] Translation: X:125.53, Y:-38.89, Z:-0.12 [[-9.72022830e-01 -2.34191897e-01 1.80492161e-02 1.25528320e+02] [ 2.34157929e-01 -9.72190333e-01 -4.00267730e-03 -3.88850194e+01] [ 1.84846680e-02 3.35673363e-04 9.99829088e-01 -1.15741259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06088847899997 meters 0.01704622694612181 Centerline is valid? [True, True] Translation: X:125.38, Y:-39.47, Z:0.75 [[-9.91610845e-01 1.27770932e-01 1.95581225e-02 1.25383927e+02] [ 1.27737927e-01 9.91803620e-01 -2.93275610e-03 -3.94730076e+01] [-1.97725377e-02 -4.09838730e-04 -9.99804420e-01 7.47981809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09088847899997 meters 0.014854943614450852 Centerline is valid? [True, True] Translation: X:125.48, Y:-38.87, Z:-0.11 [[-9.74666716e-01 -2.23030375e-01 1.68001428e-02 1.25482176e+02] [ 2.23000967e-01 -9.74811473e-01 -3.62781629e-03 -3.88659569e+01] [ 1.71860851e-02 2.10536304e-04 9.99852286e-01 -1.12127474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12088847899997 meters 0.014682753053258118 Centerline is valid? [True, True] Translation: X:125.34, Y:-39.48, Z:0.74 [[-9.91237945e-01 1.30683935e-01 1.92105827e-02 1.25336556e+02] [ 1.30654174e-01 9.91424045e-01 -2.80157457e-03 -3.94805077e+01] [-1.94119544e-02 -2.67084201e-04 -9.99811535e-01 7.44364082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15088847899997 meters 0.015442781051635173 Centerline is valid? [True, True] Translation: X:125.34, Y:-39.45, Z:0.75 [[-9.97882866e-01 6.21707032e-02 1.90942266e-02 1.25336188e+02] [ 6.21550973e-02 9.98065506e-01 -1.41025631e-03 -3.94536794e+01] [-1.91449655e-02 -2.20467100e-04 -9.99816694e-01 7.48490942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18088847899998 meters 0.01428262618792006 Centerline is valid? [True, True] Translation: X:125.33, Y:-39.43, Z:0.75 [[-9.99806053e-01 -5.19066459e-03 1.89977181e-02 1.25325792e+02] [-5.19254471e-03 9.99986517e-01 -4.96389257e-05 -3.94315634e+01] [-1.89972043e-02 -1.48275799e-04 -9.99819526e-01 7.46173784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21088847899998 meters 0.014083929154403173 Centerline is valid? [True, True] Translation: X:125.33, Y:-39.41, Z:0.75 [[-9.97029234e-01 -7.46746878e-02 1.88784816e-02 1.25329744e+02] [-7.46634951e-02 9.97207941e-01 1.29800132e-03 -3.94059543e+01] [-1.89226996e-02 -1.15388160e-04 -9.99820943e-01 7.45850789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24088847899998 meters 0.014083929154403173 Centerline is valid? [True, True] Translation: X:125.32, Y:-39.38, Z:0.75 [[-9.89163149e-01 -1.45620235e-01 1.87353055e-02 1.25317764e+02] [-1.45596328e-01 9.89340555e-01 2.64108864e-03 -3.93791705e+01] [-1.89201935e-02 -1.15324124e-04 -9.99820990e-01 7.45817029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27088847899998 meters 0.014240284419379136 Centerline is valid? [True, True] Translation: X:125.22, Y:-38.73, Z:-0.12 [[-9.97001526e-01 7.56387888e-02 1.63318886e-02 1.25217727e+02] [-7.56295617e-02 -9.97135282e-01 1.18275084e-03 -3.87339667e+01] [ 1.63745641e-02 -5.59691860e-05 9.99865926e-01 -1.16055499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30088847899998 meters 0.014105502265612113 Centerline is valid? [True, True] Translation: X:125.21, Y:-39.40, Z:0.75 [[-9.89048701e-01 -1.46592644e-01 1.71249513e-02 1.25210519e+02] [-1.46570999e-01 9.89196945e-01 2.51914353e-03 -3.94020103e+01] [-1.73092374e-02 -1.84655808e-05 -9.99850184e-01 7.46348285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33088847899998 meters 0.014111370805811508 Centerline is valid? [True, True] Translation: X:125.18, Y:-39.38, Z:0.75 [[-9.76331513e-01 -2.15614274e-01 1.69487998e-02 1.25184970e+02] [-2.15581548e-01 9.76478615e-01 3.75650620e-03 -3.93817045e+01] [-1.73600969e-02 1.37468658e-05 -9.99849302e-01 7.46588017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36088847899998 meters 0.013997799582950958 Centerline is valid? [True, True] Translation: X:125.15, Y:-39.37, Z:0.75 [[-9.58522263e-01 -2.84555437e-01 1.62257235e-02 1.25145818e+02] [-2.84514035e-01 9.58659586e-01 4.85405647e-03 -3.93659329e+01] [-1.69361935e-02 3.62751295e-05 -9.99856572e-01 7.46281310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39088847899998 meters 0.014016709764506316 Centerline is valid? [True, True] Translation: X:125.08, Y:-39.36, Z:0.75 [[-9.35477283e-01 -3.53083190e-01 1.46463292e-02 1.25083647e+02] [-3.53039121e-01 9.35591930e-01 5.57854012e-03 -3.93592598e+01] [-1.56726761e-02 4.78703802e-05 -9.99877175e-01 7.45289588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42088847899998 meters 0.014097718169704922 Centerline is valid? [True, True] Translation: X:125.02, Y:-39.36, Z:0.75 [[-9.06843285e-01 -4.21281180e-01 1.25469059e-02 1.25017718e+02] [-4.21240360e-01 9.06930078e-01 5.86449760e-03 -3.93600539e+01] [-1.38497688e-02 3.29171227e-05 -9.99904087e-01 7.45339939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45088847899999 meters 0.013913404078776536 Centerline is valid? [True, True] Translation: X:124.94, Y:-39.37, Z:0.75 [[-8.72662360e-01 -4.88189583e-01 1.14602138e-02 1.24941598e+02] [-4.88147228e-01 8.72737607e-01 6.43065178e-03 -3.93691375e+01] [-1.31411368e-02 1.75161459e-05 -9.99913651e-01 7.45013343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.480888479 meters 0.013734389149916426 Centerline is valid? [True, True] Translation: X:124.86, Y:-39.39, Z:0.74 [[-8.33122731e-01 -5.52986309e-01 1.06139732e-02 1.24860336e+02] [-5.52941431e-01 8.33190340e-01 7.04498271e-03 -3.93871663e+01] [-1.27392389e-02 4.29722414e-07 -9.99918853e-01 7.44661286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510888479 meters 0.013215977905242652 Centerline is valid? [True, True] Translation: X:124.77, Y:-39.41, Z:0.74 [[-7.86831187e-01 -6.17086485e-01 1.00475647e-02 1.24773218e+02] [-6.17036988e-01 7.86895334e-01 7.81589758e-03 -3.94146950e+01] [-1.27294666e-02 -4.99271057e-05 -9.99918976e-01 7.44605714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.540888479 meters 0.013139195124418405 Centerline is valid? [True, True] Translation: X:124.68, Y:-39.45, Z:0.75 [[-7.36329116e-01 -6.76556401e-01 9.53257761e-03 1.24684451e+02] [-6.76501167e-01 7.36390813e-01 8.64528874e-03 -3.94519989e+01] [-1.28687280e-02 -8.30220681e-05 -9.99917191e-01 7.45269826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.570888479 meters 0.013123750403749836 Centerline is valid? [True, True] Translation: X:124.60, Y:-39.50, Z:0.75 [[-6.81361379e-01 -7.31895126e-01 8.72905094e-03 1.24595653e+02] [-7.31837163e-01 6.81417282e-01 9.21162071e-03 -3.94991441e+01] [-1.26900665e-02 -1.11801286e-04 -9.99919472e-01 7.46150534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.600888479 meters 0.013263800851622945 Centerline is valid? [True, True] Translation: X:124.50, Y:-39.56, Z:0.75 [[-6.21858138e-01 -7.83090974e-01 7.80913415e-03 1.24504824e+02] [-7.83032126e-01 6.21907152e-01 9.60125819e-03 -3.95602801e+01] [-1.23752150e-02 -1.44182369e-04 -9.99923414e-01 7.46286644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.630888479 meters 0.013288593427054525 Centerline is valid? [True, True] Translation: X:124.42, Y:-39.62, Z:0.75 [[-5.56576924e-01 -8.30774368e-01 6.00640479e-03 1.24422317e+02] [-8.30729502e-01 5.56609302e-01 8.63588744e-03 -3.96219122e+01] [-1.05176947e-02 -1.83161996e-04 -9.99944671e-01 7.46223216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.660888479 meters 0.013740596222091402 Centerline is valid? [True, True] Translation: X:124.34, Y:-39.70, Z:0.75 [[-4.89597280e-01 -8.71933292e-01 5.18044278e-03 1.24338130e+02] [-8.71888814e-01 4.89624645e-01 8.80932341e-03 -3.97009725e+01] [-1.02176148e-02 -2.03749326e-04 -9.99947778e-01 7.46460645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.690888479 meters 0.013769504764964588 Centerline is valid? [True, True] Translation: X:124.26, Y:-39.78, Z:0.75 [[-4.20211522e-01 -9.07416976e-01 4.08748938e-03 1.24264716e+02] [-9.07378689e-01 4.20231352e-01 8.33818273e-03 -3.97802527e+01] [-9.28389975e-03 -2.05100296e-04 -9.99956883e-01 7.46153605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.720888479 meters 0.01542435812248149 Centerline is valid? [True, True] Translation: X:124.19, Y:-39.87, Z:0.75 [[-3.47121207e-01 -9.37815144e-01 3.10204156e-03 1.24193980e+02] [-9.37783013e-01 3.47135002e-01 7.76600825e-03 -3.98698916e+01] [-8.35990735e-03 -2.13295724e-04 -9.99965033e-01 7.46576111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.750888479 meters 0.014541372556993807 Centerline is valid? [True, True] Translation: X:124.13, Y:-39.97, Z:0.75 [[-2.73327862e-01 -9.61918364e-01 2.22300894e-03 1.24133036e+02] [-9.61892357e-01 2.73336826e-01 7.07620128e-03 -3.99709024e+01] [-7.41435816e-03 -2.04172344e-04 -9.99972492e-01 7.45100935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78088847899997 meters 0.015773505596659746 Centerline is valid? [True, True] Translation: X:124.08, Y:-40.07, Z:0.74 [[-1.96918837e-01 -9.80418632e-01 1.50909718e-03 1.24078035e+02] [-9.80397199e-01 1.96924516e-01 6.48590715e-03 -4.00740619e+01] [-6.65608245e-03 -2.02317355e-04 -9.99977828e-01 7.44975550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81088847899997 meters 0.015684197837813194 Centerline is valid? [True, True] Translation: X:124.03, Y:-40.18, Z:0.74 [[-1.20611222e-01 -9.92699306e-01 1.01073949e-03 1.24032082e+02] [-9.92677263e-01 1.20615282e-01 6.61851549e-03 -4.01825387e+01] [-6.69210636e-03 -2.05070873e-04 -9.99977587e-01 7.44824849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84088847899997 meters 0.014478938119002752 Centerline is valid? [True, True] Translation: X:124.00, Y:-40.30, Z:0.74 [[-4.31429172e-02 -9.99068796e-01 4.78946360e-04 1.23996724e+02] [-9.99048495e-01 4.31450953e-02 6.37222693e-03 -4.02982556e+01] [-6.38695727e-03 -2.03574182e-04 -9.99979582e-01 7.44070059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87088847899997 meters 0.014432962831897891 Centerline is valid? [True, True] Translation: X:123.97, Y:-40.41, Z:0.74 [[ 3.42293751e-02 -9.99414003e-01 -2.43799572e-05 1.23967703e+02] [-9.99387953e-01 -3.42286590e-02 7.21923672e-03 -4.04130523e+01] [-7.21584076e-03 -2.22744926e-04 -9.99973941e-01 7.44455147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90088847899997 meters 0.015063629446677601 Centerline is valid? [True, True] Translation: X:123.95, Y:-40.53, Z:0.75 [[ 1.11711824e-01 -9.93740379e-01 -7.26070753e-04 1.23947740e+02] [-9.93701460e-01 -1.11713877e-01 8.79876754e-03 -4.05342457e+01] [-8.82480278e-03 -2.61428803e-04 -9.99961027e-01 7.46540987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93088847899998 meters 0.014904106065542178 Centerline is valid? [True, True] Translation: X:123.94, Y:-40.65, Z:0.75 [[ 1.88080366e-01 -9.82152547e-01 -1.46615414e-03 1.23937593e+02] [-9.82110468e-01 -1.88085886e-01 9.09551028e-03 -4.06534826e+01] [-9.20894149e-03 -2.70761580e-04 -9.99957560e-01 7.46958605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96088847899998 meters 0.014652634323475742 Centerline is valid? [True, True] Translation: X:123.94, Y:-40.77, Z:0.75 [[ 2.62257480e-01 -9.64995425e-01 -2.20090163e-03 1.23939540e+02] [-9.64952473e-01 -2.62266581e-01 9.10853684e-03 -4.07696600e+01] [-9.36691932e-03 -2.65016448e-04 -9.99956094e-01 7.46522324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99088847899998 meters 0.014520089778450323 Centerline is valid? [True, True] Translation: X:123.95, Y:-40.89, Z:0.75 [[ 3.34874818e-01 -9.42258498e-01 -2.78919512e-03 1.23949917e+02] [-9.42219368e-01 -3.34886341e-01 8.59075999e-03 -4.08934525e+01] [-9.02877996e-03 -2.48795522e-04 -9.99959209e-01 7.45573858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02088847899998 meters 0.014689284802268266 Centerline is valid? [True, True] Translation: X:123.97, Y:-41.01, Z:0.75 [[ 4.05116116e-01 -9.14259702e-01 -3.18254495e-03 1.23965106e+02] [-9.14227040e-01 -4.05128556e-01 7.73126261e-03 -4.10062121e+01] [-8.35772169e-03 -2.22490437e-04 -9.99965049e-01 7.45401605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05088847899998 meters 0.013602441535012338 Centerline is valid? [True, True] Translation: X:123.99, Y:-41.12, Z:0.74 [[ 4.72611439e-01 -8.81264005e-01 -3.49015967e-03 1.23991596e+02] [-8.81236831e-01 -4.72624285e-01 6.92332202e-03 -4.11181595e+01] [-7.75080871e-03 -1.96383938e-04 -9.99969943e-01 7.44494162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08088847899998 meters 0.01299360334734639 Centerline is valid? [True, True] Translation: X:124.03, Y:-41.23, Z:0.74 [[ 5.37283843e-01 -8.43392219e-01 -3.95433643e-03 1.24026195e+02] [-8.43366882e-01 -5.37298364e-01 6.53985975e-03 -4.12284896e+01] [-7.64032533e-03 -1.78804589e-04 -9.99970796e-01 7.43748476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11088847899998 meters 0.012502057607785617 Centerline is valid? [True, True] Translation: X:124.07, Y:-41.33, Z:0.74 [[ 5.97517125e-01 -8.01846466e-01 -3.94081453e-03 1.24069466e+02] [-8.01827449e-01 -5.97530104e-01 5.52425149e-03 -4.13320373e+01] [-6.78435684e-03 -1.40981607e-04 -9.99976976e-01 7.43023716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14088847899998 meters 0.012085711310143602 Centerline is valid? [True, True] Translation: X:124.12, Y:-41.43, Z:0.74 [[ 6.55806694e-01 -7.54916865e-01 -4.25528190e-03 1.24119402e+02] [-7.54899713e-01 -6.55820487e-01 5.09035071e-03 -4.14338026e+01] [-6.63349265e-03 -1.25974991e-04 -9.99977990e-01 7.42271966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17088847899998 meters 0.011725089723050634 Centerline is valid? [True, True] Translation: X:124.18, Y:-41.53, Z:0.74 [[ 7.09405552e-01 -7.04782641e-01 -5.01914267e-03 1.24176264e+02] [-7.04763929e-01 -7.09423299e-01 5.13676334e-03 -4.15264029e+01] [-7.18099838e-03 -1.06737726e-04 -9.99974211e-01 7.41643557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20088847899999 meters 0.011613280757644654 Centerline is valid? [True, True] Translation: X:124.23, Y:-41.61, Z:0.74 [[ 7.60342853e-01 -6.49497397e-01 -5.64605849e-03 1.24233203e+02] [-6.49478525e-01 -7.60363809e-01 4.95206780e-03 -4.16135429e+01] [-7.50941368e-03 -9.82756208e-05 -9.99971799e-01 7.41327487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230888479 meters 0.011651699773139047 Centerline is valid? [True, True] Translation: X:124.23, Y:-41.62, Z:0.74 [[ 8.08072751e-01 -5.89053708e-01 -5.84449208e-03 1.24229730e+02] [-5.89037491e-01 -8.08093881e-01 4.37188550e-03 -4.16177629e+01] [-7.29817366e-03 -9.01765920e-05 -9.99973364e-01 7.41346482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.260888479 meters 0.011508802519861036 Centerline is valid? [True, True] Translation: X:124.23, Y:-41.62, Z:0.74 [[ 8.51133806e-01 -5.24917829e-01 -5.70240030e-03 1.24227236e+02] [-5.24905400e-01 -8.51152904e-01 3.61315829e-03 -4.16216315e+01] [-6.75022578e-03 -8.20604612e-05 -9.99977214e-01 7.40391292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290888479 meters 0.011541742835009952 Centerline is valid? [True, True] Translation: X:124.22, Y:-41.63, Z:0.74 [[ 8.89492192e-01 -4.56912137e-01 -5.91097189e-03 1.24222533e+02] [-4.56901443e-01 -8.89511828e-01 3.12716245e-03 -4.16278558e+01] [-6.68671789e-03 -8.08549975e-05 -9.99977640e-01 7.40134583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.320888479 meters 0.011587295717154566 Centerline is valid? [True, True] Translation: X:124.22, Y:-41.63, Z:0.74 [[ 9.22465669e-01 -3.86028288e-01 -6.26502112e-03 1.24217594e+02] [-3.86018790e-01 -9.22486940e-01 2.70918339e-03 -4.16334509e+01] [-6.82522159e-03 -8.07127912e-05 -9.99976705e-01 7.40054295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.350888479 meters 0.011660248832144327 Centerline is valid? [True, True] Translation: X:124.21, Y:-41.64, Z:0.74 [[ 9.50045084e-01 -3.12025239e-01 -7.38843287e-03 1.24213537e+02] [-3.12015083e-01 -9.50073809e-01 2.51905697e-03 -4.16378177e+01] [-7.80556591e-03 -8.79152022e-05 -9.99969532e-01 7.40951760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.380888479 meters 0.011666209187058055 Centerline is valid? [True, True] Translation: X:124.21, Y:-41.64, Z:0.74 [[ 9.71728509e-01 -2.35961878e-01 -8.10530458e-03 1.24210154e+02] [-2.35952845e-01 -9.71762308e-01 2.06691405e-03 -4.16446215e+01] [-8.36414241e-03 -9.60096270e-05 -9.99965015e-01 7.40631294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.410888479 meters 0.011785120733311614 Centerline is valid? [True, True] Translation: X:124.20, Y:-41.65, Z:0.74 [[ 9.87368587e-01 -1.58216690e-01 -8.41150130e-03 1.24202932e+02] [-1.58210046e-01 -9.87404410e-01 1.45364548e-03 -4.16503637e+01] [-8.53554445e-03 -1.04499869e-04 -9.99963566e-01 7.40894222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.440888479 meters 0.011911768369420964 Centerline is valid? [True, True] Translation: X:124.20, Y:-41.65, Z:0.74 [[ 9.96823378e-01 -7.91911942e-02 -8.47985729e-03 1.24197329e+02] [-7.91873480e-02 -9.96859439e-01 7.88901512e-04 -4.16543714e+01] [-8.51569984e-03 -1.14898060e-04 -9.99963734e-01 7.39873977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.470888479 meters 0.011959402135118318 Centerline is valid? [True, True] Translation: X:124.19, Y:-41.66, Z:0.74 [[ 9.99967047e-01 -5.52315940e-05 -8.11800480e-03 1.24191177e+02] [-5.42619544e-05 -9.99999991e-01 1.19663132e-04 -4.16591566e+01] [-8.11801134e-03 -1.19218690e-04 -9.99967041e-01 7.39431121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.500888479 meters 0.011960820419572823 Centerline is valid? [True, True] Translation: X:124.19, Y:-41.67, Z:0.74 [[ 9.96834410e-01 7.91593751e-02 -7.41302750e-03 1.24186065e+02] [ 7.91580931e-02 -9.96861966e-01 -4.66636811e-04 -4.16664785e+01] [-7.42670384e-03 -1.21641491e-04 -9.99972414e-01 7.37948923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53088847899997 meters 0.01234657172766414 Centerline is valid? [True, True] Translation: X:124.18, Y:-41.67, Z:0.74 [[ 9.87441142e-01 1.57847870e-01 -6.63627085e-03 1.24180639e+02] [ 1.57845136e-01 -9.87463435e-01 -9.37046357e-04 -4.16747498e+01] [-6.70098558e-03 -1.22224951e-04 -9.99977541e-01 7.37552607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56088847899997 meters 0.012322513479455845 Centerline is valid? [True, True] Translation: X:124.18, Y:-41.68, Z:0.74 [[ 9.71653034e-01 2.36343887e-01 -5.65231028e-03 1.24177232e+02] [ 2.36340631e-01 -9.71669466e-01 -1.24672871e-03 -4.16839174e+01] [-5.78683402e-03 -1.24482840e-04 -9.99983248e-01 7.35912354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59088847899997 meters 0.012571962800363906 Centerline is valid? [True, True] Translation: X:124.17, Y:-41.69, Z:0.74 [[ 9.50000647e-01 3.12196069e-01 -5.69072807e-03 1.24173901e+02] [ 3.12191280e-01 -9.50017683e-01 -1.73400777e-03 -4.16937335e+01] [-5.94764270e-03 -1.29287180e-04 -9.99982304e-01 7.35845333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62088847899997 meters 0.012566953529437612 Centerline is valid? [True, True] Translation: X:124.17, Y:-41.70, Z:0.74 [[ 9.22590888e-01 3.85732618e-01 -6.03328069e-03 1.24171029e+02] [ 3.85725326e-01 -9.22610605e-01 -2.37571938e-03 -4.17024394e+01] [-6.48276120e-03 -1.35372107e-04 -9.99978978e-01 7.35710055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65088847899997 meters 0.012478721193491592 Centerline is valid? [True, True] Translation: X:124.17, Y:-41.71, Z:0.74 [[ 8.90037836e-01 4.55839994e-01 -6.52314378e-03 1.24166824e+02] [ 4.55828863e-01 -8.90061729e-01 -3.18843036e-03 -4.17089682e+01] [-7.25941471e-03 -1.35613559e-04 -9.99973641e-01 7.35742949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68088847899998 meters 0.012471525813921004 Centerline is valid? [True, True] Translation: X:124.16, Y:-41.72, Z:0.74 [[ 8.52199348e-01 5.23171881e-01 -6.88871013e-03 1.24164215e+02] [ 5.23156050e-01 -8.52227179e-01 -4.07221735e-03 -4.17165738e+01] [-8.00121561e-03 -1.33529413e-04 -9.99967981e-01 7.36059732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71088847899998 meters 0.01233620284478506 Centerline is valid? [True, True] Translation: X:124.16, Y:-41.72, Z:0.74 [[ 8.09001598e-01 5.87765813e-01 -6.91114123e-03 1.24162605e+02] [ 5.87745749e-01 -8.09031107e-01 -4.85830091e-03 -4.17241597e+01] [-8.44687142e-03 -1.31620675e-04 -9.99964316e-01 7.36686554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74088847899998 meters 0.013055359768741056 Centerline is valid? [True, True] Translation: X:124.16, Y:-41.73, Z:0.74 [[ 7.61753209e-01 6.47837848e-01 -6.17839284e-03 1.24160755e+02] [ 6.47817732e-01 -7.61778255e-01 -5.10637187e-03 -4.17338351e+01] [-8.01466628e-03 -1.12677283e-04 -9.99967876e-01 7.39845028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77088847899998 meters 0.012292927580475217 Centerline is valid? [True, True] Translation: X:124.16, Y:-41.74, Z:0.74 [[ 7.08315793e-01 7.05871168e-01 -5.88487134e-03 1.24158080e+02] [ 7.05848181e-01 -7.08340229e-01 -5.69779694e-03 -4.17402528e+01] [-8.19040169e-03 -1.17986181e-04 -9.99966451e-01 7.36594830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80088847899998 meters 0.012341752182992001 Centerline is valid? [True, True] Translation: X:124.16, Y:-41.75, Z:0.74 [[ 6.50720209e-01 7.59298727e-01 -5.35277890e-03 1.24158908e+02] [ 7.59274529e-01 -6.50742214e-01 -6.06312168e-03 -4.17497371e+01] [-8.08699977e-03 -1.18832866e-04 -9.99967293e-01 7.36458699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83088847899998 meters 0.012420807000930359 Centerline is valid? [True, True] Translation: X:124.16, Y:-41.76, Z:0.74 [[ 5.90022347e-01 8.07368751e-01 -5.41574429e-03 1.24159093e+02] [ 8.07336538e-01 -5.90047191e-01 -7.21296376e-03 -4.17594371e+01] [-9.01906624e-03 -1.16518438e-04 -9.99959321e-01 7.37969076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86088847899998 meters 0.012458702568321645 Centerline is valid? [True, True] Translation: X:124.16, Y:-41.77, Z:0.74 [[ 5.25265295e-01 8.50922378e-01 -5.24187011e-03 1.24159209e+02] [ 8.50882219e-01 -5.25291437e-01 -8.26770975e-03 -4.17686754e+01] [-9.78868872e-03 -1.17473075e-04 -9.99952083e-01 7.38320550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89088847899998 meters 0.012455523122585726 Centerline is valid? [True, True] Translation: X:124.16, Y:-41.78, Z:0.74 [[ 4.57249619e-01 8.89326450e-01 -4.60979780e-03 1.24159965e+02] [ 8.89283766e-01 -4.57272841e-01 -8.71385891e-03 -4.17781645e+01] [-9.85740055e-03 -1.15009681e-04 -9.99951408e-01 7.37718929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92088847899998 meters 0.01250315807771436 Centerline is valid? [True, True] Translation: X:124.16, Y:-41.79, Z:0.74 [[ 3.87378295e-01 9.21913624e-01 -3.65057272e-03 1.24160839e+02] [ 9.21875086e-01 -3.87395483e-01 -8.43007680e-03 -4.17867040e+01] [-9.18601803e-03 -9.97432580e-05 -9.99957803e-01 7.35696754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95088847899999 meters 0.012392551763870517 Centerline is valid? [True, True] Translation: X:124.16, Y:-41.80, Z:0.74 [[ 3.14621424e-01 9.49212726e-01 -2.92564311e-03 1.24163287e+02] [ 9.49174401e-01 -3.14635013e-01 -8.53019358e-03 -4.17967916e+01] [-9.01747806e-03 -9.31638910e-05 -9.99959337e-01 7.35047459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.980888479 meters 0.012445133469372266 Centerline is valid? [True, True] Translation: X:124.17, Y:-41.81, Z:0.73 [[ 2.39817852e-01 9.70815405e-01 -2.20183482e-03 1.24168746e+02] [ 9.70777782e-01 -2.39827944e-01 -8.54725216e-03 -4.18066204e+01] [-8.82586558e-03 -8.77086734e-05 -9.99961047e-01 7.34261950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010888479 meters 0.012621616422592198 Centerline is valid? [True, True] Translation: X:124.17, Y:-41.82, Z:0.73 [[ 1.61817589e-01 9.86819728e-01 -1.37582781e-03 1.24173909e+02] [ 9.86788873e-01 -1.61823410e-01 -7.80412486e-03 -4.18177426e+01] [-7.92390552e-03 -9.48069010e-05 -9.99968601e-01 7.33662644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.040888479 meters 0.012669665311224923 Centerline is valid? [True, True] Translation: X:124.18, Y:-41.83, Z:0.73 [[ 8.29615706e-02 9.96552461e-01 -7.55463259e-04 1.24180819e+02] [ 9.96521671e-01 -8.29649464e-02 -7.83433358e-03 -4.18273211e+01] [-7.87000138e-03 -1.02886890e-04 -9.99969026e-01 7.33088359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.070888479 meters 0.012899024547998668 Centerline is valid? [True, True] Translation: X:124.19, Y:-41.84, Z:0.73 [[ 3.49534662e-03 9.99993881e-01 -1.42219668e-04 1.24187875e+02] [ 9.99960405e-01 -3.49639341e-03 -8.18307809e-03 -4.18368136e+01] [-8.18352527e-03 -1.13611342e-04 -9.99966508e-01 7.33226986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.100888479 meters 0.013042881396624522 Centerline is valid? [True, True] Translation: X:124.20, Y:-41.85, Z:0.73 [[-7.60503315e-02 9.97103838e-01 5.31920709e-04 1.24195031e+02] [ 9.97066412e-01 7.60520861e-02 -8.64008914e-03 -4.18451085e+01] [-8.65551972e-03 -1.26721371e-04 -9.99962532e-01 7.33615435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.130888479 meters 0.01335881432181839 Centerline is valid? [True, True] Translation: X:124.20, Y:-41.85, Z:0.74 [[-1.55226473e-01 9.87877897e-01 1.41550316e-03 1.24202805e+02] [ 9.87827546e-01 1.55232854e-01 -9.97502889e-03 -4.18542284e+01] [-1.00738432e-02 -1.50115534e-04 -9.99949246e-01 7.35508715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.160888479 meters 0.01335881432181839 Centerline is valid? [True, True] Translation: X:124.21, Y:-41.86, Z:0.74 [[-2.32110654e-01 9.72686918e-01 2.19198935e-03 1.24209664e+02] [ 9.72637246e-01 2.32120955e-01 -9.83105453e-03 -4.18622471e+01] [-1.00713448e-02 -1.49882006e-04 -9.99949271e-01 7.35487596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.190888479 meters 0.01326509900512739 Centerline is valid? [True, True] Translation: X:124.22, Y:-41.87, Z:0.74 [[-3.07727046e-01 9.51469147e-01 3.24467789e-03 1.24217109e+02] [ 9.51410677e-01 3.07744111e-01 -1.05491891e-02 -4.18692900e+01] [-1.10357585e-02 -1.59249617e-04 -9.99939091e-01 7.36007703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.220888479 meters 0.01346486561976906 Centerline is valid? [True, True] Translation: X:124.22, Y:-41.88, Z:0.74 [[-3.81351542e-01 9.24420790e-01 4.14787425e-03 1.24224503e+02] [ 9.24361425e-01 3.81374064e-01 -1.04775882e-02 -4.18768620e+01] [-1.12675921e-02 -1.61509479e-04 -9.99936506e-01 7.36138030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.250888479 meters 0.01344941012602538 Centerline is valid? [True, True] Translation: X:124.23, Y:-41.88, Z:0.73 [[-4.52669386e-01 8.91664657e-01 4.95641707e-03 1.24232794e+02] [ 8.91607234e-01 4.52696491e-01 -1.01206571e-02 -4.18832794e+01] [-1.12679849e-02 -1.62134332e-04 -9.99936501e-01 7.33986474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28088847899997 meters 0.013834349962422676 Centerline is valid? [True, True] Translation: X:124.24, Y:-41.89, Z:0.73 [[-5.21476461e-01 8.53245734e-01 5.83243351e-03 1.24244137e+02] [ 8.53188726e-01 5.21509050e-01 -9.86449950e-03 -4.18878668e+01] [-1.14585090e-02 -1.67937778e-04 -9.99934335e-01 7.33892466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31088847899997 meters 0.01361901775050852 Centerline is valid? [True, True] Translation: X:124.25, Y:-41.89, Z:0.73 [[-5.86948990e-01 8.09598048e-01 6.47179400e-03 1.24254325e+02] [ 8.09545628e-01 5.86984644e-01 -9.21437913e-03 -4.18915162e+01] [-1.12587871e-02 -1.69157981e-04 -9.99936604e-01 7.32305008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34088847899997 meters 0.014082492403334115 Centerline is valid? [True, True] Translation: X:124.27, Y:-41.89, Z:0.73 [[-6.49073472e-01 7.60691859e-01 7.17795403e-03 1.24267600e+02] [ 7.60642308e-01 6.49113137e-01 -8.68416920e-03 -4.18938829e+01] [-1.12652811e-02 -1.76808337e-04 -9.99936529e-01 7.32483857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37088847899997 meters 0.014083091799543906 Centerline is valid? [True, True] Translation: X:124.28, Y:-41.90, Z:0.73 [[-7.06769788e-01 7.07401913e-01 7.68114028e-03 1.24277617e+02] [ 7.07357408e-01 7.06811504e-01 -7.93690313e-03 -4.18957861e+01] [-1.10436988e-02 -1.76251861e-04 -9.99939001e-01 7.32630422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40088847899997 meters 0.013967334155294 Centerline is valid? [True, True] Translation: X:124.29, Y:-41.89, Z:0.73 [[-7.59993482e-01 6.49876607e-01 8.38474020e-03 1.24289218e+02] [ 6.49834466e-01 7.60039712e-01 -7.40288651e-03 -4.18949944e+01] [-1.11836983e-02 -1.77452322e-04 -9.99937445e-01 7.32674141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43088847899998 meters 0.014092278752313326 Centerline is valid? [True, True] Translation: X:124.30, Y:-41.87, Z:0.73 [[-8.03361017e-01 5.95427224e-01 8.80331295e-03 1.24298060e+02] [ 5.95389315e-01 8.03409234e-01 -6.72064074e-03 -4.18663822e+01] [-1.10743154e-02 -1.57702312e-04 -9.99938665e-01 7.33458981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46088847899998 meters 0.013861145834141298 Centerline is valid? [True, True] Translation: X:124.33, Y:-41.85, Z:0.73 [[-8.42881512e-01 5.38028045e-01 8.75097374e-03 1.24326419e+02] [ 5.37997310e-01 8.42926926e-01 -5.75256631e-03 -4.18546197e+01] [-1.04714734e-02 -1.40731452e-04 -9.99945163e-01 7.32198093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49088847899998 meters 0.013749429159693233 Centerline is valid? [True, True] Translation: X:124.35, Y:-41.84, Z:0.73 [[-8.78040901e-01 4.78506340e-01 8.70973480e-03 1.24353589e+02] [ 4.78481440e-01 8.78084090e-01 -4.88294429e-03 -4.18410688e+01] [-9.98439936e-03 -1.19978352e-04 -9.99950147e-01 7.30628043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52088847899998 meters 0.013373708628339809 Centerline is valid? [True, True] Translation: X:124.38, Y:-41.83, Z:0.73 [[-9.08217650e-01 4.18416973e-01 8.24241436e-03 1.24379280e+02] [ 4.18398923e-01 9.08255047e-01 -3.88725091e-03 -4.18271872e+01] [-9.11270620e-03 -8.18525961e-05 -9.99958475e-01 7.28416797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55088847899998 meters 0.013180831538279269 Centerline is valid? [True, True] Translation: X:124.40, Y:-41.80, Z:0.73 [[-9.34993993e-01 3.54562447e-01 8.46784780e-03 1.24395375e+02] [ 3.54547257e-01 9.35032334e-01 -3.28269717e-03 -4.18048418e+01] [-9.08163264e-03 -6.70499192e-05 -9.99958759e-01 7.27018942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58088847899998 meters 0.013264433271614754 Centerline is valid? [True, True] Translation: X:124.39, Y:-41.77, Z:0.73 [[-9.57395542e-01 2.88652619e-01 8.56982224e-03 1.24393346e+02] [ 2.88640537e-01 9.57433895e-01 -2.64155562e-03 -4.17749055e+01] [-8.96753023e-03 -5.54154776e-05 -9.99959789e-01 7.28047397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61088847899998 meters 0.013201557990230255 Centerline is valid? [True, True] Translation: X:124.42, Y:-41.75, Z:0.73 [[-9.75028213e-01 2.21900241e-01 8.95919702e-03 1.24416258e+02] [ 2.21890517e-01 9.75069373e-01 -2.07766122e-03 -4.17525976e+01] [-9.19687215e-03 -3.78174471e-05 -9.99957707e-01 7.29135622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64088847899998 meters 0.013221928053179826 Centerline is valid? [True, True] Translation: X:124.44, Y:-41.73, Z:0.73 [[-9.88150295e-01 1.53227614e-01 8.96063140e-03 1.24440396e+02] [ 1.53221048e-01 9.88190922e-01 -1.41883646e-03 -4.17293090e+01] [-9.07221953e-03 -2.90663338e-05 -9.99958846e-01 7.28746589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67088847899998 meters 0.013362519206163064 Centerline is valid? [True, True] Translation: X:124.44, Y:-41.70, Z:0.73 [[-9.96440019e-01 8.38557814e-02 8.68883477e-03 1.24441762e+02] [ 8.38524206e-02 9.96477901e-01 -7.51015035e-04 -4.17027732e+01] [-8.72120879e-03 -1.97616084e-05 -9.99961969e-01 7.28263538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70088847899999 meters 0.01344482162337887 Centerline is valid? [True, True] Translation: X:124.53, Y:-40.83, Z:-0.11 [[-9.89939113e-01 -1.41342274e-01 6.55090637e-03 1.24532986e+02] [ 1.41338477e-01 -9.89960782e-01 -1.04132163e-03 -4.08290131e+01] [ 6.63232316e-03 -1.04949874e-04 9.99978000e-01 -1.06007051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730888479 meters 0.01413910481056477 Centerline is valid? [True, True] Translation: X:124.37, Y:-41.70, Z:0.73 [[-9.96460071e-01 8.37966431e-02 6.74169612e-03 1.24369714e+02] [ 8.37947671e-02 9.96482876e-01 -5.60752270e-04 -4.17014546e+01] [-6.76497390e-03 6.15160957e-06 -9.99977117e-01 7.26992056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.760888479 meters 0.014172644120345293 Centerline is valid? [True, True] Translation: X:124.38, Y:-41.67, Z:0.73 [[-9.99877078e-01 1.43277800e-02 6.36741619e-03 1.24381844e+02] [ 1.43275776e-02 9.99897352e-01 -7.73987238e-05 -4.16742805e+01] [-6.36787154e-03 1.38404400e-05 -9.99979725e-01 7.26242612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790888479 meters 0.014246703788211001 Centerline is valid? [True, True] Translation: X:124.38, Y:-41.65, Z:0.73 [[-9.98447335e-01 -5.54571150e-02 5.23712901e-03 1.24381256e+02] [-5.54563036e-02 9.98461070e-01 3.00136395e-04 -4.16462390e+01] [-5.24571413e-03 9.23856769e-06 -9.99986241e-01 7.25547361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.820888479 meters 0.01463725582370398 Centerline is valid? [True, True] Translation: X:124.37, Y:-41.62, Z:0.72 [[-9.92232309e-01 -1.24337401e-01 3.90586110e-03 1.24365374e+02] [-1.24336430e-01 9.92239997e-01 4.91302222e-04 -4.16210305e+01] [-3.93663885e-03 1.84511170e-06 -9.99992251e-01 7.24432745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.850888479 meters 0.014855907689360532 Centerline is valid? [True, True] Translation: X:124.35, Y:-41.60, Z:0.72 [[-9.80680022e-01 -1.95586300e-01 3.56276847e-03 1.24349905e+02] [-1.95585016e-01 9.80686494e-01 7.08854339e-04 -4.15960029e+01] [-3.63260111e-03 -1.66483811e-06 -9.99993402e-01 7.24364164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.880888479 meters 0.014769556672861993 Centerline is valid? [True, True] Translation: X:124.31, Y:-41.58, Z:0.72 [[-9.63840813e-01 -2.66454793e-01 3.56792909e-03 1.24305217e+02] [-2.66452965e-01 9.63847417e-01 9.86945834e-04 -4.15783166e+01] [-3.70191569e-03 5.73388739e-07 -9.99993148e-01 7.24519732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.910888479 meters 0.014713966250423144 Centerline is valid? [True, True] Translation: X:124.24, Y:-41.57, Z:0.72 [[-9.41703057e-01 -3.36426164e-01 3.57611429e-03 1.24238652e+02] [-3.36423727e-01 9.41709847e-01 1.28043185e-03 -4.15704182e+01] [-3.79843282e-03 2.69688801e-06 -9.99992786e-01 7.24515851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.940888479 meters 0.014373435844816082 Centerline is valid? [True, True] Translation: X:124.17, Y:-41.56, Z:0.72 [[-9.13710559e-01 -4.06350526e-01 3.50218378e-03 1.24173037e+02] [-4.06347540e-01 9.13717270e-01 1.55769997e-03 -4.15643624e+01] [-3.83297800e-03 1.83142714e-07 -9.99992654e-01 7.24988495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.970888479 meters 0.014696611908077887 Centerline is valid? [True, True] Translation: X:124.09, Y:-41.58, Z:0.73 [[-8.80382658e-01 -4.74254855e-01 2.95078844e-03 1.24086526e+02] [-4.74252227e-01 8.80387603e-01 1.57888425e-03 -4.15763969e+01] [-3.34663109e-03 -9.39567364e-06 -9.99994400e-01 7.25789860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.000888479 meters 0.014149129328404468 Centerline is valid? [True, True] Translation: X:124.00, Y:-41.59, Z:0.73 [[-8.41495433e-01 -5.40257367e-01 2.72269204e-03 1.24000869e+02] [-5.40254597e-01 8.41499838e-01 1.73013532e-03 -4.15923404e+01] [-3.22586326e-03 -1.50459254e-05 -9.99994797e-01 7.25817751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03088847899997 meters 0.013951833015848491 Centerline is valid? [True, True] Translation: X:123.91, Y:-41.62, Z:0.73 [[-7.96700811e-01 -6.04369314e-01 2.35588870e-03 1.23910221e+02] [-6.04366768e-01 7.96704293e-01 1.75459879e-03 -4.16197791e+01] [-2.93737231e-03 -2.59305618e-05 -9.99995686e-01 7.25995468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06088847899997 meters 0.013839988345393758 Centerline is valid? [True, True] Translation: X:123.81, Y:-41.66, Z:0.73 [[-7.47470427e-01 -6.64291776e-01 2.09703972e-03 1.23813679e+02] [-6.64289280e-01 7.47473368e-01 1.82121619e-03 -4.16628641e+01] [-2.77730028e-03 -3.17357682e-05 -9.99996143e-01 7.25634823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09088847899997 meters 0.013752234534854873 Centerline is valid? [True, True] Translation: X:123.72, Y:-41.71, Z:0.73 [[-6.93754459e-01 -7.20209274e-01 1.83102104e-03 1.23723381e+02] [-7.20206903e-01 6.93756874e-01 1.84855139e-03 -4.17098435e+01] [-2.60162729e-03 -3.62732219e-05 -9.99996615e-01 7.25595359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12088847899997 meters 0.013608841887409878 Centerline is valid? [True, True] Translation: X:123.63, Y:-41.77, Z:0.73 [[-6.34651326e-01 -7.72797350e-01 1.39665536e-03 1.23632666e+02] [-7.72795633e-01 6.34652861e-01 1.62947071e-03 -4.17670961e+01] [-2.14564197e-03 -4.51834157e-05 -9.99997697e-01 7.25615751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15088847899997 meters 0.013530286204190849 Centerline is valid? [True, True] Translation: X:123.55, Y:-41.83, Z:0.73 [[-5.72466117e-01 -8.19927575e-01 1.14731146e-03 1.23546427e+02] [-8.19926096e-01 5.72467265e-01 1.55833410e-03 -4.18326659e+01] [-1.93451936e-03 -4.86171341e-05 -9.99998128e-01 7.25712057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18088847899998 meters 0.013461464705514035 Centerline is valid? [True, True] Translation: X:123.46, Y:-41.91, Z:0.73 [[-5.06429807e-01 -8.62280877e-01 7.35121171e-04 1.23460235e+02] [-8.62280116e-01 5.06430338e-01 1.14688677e-03 -4.19136127e+01] [-1.36122619e-03 -5.30627253e-05 -9.99999072e-01 7.25818500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21088847899998 meters 0.01338674512229376 Centerline is valid? [True, True] Translation: X:123.38, Y:-42.00, Z:0.73 [[-4.36598607e-01 -8.99656410e-01 -3.32684435e-05 1.23380949e+02] [-8.99656389e-01 4.36598604e-01 -1.99082270e-04 -4.19975869e+01] [ 1.93630597e-04 -5.69888742e-05 -9.99999980e-01 7.25365794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24088847899998 meters 0.013475172144532923 Centerline is valid? [True, True] Translation: X:123.31, Y:-42.09, Z:0.72 [[-3.64840155e-01 -9.31070160e-01 -1.35731701e-04 1.23308417e+02] [-9.31070027e-01 3.64840176e-01 -5.01486573e-04 -4.20928095e+01] [ 5.16439561e-04 -5.65867202e-05 -9.99999865e-01 7.24631710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27088847899998 meters 0.01349780506021993 Centerline is valid? [True, True] Translation: X:123.24, Y:-42.20, Z:0.72 [[-2.91078684e-01 -9.56699090e-01 -2.23875895e-04 1.23242154e+02] [-9.56698643e-01 2.91078765e-01 -9.26779810e-04 -4.21976489e+01] [ 9.51814920e-04 -5.55840828e-05 -9.99999545e-01 7.24436089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30088847899998 meters 0.013463138689831785 Centerline is valid? [True, True] Translation: X:123.18, Y:-42.32, Z:0.72 [[-2.15189567e-01 -9.76572277e-01 -1.93883554e-04 1.23180928e+02] [-9.76571624e-01 2.15189648e-01 -1.13092595e-03 -4.23206522e+01] [ 1.14615267e-03 -5.40222891e-05 -9.99999342e-01 7.24308975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33088847899998 meters 0.013513580150713305 Centerline is valid? [True, True] Translation: X:123.13, Y:-42.42, Z:0.72 [[-1.38019743e-01 -9.90429470e-01 -1.24632228e-04 1.23134151e+02] [-9.90428650e-01 1.38019789e-01 -1.27591186e-03 -4.24191798e+01] [ 1.28090242e-03 -5.26616969e-05 -9.99999178e-01 7.24727822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36088847899998 meters 0.013618861022450005 Centerline is valid? [True, True] Translation: X:123.09, Y:-42.56, Z:0.72 [[-6.03428515e-02 -9.98177708e-01 -6.14130601e-05 1.23090812e+02] [-9.98176018e-01 6.03428624e-02 -1.83722898e-03 -4.25636424e+01] [ 1.83758685e-03 -4.95625917e-05 -9.99998310e-01 7.24816381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39088847899998 meters 0.01365621958582348 Centerline is valid? [True, True] Translation: X:123.06, Y:-42.67, Z:0.72 [[ 1.83366317e-02 -9.99831864e-01 1.08933701e-04 1.23060267e+02] [-9.99824336e-01 -1.83369164e-02 -3.87998006e-03 -4.26739826e+01] [ 3.88132521e-03 -3.77687999e-05 -9.99992467e-01 7.23251619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42088847899998 meters 0.013760266486455239 Centerline is valid? [True, True] Translation: X:123.04, Y:-42.86, Z:0.72 [[ 9.60539704e-02 -9.95375995e-01 5.12298194e-04 1.23043266e+02] [-9.95363479e-01 -9.60553318e-02 -4.99181543e-03 -4.28565727e+01] [ 5.01794223e-03 -3.04392204e-05 -9.99987410e-01 7.21679872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45088847899999 meters 0.013721938918473101 Centerline is valid? [True, True] Translation: X:122.20, Y:-42.97, Z:-0.10 [[ 1.83304048e-02 9.99831943e-01 2.85600219e-04 1.22201572e+02] [-9.99804279e-01 1.83320226e-02 -7.43914832e-03 -4.29694281e+01] [-7.44313375e-03 -1.49181720e-04 9.99972288e-01 -1.03304606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.480888479 meters 0.013693672215237018 Centerline is valid? [True, True] Translation: X:123.06, Y:-43.06, Z:0.72 [[ 1.05393476e-01 -9.94430332e-01 7.27839476e-04 1.23064339e+02] [-9.94408468e-01 -1.05395985e-01 -6.59433464e-03 -4.30592166e+01] [ 6.63431775e-03 -2.87698918e-05 -9.99977992e-01 7.20333535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510888479 meters 0.01363825622447748 Centerline is valid? [True, True] Translation: X:123.05, Y:-43.19, Z:0.72 [[ 1.81346229e-01 -9.83418641e-01 1.14951576e-03 1.23054989e+02] [-9.83400097e-01 -1.81349869e-01 -6.03942473e-03 -4.31859753e+01] [ 6.14774739e-03 -3.52070108e-05 -9.99981102e-01 7.19963192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.540888479 meters 0.013695302047993947 Centerline is valid? [True, True] Translation: X:123.06, Y:-43.31, Z:0.72 [[ 2.55779852e-01 -9.66733514e-01 1.72604410e-03 1.23057094e+02] [-9.66712612e-01 -2.55785672e-01 -6.35733379e-03 -4.33128768e+01] [ 6.58734499e-03 -4.25107017e-05 -9.99978302e-01 7.20299458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.570888479 meters 0.013703683114282933 Centerline is valid? [True, True] Translation: X:123.06, Y:-43.43, Z:0.72 [[ 3.29266324e-01 -9.44234463e-01 2.22857443e-03 1.23064711e+02] [-9.44213796e-01 -3.29273862e-01 -6.24752444e-03 -4.34294681e+01] [ 6.63293920e-03 -4.71513126e-05 -9.99978001e-01 7.20440938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.600888479 meters 0.013740499641215112 Centerline is valid? [True, True] Translation: X:123.08, Y:-43.55, Z:0.72 [[ 4.00540956e-01 -9.16274733e-01 2.74880848e-03 1.23082606e+02] [-9.16254060e-01 -4.00550384e-01 -6.15520226e-03 -4.35493489e+01] [ 6.74089260e-03 -5.31963357e-05 -9.99977279e-01 7.20491806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.630888479 meters 0.013804122478836098 Centerline is valid? [True, True] Translation: X:123.12, Y:-43.68, Z:0.72 [[ 4.67406176e-01 -8.84037211e-01 3.11065691e-03 1.23118191e+02] [-8.84018673e-01 -4.67416521e-01 -5.72562766e-03 -4.36798486e+01] [ 6.51564034e-03 -7.36850671e-05 -9.99978770e-01 7.21858624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.660888479 meters 0.013911865600884869 Centerline is valid? [True, True] Translation: X:123.15, Y:-43.78, Z:0.72 [[ 5.33007138e-01 -8.46102442e-01 3.74815238e-03 1.23146281e+02] [-8.46082649e-01 -5.33020310e-01 -5.78794978e-03 -4.37793694e+01] [ 6.89503978e-03 -8.62281498e-05 -9.99976225e-01 7.21481342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.690888479 meters 0.014026282362348185 Centerline is valid? [True, True] Translation: X:123.19, Y:-43.89, Z:0.72 [[ 5.95295167e-01 -8.03494993e-01 4.41135055e-03 1.23189730e+02] [-8.03474177e-01 -5.95311503e-01 -5.78462934e-03 -4.38876093e+01] [ 7.27404844e-03 -1.00844360e-04 -9.99973539e-01 7.20484012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.720888479 meters 0.014105899708473299 Centerline is valid? [True, True] Translation: X:123.24, Y:-44.00, Z:0.72 [[ 6.54292526e-01 -7.56223732e-01 5.19206128e-03 1.23244569e+02] [-7.56201316e-01 -6.54313116e-01 -5.82371264e-03 -4.39967858e+01] [ 7.80126351e-03 -1.15831919e-04 -9.99969563e-01 7.19711628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.750888479 meters 0.01433588637741668 Centerline is valid? [True, True] Translation: X:123.29, Y:-44.09, Z:0.72 [[ 7.09388584e-01 -7.04793762e-01 5.79563274e-03 1.23293319e+02] [-7.04771730e-01 -7.09412247e-01 -5.57427863e-03 -4.40862354e+01] [ 8.04020965e-03 -1.30268492e-04 -9.99967669e-01 7.18984935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78088847899997 meters 0.014428111682566119 Centerline is valid? [True, True] Translation: X:123.29, Y:-44.10, Z:0.72 [[ 7.60364383e-01 -6.49475135e-01 5.29665075e-03 1.23291183e+02] [-6.49460631e-01 -7.60382818e-01 -4.34265347e-03 -4.40965718e+01] [ 6.84792767e-03 -1.37967110e-04 -9.99976543e-01 7.21187858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81088847899997 meters 0.01469867714213744 Centerline is valid? [True, True] Translation: X:123.28, Y:-44.10, Z:0.72 [[ 8.07983658e-01 -5.89183595e-01 5.00989710e-03 1.23284926e+02] [-5.89173308e-01 -8.07999179e-01 -3.48428627e-03 -4.41026448e+01] [ 6.10087705e-03 -1.36451281e-04 -9.99981380e-01 7.22273314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84088847899997 meters 0.014868279963767023 Centerline is valid? [True, True] Translation: X:123.28, Y:-44.11, Z:0.72 [[ 8.50379092e-01 -5.26148900e-01 4.76815190e-03 1.23276748e+02] [-5.26141550e-01 -8.50392448e-01 -2.78462425e-03 -4.41087621e+01] [ 5.51992735e-03 -1.40736595e-04 -9.99984755e-01 7.24129319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87088847899997 meters 0.015110976919167275 Centerline is valid? [True, True] Translation: X:123.27, Y:-44.11, Z:0.72 [[ 8.88375785e-01 -4.59090332e-01 4.95297651e-03 1.23268390e+02] [-4.59084110e-01 -8.88389580e-01 -2.39466679e-03 -4.41149125e+01] [ 5.49954109e-03 -1.46468828e-04 -9.99984867e-01 7.24643022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90088847899997 meters 0.015135910894317168 Centerline is valid? [True, True] Translation: X:123.26, Y:-44.12, Z:0.73 [[ 9.21322332e-01 -3.88768395e-01 4.92914263e-03 1.23259820e+02] [-3.88763672e-01 -9.21335506e-01 -1.92167208e-03 -4.41230390e+01] [ 5.28847948e-03 -1.45792190e-04 -9.99986005e-01 7.25155552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93088847899998 meters 0.015062811458131781 Centerline is valid? [True, True] Translation: X:123.25, Y:-44.13, Z:0.73 [[ 9.48694683e-01 -3.16150839e-01 5.20058131e-03 1.23252033e+02] [-3.16146960e-01 -9.48708925e-01 -1.57338169e-03 -4.41323846e+01] [ 5.43126385e-03 -1.51489131e-04 -9.99985239e-01 7.25706369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96088847899998 meters 0.015642184604138704 Centerline is valid? [True, True] Translation: X:123.24, Y:-44.14, Z:0.73 [[ 9.70550955e-01 -2.40842536e-01 5.07121501e-03 1.23242355e+02] [-2.40840035e-01 -9.70564192e-01 -1.10733364e-03 -4.41413878e+01] [ 5.18863275e-03 -1.46627878e-04 -9.99986528e-01 7.26032601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99088847899998 meters 0.015669919235821592 Centerline is valid? [True, True] Translation: X:123.23, Y:-44.15, Z:0.73 [[ 9.86491207e-01 -1.63743191e-01 4.82352616e-03 1.23232470e+02] [-1.63741920e-01 -9.86502989e-01 -6.59863121e-04 -4.41472209e+01] [ 4.86647107e-03 -1.38864268e-04 -9.99988149e-01 7.26448273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02088847899998 meters 0.014861156979990726 Centerline is valid? [True, True] Translation: X:123.22, Y:-44.16, Z:0.73 [[ 9.96390245e-01 -8.47980226e-02 3.97187062e-03 1.23222848e+02] [-8.47978214e-02 -9.96398154e-01 -2.19316280e-04 -4.41615768e+01] [ 3.97616214e-03 -1.18281374e-04 -9.99992088e-01 7.28156341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05088847899998 meters 0.014861156979990726 Centerline is valid? [True, True] Translation: X:123.21, Y:-44.17, Z:0.73 [[ 9.99970585e-01 -6.55728411e-03 3.97892258e-03 1.23214819e+02] [-6.55770217e-03 -9.99978494e-01 9.20302325e-05 -4.41707989e+01] [ 3.97823354e-03 -1.18120115e-04 -9.99992080e-01 7.28137367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08088847899998 meters 0.014830299493653493 Centerline is valid? [True, True] Translation: X:123.21, Y:-44.18, Z:0.73 [[ 9.97362200e-01 7.24863398e-02 3.79109976e-03 1.23207805e+02] [ 7.24853871e-02 -9.97369399e-01 3.88284452e-04 -4.41821154e+01] [ 3.80927221e-03 -1.12460901e-04 -9.99992738e-01 7.28672303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11088847899998 meters 0.014633939255053328 Centerline is valid? [True, True] Translation: X:123.20, Y:-44.19, Z:0.73 [[ 9.88426570e-01 1.51663942e-01 3.31114989e-03 1.23201387e+02] [ 1.51662748e-01 -9.88432111e-01 6.09983123e-04 -4.41933339e+01] [ 3.36535932e-03 -1.00745434e-04 -9.99994332e-01 7.28705962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14088847899998 meters 0.014122458902497751 Centerline is valid? [True, True] Translation: X:123.20, Y:-44.21, Z:0.73 [[ 9.72632841e-01 2.32330536e-01 2.80677312e-03 1.23197616e+02] [ 2.32329322e-01 -9.72636888e-01 7.55694826e-04 -4.42095710e+01] [ 2.90554205e-03 -8.29179114e-05 -9.99995775e-01 7.29636609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17088847899998 meters 0.013682598997471972 Centerline is valid? [True, True] Translation: X:123.20, Y:-44.23, Z:0.73 [[ 9.50845495e-01 3.09654777e-01 2.60065716e-03 1.23195445e+02] [ 3.09653400e-01 -9.50849049e-01 9.26427003e-04 -4.42254456e+01] [ 2.75970494e-03 -7.55866078e-05 -9.99996189e-01 7.30781769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20088847899999 meters 0.01356175610358547 Centerline is valid? [True, True] Translation: X:123.19, Y:-44.24, Z:0.73 [[ 9.22850161e-01 3.85156260e-01 1.49505519e-03 1.23193720e+02] [ 3.85155644e-01 -9.22851370e-01 6.91629567e-04 -4.42391114e+01] [ 1.64609919e-03 -6.24415119e-05 -9.99998643e-01 7.31747810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230888479 meters 0.01339464453866524 Centerline is valid? [True, True] Translation: X:123.19, Y:-44.25, Z:0.73 [[ 8.88728742e-01 4.58433312e-01 3.47751260e-04 1.23193935e+02] [ 4.58433252e-01 -8.88728809e-01 2.39545421e-04 -4.42531338e+01] [ 4.18872163e-04 -5.34701601e-05 -9.99999911e-01 7.32997307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.260888479 meters 0.013236365871304855 Centerline is valid? [True, True] Translation: X:123.20, Y:-44.27, Z:0.74 [[ 8.47719970e-01 5.30442598e-01 -1.22574350e-03 1.23199195e+02] [ 5.30442132e-01 -8.47720855e-01 -7.04947253e-04 -4.42721785e+01] [-1.41302238e-03 -5.25881302e-05 -9.99999000e-01 7.35679203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290888479 meters 0.013273353220591425 Centerline is valid? [True, True] Translation: X:123.20, Y:-44.29, Z:0.74 [[ 8.02328955e-01 5.96878665e-01 -2.02677800e-03 1.23203174e+02] [ 5.96876943e-01 -8.02331512e-01 -1.43512755e-03 -4.42869288e+01] [-2.48274488e-03 -5.82926659e-05 -9.99996916e-01 7.36930298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.320888479 meters 0.013459429388415135 Centerline is valid? [True, True] Translation: X:123.21, Y:-44.30, Z:0.74 [[ 7.51812423e-01 6.59371780e-01 -2.63393849e-03 1.23208183e+02] [ 6.59368045e-01 -7.51817033e-01 -2.22019203e-03 -4.43009919e+01] [-3.44417179e-03 -6.75669310e-05 -9.99994067e-01 7.38419994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.350888479 meters 0.013767479671754162 Centerline is valid? [True, True] Translation: X:123.22, Y:-44.31, Z:0.74 [[ 6.95667073e-01 7.18357142e-01 -3.21555644e-03 1.23215330e+02] [ 7.18350037e-01 -6.95674499e-01 -3.19617328e-03 -4.43136358e+01] [-4.53297452e-03 -8.64225807e-05 -9.99989722e-01 7.40975154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.380888479 meters 0.013876577307506252 Centerline is valid? [True, True] Translation: X:123.22, Y:-44.32, Z:0.74 [[ 6.36161128e-01 7.71549784e-01 -3.15457316e-03 1.23221816e+02] [ 7.71541034e-01 -6.36168942e-01 -3.67566186e-03 -4.43237730e+01] [-4.84279758e-03 -9.55694467e-05 -9.99988269e-01 7.41545676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.410888479 meters 0.013827341155976454 Centerline is valid? [True, True] Translation: X:123.23, Y:-44.34, Z:0.74 [[ 5.73090816e-01 8.19485928e-01 -3.11933313e-03 1.23230662e+02] [ 8.19474764e-01 -5.73099296e-01 -4.27885300e-03 -4.43350857e+01] [-5.29414744e-03 -1.04043424e-04 -9.99985981e-01 7.41717602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.440888479 meters 0.014299377792247036 Centerline is valid? [True, True] Translation: X:123.24, Y:-44.35, Z:0.74 [[ 5.05375149e-01 8.62894392e-01 -3.03779016e-03 1.23243084e+02] [ 8.62880217e-01 -5.05384264e-01 -4.94732799e-03 -4.43484420e+01] [-5.80427292e-03 -1.20992409e-04 -9.99983148e-01 7.42887109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.470888479 meters 0.014354251789826309 Centerline is valid? [True, True] Translation: X:123.25, Y:-44.36, Z:0.74 [[ 4.35580772e-01 9.00145840e-01 -2.61873230e-03 1.23251869e+02] [ 9.00131254e-01 -4.35588626e-01 -5.12590248e-03 -4.43565822e+01] [-5.75474979e-03 -1.24458227e-04 -9.99983434e-01 7.43680203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.500888479 meters 0.014648927755757667 Centerline is valid? [True, True] Translation: X:123.26, Y:-44.36, Z:0.74 [[ 3.63274580e-01 9.31678105e-01 -2.73643187e-03 1.23264038e+02] [ 9.31654621e-01 -3.63284857e-01 -6.61664644e-03 -4.43644037e+01] [-7.15868888e-03 -1.45749945e-04 -9.99974366e-01 7.44545628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53088847899997 meters 0.014293778669848897 Centerline is valid? [True, True] Translation: X:123.27, Y:-44.37, Z:0.74 [[ 2.90059776e-01 9.57005302e-01 -2.48571803e-03 1.23274248e+02] [ 9.56974482e-01 -2.90070388e-01 -7.68186257e-03 -4.43707474e+01] [-8.07261640e-03 -1.50569390e-04 -9.99967405e-01 7.44670841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56088847899997 meters 0.014361135357801409 Centerline is valid? [True, True] Translation: X:123.28, Y:-44.38, Z:0.75 [[ 2.15265512e-01 9.76553120e-01 -2.18225658e-03 1.23284331e+02] [ 9.76510077e-01 -2.15276516e-01 -9.17015556e-03 -4.43771066e+01] [-9.42493262e-03 -1.56977307e-04 -9.99955572e-01 7.45568248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59088847899997 meters 0.014070456367358453 Centerline is valid? [True, True] Translation: X:123.29, Y:-44.38, Z:0.75 [[ 1.40252959e-01 9.90114376e-01 -1.62179281e-03 1.23294338e+02] [ 9.90059754e-01 -1.40262259e-01 -1.04010860e-02 -4.43808565e+01] [-1.05257411e-02 -1.46888699e-04 -9.99944592e-01 7.46307072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62088847899997 meters 0.01383292143947374 Centerline is valid? [True, True] Translation: X:123.30, Y:-44.38, Z:0.75 [[ 6.64829072e-02 9.97787168e-01 -8.89279568e-04 1.23304065e+02] [ 9.97718458e-01 -6.64887655e-02 -1.17099234e-02 -4.43849099e+01] [-1.17431384e-02 -1.08740890e-04 -9.99931041e-01 7.47943584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65088847899997 meters 0.013866794463582707 Centerline is valid? [True, True] Translation: X:123.31, Y:-44.39, Z:0.75 [[-9.14308338e-03 9.99958201e-01 3.16548984e-05 1.23313288e+02] [ 9.99887996e-01 9.14281656e-03 -1.18492538e-02 -4.43869306e+01] [-1.18490479e-02 -7.66873625e-05 -9.99929795e-01 7.48360354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68088847899998 meters 0.013921509799098768 Centerline is valid? [True, True] Translation: X:123.32, Y:-44.39, Z:0.75 [[-8.50434262e-02 9.96376777e-01 9.66231534e-04 1.23321781e+02] [ 9.96305934e-01 8.50489016e-02 -1.18814711e-02 -4.43890922e+01] [-1.19205989e-02 -4.77788031e-05 -9.99928946e-01 7.48658547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71088847899998 meters 0.013969170610074497 Centerline is valid? [True, True] Translation: X:123.33, Y:-44.39, Z:0.75 [[-1.60066679e-01 9.87104406e-01 1.88409911e-03 1.23329344e+02] [ 9.87034955e-01 1.60077766e-01 -1.17092489e-02 -4.43918609e+01] [-1.18598535e-02 -1.45889027e-05 -9.99929669e-01 7.48497846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74088847899998 meters 0.014363489386031063 Centerline is valid? [True, True] Translation: X:123.34, Y:-44.39, Z:0.75 [[-2.32403667e-01 9.72615028e-01 2.92284504e-03 1.23336115e+02] [ 9.72540493e-01 2.32422042e-01 -1.20409486e-02 -4.43928280e+01] [-1.23905412e-02 4.42245405e-05 -9.99923233e-01 7.46944788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77088847899998 meters 0.014626227363115743 Centerline is valid? [True, True] Translation: X:123.34, Y:-44.39, Z:0.75 [[-3.06260105e-01 9.51938791e-01 4.15766708e-03 1.23344270e+02] [ 9.51854327e-01 3.06288316e-01 -1.26809824e-02 -4.43927750e+01] [-1.33449639e-02 7.38144107e-05 -9.99910949e-01 7.46687766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80088847899998 meters 0.014851546437597592 Centerline is valid? [True, True] Translation: X:123.35, Y:-44.39, Z:0.75 [[-3.78573195e-01 9.25555309e-01 5.45036706e-03 1.23352414e+02] [ 9.25463208e-01 3.78612414e-01 -1.30572137e-02 -4.43931239e+01] [-1.41487501e-02 1.01003060e-04 -9.99899896e-01 7.46799786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83088847899998 meters 0.01519120429811456 Centerline is valid? [True, True] Translation: X:123.36, Y:-44.39, Z:0.75 [[-4.49106649e-01 8.93449819e-01 7.11610925e-03 1.23361489e+02] [ 8.93342216e-01 4.49163004e-01 -1.38665465e-02 -4.43931815e+01] [-1.55853565e-02 1.29562579e-04 -9.99878533e-01 7.48503033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86088847899998 meters 0.015159700300301154 Centerline is valid? [True, True] Translation: X:123.37, Y:-44.39, Z:0.75 [[-5.17898063e-01 8.55404463e-01 8.04990121e-03 1.23369298e+02] [ 8.55304835e-01 5.17960606e-01 -1.30556319e-02 -4.43925838e+01] [-1.53373775e-02 1.23632970e-04 -9.99882368e-01 7.49110806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89088847899998 meters 0.014773446072831972 Centerline is valid? [True, True] Translation: X:123.38, Y:-44.39, Z:0.75 [[-5.85662390e-01 8.10509710e-01 8.57758603e-03 1.23376906e+02] [ 8.10424613e-01 5.85725195e-01 -1.17449076e-02 -4.43908521e+01] [-1.45434699e-02 7.29361849e-05 -9.99894235e-01 7.47445665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92088847899998 meters 0.014289717554777565 Centerline is valid? [True, True] Translation: X:123.39, Y:-44.39, Z:0.74 [[-6.48446200e-01 7.61206909e-01 9.03145191e-03 1.23387425e+02] [ 7.61134112e-01 6.48509089e-01 -1.05273361e-02 -4.43853724e+01] [-1.38704596e-02 4.77350635e-05 -9.99903799e-01 7.44832785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95088847899999 meters 0.014014029447420816 Centerline is valid? [True, True] Translation: X:123.40, Y:-44.38, Z:0.74 [[-7.07253935e-01 7.06893841e-01 9.64207070e-03 1.23396569e+02] [ 7.06828599e-01 7.07319657e-01 -9.60384151e-03 -4.43804419e+01] [-1.36089226e-02 2.29366317e-05 -9.99907394e-01 7.44193774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.980888479 meters 0.014058983562767939 Centerline is valid? [True, True] Translation: X:123.41, Y:-44.36, Z:0.74 [[-7.57676904e-01 6.52563405e-01 9.31194670e-03 1.23413056e+02] [ 6.52513794e-01 7.57734124e-01 -8.04646444e-03 -4.43567155e+01] [-1.23068080e-02 -2.04465883e-05 -9.99924268e-01 7.43786510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010888479 meters 0.014067006461067328 Centerline is valid? [True, True] Translation: X:123.43, Y:-44.34, Z:0.74 [[-8.02955352e-01 5.95963056e-01 9.52573258e-03 1.23432888e+02] [ 5.95920510e-01 8.03011852e-01 -7.12121591e-03 -4.43368523e+01] [-1.18932578e-02 -4.14390124e-05 -9.99929272e-01 7.44127039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.040888479 meters 0.013816375861217044 Centerline is valid? [True, True] Translation: X:123.45, Y:-44.32, Z:0.74 [[-8.43928377e-01 5.36370714e-01 9.55778341e-03 1.23450412e+02] [ 5.36335507e-01 8.43982496e-01 -6.14573424e-03 -4.43153768e+01] [-1.13629938e-02 -6.03809074e-05 -9.99935437e-01 7.41190002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.070888479 meters 0.01374990887295277 Centerline is valid? [True, True] Translation: X:123.47, Y:-44.29, Z:0.74 [[-8.81420153e-01 4.72243369e-01 9.20398789e-03 1.23466452e+02] [ 4.72216498e-01 8.81468202e-01 -5.03862175e-03 -4.42924988e+01] [-1.04924784e-02 -9.48678264e-05 -9.99944948e-01 7.40677039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.100888479 meters 0.013681425302674908 Centerline is valid? [True, True] Translation: X:123.48, Y:-44.27, Z:0.74 [[-9.13152369e-01 4.07528535e-01 8.55823632e-03 1.23476748e+02] [ 4.07509600e-01 9.13192468e-01 -3.92980077e-03 -4.42670557e+01] [-9.41682290e-03 -1.00943424e-04 -9.99955656e-01 7.40161748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.130888479 meters 0.013889757530973478 Centerline is valid? [True, True] Translation: X:123.49, Y:-44.24, Z:0.74 [[-9.40286903e-01 3.40280186e-01 8.36271779e-03 1.23485283e+02] [ 3.40265663e-01 9.40324084e-01 -3.14577937e-03 -4.42413687e+01] [-8.93411134e-03 -1.12389426e-04 -9.99960084e-01 7.39621349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.160888479 meters 0.013897414601990765 Centerline is valid? [True, True] Translation: X:123.50, Y:-44.22, Z:0.74 [[-9.62422384e-01 2.71452293e-01 7.53707405e-03 1.23498100e+02] [ 2.71443033e-01 9.62451890e-01 -2.24504152e-03 -4.42174409e+01] [-7.86349283e-03 -1.14791973e-04 -9.99969076e-01 7.38380025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.190888479 meters 0.014582422403000823 Centerline is valid? [True, True] Translation: X:123.50, Y:-44.19, Z:0.74 [[-9.79965117e-01 1.99047532e-01 6.96061172e-03 1.23500594e+02] [ 1.99041543e-01 9.79989828e-01 -1.54978943e-03 -4.41895915e+01] [-7.12981044e-03 -1.33288678e-04 -9.99974574e-01 7.38006714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.220888479 meters 0.014587227186684279 Centerline is valid? [True, True] Translation: X:123.66, Y:-43.49, Z:-0.12 [[-9.56905457e-01 -2.90340646e-01 5.85277416e-03 1.23657284e+02] [ 2.90335557e-01 -9.56923354e-01 -1.71992445e-03 -4.34921477e+01] [ 6.10002026e-03 5.34633553e-05 9.99981393e-01 -1.24335720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.250888479 meters 0.015395181547687695 Centerline is valid? [True, True] Translation: X:123.45, Y:-44.18, Z:0.74 [[-9.81292029e-01 1.92370695e-01 7.71165158e-03 1.23451055e+02] [ 1.92363426e-01 9.81322316e-01 -1.68052355e-03 -4.41801379e+01] [-7.89089927e-03 -1.65644649e-04 -9.99968853e-01 7.38882778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28088847899997 meters 0.015367760726518572 Centerline is valid? [True, True] Translation: X:123.45, Y:-44.15, Z:0.74 [[-9.92686037e-01 1.20375983e-01 9.16811397e-03 1.23445626e+02] [ 1.20368942e-01 9.92728352e-01 -1.31792794e-03 -4.41549482e+01] [-9.26009354e-03 -2.04732490e-04 -9.99957103e-01 7.38602550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31088847899997 meters 0.015331267120822127 Centerline is valid? [True, True] Translation: X:123.45, Y:-44.13, Z:0.74 [[-9.98774498e-01 4.85711275e-02 9.50513811e-03 1.23449138e+02] [ 4.85668416e-02 9.98819702e-01 -6.81342320e-04 -4.41294257e+01] [-9.52701278e-03 -2.18872797e-04 -9.99954593e-01 7.38517664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34088847899997 meters 0.0156777796672543 Centerline is valid? [True, True] Translation: X:123.45, Y:-44.10, Z:0.74 [[-9.99686933e-01 -2.30784326e-02 9.66552950e-03 1.23452225e+02] [-2.30795414e-02 9.99733632e-01 -3.17497203e-06 -4.41037813e+01] [-9.66288164e-03 -2.26249966e-04 -9.99953288e-01 7.38985254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37088847899997 meters 0.015537772605280489 Centerline is valid? [True, True] Translation: X:123.46, Y:-43.37, Z:-0.13 [[-9.96609959e-01 -8.18564008e-02 8.25347380e-03 1.23458688e+02] [ 8.18544964e-02 -9.96644128e-01 -5.68845316e-04 -4.33726079e+01] [ 8.27233983e-03 1.08667035e-04 9.99965778e-01 -1.25001378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40088847899997 meters 0.015518460576267379 Centerline is valid? [True, True] Translation: X:123.37, Y:-44.11, Z:0.74 [[-9.99579648e-01 -2.75166343e-02 9.13028304e-03 1.23374323e+02] [-2.75173913e-02 9.99621324e-01 4.27278995e-05 -4.41081519e+01] [-9.12800135e-03 -2.08531632e-04 -9.99958317e-01 7.37559527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43088847899998 meters 0.015241986667925995 Centerline is valid? [True, True] Translation: X:123.38, Y:-43.37, Z:-0.12 [[-9.97145151e-01 -7.51498700e-02 7.35154973e-03 1.23378062e+02] [ 7.51482854e-02 -9.97172249e-01 -4.91935844e-04 -4.33674073e+01] [ 7.36773029e-03 6.19249162e-05 9.99972856e-01 -1.23011859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46088847899998 meters 0.0149148919019333 Centerline is valid? [True, True] Translation: X:123.29, Y:-44.12, Z:0.73 [[-9.99518272e-01 -3.00992164e-02 7.56707589e-03 1.23294559e+02] [-3.00995360e-02 9.99546904e-01 7.16809004e-05 -4.41183905e+01] [-7.56580481e-03 -1.56119103e-04 -9.99971367e-01 7.34326524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49088847899998 meters 0.014598614780503378 Centerline is valid? [True, True] Translation: X:123.29, Y:-44.09, Z:0.73 [[-9.94950981e-01 -1.00114256e-01 7.04846734e-03 1.23290515e+02] [-1.00112739e-01 9.94975938e-01 5.68556368e-04 -4.40944332e+01] [-7.06997600e-03 -1.39955655e-04 -9.99974998e-01 7.33485291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52088847899998 meters 0.01447060371211962 Centerline is valid? [True, True] Translation: X:123.28, Y:-44.07, Z:0.73 [[-9.85551021e-01 -1.69245407e-01 6.72138124e-03 1.23281224e+02] [-1.69242339e-01 9.85573932e-01 1.02681745e-03 -4.40718863e+01] [-6.79820228e-03 -1.25561294e-04 -9.99976884e-01 7.34188723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55088847899998 meters 0.014345725856899815 Centerline is valid? [True, True] Translation: X:123.26, Y:-44.05, Z:0.73 [[-9.71049877e-01 -2.38777261e-01 6.89614238e-03 1.23263291e+02] [-2.38772133e-01 9.71074356e-01 1.56973442e-03 -4.40495099e+01] [-7.07148391e-03 -1.22316212e-04 -9.99974989e-01 7.34848998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58088847899998 meters 0.01420987515764336 Centerline is valid? [True, True] Translation: X:123.22, Y:-44.03, Z:0.73 [[-9.51507794e-01 -3.07552002e-01 6.68453219e-03 1.23223534e+02] [-3.07545256e-01 9.51531267e-01 2.04031129e-03 -4.40349020e+01] [-6.98804321e-03 -1.14424067e-04 -9.99975577e-01 7.34552778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61088847899998 meters 0.014146282859768364 Centerline is valid? [True, True] Translation: X:123.16, Y:-44.03, Z:0.73 [[-9.26608426e-01 -3.75970981e-01 6.53044374e-03 1.23163193e+02] [-3.75962474e-01 9.26631431e-01 2.53161062e-03 -4.40302948e+01] [-7.00312656e-03 -1.09390051e-04 -9.99975472e-01 7.34356716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64088847899998 meters 0.014099041969896172 Centerline is valid? [True, True] Translation: X:123.10, Y:-44.04, Z:0.73 [[-8.96621358e-01 -4.42748836e-01 6.60369495e-03 1.23100170e+02] [-4.42737679e-01 8.96645670e-01 3.14486124e-03 -4.40351866e+01] [-7.31355813e-03 -1.03954818e-04 -9.99973250e-01 7.33429853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67088847899998 meters 0.014140886673334801 Centerline is valid? [True, True] Translation: X:123.03, Y:-44.05, Z:0.73 [[-8.61185816e-01 -5.08254609e-01 6.02023536e-03 1.23026333e+02] [-5.08242983e-01 8.61206853e-01 3.43909474e-03 -4.40464197e+01] [-6.93260370e-03 -9.80427676e-05 -9.99975964e-01 7.32851913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70088847899999 meters 0.0141040009629937 Centerline is valid? [True, True] Translation: X:122.94, Y:-44.07, Z:0.73 [[-8.20817716e-01 -5.71160979e-01 5.78036458e-03 1.22943680e+02] [-5.71147625e-01 8.20838064e-01 3.90684262e-03 -4.40683906e+01] [-6.97617933e-03 -9.46358627e-05 -9.99975662e-01 7.32326266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730888479 meters 0.014106805443541818 Centerline is valid? [True, True] Translation: X:122.86, Y:-44.10, Z:0.73 [[-7.76259053e-01 -6.30388236e-01 5.70564478e-03 1.22860664e+02] [-6.30372024e-01 7.76280017e-01 4.52183069e-03 -4.41002775e+01] [-7.27968690e-03 -8.65668441e-05 -9.99973499e-01 7.33227665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.760888479 meters 0.014149495383324854 Centerline is valid? [True, True] Translation: X:122.77, Y:-44.15, Z:0.73 [[-7.26344796e-01 -6.87304572e-01 5.97191815e-03 1.22765770e+02] [-6.87282353e-01 7.26369340e-01 5.52720480e-03 -4.41487078e+01] [-8.13669137e-03 -8.97375133e-05 -9.99966893e-01 7.33801886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790888479 meters 0.014037690118999413 Centerline is valid? [True, True] Translation: X:122.69, Y:-44.19, Z:0.73 [[-6.71744203e-01 -7.40760235e-01 5.83091247e-03 1.22685338e+02] [-7.40733509e-01 6.71769504e-01 6.29307455e-03 -4.41948566e+01] [-8.57868855e-03 -9.18159026e-05 -9.99963198e-01 7.32679478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.820888479 meters 0.014112592528641511 Centerline is valid? [True, True] Translation: X:122.60, Y:-44.26, Z:0.73 [[-6.13245811e-01 -7.89878350e-01 4.66560319e-03 1.22598031e+02] [-7.89856528e-01 6.13263553e-01 5.87193508e-03 -4.42604709e+01] [-7.49935878e-03 -8.42175498e-05 -9.99971876e-01 7.32217601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.850888479 meters 0.014009291412122989 Centerline is valid? [True, True] Translation: X:122.51, Y:-44.34, Z:0.73 [[-5.50978393e-01 -8.34511111e-01 3.74375122e-03 1.22510668e+02] [-8.34492807e-01 5.50991106e-01 5.52775304e-03 -4.43361495e+01] [-6.67574496e-03 -7.84609790e-05 -9.99977714e-01 7.32024132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.880888479 meters 0.013912491173643708 Centerline is valid? [True, True] Translation: X:122.43, Y:-44.41, Z:0.73 [[-4.85830136e-01 -8.74049087e-01 2.69668367e-03 1.22434950e+02] [-8.74036384e-01 4.85837615e-01 4.71291552e-03 -4.44101892e+01] [-5.42946987e-03 -6.73232604e-05 -9.99985258e-01 7.31263229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.910888479 meters 0.013832559809459483 Centerline is valid? [True, True] Translation: X:122.36, Y:-44.50, Z:0.73 [[-4.18964330e-01 -9.08000312e-01 2.07947440e-03 1.22362178e+02] [-9.07989762e-01 4.18969487e-01 4.37737055e-03 -4.45021704e+01] [-4.84589015e-03 -5.41793389e-05 -9.99988257e-01 7.30354492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.940888479 meters 0.013837761464150607 Centerline is valid? [True, True] Translation: X:122.29, Y:-44.61, Z:0.73 [[-3.48613251e-01 -9.37265364e-01 1.56141681e-03 1.22289893e+02] [-9.37256578e-01 3.48616744e-01 4.05854860e-03 -4.46099472e+01] [-4.34827308e-03 -4.85843598e-05 -9.99990545e-01 7.29498225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.970888479 meters 0.013837761464150607 Centerline is valid? [True, True] Translation: X:122.23, Y:-44.71, Z:0.73 [[-2.75014952e-01 -9.61439147e-01 1.24211484e-03 1.22227037e+02] [-9.61430124e-01 2.75017753e-01 4.16561788e-03 -4.47120825e+01] [-4.34659173e-03 -4.85994225e-05 -9.99990552e-01 7.29412859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.000888479 meters 0.01389197068278742 Centerline is valid? [True, True] Translation: X:122.18, Y:-44.81, Z:0.73 [[-2.00233347e-01 -9.79747769e-01 9.56711715e-04 1.22175792e+02] [-9.79737663e-01 2.00235628e-01 4.45037337e-03 -4.48136915e+01] [-4.55181115e-03 -4.62133441e-05 -9.99989639e-01 7.29283092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03088847899997 meters 0.01395420191979636 Centerline is valid? [True, True] Translation: X:122.13, Y:-44.94, Z:0.73 [[-1.23860417e-01 -9.92299440e-01 6.46867773e-04 1.22131006e+02] [-9.92287760e-01 1.23862098e-01 4.81467682e-03 -4.49367781e+01] [-4.85772351e-03 -4.55310932e-05 -9.99988200e-01 7.28457313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06088847899997 meters 0.014038021854355022 Centerline is valid? [True, True] Translation: X:122.09, Y:-45.04, Z:0.73 [[-4.60788992e-02 -9.98937761e-01 2.90789608e-04 1.22094479e+02] [-9.98923853e-01 4.60797922e-02 5.27157866e-03 -4.50388977e+01] [-5.27937851e-03 -4.75681336e-05 -9.99986063e-01 7.29080334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09088847899997 meters 0.014045954594492203 Centerline is valid? [True, True] Translation: X:122.06, Y:-45.16, Z:0.73 [[ 3.21619498e-02 -9.99482659e-01 -1.51492312e-04 1.22064803e+02] [-9.99462661e-01 -3.21622647e-02 6.32276541e-03 -4.51622338e+01] [-6.32436672e-03 -5.19415545e-05 -9.99980000e-01 7.30803985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12088847899997 meters 0.014177700654582997 Centerline is valid? [True, True] Translation: X:122.04, Y:-45.28, Z:0.73 [[ 1.10594235e-01 -9.93865374e-01 -7.30537819e-04 1.22043266e+02] [-9.93839958e-01 -1.10596632e-01 7.10796290e-03 -4.52817408e+01] [-7.14515323e-03 -6.00620457e-05 -9.99974471e-01 7.32366394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15088847899997 meters 0.014212453086809585 Centerline is valid? [True, True] Translation: X:122.03, Y:-45.41, Z:0.73 [[ 1.88872594e-01 -9.82000588e-01 -1.41010468e-03 1.22031358e+02] [-9.81970217e-01 -1.88877843e-01 7.72350119e-03 -4.54089246e+01] [-7.85082024e-03 -7.40769062e-05 -9.99969179e-01 7.33880603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18088847899998 meters 0.014228102467024308 Centerline is valid? [True, True] Translation: X:122.03, Y:-45.53, Z:0.73 [[ 2.64610973e-01 -9.64353135e-01 -2.01581925e-03 1.22030762e+02] [-9.64322949e-01 -2.64618640e-01 7.63049863e-03 -4.55324936e+01] [-7.89191862e-03 -7.52129019e-05 -9.99968856e-01 7.33509143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21088847899998 meters 0.0141936645653883 Centerline is valid? [True, True] Translation: X:122.04, Y:-45.65, Z:0.73 [[ 3.37187326e-01 -9.41434508e-01 -2.40291119e-03 1.22039990e+02] [-9.41409271e-01 -3.37195882e-01 6.89359537e-03 -4.56518547e+01] [-7.30012032e-03 -6.23101168e-05 -9.99973352e-01 7.31160951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24088847899998 meters 0.014132841956557216 Centerline is valid? [True, True] Translation: X:122.07, Y:-45.79, Z:0.73 [[ 4.07530569e-01 -9.13187584e-01 -2.69651488e-03 1.22068354e+02] [-9.13166788e-01 -4.07539487e-01 6.16317090e-03 -4.57939985e+01] [-6.72706744e-03 -4.93127135e-05 -9.99977372e-01 7.29971950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27088847899998 meters 0.014192033248188577 Centerline is valid? [True, True] Translation: X:122.09, Y:-45.89, Z:0.73 [[ 4.75472368e-01 -8.79726028e-01 -2.85359864e-03 1.22086607e+02] [-8.79709710e-01 -4.75480930e-01 5.35828668e-03 -4.58900948e+01] [-6.07065599e-03 -3.73788220e-05 -9.99981573e-01 7.29271782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30088847899998 meters 0.014420723707322971 Centerline is valid? [True, True] Translation: X:122.13, Y:-46.02, Z:0.73 [[ 5.38569922e-01 -8.42576794e-01 -2.60497831e-03 1.22134605e+02] [-8.42566774e-01 -5.38576222e-01 4.10912462e-03 -4.60226723e+01] [-4.86523242e-03 -1.81827571e-05 -9.99988165e-01 7.28796263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33088847899998 meters 0.014628670850364867 Centerline is valid? [True, True] Translation: X:122.17, Y:-46.13, Z:0.73 [[ 6.00711921e-01 -7.99460191e-01 -2.93102727e-03 1.22173818e+02] [-7.99450596e-01 -6.00719071e-01 3.91689774e-03 -4.61258610e+01] [-4.89212780e-03 -9.71566562e-06 -9.99988033e-01 7.29472340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36088847899998 meters 0.014859102674402486 Centerline is valid? [True, True] Translation: X:122.21, Y:-46.21, Z:0.73 [[ 6.59551573e-01 -7.51652412e-01 -3.22085220e-03 1.22209432e+02] [-7.51643426e-01 -6.59559437e-01 3.67546747e-03 -4.62128473e+01] [-4.88701746e-03 -3.22796994e-06 -9.99988058e-01 7.30066673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39088847899998 meters 0.015071448057534251 Centerline is valid? [True, True] Translation: X:122.26, Y:-46.31, Z:0.73 [[ 7.14197221e-01 -6.99934950e-01 -3.65997845e-03 1.22260896e+02] [-6.99925812e-01 -7.14206598e-01 3.57666033e-03 -4.63086468e+01] [-5.11741033e-03 7.27252613e-06 -9.99986906e-01 7.30814376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42088847899998 meters 0.015260525237342103 Centerline is valid? [True, True] Translation: X:122.26, Y:-46.32, Z:0.73 [[ 7.66394248e-01 -6.42356306e-01 -4.26992515e-03 1.22255375e+02] [-6.42346429e-01 -7.66406143e-01 3.56217787e-03 -4.63173638e+01] [-5.56068428e-03 1.27385446e-05 -9.99984539e-01 7.30689181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45088847899999 meters 0.015303505611092656 Centerline is valid? [True, True] Translation: X:122.25, Y:-46.33, Z:0.73 [[ 8.13964056e-01 -5.80896980e-01 -4.60596822e-03 1.22248408e+02] [-5.80887792e-01 -8.13977087e-01 3.26724584e-03 -4.63253670e+01] [-5.64708584e-03 1.61300315e-05 -9.99984055e-01 7.30546499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.480888479 meters 0.015559113344566076 Centerline is valid? [True, True] Translation: X:122.24, Y:-46.33, Z:0.73 [[ 8.56800354e-01 -5.15630383e-01 -4.29674076e-03 1.22239469e+02] [-5.15623960e-01 -8.56811128e-01 2.57359965e-03 -4.63314239e+01] [-5.00852147e-03 1.04413974e-05 -9.99987457e-01 7.29295940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510888479 meters 0.015610457464191749 Centerline is valid? [True, True] Translation: X:122.23, Y:-46.34, Z:0.73 [[ 8.94735397e-01 -4.46575276e-01 -4.36950080e-03 1.22231393e+02] [-4.46569988e-01 -8.94746066e-01 2.17341159e-03 -4.63376259e+01] [-4.88018553e-03 6.65963914e-06 -9.99988092e-01 7.29074309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.540888479 meters 0.015614136220542196 Centerline is valid? [True, True] Translation: X:122.22, Y:-46.34, Z:0.73 [[ 9.27182459e-01 -3.74586616e-01 -4.18990935e-03 1.22223502e+02] [-3.74582791e-01 -9.27191926e-01 1.69283167e-03 -4.63436769e+01] [-4.51896221e-03 -9.58938367e-08 -9.99989789e-01 7.29244472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.570888479 meters 0.015519505107241118 Centerline is valid? [True, True] Translation: X:122.22, Y:-46.35, Z:0.73 [[ 9.53917678e-01 -3.00039642e-01 -4.15661249e-03 1.22217225e+02] [-3.00036768e-01 -9.53926734e-01 1.31325557e-03 -4.63514205e+01] [-4.35913251e-03 -5.60112278e-06 -9.99990499e-01 7.29280212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.600888479 meters 0.015323013356835311 Centerline is valid? [True, True] Translation: X:122.21, Y:-46.36, Z:0.73 [[ 9.75108126e-01 -2.21690894e-01 -4.15810679e-03 1.22210742e+02] [-2.21688797e-01 -9.75116991e-01 9.64549090e-04 -4.63608538e+01] [-4.26847234e-03 -1.87339632e-05 -9.99990890e-01 7.29702292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.630888479 meters 0.01527537642852519 Centerline is valid? [True, True] Translation: X:122.20, Y:-46.37, Z:0.73 [[ 9.89718220e-01 -1.42963694e-01 -4.38478054e-03 1.22202962e+02] [-1.42962177e-01 -9.89727933e-01 6.59009328e-04 -4.63672082e+01] [-4.43395419e-03 -2.53757665e-05 -9.99990170e-01 7.30049694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.660888479 meters 0.015252705670918208 Centerline is valid? [True, True] Translation: X:122.20, Y:-46.37, Z:0.73 [[ 9.97973131e-01 -6.34803184e-02 -4.45853715e-03 1.22195503e+02] [-6.34795415e-02 -9.97983090e-01 3.15687269e-04 -4.63738752e+01] [-4.46958461e-03 -3.20215179e-05 -9.99990011e-01 7.30457726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.690888479 meters 0.01540830431750668 Centerline is valid? [True, True] Translation: X:122.19, Y:-46.38, Z:0.73 [[ 9.99845401e-01 1.71124408e-02 -4.04208712e-03 1.22188771e+02] [ 1.71124704e-02 -9.99853571e-01 -2.72476135e-05 -4.63831592e+01] [-4.04196152e-03 -4.19266955e-05 -9.99991830e-01 7.30894177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.720888479 meters 0.015489352511387593 Centerline is valid? [True, True] Translation: X:122.18, Y:-46.39, Z:0.73 [[ 9.95397373e-01 9.57609342e-02 -3.72995970e-03 1.22183019e+02] [ 9.57604250e-02 -9.95404361e-01 -3.15261873e-04 -4.63891976e+01] [-3.74300792e-03 -4.33716860e-05 -9.99992994e-01 7.31100379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.750888479 meters 0.015525919591769048 Centerline is valid? [True, True] Translation: X:122.18, Y:-46.40, Z:0.73 [[ 9.84868385e-01 1.73258178e-01 -3.98342567e-03 1.22177472e+02] [ 1.73256937e-01 -9.84876440e-01 -6.57127675e-04 -4.63953363e+01] [-4.03703483e-03 -4.29718580e-05 -9.99991850e-01 7.31280902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78088847899997 meters 0.015689493010032793 Centerline is valid? [True, True] Translation: X:122.17, Y:-46.40, Z:0.73 [[ 9.68363044e-01 2.49515450e-01 -3.88016691e-03 1.22173294e+02] [ 2.49513619e-01 -9.68370817e-01 -9.56895177e-04 -4.64048392e+01] [-3.99620053e-03 -4.15325588e-05 -9.99992014e-01 7.31225549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81088847899997 meters 0.015656846443336554 Centerline is valid? [True, True] Translation: X:122.17, Y:-46.41, Z:0.73 [[ 9.46095413e-01 3.23859896e-01 -4.27049242e-03 1.22169197e+02] [ 3.23856779e-01 -9.46105050e-01 -1.42139912e-03 -4.64144694e+01] [-4.50066862e-03 -3.82487345e-05 -9.99989871e-01 7.32266093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84088847899997 meters 0.015870997408669513 Centerline is valid? [True, True] Translation: X:122.17, Y:-46.42, Z:0.73 [[ 9.18476791e-01 3.95463134e-01 -3.04874778e-03 1.22165981e+02] [ 3.95461076e-01 -9.18481850e-01 -1.27640754e-03 -4.64237041e+01] [-3.30499163e-03 -3.33103782e-05 -9.99994538e-01 7.31739347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87088847899997 meters 0.015901999430000827 Centerline is valid? [True, True] Translation: X:122.16, Y:-46.43, Z:0.73 [[ 8.85145285e-01 4.65306271e-01 -2.81049542e-03 1.22164580e+02] [ 4.65304035e-01 -8.85149746e-01 -1.44289662e-03 -4.64340181e+01] [-3.15909816e-03 -3.05617191e-05 -9.99995010e-01 7.31012168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90088847899997 meters 0.015956794898366013 Centerline is valid? [True, True] Translation: X:122.16, Y:-46.44, Z:0.73 [[ 8.46730628e-01 5.32016344e-01 -2.41937888e-03 1.22163633e+02] [ 5.32014265e-01 -8.46734084e-01 -1.48765083e-03 -4.64445416e+01] [-2.84002512e-03 -2.75045518e-05 -9.99995967e-01 7.30671764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93088847899998 meters 0.016117891050186715 Centerline is valid? [True, True] Translation: X:122.16, Y:-46.46, Z:0.73 [[ 8.03124668e-01 5.95806311e-01 -2.36792731e-03 1.22162309e+02] [ 5.95803809e-01 -8.03128158e-01 -1.72700636e-03 -4.64551808e+01] [-2.93071039e-03 -2.38187047e-05 -9.99995705e-01 7.30745517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96088847899998 meters 0.01630126728147768 Centerline is valid? [True, True] Translation: X:122.16, Y:-46.47, Z:0.73 [[ 7.55083399e-01 6.55623260e-01 -2.68349405e-03 1.22162105e+02] [ 6.55619188e-01 -7.55088167e-01 -2.31082641e-03 -4.64659876e+01] [-3.54130615e-03 -1.44835270e-05 -9.99993729e-01 7.30597777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99088847899998 meters 0.016423093696584755 Centerline is valid? [True, True] Translation: X:122.16, Y:-46.48, Z:0.73 [[ 7.01849671e-01 7.12320960e-01 -2.42693610e-03 1.22161765e+02] [ 7.12316765e-01 -7.01853867e-01 -2.44469095e-03 -4.64768378e+01] [-3.44475909e-03 -1.29417309e-05 -9.99994067e-01 7.30166820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02088847899998 meters 0.01648852603645116 Centerline is valid? [True, True] Translation: X:122.16, Y:-46.49, Z:0.73 [[ 6.44128840e-01 7.64914202e-01 -2.07363640e-03 1.22163486e+02] [ 7.64910307e-01 -6.44132178e-01 -2.44118437e-03 -4.64874978e+01] [-3.20299252e-03 -1.37085993e-05 -9.99994870e-01 7.30231029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05088847899998 meters 0.016636958229183967 Centerline is valid? [True, True] Translation: X:122.17, Y:-46.50, Z:0.73 [[ 5.82918586e-01 8.12527647e-01 -2.17826587e-03 1.22166690e+02] [ 8.12522014e-01 -5.82922656e-01 -3.02560066e-03 -4.64989063e+01] [-3.72814471e-03 -6.21010730e-06 -9.99993050e-01 7.30928324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08088847899998 meters 0.016635737809899978 Centerline is valid? [True, True] Translation: X:122.17, Y:-46.51, Z:0.73 [[ 5.17879075e-01 8.55451102e-01 -2.16251049e-03 1.22169098e+02] [ 8.55443645e-01 -5.17883590e-01 -3.57170983e-03 -4.65098503e+01] [-4.17535181e-03 -1.92069473e-07 -9.99991283e-01 7.31389573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11088847899998 meters 0.01664513321209255 Centerline is valid? [True, True] Translation: X:122.18, Y:-46.52, Z:0.73 [[ 4.49797543e-01 8.93128349e-01 -1.98077624e-03 1.22175141e+02] [ 8.93119643e-01 -4.49801904e-01 -3.94351287e-03 -4.65214327e+01] [-4.41302006e-03 4.71223160e-06 -9.99990263e-01 7.31589005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14088847899998 meters 0.016659921950983626 Centerline is valid? [True, True] Translation: X:122.18, Y:-46.53, Z:0.73 [[ 3.78360896e-01 9.25656978e-01 -1.48015701e-03 1.22180318e+02] [ 9.25649901e-01 -3.78363791e-01 -3.61958059e-03 -4.65323657e+01] [-3.91052785e-03 -5.99436160e-07 -9.99992354e-01 7.31633769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17088847899998 meters 0.016728186199403618 Centerline is valid? [True, True] Translation: X:122.18, Y:-46.54, Z:0.73 [[ 3.04886777e-01 9.52388125e-01 -9.55226103e-04 1.22184322e+02] [ 9.52383530e-01 -3.04888273e-01 -2.95856523e-03 -4.65424823e+01] [-3.10893963e-03 -7.71419155e-06 -9.99995167e-01 7.31395974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20088847899999 meters 0.01644947771333487 Centerline is valid? [True, True] Translation: X:122.19, Y:-46.55, Z:0.73 [[ 2.28341828e-01 9.73580944e-01 -3.92568046e-04 1.22193159e+02] [ 9.73579683e-01 -2.28342164e-01 -1.56763623e-03 -4.65528396e+01] [-1.61586060e-03 -2.42393503e-05 -9.99998694e-01 7.29325405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230888479 meters 0.016407665478600345 Centerline is valid? [True, True] Translation: X:122.20, Y:-46.56, Z:0.73 [[ 1.50566536e-01 9.88599853e-01 -2.20534926e-04 1.22201702e+02] [ 9.88599050e-01 -1.50566695e-01 -1.26077051e-03 -4.65616414e+01] [-1.27960275e-03 -2.81907707e-05 -9.99999181e-01 7.28554745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.260888479 meters 0.016315785025693315 Centerline is valid? [True, True] Translation: X:122.21, Y:-46.57, Z:0.73 [[ 7.14320020e-02 9.97445468e-01 -8.41137315e-05 1.22211346e+02] [ 9.97445220e-01 -7.14320437e-02 -7.04154153e-04 -4.65697196e+01] [-7.08363785e-04 -3.35996985e-05 -9.99999749e-01 7.28450033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290888479 meters 0.016199664979766437 Centerline is valid? [True, True] Translation: X:122.22, Y:-46.58, Z:0.73 [[-7.95052157e-03 9.99968394e-01 -3.08366936e-05 1.22221134e+02] [ 9.99968246e-01 7.95050358e-03 -5.45181905e-04 -4.65783305e+01] [-5.44919507e-04 -3.51701949e-05 -9.99999851e-01 7.28942606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.320888479 meters 0.016053057321464646 Centerline is valid? [True, True] Translation: X:122.23, Y:-46.58, Z:0.73 [[-8.86872905e-02 9.96059517e-01 4.94821352e-05 1.22233239e+02] [ 9.96059065e-01 8.86872974e-02 -9.50163312e-04 -4.65846669e+01] [-9.50807646e-04 -3.49802803e-05 -9.99999547e-01 7.29712283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.350888479 meters 0.015983408571938605 Centerline is valid? [True, True] Translation: X:122.24, Y:-46.59, Z:0.73 [[-1.67431614e-01 9.85883690e-01 6.23590146e-05 1.22242967e+02] [ 9.85883517e-01 1.67431621e-01 -5.86365334e-04 -4.65911741e+01] [-5.88528890e-04 -3.66973694e-05 -9.99999826e-01 7.30144024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.380888479 meters 0.01590823540329513 Centerline is valid? [True, True] Translation: X:122.25, Y:-46.60, Z:0.73 [[-2.45110073e-01 9.69495255e-01 -6.00329168e-05 1.22252767e+02] [ 9.69495252e-01 2.45110077e-01 8.17343468e-05 -4.65954091e+01] [ 9.39557341e-05 -3.81677161e-05 -9.99999995e-01 7.29779950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.410888479 meters 0.015953813443558715 Centerline is valid? [True, True] Translation: X:122.27, Y:-46.60, Z:0.73 [[-3.21175296e-01 9.47019720e-01 -2.80220367e-04 1.22265152e+02] [ 9.47019457e-01 3.21175416e-01 7.06823350e-04 -4.65988650e+01] [ 7.59375544e-04 -3.83599413e-05 -9.99999711e-01 7.29081158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.440888479 meters 0.01598261146871221 Centerline is valid? [True, True] Translation: X:122.28, Y:-46.60, Z:0.73 [[-3.96124811e-01 9.18196481e-01 -5.96771438e-04 1.22279883e+02] [ 9.18195572e-01 3.96125259e-01 1.29266887e-03 -4.66000109e+01] [ 1.42332024e-03 -3.58946822e-05 -9.99998986e-01 7.29157355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.470888479 meters 0.01587896216219527 Centerline is valid? [True, True] Translation: X:122.29, Y:-46.60, Z:0.73 [[-4.67507900e-01 8.83988706e-01 -5.75026934e-04 1.22292462e+02] [ 8.83988128e-01 4.67508252e-01 1.01196439e-03 -4.66005415e+01] [ 1.16339493e-03 -3.52156377e-05 -9.99999323e-01 7.29545432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.500888479 meters 0.015881469143129608 Centerline is valid? [True, True] Translation: X:122.31, Y:-46.60, Z:0.73 [[-5.36697140e-01 8.43774824e-01 -4.75568563e-04 1.22307616e+02] [ 8.43774548e-01 5.36697350e-01 6.83529514e-04 -4.65985090e+01] [ 8.31981382e-04 -3.44243140e-05 -9.99999653e-01 7.30580771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53088847899997 meters 0.015870486614120844 Centerline is valid? [True, True] Translation: X:122.32, Y:-46.60, Z:0.73 [[-6.01749977e-01 7.98684362e-01 -5.04621637e-04 1.22319916e+02] [ 7.98684127e-01 6.01750188e-01 6.13558119e-04 -4.65957137e+01] [ 7.93695440e-04 -3.38247077e-05 -9.99999684e-01 7.30784126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56088847899997 meters 0.015903782973751817 Centerline is valid? [True, True] Translation: X:122.33, Y:-46.59, Z:0.73 [[-6.62703380e-01 7.48881920e-01 -3.16905528e-04 1.22331684e+02] [ 7.48881859e-01 6.62703455e-01 3.05047711e-04 -4.65934488e+01] [ 4.38459103e-04 -3.51686516e-05 -9.99999903e-01 7.30896624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59088847899997 meters 0.01585673103315737 Centerline is valid? [True, True] Translation: X:122.34, Y:-46.59, Z:0.73 [[-7.19396943e-01 6.94599004e-01 5.11657990e-04 1.22343797e+02] [ 6.94598787e-01 7.19397124e-01 -5.50963526e-04 -4.65884376e+01] [-7.50784003e-04 -4.09644572e-05 -9.99999717e-01 7.32818943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62088847899997 meters 0.015930812036659265 Centerline is valid? [True, True] Translation: X:122.37, Y:-46.57, Z:0.73 [[-7.66732310e-01 6.41966568e-01 7.00354820e-04 1.22366824e+02] [ 6.41966254e-01 7.66732629e-01 -6.36247046e-04 -4.65694343e+01] [-9.45434224e-04 -3.82270071e-05 -9.99999552e-01 7.33568178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65088847899997 meters 0.015922400486983086 Centerline is valid? [True, True] Translation: X:122.39, Y:-46.55, Z:0.73 [[-8.09895331e-01 5.86573629e-01 9.64988715e-04 1.22390456e+02] [ 5.86573154e-01 8.09895905e-01 -7.46827757e-04 -4.65512066e+01] [-1.21960988e-03 -3.88158388e-05 -9.99999256e-01 7.34371663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68088847899998 meters 0.01581887277244479 Centerline is valid? [True, True] Translation: X:122.41, Y:-46.53, Z:0.74 [[-8.49234826e-01 5.28013134e-01 1.52995145e-03 1.22411186e+02] [ 5.28012190e-01 8.49236203e-01 -9.99478983e-04 -4.65293234e+01] [-1.82702819e-03 -4.09593434e-05 -9.99998330e-01 7.35367567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71088847899998 meters 0.01588646467937358 Centerline is valid? [True, True] Translation: X:122.43, Y:-46.51, Z:0.74 [[-8.84430275e-01 4.66668956e-01 1.78134007e-03 1.22428143e+02] [ 4.66667914e-01 8.84432068e-01 -9.86983158e-04 -4.65055427e+01] [-2.03606868e-03 -4.16235329e-05 -9.99997926e-01 7.35793562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74088847899998 meters 0.01587572326737165 Centerline is valid? [True, True] Translation: X:122.45, Y:-46.48, Z:0.74 [[-9.15207451e-01 4.02979119e-01 1.77507181e-03 1.22449587e+02] [ 4.02978274e-01 9.15209172e-01 -8.26446642e-04 -4.64834681e+01] [-1.95760274e-03 -4.10547493e-05 -9.99998083e-01 7.35485302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77088847899998 meters 0.015861810687312707 Centerline is valid? [True, True] Translation: X:122.46, Y:-46.46, Z:0.73 [[-9.41502571e-01 3.37001018e-01 1.79533033e-03 1.22464085e+02] [ 3.37000322e-01 9.41504282e-01 -6.86273728e-04 -4.64578610e+01] [-1.92158614e-03 -4.11015797e-05 -9.99998153e-01 7.34981592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80088847899998 meters 0.01578533544166299 Centerline is valid? [True, True] Translation: X:122.48, Y:-46.43, Z:0.73 [[-9.62925835e-01 2.69766189e-01 2.00194252e-04 1.22475652e+02] [ 2.69766175e-01 9.62925855e-01 -9.12715971e-05 -4.64296163e+01] [-2.17394212e-04 -3.38821412e-05 -9.99999976e-01 7.33458632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83088847899998 meters 0.01592490632223379 Centerline is valid? [True, True] Translation: X:122.48, Y:-46.40, Z:0.73 [[-9.79595143e-01 2.00980749e-01 3.07961319e-04 1.22483694e+02] [ 2.00980728e-01 9.79595190e-01 -9.80688554e-05 -4.64016471e+01] [-3.21387379e-04 -3.41734842e-05 -9.99999948e-01 7.33353238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86088847899998 meters 0.01592490632223379 Centerline is valid? [True, True] Translation: X:122.49, Y:-46.37, Z:0.73 [[-9.91386656e-01 1.30967171e-01 3.12990887e-04 1.22489055e+02] [ 1.30967153e-01 9.91386705e-01 -7.57627915e-05 -4.63742828e+01] [-3.20217443e-04 -3.41186951e-05 -9.99999948e-01 7.33340274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89088847899998 meters 0.015747190165734424 Centerline is valid? [True, True] Translation: X:122.49, Y:-46.34, Z:0.73 [[-9.98152512e-01 6.07507637e-02 9.52725783e-04 1.22493311e+02] [ 6.07507017e-02 9.98152966e-01 -9.39411496e-05 -4.63440942e+01] [-9.56673063e-04 -3.58888347e-05 -9.99999542e-01 7.34142457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92088847899998 meters 0.015858654245989826 Centerline is valid? [True, True] Translation: X:122.49, Y:-46.31, Z:0.74 [[-9.99945305e-01 -1.03928043e-02 1.17301034e-03 1.22492277e+02] [-1.03928400e-02 9.99945993e-01 -2.43395667e-05 -4.63147756e+01] [-1.17269403e-03 -3.65291442e-05 -9.99999312e-01 7.35086412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95088847899999 meters 0.015781885411489845 Centerline is valid? [True, True] Translation: X:122.48, Y:-46.29, Z:0.74 [[-9.96680785e-01 -8.13979628e-02 1.33616976e-03 1.22481982e+02] [-8.13979392e-02 9.96681680e-01 7.21382266e-05 -4.62852787e+01] [-1.33760783e-03 -3.68626806e-05 -9.99999105e-01 7.35455988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.980888479 meters 0.015684664924921533 Centerline is valid? [True, True] Translation: X:122.48, Y:-46.25, Z:0.74 [[-9.88420892e-01 -1.51734781e-01 8.34422843e-04 1.22478828e+02] [-1.51734756e-01 9.88421244e-01 9.28249734e-05 -4.62534025e+01] [-8.38846041e-04 -3.48608035e-05 -9.99999648e-01 7.36851716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010888479 meters 0.015614071253160215 Centerline is valid? [True, True] Translation: X:122.46, Y:-46.23, Z:0.74 [[-9.75120516e-01 -2.21673411e-01 9.37480476e-04 1.22458353e+02] [-2.21673343e-01 9.75120966e-01 1.77555712e-04 -4.62277109e+01] [-9.53516247e-04 -3.46762140e-05 -9.99999545e-01 7.37458533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.040888479 meters 0.015634483337332004 Centerline is valid? [True, True] Translation: X:122.42, Y:-46.21, Z:0.74 [[-9.56683919e-01 -2.91125116e-01 1.42994925e-03 1.22423173e+02] [-2.91124846e-01 9.56684988e-01 3.98469240e-04 -4.62072370e+01] [-1.48401538e-03 -3.50846404e-05 -9.99998898e-01 7.37742609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.070888479 meters 0.015608335848605232 Centerline is valid? [True, True] Translation: X:122.36, Y:-46.20, Z:0.74 [[-9.33158633e-01 -3.59458096e-01 2.20050749e-03 1.22363931e+02] [-3.59457182e-01 9.33161227e-01 8.11661121e-04 -4.61971035e+01] [-2.34518643e-03 -3.35796371e-05 -9.99997249e-01 7.37871456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.100888479 meters 0.015448043468417792 Centerline is valid? [True, True] Translation: X:122.30, Y:-46.19, Z:0.74 [[-9.04170461e-01 -4.27164087e-01 2.57306767e-03 1.22297358e+02] [-4.27162461e-01 9.04174121e-01 1.17902201e-03 -4.61942682e+01] [-2.83013706e-03 -3.30810401e-05 -9.99995995e-01 7.37725418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.130888479 meters 0.01536100555768073 Centerline is valid? [True, True] Translation: X:122.22, Y:-46.20, Z:0.74 [[-8.70010839e-01 -4.93024117e-01 2.89119129e-03 1.22222430e+02] [-4.93021519e-01 8.70015643e-01 1.60096178e-03 -4.62003007e+01] [-3.30469442e-03 -3.25654259e-05 -9.99994539e-01 7.38251920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.160888479 meters 0.01545095518305627 Centerline is valid? [True, True] Translation: X:122.14, Y:-46.22, Z:0.74 [[-8.30410601e-01 -5.57139664e-01 3.69160250e-03 1.22139900e+02] [-5.57134343e-01 8.30418806e-01 2.43516343e-03 -4.62150900e+01] [-4.42230228e-03 -3.45330100e-05 -9.99990221e-01 7.38809170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.190888479 meters 0.015430428035140992 Centerline is valid? [True, True] Translation: X:122.05, Y:-46.24, Z:0.74 [[-7.85774121e-01 -6.18505302e-01 3.19724697e-03 1.22053874e+02] [-6.18500375e-01 7.85780625e-01 2.46890689e-03 -4.62408925e+01] [-4.03936672e-03 -3.74953087e-05 -9.99991841e-01 7.38938986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.220888479 meters 0.015276309832258651 Centerline is valid? [True, True] Translation: X:121.96, Y:-46.28, Z:0.74 [[-7.36616791e-01 -6.76304455e-01 2.82613691e-03 1.21964569e+02] [-6.76299680e-01 7.36622212e-01 2.54181190e-03 -4.62776976e+01] [-3.80083393e-03 -3.89741645e-05 -9.99992776e-01 7.39500442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.250888479 meters 0.015372632506771684 Centerline is valid? [True, True] Translation: X:121.88, Y:-46.32, Z:0.74 [[-6.82854584e-01 -7.30550368e-01 2.40343763e-03 1.21876225e+02] [-7.30546051e-01 6.82858813e-01 2.51168941e-03 -4.63235337e+01] [-3.47612419e-03 -4.07032414e-05 -9.99993957e-01 7.39661640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28088847899997 meters 0.015509018314282313 Centerline is valid? [True, True] Translation: X:121.79, Y:-46.38, Z:0.74 [[-6.24246295e-01 -7.81223005e-01 2.67952171e-03 1.21788297e+02] [-7.81216140e-01 6.24252044e-01 3.27539057e-03 -4.63796584e+01] [-4.23150737e-03 -4.86351757e-05 -9.99991046e-01 7.39975868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31088847899997 meters 0.01535458654988258 Centerline is valid? [True, True] Translation: X:121.70, Y:-46.45, Z:0.74 [[-5.62193636e-01 -8.27002879e-01 2.13368065e-03 1.21701026e+02] [-8.26997261e-01 5.62197683e-01 3.04896976e-03 -4.64490858e+01] [-3.72105709e-03 -5.04366529e-05 -9.99993076e-01 7.39175753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34088847899997 meters 0.015532574822610296 Centerline is valid? [True, True] Translation: X:121.62, Y:-46.52, Z:0.74 [[-4.96310990e-01 -8.68142428e-01 2.03130038e-03 1.21620315e+02] [-8.68135619e-01 4.96315144e-01 3.43885418e-03 -4.65223034e+01] [-3.99358036e-03 -5.67030923e-05 -9.99992024e-01 7.38675035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37088847899997 meters 0.01596115813156774 Centerline is valid? [True, True] Translation: X:121.54, Y:-46.60, Z:0.74 [[-4.25776714e-01 -9.04826818e-01 1.61823107e-03 1.21541720e+02] [-9.04820860e-01 4.25779785e-01 3.28433589e-03 -4.66045580e+01] [-3.66076527e-03 -6.58154852e-05 -9.99993297e-01 7.38710072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40088847899997 meters 0.01611134782501054 Centerline is valid? [True, True] Translation: X:121.47, Y:-46.69, Z:0.74 [[-3.53968694e-01 -9.35256205e-01 1.41226541e-03 1.21470608e+02] [-9.35249555e-01 3.53971504e-01 3.52767685e-03 -4.66929704e+01] [-3.79918338e-03 -7.21334319e-05 -9.99992780e-01 7.38961028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43088847899998 meters 0.016331065660092292 Centerline is valid? [True, True] Translation: X:121.41, Y:-46.79, Z:0.74 [[-2.78974826e-01 -9.60298063e-01 8.22284589e-04 1.21405216e+02] [-9.60294577e-01 2.78976030e-01 2.58835109e-03 -4.67897002e+01] [-2.71498623e-03 -6.75506345e-05 -9.99996312e-01 7.38096007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46088847899998 meters 0.016292392703821934 Centerline is valid? [True, True] Translation: X:121.35, Y:-46.90, Z:0.74 [[-2.03952552e-01 -9.78980665e-01 4.62940189e-04 1.21348669e+02] [-9.78978763e-01 2.03953068e-01 1.93048298e-03 -4.68956189e+01] [-1.98432358e-03 -5.94816842e-05 -9.99998029e-01 7.37474184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49088847899998 meters 0.016247646055005584 Centerline is valid? [True, True] Translation: X:121.30, Y:-47.00, Z:0.74 [[-1.28514835e-01 -9.91707531e-01 3.31037619e-04 1.21301228e+02] [-9.91705341e-01 1.28515247e-01 2.08534462e-03 -4.70018728e+01] [-2.11059535e-03 -6.02940541e-05 -9.99997771e-01 7.37674893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52088847899998 meters 0.016363347803988147 Centerline is valid? [True, True] Translation: X:121.26, Y:-47.12, Z:0.74 [[-5.22557295e-02 -9.98633715e-01 2.04699478e-04 1.21261016e+02] [-9.98630206e-01 5.22560887e-02 2.64821295e-03 -4.71157091e+01] [-2.65529153e-03 -6.60347825e-05 -9.99996473e-01 7.38866250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55088847899998 meters 0.016250933477576366 Centerline is valid? [True, True] Translation: X:121.23, Y:-47.23, Z:0.74 [[ 2.41704666e-02 -9.99707852e-01 -9.20036218e-06 1.21230467e+02] [-9.99702035e-01 -2.41703573e-02 3.41089297e-03 -4.72302865e+01] [-3.41011886e-03 -7.32452538e-05 -9.99994183e-01 7.39343649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58088847899998 meters 0.016131909236406606 Centerline is valid? [True, True] Translation: X:121.21, Y:-47.35, Z:0.74 [[ 1.00167001e-01 -9.94970599e-01 -2.81986630e-04 1.21209927e+02] [-9.94964397e-01 -1.00167373e-01 3.51366331e-03 -4.73492712e+01] [-3.52423755e-03 -7.13864592e-05 -9.99993787e-01 7.39796778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61088847899998 meters 0.016089254065815455 Centerline is valid? [True, True] Translation: X:121.20, Y:-47.47, Z:0.74 [[ 1.75318009e-01 -9.84511657e-01 -6.26973109e-04 1.21197514e+02] [-9.84503815e-01 -1.75319116e-01 3.93012734e-03 -4.74666358e+01] [-3.97917655e-03 -7.17646846e-05 -9.99992080e-01 7.40167665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64088847899998 meters 0.015699258862606005 Centerline is valid? [True, True] Translation: X:121.20, Y:-47.58, Z:0.74 [[ 2.48753269e-01 -9.68566492e-01 -8.72687922e-04 1.21197655e+02] [-9.68559620e-01 -2.48754792e-01 3.64905689e-03 -4.75848049e+01] [-3.75143954e-03 -6.24645468e-05 -9.99992961e-01 7.39757031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67088847899998 meters 0.015566977746327454 Centerline is valid? [True, True] Translation: X:121.21, Y:-47.71, Z:0.74 [[ 3.21676116e-01 -9.46848901e-01 -1.27829703e-03 1.21205096e+02] [-9.46840641e-01 -3.21678650e-01 3.95544682e-03 -4.77054029e+01] [-4.15641134e-03 -6.20291940e-05 -9.99991360e-01 7.40026956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70088847899999 meters 0.015484245495272133 Centerline is valid? [True, True] Translation: X:121.22, Y:-47.82, Z:0.74 [[ 3.92778143e-01 -9.19631579e-01 -1.75737144e-03 1.21220496e+02] [-9.19621663e-01 -3.92782070e-01 4.27105436e-03 -4.78217554e+01] [-4.61806046e-03 -6.14599551e-05 -9.99989335e-01 7.40181382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730888479 meters 0.015334542263157065 Centerline is valid? [True, True] Translation: X:121.24, Y:-47.93, Z:0.74 [[ 4.61375244e-01 -8.87203281e-01 -1.79529672e-03 1.21244888e+02] [-8.87196108e-01 -4.61378734e-01 3.56788130e-03 -4.79347487e+01] [-3.99374773e-03 -5.33518407e-05 -9.99992024e-01 7.40169029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.760888479 meters 0.015275546014354973 Centerline is valid? [True, True] Translation: X:121.28, Y:-48.05, Z:0.74 [[ 5.27757025e-01 -8.49393225e-01 -1.91621869e-03 1.21279675e+02] [-8.49387276e-01 -5.27760502e-01 3.17941349e-03 -4.80506719e+01] [-3.71187681e-03 -5.03460316e-05 -9.99993110e-01 7.40152889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790888479 meters 0.01526582198905641 Centerline is valid? [True, True] Translation: X:121.32, Y:-48.16, Z:0.74 [[ 5.90833293e-01 -8.06791334e-01 -1.94013925e-03 1.21322501e+02] [-8.06786722e-01 -5.90836476e-01 2.72815890e-03 -4.81611004e+01] [-3.34735999e-03 -4.66085225e-05 -9.99994396e-01 7.40273066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.820888479 meters 0.015278422472484524 Centerline is valid? [True, True] Translation: X:121.37, Y:-48.26, Z:0.74 [[ 6.49780874e-01 -7.60119297e-01 -1.86283930e-03 1.21366161e+02] [-7.60115993e-01 -6.49783543e-01 2.24160688e-03 -4.82553827e+01] [-2.91433097e-03 -4.05793323e-05 -9.99995753e-01 7.39584396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.850888479 meters 0.015101335156024631 Centerline is valid? [True, True] Translation: X:121.42, Y:-48.35, Z:0.74 [[ 7.05634176e-01 -7.08573498e-01 -2.00164552e-03 1.21416599e+02] [-7.08570489e-01 -7.05637014e-01 2.06567445e-03 -4.83501879e+01] [-2.87611734e-03 -3.93035480e-05 -9.99995863e-01 7.39271572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.880888479 meters 0.015086362410436593 Centerline is valid? [True, True] Translation: X:121.48, Y:-48.44, Z:0.74 [[ 7.57202731e-01 -6.53178470e-01 -1.38235136e-03 1.21475868e+02] [-6.53177295e-01 -7.57203992e-01 1.23940262e-03 -4.84399100e+01] [-1.85627308e-03 -3.55585259e-05 -9.99998277e-01 7.38347593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.910888479 meters 0.014946198687504311 Centerline is valid? [True, True] Translation: X:121.47, Y:-48.45, Z:0.74 [[ 8.05934509e-01 -5.92003061e-01 -1.39420565e-03 1.21472962e+02] [-5.92002097e-01 -8.05935714e-01 1.06893714e-03 -4.84465882e+01] [-1.75645419e-03 -3.61206613e-05 -9.99998457e-01 7.38255186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.940888479 meters 0.015115406294925738 Centerline is valid? [True, True] Translation: X:121.47, Y:-48.45, Z:0.74 [[ 8.50111344e-01 -5.26601542e-01 -1.23268279e-03 1.21469778e+02] [-5.26600926e-01 -8.50112236e-01 8.06573843e-04 -4.84520096e+01] [-1.47266175e-03 -3.65456749e-05 -9.99998915e-01 7.37980065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.970888479 meters 0.015095424136515703 Centerline is valid? [True, True] Translation: X:121.47, Y:-48.46, Z:0.74 [[ 8.89085494e-01 -4.57739367e-01 -1.28693967e-03 1.21466741e+02] [-4.57738825e-01 -8.89086425e-01 7.05057170e-04 -4.84605872e+01] [-1.46693301e-03 -3.77738506e-05 -9.99998923e-01 7.37422236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00088847899997 meters 0.015306093485099493 Centerline is valid? [True, True] Translation: X:121.46, Y:-48.47, Z:0.74 [[ 9.23129918e-01 -3.84487241e-01 -8.45814066e-04 1.21463925e+02] [-3.84487041e-01 -9.23130305e-01 3.93656580e-04 -4.84690453e+01] [-9.32152530e-04 -3.81916189e-05 -9.99999565e-01 7.36759476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03088847899997 meters 0.015311752018119813 Centerline is valid? [True, True] Translation: X:121.46, Y:-48.48, Z:0.74 [[ 9.50750576e-01 -3.09955541e-01 -9.51769452e-04 1.21462959e+02] [-3.09955343e-01 -9.50751051e-01 3.52203556e-04 -4.84784253e+01] [-1.01406325e-03 -3.98517067e-05 -9.99999485e-01 7.36995531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06088847899997 meters 0.01549120148712826 Centerline is valid? [True, True] Translation: X:121.46, Y:-48.49, Z:0.74 [[ 9.72342663e-01 -2.33554145e-01 -1.48563540e-03 1.21462048e+02] [-2.33553801e-01 -9.72343797e-01 4.03470783e-04 -4.84872496e+01] [-1.53878064e-03 -4.53360602e-05 -9.99998815e-01 7.37539439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09088847899997 meters 0.015802850317546205 Centerline is valid? [True, True] Translation: X:121.46, Y:-48.50, Z:0.74 [[ 9.88033495e-01 -1.54224295e-01 -2.16336129e-03 1.21461837e+02] [-1.54223800e-01 -9.88035861e-01 3.95011942e-04 -4.84954964e+01] [-2.19839898e-03 -5.66432306e-05 -9.99997582e-01 7.39089461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12088847899997 meters 0.01591440537985187 Centerline is valid? [True, True] Translation: X:121.46, Y:-48.50, Z:0.74 [[ 9.97177823e-01 -7.50425455e-02 -2.23724927e-03 1.21458594e+02] [-7.50422211e-02 -9.97180331e-01 2.28733629e-04 -4.85039772e+01] [-2.24810572e-03 -6.01999485e-05 -9.99997471e-01 7.38622590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15088847899997 meters 0.016473474246226933 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.51, Z:0.74 [[ 9.99987599e-01 4.61011976e-03 -1.88369936e-03 1.21454863e+02] [ 4.61022093e-03 -9.99989372e-01 4.93684981e-05 -4.85115088e+01] [-1.88345175e-03 -5.80521561e-05 -9.99998225e-01 7.37479388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18088847899998 meters 0.01643629915663759 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.52, Z:0.74 [[ 9.96520264e-01 8.33139605e-02 -2.47939686e-03 1.21452684e+02] [ 8.33138705e-02 -9.96523346e-01 -1.39743698e-04 -4.85168260e+01] [-2.48241945e-03 -6.73107220e-05 -9.99996917e-01 7.38005217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21088847899998 meters 0.016450825198262544 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.52, Z:0.74 [[ 9.86896485e-01 1.61325040e-01 -3.09174192e-03 1.21451268e+02] [ 1.61324493e-01 -9.86901325e-01 -4.27343763e-04 -4.85225749e+01] [-3.12018545e-03 -7.70296401e-05 -9.99995129e-01 7.39210803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24088847899998 meters 0.01606670372710911 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.53, Z:0.74 [[ 9.71287934e-01 2.37885878e-01 -3.17148167e-03 1.21450558e+02] [ 2.37884872e-01 -9.71293109e-01 -6.96341012e-04 -4.85297974e+01] [-3.24608798e-03 -7.80998858e-05 -9.99994728e-01 7.40083525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27088847899998 meters 0.016040244474992835 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.54, Z:0.74 [[ 9.49810074e-01 3.12814220e-01 -2.84391297e-03 1.21449705e+02] [ 3.12813046e-01 -9.49814328e-01 -8.59914734e-04 -4.85381114e+01] [-2.97018285e-03 -7.28574040e-05 -9.99995586e-01 7.39773135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30088847899998 meters 0.01596836631711121 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.55, Z:0.74 [[ 9.22713337e-01 3.85479502e-01 -2.37707927e-03 1.21448822e+02] [ 3.85478403e-01 -9.22716397e-01 -9.22801791e-04 -4.85456974e+01] [-2.54909120e-03 -6.48312018e-05 -9.99996749e-01 7.39395833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33088847899998 meters 0.015609031239255486 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.55, Z:0.74 [[ 8.90799514e-01 4.54389666e-01 -2.50155743e-03 1.21447950e+02] [ 4.54388066e-01 -8.90803024e-01 -1.20758830e-03 -4.85516932e+01] [-2.77711057e-03 -6.09587659e-05 -9.99996142e-01 7.39535310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36088847899998 meters 0.015448097046623352 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.56, Z:0.74 [[ 8.53185102e-01 5.21601062e-01 -2.74111860e-03 1.21447244e+02] [ 5.21598597e-01 -8.53189504e-01 -1.60458803e-03 -4.85588026e+01] [-3.17564844e-03 -6.07530081e-05 -9.99994956e-01 7.39727448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39088847899998 meters 0.015248743260070318 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.57, Z:0.74 [[ 8.10695972e-01 5.85460452e-01 -2.84629629e-03 1.21446638e+02] [ 5.85457091e-01 -8.10700966e-01 -1.98437498e-03 -4.85650997e+01] [-3.46926823e-03 -5.76595480e-05 -9.99993980e-01 7.39550612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42088847899998 meters 0.015083885551164675 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.57, Z:0.74 [[ 7.63535643e-01 6.45761445e-01 -2.34055722e-03 1.21445922e+02] [ 6.45758606e-01 -7.63539228e-01 -1.91567109e-03 -4.85711093e+01] [-3.02417379e-03 -4.87518094e-05 -9.99995426e-01 7.39447441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45088847899999 meters 0.014777187411797047 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.58, Z:0.74 [[ 7.13470116e-01 7.00681862e-01 -2.30671472e-03 1.21445894e+02] [ 7.00678366e-01 -7.13473844e-01 -2.21383443e-03 -4.85777476e+01] [-3.19697425e-03 -3.67603923e-05 -9.99994889e-01 7.39060953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.480888479 meters 0.014747998043846433 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.59, Z:0.74 [[ 6.58212919e-01 7.52828709e-01 -2.16512893e-03 1.21447940e+02] [ 7.52824781e-01 -6.58216479e-01 -2.43228556e-03 -4.85863574e+01] [-3.25621794e-03 -2.90009331e-05 -9.99994698e-01 7.38841053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510888479 meters 0.01493520004417538 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.59, Z:0.74 [[ 6.01023851e-01 7.99227895e-01 -2.25879302e-03 1.21446869e+02] [ 7.99222319e-01 -6.01028095e-01 -2.98555672e-03 -4.85930362e+01] [-3.74373828e-03 -1.08869958e-05 -9.99992992e-01 7.39106420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.540888479 meters 0.015229770169257114 Centerline is valid? [True, True] Translation: X:121.44, Y:-48.60, Z:0.74 [[ 5.38639440e-01 8.42533121e-01 -2.34393108e-03 1.21444399e+02] [ 8.42525118e-01 -5.38644540e-01 -3.67226678e-03 -4.85997060e+01] [-4.35655207e-03 3.20691506e-06 -9.99990510e-01 7.39595427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.570888479 meters 0.015259796973734481 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.61, Z:0.74 [[ 4.72896849e-01 8.81114275e-01 -2.49072724e-03 1.21448467e+02] [ 8.81101807e-01 -4.72903408e-01 -4.68754403e-03 -4.86086417e+01] [-5.30813536e-03 2.21405335e-05 -9.99985912e-01 7.39745251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.600888479 meters 0.01568292607536679 Centerline is valid? [True, True] Translation: X:121.45, Y:-48.62, Z:0.74 [[ 4.05675186e-01 9.14013964e-01 -2.47318118e-03 1.21450353e+02] [ 9.13996173e-01 -4.05682721e-01 -5.70313974e-03 -4.86168184e+01] [-6.21607624e-03 5.31441430e-05 -9.99980679e-01 7.40364779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.630888479 meters 0.01566747546003713 Centerline is valid? [True, True] Translation: X:121.46, Y:-48.63, Z:0.74 [[ 3.33774958e-01 9.42650513e-01 -2.07069229e-03 1.21456852e+02] [ 9.42631206e-01 -3.33781375e-01 -6.03343243e-03 -4.86260709e+01] [-6.37857670e-03 6.19094810e-05 -9.99979655e-01 7.40684136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.660888479 meters 0.015736255255681134 Centerline is valid? [True, True] Translation: X:121.46, Y:-48.63, Z:0.74 [[ 2.59546031e-01 9.65729220e-01 -1.71199904e-03 1.21463120e+02] [ 9.65706299e-01 -2.59551667e-01 -6.65396500e-03 -4.86344059e+01] [-6.87028064e-03 7.37219501e-05 -9.99976397e-01 7.40750412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.690888479 meters 0.015759362104550798 Centerline is valid? [True, True] Translation: X:121.47, Y:-48.64, Z:0.74 [[ 1.83000886e-01 9.83112083e-01 -1.14386037e-03 1.21470363e+02] [ 9.83090435e-01 -1.83004448e-01 -6.52450346e-03 -4.86425255e+01] [-6.62364972e-03 6.94717217e-05 -9.99978061e-01 7.40221195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.720888479 meters 0.015722700336708445 Centerline is valid? [True, True] Translation: X:121.48, Y:-48.65, Z:0.74 [[ 1.04529732e-01 9.94521549e-01 -6.50634677e-04 1.21477361e+02] [ 9.94498098e-01 -1.04531736e-01 -6.83006842e-03 -4.86514243e+01] [-6.86066220e-03 6.68902738e-05 -9.99976463e-01 7.39969528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75088847899997 meters 0.015525670617558258 Centerline is valid? [True, True] Translation: X:121.48, Y:-48.66, Z:0.74 [[ 2.48574823e-02 9.99690999e-01 -1.12937330e-04 1.21484646e+02] [ 9.99667744e-01 -2.48576744e-02 -6.81893477e-03 -4.86588026e+01] [-6.81963507e-03 5.66017447e-05 -9.99976744e-01 7.39709904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78088847899997 meters 0.015525670617558258 Centerline is valid? [True, True] Translation: X:121.49, Y:-48.67, Z:0.74 [[-5.35700401e-02 9.98564005e-01 4.21861023e-04 1.21491513e+02] [ 9.98540815e-01 5.35716711e-02 -6.80562430e-03 -4.86661105e+01] [-6.81845126e-03 5.66678832e-05 -9.99976752e-01 7.39699853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81088847899997 meters 0.015012141503157866 Centerline is valid? [True, True] Translation: X:121.50, Y:-48.67, Z:0.74 [[-1.33238059e-01 9.91083632e-01 9.23824418e-04 1.21502356e+02] [ 9.91062011e-01 1.33241255e-01 -6.54668402e-03 -4.86717504e+01] [-6.61140291e-03 4.32998140e-05 -9.99978144e-01 7.39266814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84088847899997 meters 0.014645319514683777 Centerline is valid? [True, True] Translation: X:121.51, Y:-48.68, Z:0.74 [[-2.14381745e-01 9.76749130e-01 1.26693312e-03 1.21513496e+02] [ 9.76732387e-01 2.14385488e-01 -5.71891528e-03 -4.86774334e+01] [-5.85755759e-03 1.14235732e-05 -9.99982844e-01 7.38547971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87088847899997 meters 0.014397792215469024 Centerline is valid? [True, True] Translation: X:121.53, Y:-48.68, Z:0.74 [[-2.92038401e-01 9.56405271e-01 1.59054790e-03 1.21525383e+02] [ 9.56391056e-01 2.92042733e-01 -5.21435299e-03 -4.86810256e+01] [-5.45154264e-03 -1.60552684e-06 -9.99985140e-01 7.37448075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90088847899997 meters 0.014344495685432676 Centerline is valid? [True, True] Translation: X:121.54, Y:-48.68, Z:0.74 [[-3.67702442e-01 9.29941817e-01 1.76947893e-03 1.21537833e+02] [ 9.29930878e-01 3.67706699e-01 -4.51067043e-03 -4.86837653e+01] [-4.84531031e-03 -1.30914355e-05 -9.99988261e-01 7.36842983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93088847899998 meters 0.01434036593888441 Centerline is valid? [True, True] Translation: X:121.55, Y:-48.69, Z:0.74 [[-4.42122079e-01 8.96951857e-01 2.33120074e-03 1.21550482e+02] [ 8.96939062e-01 4.42128224e-01 -4.79098761e-03 -4.86860031e+01] [-5.32797487e-03 -2.72563982e-05 -9.99985806e-01 7.37099387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96088847899998 meters 0.014323198712733416 Centerline is valid? [True, True] Translation: X:121.56, Y:-48.69, Z:0.74 [[-5.11997320e-01 8.58982716e-01 2.72726324e-03 1.21558445e+02] [ 8.58970183e-01 5.12004583e-01 -4.64024489e-03 -4.86890078e+01] [-5.38226143e-03 -3.31551455e-05 -9.99985515e-01 7.37627484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99088847899998 meters 0.014438266607537146 Centerline is valid? [True, True] Translation: X:121.57, Y:-48.69, Z:0.74 [[-5.79741460e-01 8.14793318e-01 3.41886750e-03 1.21570940e+02] [ 8.14778656e-01 5.79751538e-01 -4.88833425e-03 -4.86885970e+01] [-5.96507577e-03 -4.83497672e-05 -9.99982208e-01 7.38065801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02088847899998 meters 0.014511355233758946 Centerline is valid? [True, True] Translation: X:121.58, Y:-48.69, Z:0.74 [[-6.42834020e-01 7.65996789e-01 3.65267158e-03 1.21582560e+02] [ 7.65983931e-01 6.42844395e-01 -4.43858512e-03 -4.86868402e+01] [-5.74804140e-03 -5.53857805e-05 -9.99983478e-01 7.38139585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05088847899998 meters 0.014602333509731063 Centerline is valid? [True, True] Translation: X:121.59, Y:-48.68, Z:0.74 [[-7.01441648e-01 7.12712043e-01 4.59994244e-03 1.21593845e+02] [ 7.12696109e-01 7.01456727e-01 -4.76608989e-03 -4.86847735e+01] [-6.62351023e-03 -6.47728666e-05 -9.99978062e-01 7.38039855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08088847899998 meters 0.014721808392435648 Centerline is valid? [True, True] Translation: X:121.60, Y:-48.68, Z:0.74 [[-7.55778446e-01 6.54808463e-01 4.98172974e-03 1.21604981e+02] [ 6.54793611e-01 7.55794861e-01 -4.41084602e-03 -4.86819867e+01] [-6.65342504e-03 -7.16175492e-05 -9.99977863e-01 7.38678268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11088847899998 meters 0.014939776791117517 Centerline is valid? [True, True] Translation: X:121.61, Y:-48.65, Z:0.74 [[-8.01160343e-01 5.98425888e-01 5.34418763e-03 1.21614767e+02] [ 5.98411904e-01 8.01178164e-01 -4.09190107e-03 -4.86527525e+01] [-6.73034597e-03 -8.02433768e-05 -9.99977348e-01 7.38654810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14088847899998 meters 0.015048691109029568 Centerline is valid? [True, True] Translation: X:121.64, Y:-48.64, Z:0.74 [[-8.41791044e-01 5.39773637e-01 5.67976346e-03 1.21641251e+02] [ 5.39760668e-01 8.41810200e-01 -3.74262408e-03 -4.86365048e+01] [-6.80145263e-03 -8.47945049e-05 -9.99976866e-01 7.38783133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17088847899998 meters 0.015031075946658184 Centerline is valid? [True, True] Translation: X:121.67, Y:-48.62, Z:0.74 [[-8.78145315e-01 4.78360142e-01 5.69035563e-03 1.21667384e+02] [ 4.78349461e-01 8.78163747e-01 -3.19782441e-03 -4.86193838e+01] [-6.52677576e-03 -8.61759823e-05 -9.99978697e-01 7.38684879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20088847899999 meters 0.014982289170669233 Centerline is valid? [True, True] Translation: X:121.68, Y:-48.60, Z:0.74 [[-9.09788711e-01 4.15032642e-01 5.69269540e-03 1.21684617e+02] [ 4.15023940e-01 9.09806517e-01 -2.68888887e-03 -4.85966510e+01] [-6.29522803e-03 -8.37158640e-05 -9.99980181e-01 7.39342559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230888479 meters 0.014971744986772612 Centerline is valid? [True, True] Translation: X:121.70, Y:-48.57, Z:0.74 [[-9.36767122e-01 3.49903396e-01 5.91385241e-03 1.21700377e+02] [ 3.49895870e-01 9.36785785e-01 -2.29641086e-03 -4.85730213e+01] [-6.34353483e-03 -8.19696582e-05 -9.99979876e-01 7.39809432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.260888479 meters 0.01488732071795037 Centerline is valid? [True, True] Translation: X:121.72, Y:-48.55, Z:0.74 [[-9.58994065e-01 2.83357895e-01 6.21984321e-03 1.21716540e+02] [ 2.83351396e-01 9.59014232e-01 -1.92076098e-03 -4.85502923e+01] [-6.50918095e-03 -7.95971230e-05 -9.99978812e-01 7.39856674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290888479 meters 0.014796175471361812 Centerline is valid? [True, True] Translation: X:121.73, Y:-48.53, Z:0.74 [[-9.76257769e-01 2.16461630e-01 8.07040399e-03 1.21726379e+02] [ 2.16453562e-01 9.76291123e-01 -1.87052717e-03 -4.85274963e+01] [-8.28396113e-03 -7.92489891e-05 -9.99965684e-01 7.40004019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.320888479 meters 0.014703592382076587 Centerline is valid? [True, True] Translation: X:121.73, Y:-48.50, Z:0.74 [[-9.88968162e-01 1.47896514e-01 8.28221675e-03 1.21731503e+02] [ 1.47890733e-01 9.89002839e-01 -1.30947648e-03 -4.85014168e+01] [-8.38480289e-03 -7.01674446e-05 -9.99964844e-01 7.40411935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.350888479 meters 0.014633104398924604 Centerline is valid? [True, True] Translation: X:121.87, Y:-47.71, Z:-0.14 [[-9.74878316e-01 -2.22598548e-01 7.88386889e-03 1.21870576e+02] [ 2.22591677e-01 -9.74910193e-01 -1.74956824e-03 -4.77066739e+01] [ 8.07551549e-03 4.92674588e-05 9.99967391e-01 -1.38337593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.380888479 meters 0.014616191408200167 Centerline is valid? [True, True] Translation: X:121.68, Y:-48.50, Z:0.74 [[-9.89108756e-01 1.46913267e-01 8.96440746e-03 1.21678321e+02] [ 1.46906826e-01 9.89149377e-01 -1.37645034e-03 -4.84984463e+01] [-9.06935687e-03 -4.45264368e-05 -9.99958872e-01 7.41452799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.410888479 meters 0.014512357000564583 Centerline is valid? [True, True] Translation: X:121.68, Y:-48.47, Z:0.74 [[-9.96930355e-01 7.77329072e-02 9.35218344e-03 1.21684262e+02] [ 7.77291883e-02 9.96974219e-01 -7.61019409e-04 -4.84733792e+01] [-9.38304204e-03 -3.17457210e-05 -9.99955978e-01 7.40185959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.440888479 meters 0.014558252933200181 Centerline is valid? [True, True] Translation: X:121.69, Y:-48.45, Z:0.74 [[-9.99918576e-01 8.96051854e-03 9.08575271e-03 1.21689090e+02] [ 8.96005010e-03 9.99959854e-01 -9.22620762e-05 -4.84492450e+01] [-9.08621466e-03 -1.08457645e-05 -9.99958719e-01 7.39976409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.470888479 meters 0.014535986807841931 Centerline is valid? [True, True] Translation: X:121.69, Y:-48.42, Z:0.74 [[-9.98057157e-01 -6.16007623e-02 9.34113980e-03 1.21690942e+02] [-6.15981067e-02 9.98100870e-01 5.71995498e-04 -4.84223365e+01] [-9.35863512e-03 -4.51232580e-06 -9.99956207e-01 7.39626500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50088847899997 meters 0.014499898495472657 Centerline is valid? [True, True] Translation: X:121.68, Y:-48.40, Z:0.74 [[-9.91175197e-01 -1.32225547e-01 9.38794294e-03 1.21683851e+02] [-1.32219620e-01 9.91219655e-01 1.25191625e-03 -4.83958917e+01] [-9.47104887e-03 -4.01918962e-07 -9.99955149e-01 7.40185339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53088847899997 meters 0.014563685594464451 Centerline is valid? [True, True] Translation: X:121.56, Y:-47.57, Z:-0.14 [[-9.97450112e-01 7.08415081e-02 8.64610159e-03 1.21564616e+02] [-7.08392887e-02 -9.97487583e-01 5.63061748e-04 -4.75748734e+01] [ 8.66426712e-03 -5.08576833e-05 9.99962463e-01 -1.37692443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56088847899997 meters 0.01461233298283344 Centerline is valid? [True, True] Translation: X:121.55, Y:-48.42, Z:0.74 [[-9.90398046e-01 -1.37928847e-01 9.34573633e-03 1.21550106e+02] [-1.37922619e-01 9.90442140e-01 1.31076479e-03 -4.84150979e+01] [-9.43720337e-03 9.19045219e-06 -9.99955469e-01 7.40391660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59088847899997 meters 0.014524753775585333 Centerline is valid? [True, True] Translation: X:121.53, Y:-48.39, Z:0.74 [[-9.78047262e-01 -2.08160411e-01 9.63315407e-03 1.21532676e+02] [-2.08150124e-01 9.78094700e-01 2.06948539e-03 -4.83910133e+01] [-9.85292188e-03 1.89123081e-05 -9.99951459e-01 7.39860566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62088847899997 meters 0.014500792904492793 Centerline is valid? [True, True] Translation: X:121.49, Y:-48.37, Z:0.74 [[-9.60624029e-01 -2.77694046e-01 9.35364439e-03 1.21487897e+02] [-2.77680579e-01 9.60669566e-01 2.73497731e-03 -4.83747617e+01] [-9.74524842e-03 2.99595270e-05 -9.99952514e-01 7.39100569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65088847899997 meters 0.014732290648803372 Centerline is valid? [True, True] Translation: X:121.43, Y:-48.37, Z:0.74 [[-9.38466642e-01 -3.45271443e-01 8.24580764e-03 1.21429609e+02] [-3.45257681e-01 9.38502866e-01 3.08303685e-03 -4.83679383e+01] [-8.80319868e-03 4.63988208e-05 -9.99961250e-01 7.38078750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68088847899998 meters 0.01477221544544319 Centerline is valid? [True, True] Translation: X:121.37, Y:-48.37, Z:0.74 [[-9.10741308e-01 -4.12912533e-01 7.31504371e-03 1.21365220e+02] [-4.12898754e-01 9.10770683e-01 3.37358171e-03 -4.83657865e+01] [-8.05532153e-03 5.20877871e-05 -9.99967554e-01 7.36904038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71088847899998 meters 0.014798665558861543 Centerline is valid? [True, True] Translation: X:121.29, Y:-48.38, Z:0.74 [[-8.77702822e-01 -4.79165159e-01 6.20538315e-03 1.21287113e+02] [-4.79152790e-01 8.77724756e-01 3.44327385e-03 -4.83754293e+01] [-7.09651528e-03 4.88445209e-05 -9.99974818e-01 7.36044811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74088847899998 meters 0.014826495203945559 Centerline is valid? [True, True] Translation: X:121.20, Y:-48.39, Z:0.73 [[-8.39421208e-01 -5.43455449e-01 5.31136971e-03 1.21203117e+02] [-5.43444233e-01 8.39438010e-01 3.49180225e-03 -4.83947526e+01] [-6.35620458e-03 4.46596272e-05 -9.99979798e-01 7.34738680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77088847899998 meters 0.014893808463354167 Centerline is valid? [True, True] Translation: X:121.11, Y:-48.43, Z:0.73 [[-7.95586788e-01 -6.05817544e-01 5.17357255e-03 1.21109722e+02] [-6.05804381e-01 7.95603608e-01 3.99374807e-03 -4.84272818e+01] [-6.53559563e-03 4.32002819e-05 -9.99978642e-01 7.34855188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80088847899998 meters 0.014872706680059009 Centerline is valid? [True, True] Translation: X:121.01, Y:-48.47, Z:0.74 [[-7.46509962e-01 -6.65353016e-01 5.31413909e-03 1.21013539e+02] [-6.65335763e-01 7.46528875e-01 4.79176497e-03 -4.84712672e+01] [-7.15537356e-03 4.14135060e-05 -9.99974399e-01 7.35428328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83088847899998 meters 0.014480947269787594 Centerline is valid? [True, True] Translation: X:120.93, Y:-48.52, Z:0.74 [[-6.91188686e-01 -7.22649386e-01 6.00540558e-03 1.20925838e+02] [-7.22621760e-01 6.91214774e-01 6.31885704e-03 -4.85160396e+01] [-8.71734322e-03 2.78857425e-05 -9.99962003e-01 7.36036828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86088847899998 meters 0.01436329672848 Centerline is valid? [True, True] Translation: X:120.83, Y:-48.58, Z:0.74 [[-6.32431379e-01 -7.74593076e-01 6.00986682e-03 1.20832993e+02] [-7.74557875e-01 6.32459933e-01 7.38450051e-03 -4.85781380e+01] [-9.52098293e-03 1.52001629e-05 -9.99954674e-01 7.36535472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89088847899998 meters 0.014268532304047914 Centerline is valid? [True, True] Translation: X:120.74, Y:-48.65, Z:0.74 [[-5.68129930e-01 -8.22916571e-01 6.05796313e-03 1.20743480e+02] [-8.22870145e-01 5.68162227e-01 8.74114455e-03 -4.86457284e+01] [-1.06351385e-02 -1.88111608e-05 -9.99943445e-01 7.38387208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92088847899998 meters 0.014244045944659544 Centerline is valid? [True, True] Translation: X:120.66, Y:-48.72, Z:0.74 [[-5.01633297e-01 -8.65061836e-01 5.66172245e-03 1.20660075e+02] [-8.65007599e-01 5.01665245e-01 9.68681881e-03 -4.87215587e+01] [-1.12199866e-02 -3.82020828e-05 -9.99937053e-01 7.39145457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95088847899999 meters 0.014238725497945939 Centerline is valid? [True, True] Translation: X:120.58, Y:-48.81, Z:0.74 [[-4.32128080e-01 -9.01798969e-01 4.89298904e-03 1.20578557e+02] [-9.01742617e-01 4.32155777e-01 1.00815043e-02 -4.88122036e+01] [-1.12060237e-02 -5.57156202e-05 -9.99937209e-01 7.39465823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.980888479 meters 0.014219758326785632 Centerline is valid? [True, True] Translation: X:120.51, Y:-48.90, Z:0.74 [[-3.60316749e-01 -9.32821041e-01 4.09224646e-03 1.20506434e+02] [-9.32762997e-01 3.60339981e-01 1.04062589e-02 -4.89040810e+01] [-1.11817773e-02 -6.75466933e-05 -9.99937480e-01 7.39199696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010888479 meters 0.014328614044983815 Centerline is valid? [True, True] Translation: X:120.44, Y:-49.01, Z:0.74 [[-2.86085875e-01 -9.58198495e-01 3.24290782e-03 1.20440113e+02] [-9.58140074e-01 2.86104243e-01 1.05811837e-02 -4.90074048e+01] [-1.10666840e-02 -8.00327269e-05 -9.99938759e-01 7.38347361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.040888479 meters 0.014346678807305247 Centerline is valid? [True, True] Translation: X:120.38, Y:-49.12, Z:0.74 [[-2.10798627e-01 -9.77526465e-01 2.43907730e-03 1.20382277e+02] [-9.77465603e-01 2.10812720e-01 1.09083116e-02 -4.91165980e+01] [-1.11773518e-02 -8.46570678e-05 -9.99937528e-01 7.38004449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.070888479 meters 0.014306514407360136 Centerline is valid? [True, True] Translation: X:120.33, Y:-49.22, Z:0.74 [[-1.34580704e-01 -9.90901536e-01 1.47624811e-03 1.20333995e+02] [-9.90848218e-01 1.34588777e-01 1.02795924e-02 -4.92244607e+01] [-1.03847504e-02 -7.93030203e-05 -9.99946074e-01 7.37869888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.100888479 meters 0.014294295472721414 Centerline is valid? [True, True] Translation: X:120.29, Y:-49.34, Z:0.74 [[-5.75287006e-02 -9.98343650e-01 6.37188964e-04 1.20293563e+02] [-9.98296047e-01 5.75321801e-02 9.74940100e-03 -4.93448467e+01] [-9.76991145e-03 -7.52328525e-05 -9.99952270e-01 7.37399005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.130888479 meters 0.014223225165961986 Centerline is valid? [True, True] Translation: X:120.26, Y:-49.46, Z:0.74 [[ 1.90574606e-02 -9.99818386e-01 -9.24843794e-05 1.20263795e+02] [-9.99785889e-01 -1.90575868e-02 8.06128796e-03 -4.94553467e+01] [-8.06158644e-03 -6.11630998e-05 -9.99967503e-01 7.36004590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.160888479 meters 0.014063018389775075 Centerline is valid? [True, True] Translation: X:120.24, Y:-49.59, Z:0.73 [[ 9.59736713e-02 -9.95383654e-01 -6.60691518e-04 1.20243852e+02] [-9.95355939e-01 -9.59759295e-02 7.42803753e-03 -4.95850167e+01] [-7.45715762e-03 -5.52728062e-05 -9.99972193e-01 7.34805115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.190888479 meters 0.014060487815040722 Centerline is valid? [True, True] Translation: X:120.23, Y:-49.70, Z:0.73 [[ 1.72256850e-01 -9.85051262e-01 -1.26058047e-03 1.20231797e+02] [-9.85022654e-01 -1.72261454e-01 7.50745860e-03 -4.97042882e+01] [-7.61238099e-03 -5.15108441e-05 -9.99971024e-01 7.34261682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.220888479 meters 0.014118647854140428 Centerline is valid? [True, True] Translation: X:120.23, Y:-49.83, Z:0.73 [[ 2.48426441e-01 -9.68648824e-01 -1.93877794e-03 1.20229025e+02] [-9.68617533e-01 -2.48434000e-01 7.78602291e-03 -4.98268728e+01] [-8.02358030e-03 -5.63196581e-05 -9.99967809e-01 7.34781616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25088847899997 meters 0.014106215936413724 Centerline is valid? [True, True] Translation: X:120.23, Y:-49.95, Z:0.74 [[ 3.23407394e-01 -9.46255733e-01 -2.78303113e-03 1.20234363e+02] [-9.46218921e-01 -3.23419362e-01 8.34691167e-03 -4.99460070e+01] [-8.79839917e-03 -6.60962434e-05 -9.99961291e-01 7.35109962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28088847899997 meters 0.014242625796504874 Centerline is valid? [True, True] Translation: X:120.26, Y:-50.10, Z:0.74 [[ 3.97803726e-01 -9.17463099e-01 -3.69564039e-03 1.20260276e+02] [-9.17421327e-01 -3.97820881e-01 8.75532986e-03 -5.00962770e+01] [-9.50289499e-03 -9.24435268e-05 -9.99954842e-01 7.35387470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31088847899997 meters 0.014385985725949926 Centerline is valid? [True, True] Translation: X:120.27, Y:-50.19, Z:0.74 [[ 4.68660291e-01 -8.83367226e-01 -4.45818483e-03 1.20274712e+02] [-8.83325093e-01 -4.68681483e-01 8.62833842e-03 -5.01936356e+01] [-9.71146005e-03 -1.05733064e-04 -9.99952837e-01 7.35452590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34088847899997 meters 0.014641310263450323 Centerline is valid? [True, True] Translation: X:120.31, Y:-50.31, Z:0.74 [[ 5.36176176e-01 -8.44090218e-01 -5.17807787e-03 1.20309084e+02] [-8.44048763e-01 -5.36201166e-01 8.36627156e-03 -5.03120792e+01] [-9.83837937e-03 -1.15245269e-04 -9.99951595e-01 7.36310870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37088847899997 meters 0.014596181136140734 Centerline is valid? [True, True] Translation: X:120.34, Y:-50.41, Z:0.74 [[ 6.00092213e-01 -7.99907289e-01 -6.13718513e-03 1.20342755e+02] [-7.99863291e-01 -6.00123582e-01 8.39060304e-03 -5.04131812e+01] [-1.03947741e-02 -1.26226454e-04 -9.99945965e-01 7.37638462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40088847899997 meters 0.014618845236150632 Centerline is valid? [True, True] Translation: X:120.39, Y:-50.51, Z:0.74 [[ 6.59776017e-01 -7.51426830e-01 -7.30248979e-03 1.20387722e+02] [-7.51378555e-01 -6.59816415e-01 8.51854603e-03 -5.05141881e+01] [-1.12193667e-02 -1.33398148e-04 -9.99937052e-01 7.37966643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43088847899998 meters 0.014701134233825968 Centerline is valid? [True, True] Translation: X:120.45, Y:-50.62, Z:0.74 [[ 7.15573103e-01 -6.98488585e-01 -8.29643384e-03 1.20445187e+02] [-6.98439373e-01 -7.15621183e-01 8.29244725e-03 -5.06166977e+01] [-1.17292835e-02 -1.39296165e-04 -9.99931200e-01 7.38782040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46088847899998 meters 0.014873862736401467 Centerline is valid? [True, True] Translation: X:120.44, Y:-50.62, Z:0.74 [[ 7.67940720e-01 -6.40456330e-01 -9.09609581e-03 1.20439623e+02] [-6.40409201e-01 -7.67994576e-01 7.77085875e-03 -5.06220583e+01] [-1.19626479e-02 -1.42335414e-04 -9.99928435e-01 7.39587126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49088847899998 meters 0.01472408397900594 Centerline is valid? [True, True] Translation: X:120.44, Y:-50.63, Z:0.74 [[ 8.15501175e-01 -5.78663561e-01 -1.03109798e-02 1.20435769e+02] [-5.78615024e-01 -8.15566344e-01 7.49617396e-03 -5.06271463e+01] [-1.27470508e-02 -1.47050872e-04 -9.99918742e-01 7.38229939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52088847899998 meters 0.014752341111728086 Centerline is valid? [True, True] Translation: X:120.43, Y:-50.63, Z:0.74 [[ 8.58119905e-01 -5.13338543e-01 -1.06662070e-02 1.20430008e+02] [-5.13296827e-01 -8.58186180e-01 6.54584532e-03 -5.06324838e+01] [-1.25138261e-02 -1.42189954e-04 -9.99921689e-01 7.38080250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55088847899998 meters 0.014635390095864327 Centerline is valid? [True, True] Translation: X:120.42, Y:-50.64, Z:0.74 [[ 8.95220100e-01 -4.45495037e-01 -1.07305558e-02 1.20424134e+02] [-4.45461332e-01 -8.95284400e-01 5.48139561e-03 -5.06382531e+01] [-1.20488338e-02 -1.27007835e-04 -9.99927402e-01 7.37931140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58088847899998 meters 0.014459455004900668 Centerline is valid? [True, True] Translation: X:120.42, Y:-50.64, Z:0.74 [[ 9.26909129e-01 -3.75129523e-01 -1.08308836e-02 1.20418933e+02] [-3.75102508e-01 -9.26972399e-01 4.50331650e-03 -5.06441249e+01] [-1.17292571e-02 -1.11473576e-04 -9.99931204e-01 7.38388556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61088847899998 meters 0.014238810186150325 Centerline is valid? [True, True] Translation: X:120.41, Y:-50.65, Z:0.74 [[ 9.52753520e-01 -3.03589532e-01 -9.70182904e-03 1.20414810e+02] [-3.03572958e-01 -9.52802912e-01 3.17322770e-03 -5.06485233e+01] [-1.02072897e-02 -7.80909179e-05 -9.99947901e-01 7.39163338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64088847899998 meters 0.014188206808333059 Centerline is valid? [True, True] Translation: X:120.41, Y:-50.65, Z:0.74 [[ 9.73314521e-01 -2.29258006e-01 -9.98049019e-03 1.20411691e+02] [-2.29245247e-01 -9.73365688e-01 2.41963784e-03 -5.06516566e+01] [-1.02693880e-02 -6.70887030e-05 -9.99947266e-01 7.38665775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67088847899998 meters 0.014188206808333059 Centerline is valid? [True, True] Translation: X:120.40, Y:-50.66, Z:0.74 [[ 9.88277321e-01 -1.52332370e-01 -1.01383401e-02 1.20404688e+02] [-1.52323659e-01 -9.88329320e-01 1.63047826e-03 -5.06558038e+01] [-1.02683934e-02 -6.70556265e-05 -9.99947276e-01 7.38656783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70088847899999 meters 0.013948776180346073 Centerline is valid? [True, True] Translation: X:120.40, Y:-50.66, Z:0.74 [[ 9.96995510e-01 -7.68450039e-02 -9.73639772e-03 1.20398066e+02] [-7.68409286e-02 -9.97043050e-01 7.92514754e-04 -5.06605541e+01] [-9.76850848e-03 -4.19798103e-05 -9.99952286e-01 7.37101923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730888479 meters 0.013889399003404055 Centerline is valid? [True, True] Translation: X:120.39, Y:-50.67, Z:0.74 [[ 9.99950321e-01 8.58249084e-04 -9.93069304e-03 1.20392225e+02] [ 8.58570907e-04 -9.99999631e-01 2.81436058e-05 -5.06691457e+01] [-9.93066522e-03 -3.66684118e-05 -9.99950689e-01 7.36229568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.760888479 meters 0.01389956324910511 Centerline is valid? [True, True] Translation: X:120.39, Y:-50.68, Z:0.74 [[ 9.96831884e-01 7.88980265e-02 -1.00645833e-02 1.20386287e+02] [ 7.88943525e-02 -9.96882691e-01 -7.62166972e-04 -5.06780185e+01] [-1.00933424e-02 -3.42864458e-05 -9.99949060e-01 7.36619438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790888479 meters 0.013942530956408435 Centerline is valid? [True, True] Translation: X:120.38, Y:-50.68, Z:0.74 [[ 9.87544644e-01 1.57013520e-01 -1.01158499e-02 1.20380729e+02] [ 1.57005670e-01 -9.87596453e-01 -1.57044850e-03 -5.06840143e+01] [-1.02369591e-02 -3.73577787e-05 -9.99947600e-01 7.36904320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.820888479 meters 0.013895222999206926 Centerline is valid? [True, True] Translation: X:120.38, Y:-50.70, Z:0.74 [[ 9.71775961e-01 2.35673373e-01 -1.04662621e-02 1.20378008e+02] [ 2.35660351e-01 -9.71832320e-01 -2.47815464e-03 -5.06979272e+01] [-1.07554868e-02 -5.82718887e-05 -9.99942156e-01 7.37132918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.850888479 meters 0.013912765118068252 Centerline is valid? [True, True] Translation: X:120.38, Y:-50.71, Z:0.74 [[ 9.49991168e-01 3.12103359e-01 -1.04054863e-02 1.20375993e+02] [ 3.12085451e-01 -9.50048150e-01 -3.34407344e-03 -5.07096472e+01] [-1.09294096e-02 -7.05606642e-05 -9.99940270e-01 7.37846672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.880888479 meters 0.014022487298277413 Centerline is valid? [True, True] Translation: X:120.37, Y:-50.72, Z:0.74 [[ 9.22272732e-01 3.86394703e-01 -1.05897028e-02 1.20372870e+02] [ 3.86370277e-01 -9.22333522e-01 -4.34545585e-03 -5.07194048e+01] [-1.14462990e-02 -8.38509767e-05 -9.99934485e-01 7.38325134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.910888479 meters 0.013987055267027152 Centerline is valid? [True, True] Translation: X:120.37, Y:-50.73, Z:0.74 [[ 8.88625941e-01 4.58511713e-01 -1.05331304e-02 1.20371483e+02] [ 4.58480839e-01 -8.88688359e-01 -5.32176964e-03 -5.07302194e+01] [-1.18007641e-02 -1.00175925e-04 -9.99930364e-01 7.37248413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.940888479 meters 0.01409939902418161 Centerline is valid? [True, True] Translation: X:120.37, Y:-50.74, Z:0.74 [[ 8.49765255e-01 5.27071116e-01 -9.74937831e-03 1.20370151e+02] [ 5.27037822e-01 -8.49821174e-01 -5.92503538e-03 -5.07412787e+01] [-1.14081431e-02 -1.03401905e-04 -9.99934920e-01 7.37294540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.970888479 meters 0.014113666665602424 Centerline is valid? [True, True] Translation: X:120.37, Y:-50.75, Z:0.74 [[ 8.05728220e-01 5.92218622e-01 -8.89600903e-03 1.20370300e+02] [ 5.92183940e-01 -8.05777322e-01 -6.40993533e-03 -5.07512600e+01] [-1.09642854e-02 -1.03407900e-04 -9.99939885e-01 7.36800050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00088847899997 meters 0.014256634306885 Centerline is valid? [True, True] Translation: X:120.37, Y:-50.76, Z:0.74 [[ 7.56278786e-01 6.54205058e-01 -7.62493244e-03 1.20370608e+02] [ 6.54173214e-01 -7.56317216e-01 -6.45561577e-03 -5.07628303e+01] [-9.99016417e-03 -1.05781309e-04 -9.99950091e-01 7.36495558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03088847899997 meters 0.014206718755387912 Centerline is valid? [True, True] Translation: X:120.37, Y:-50.77, Z:0.74 [[ 7.02471351e-01 7.11677635e-01 -6.99608445e-03 1.20371125e+02] [ 7.11643869e-01 -7.02506179e-01 -6.93342619e-03 -5.07710753e+01] [-9.84915691e-03 -1.08187341e-04 -9.99951490e-01 7.36127951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06088847899997 meters 0.01418749450550469 Centerline is valid? [True, True] Translation: X:120.37, Y:-50.78, Z:0.74 [[ 6.44523714e-01 7.64559269e-01 -6.18921922e-03 1.20373517e+02] [ 7.64525584e-01 -6.44553422e-01 -7.17761250e-03 -5.07812804e+01] [-9.47699259e-03 -1.05674962e-04 -9.99955087e-01 7.35673552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09088847899997 meters 0.014057801920633686 Centerline is valid? [True, True] Translation: X:120.38, Y:-50.79, Z:0.73 [[ 5.82059533e-01 8.13128924e-01 -5.29660444e-03 1.20378714e+02] [ 8.13096926e-01 -5.82083621e-01 -7.21436685e-03 -5.07925332e+01] [-8.94927704e-03 -1.07461788e-04 -9.99959949e-01 7.34496808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12088847899997 meters 0.014146478141132865 Centerline is valid? [True, True] Translation: X:120.38, Y:-50.80, Z:0.73 [[ 5.16095034e-01 8.56518953e-01 -4.60430555e-03 1.20383734e+02] [ 8.56486760e-01 -5.16115560e-01 -7.42685896e-03 -5.08042443e+01] [-8.73759920e-03 -1.10561712e-04 -9.99961820e-01 7.34224112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15088847899997 meters 0.014232746628763341 Centerline is valid? [True, True] Translation: X:120.39, Y:-50.81, Z:0.73 [[ 4.46810099e-01 8.94620863e-01 -3.77449881e-03 1.20390208e+02] [ 8.94591016e-01 -4.46826028e-01 -7.30856688e-03 -5.08142764e+01] [-8.22494072e-03 -1.11091231e-04 -9.99966168e-01 7.34129290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18088847899998 meters 0.014717492407818469 Centerline is valid? [True, True] Translation: X:120.40, Y:-50.83, Z:0.73 [[ 3.74180229e-01 9.27350522e-01 -3.18825574e-03 1.20398486e+02] [ 9.27319575e-01 -3.74193792e-01 -7.57712718e-03 -5.08259175e+01] [-8.21967835e-03 -1.21320775e-04 -9.99966211e-01 7.34999574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21088847899998 meters 0.014673754150866743 Centerline is valid? [True, True] Translation: X:120.40, Y:-50.83, Z:0.73 [[ 2.99853206e-01 9.53981936e-01 -2.55368162e-03 1.20403314e+02] [ 9.53950796e-01 -2.99864054e-01 -7.70897523e-03 -5.08342141e+01] [-8.11998043e-03 -1.24525676e-04 -9.99967025e-01 7.34810355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24088847899998 meters 0.014655796580829088 Centerline is valid? [True, True] Translation: X:120.41, Y:-50.84, Z:0.73 [[ 2.24004896e-01 9.74586088e-01 -1.94015964e-03 1.20409997e+02] [ 9.74554246e-01 -2.24013263e-01 -7.87908033e-03 -5.08426294e+01] [-8.11346357e-03 -1.25838241e-04 -9.99967077e-01 7.34973235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27088847899998 meters 0.014555091533188923 Centerline is valid? [True, True] Translation: X:120.42, Y:-50.85, Z:0.74 [[ 1.46716694e-01 9.89177581e-01 -1.38757066e-03 1.20417472e+02] [ 9.89141544e-01 -1.46723195e-01 -8.44451619e-03 -5.08500227e+01] [-8.55671490e-03 -1.33552291e-04 -9.99963382e-01 7.35443997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30088847899998 meters 0.015061642048798693 Centerline is valid? [True, True] Translation: X:120.43, Y:-50.86, Z:0.74 [[ 6.86733338e-02 9.97638902e-01 -7.71342286e-04 1.20426891e+02] [ 9.97597082e-01 -6.86775185e-02 -9.13565924e-03 -5.08577349e+01] [-9.16706292e-03 -1.42112638e-04 -9.99957972e-01 7.36863713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33088847899998 meters 0.014544919928258312 Centerline is valid? [True, True] Translation: X:120.43, Y:-50.86, Z:0.74 [[-9.70615546e-03 9.99952893e-01 -5.27837995e-05 1.20432277e+02] [ 9.99912269e-01 9.70528530e-03 -9.01449055e-03 -5.08638176e+01] [-9.01355362e-03 -1.40275215e-04 -9.99959367e-01 7.36194628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36088847899998 meters 0.014762961408909103 Centerline is valid? [True, True] Translation: X:120.44, Y:-50.87, Z:0.74 [[-8.78373535e-02 9.96134631e-01 6.30166400e-04 1.20439183e+02] [ 9.96096806e-01 8.78395104e-02 -8.68177204e-03 -5.08712136e+01] [-8.70356730e-03 -1.34877142e-04 -9.99962114e-01 7.36468958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39088847899998 meters 0.01450547746183256 Centerline is valid? [True, True] Translation: X:120.45, Y:-50.88, Z:0.74 [[-1.65240757e-01 9.86252465e-01 1.25179373e-03 1.20447670e+02] [ 9.86218039e-01 1.65245450e-01 -8.24140569e-03 -5.08764454e+01] [-8.33495990e-03 -1.27274561e-04 -9.99965256e-01 7.35869431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42088847899998 meters 0.014425376937846105 Centerline is valid? [True, True] Translation: X:120.46, Y:-50.88, Z:0.74 [[-2.41239333e-01 9.70463640e-01 1.97671114e-03 1.20456628e+02] [ 9.70426680e-01 2.41247399e-01 -8.47061968e-03 -5.08823874e+01] [-8.69730483e-03 -1.25193414e-04 -9.99962170e-01 7.36025032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45088847899999 meters 0.014374495831233024 Centerline is valid? [True, True] Translation: X:120.46, Y:-50.89, Z:0.74 [[-3.16058948e-01 9.48736028e-01 2.58658831e-03 1.20464968e+02] [ 9.48701098e-01 3.16069509e-01 -8.14196289e-03 -5.08863596e+01] [-8.54211524e-03 -1.19441052e-04 -9.99963508e-01 7.36640431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.480888479 meters 0.014447460329127403 Centerline is valid? [True, True] Translation: X:120.47, Y:-50.89, Z:0.74 [[-3.88842316e-01 9.21298231e-01 3.35015158e-03 1.20473723e+02] [ 9.21261382e-01 3.88856729e-01 -8.24072468e-03 -5.08913168e+01] [-8.89489406e-03 -1.17977191e-04 -9.99960433e-01 7.37504967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510888479 meters 0.014119492991246888 Centerline is valid? [True, True] Translation: X:120.48, Y:-50.89, Z:0.74 [[-4.58886267e-01 8.88485471e-01 4.11848284e-03 1.20483867e+02] [ 8.88447488e-01 4.58904735e-01 -8.21621230e-03 -5.08927622e+01] [-9.18997652e-03 -1.11251260e-04 -9.99957765e-01 7.37342084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.540888479 meters 0.014024120862947803 Centerline is valid? [True, True] Translation: X:120.49, Y:-50.89, Z:0.74 [[-5.26165920e-01 8.50369222e-01 4.64873321e-03 1.20494810e+02] [ 8.50334345e-01 5.26186447e-01 -7.70228281e-03 -5.08932484e+01] [-8.99588465e-03 -9.97012088e-05 -9.99959531e-01 7.37042939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.570888479 meters 0.013928683588390075 Centerline is valid? [True, True] Translation: X:120.51, Y:-50.89, Z:0.74 [[-5.90213731e-01 8.07232518e-01 4.83879104e-03 1.20505880e+02] [ 8.07204213e-01 5.90233560e-01 -6.76039119e-03 -5.08934299e+01] [-8.31322446e-03 -8.41831899e-05 -9.99965441e-01 7.36644549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.600888479 meters 0.013661948889772697 Centerline is valid? [True, True] Translation: X:120.52, Y:-50.89, Z:0.74 [[-6.48994431e-01 7.60777705e-01 4.84896137e-03 1.20515762e+02] [ 7.60755869e-01 6.49012543e-01 -5.76421272e-03 -5.08944589e+01] [-7.53232127e-03 -5.20661346e-05 -9.99971630e-01 7.35090766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.630888479 meters 0.013619577300894865 Centerline is valid? [True, True] Translation: X:120.53, Y:-50.89, Z:0.74 [[-7.05376913e-01 7.08814922e-01 4.98168014e-03 1.20526026e+02] [ 7.08796865e-01 7.05394503e-01 -5.05957334e-03 -5.08938820e+01] [-7.10035087e-03 -3.79069577e-05 -9.99974791e-01 7.35339660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.660888479 meters 0.013632102111166321 Centerline is valid? [True, True] Translation: X:120.54, Y:-50.89, Z:0.73 [[-7.57512579e-01 6.52802414e-01 4.86842996e-03 1.20535643e+02] [ 6.52788725e-01 7.57528223e-01 -4.22755060e-03 -5.08918049e+01] [-6.44772833e-03 -2.43665735e-05 -9.99979213e-01 7.33997936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.690888479 meters 0.013589287859233636 Centerline is valid? [True, True] Translation: X:120.57, Y:-50.88, Z:0.73 [[-8.00468000e-01 5.99355535e-01 4.89120295e-03 1.20565644e+02] [ 5.99344282e-01 8.00482944e-01 -3.67278508e-03 -5.08805847e+01] [-6.11662860e-03 -8.43240775e-06 -9.99981293e-01 7.33266699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.720888479 meters 0.013868526788962957 Centerline is valid? [True, True] Translation: X:120.59, Y:-50.86, Z:0.73 [[-8.38615420e-01 5.44709822e-01 3.92261448e-03 1.20589153e+02] [ 5.44703907e-01 8.38624594e-01 -2.53853638e-03 -5.08637595e+01] [-4.67236667e-03 7.80767991e-06 -9.99989084e-01 7.32003962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75088847899997 meters 0.014014308378097778 Centerline is valid? [True, True] Translation: X:120.61, Y:-50.84, Z:0.73 [[-8.74193535e-01 4.85564419e-01 3.58580092e-03 1.20610654e+02] [ 4.85560389e-01 8.74200890e-01 -1.97833219e-03 -5.08435013e+01] [-4.09531808e-03 1.16776751e-05 -9.99991614e-01 7.31730071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78088847899997 meters 0.01425936002433996 Centerline is valid? [True, True] Translation: X:120.63, Y:-50.82, Z:0.73 [[-9.05736935e-01 4.23825373e-01 3.55767124e-03 1.20627271e+02] [ 4.23822175e-01 9.05743922e-01 -1.64658582e-03 -5.08196076e+01] [-3.92020395e-03 1.64463632e-05 -9.99992316e-01 7.32119247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81088847899997 meters 0.014546618105417124 Centerline is valid? [True, True] Translation: X:120.65, Y:-50.80, Z:0.73 [[-9.32792603e-01 3.60389536e-01 4.16435815e-03 1.20645166e+02] [ 3.60386079e-01 9.32801898e-01 -1.57890293e-03 -5.07955868e+01] [-4.45354129e-03 2.79877340e-05 -9.99990083e-01 7.32418631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84088847899997 meters 0.015090844967934862 Centerline is valid? [True, True] Translation: X:120.66, Y:-50.77, Z:0.73 [[-9.55119973e-01 2.96185424e-01 4.47560813e-03 1.20660235e+02] [ 2.96182388e-01 9.55130458e-01 -1.34175536e-03 -5.07705961e+01] [-4.67219802e-03 4.40589551e-05 -9.99989084e-01 7.32514170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87088847899997 meters 0.015224170474465195 Centerline is valid? [True, True] Translation: X:120.67, Y:-50.74, Z:0.73 [[-9.73326783e-01 2.29375075e-01 4.69569467e-03 1.20674334e+02] [ 2.29372674e-01 9.73338108e-01 -1.05088899e-03 -5.07448745e+01] [-4.81154630e-03 5.42056440e-05 -9.99988423e-01 7.32078382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90088847899997 meters 0.0156335307385949 Centerline is valid? [True, True] Translation: X:120.68, Y:-50.72, Z:0.73 [[-9.86871150e-01 1.61427321e-01 5.15298502e-03 1.20678781e+02] [ 1.61425488e-01 9.86884601e-01 -7.72500697e-04 -5.07167126e+01] [-5.21010428e-03 6.94644695e-05 -9.99986425e-01 7.32066760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93088847899998 meters 0.016358867945650456 Centerline is valid? [True, True] Translation: X:120.81, Y:-49.93, Z:-0.13 [[-9.81718857e-01 -1.90247062e-01 5.84307162e-03 1.20805408e+02] [ 1.90243469e-01 -9.81736245e-01 -1.16981193e-03 -4.99283577e+01] [ 5.95890848e-03 -3.68202130e-05 9.99982245e-01 -1.33731059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96088847899998 meters 0.017131472566690138 Centerline is valid? [True, True] Translation: X:120.62, Y:-50.71, Z:0.73 [[-9.86706527e-01 1.62339829e-01 7.48397587e-03 1.20620223e+02] [ 1.62336319e-01 9.86734897e-01 -1.07827777e-03 -5.07071372e+01] [-7.55974759e-03 1.50977375e-04 -9.99971413e-01 7.33332237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99088847899998 meters 0.019490244129291137 Centerline is valid? [True, True] Translation: X:120.62, Y:-50.68, Z:0.73 [[-9.95618072e-01 9.31318841e-02 8.43249980e-03 1.20623444e+02] [ 9.31300960e-02 9.95653765e-01 -6.05320870e-04 -5.06818240e+01] [-8.45222484e-03 1.82651118e-04 -9.99964263e-01 7.34694423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02088847899998 meters 0.01852859366311373 Centerline is valid? [True, True] Translation: X:120.68, Y:-49.89, Z:-0.13 [[-9.93918135e-01 -1.09787878e-01 8.56521445e-03 1.20678529e+02] [ 1.09782278e-01 -9.93955025e-01 -1.12267604e-03 -4.98854648e+01] [ 8.63669416e-03 -1.75539322e-04 9.99962688e-01 -1.34534879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05088847899998 meters 0.018686122801377245 Centerline is valid? [True, True] Translation: X:120.54, Y:-50.67, Z:0.73 [[-9.95803894e-01 9.10685666e-02 9.00671999e-03 1.20539956e+02] [ 9.10669128e-02 9.95844598e-01 -5.94409469e-04 -5.06697501e+01] [-9.02342547e-03 2.28298921e-04 -9.99959262e-01 7.33419650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08088847899998 meters 0.018486125640116157 Centerline is valid? [True, True] Translation: X:120.54, Y:-50.64, Z:0.73 [[-9.99749924e-01 2.06715204e-02 8.53100289e-03 1.20537795e+02] [ 2.06726544e-02 9.99786297e-01 4.47617218e-05 -5.06393832e+01] [-8.52825449e-03 2.21109002e-04 -9.99963609e-01 7.32959123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11088847899998 meters 0.01864162582344067 Centerline is valid? [True, True] Translation: X:120.54, Y:-50.61, Z:0.73 [[-9.98722481e-01 -4.99169846e-02 7.85501431e-03 1.20535088e+02] [-4.99137998e-02 9.98753349e-01 6.01087559e-04 -5.06092254e+01] [-7.87522632e-03 2.08246046e-04 -9.99968968e-01 7.32309122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14088847899998 meters 0.020549365048330895 Centerline is valid? [True, True] Translation: X:120.52, Y:-50.58, Z:0.73 [[-9.92599081e-01 -1.21257910e-01 6.60184257e-03 1.20524507e+02] [-1.21254069e-01 9.92621020e-01 9.80520887e-04 -5.05805064e+01] [-6.67202362e-03 1.72763857e-04 -9.99977727e-01 7.32180346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17088847899998 meters 0.018443632920995857 Centerline is valid? [True, True] Translation: X:120.50, Y:-50.55, Z:0.73 [[-9.81155476e-01 -1.93110149e-01 6.51167461e-03 1.20499938e+02] [-1.93104759e-01 9.81177070e-01 1.45242435e-03 -5.05497318e+01] [-6.66958370e-03 1.67618746e-04 -9.99977744e-01 7.31187138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20088847899999 meters 0.01757819418598146 Centerline is valid? [True, True] Translation: X:120.45, Y:-50.53, Z:0.73 [[-9.64044218e-01 -2.65663123e-01 6.46927281e-03 1.20450260e+02] [-2.65656028e-01 9.64065910e-01 1.94813096e-03 -5.05291849e+01] [-6.75435193e-03 1.59483067e-04 -9.99977176e-01 7.30653252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230888479 meters 0.01740361967747571 Centerline is valid? [True, True] Translation: X:120.38, Y:-50.52, Z:0.73 [[-9.40614047e-01 -3.39419841e-01 6.27588510e-03 1.20381481e+02] [-3.39411342e-01 9.40634974e-01 2.40561234e-03 -5.05173575e+01] [-6.71982957e-03 1.32646179e-04 -9.99977413e-01 7.30621530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.260888479 meters 0.01669846068264868 Centerline is valid? [True, True] Translation: X:120.31, Y:-50.51, Z:0.73 [[-9.11829536e-01 -4.10524398e-01 6.05110534e-03 1.20311577e+02] [-4.10514520e-01 9.11849607e-01 2.85015454e-03 -5.05115562e+01] [-6.68775600e-03 1.14788484e-04 -9.99977630e-01 7.30335748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290888479 meters 0.01621269540230672 Centerline is valid? [True, True] Translation: X:120.23, Y:-50.52, Z:0.73 [[-8.77389273e-01 -4.79743563e-01 5.84615918e-03 1.20231586e+02] [-4.79732186e-01 8.77408744e-01 3.30535901e-03 -5.05160382e+01] [-6.71519589e-03 9.54958185e-05 -9.99977448e-01 7.30646353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.320888479 meters 0.015518986326710985 Centerline is valid? [True, True] Translation: X:120.14, Y:-50.53, Z:0.73 [[-8.36170387e-01 -5.48434774e-01 6.19529811e-03 1.20143523e+02] [-5.48419112e-01 8.36193335e-01 4.14540296e-03 -5.05272869e+01] [-7.45395012e-03 6.86433086e-05 -9.99972217e-01 7.32066459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.350888479 meters 0.01509458433126704 Centerline is valid? [True, True] Translation: X:120.05, Y:-50.55, Z:0.73 [[-7.90844109e-01 -6.11985904e-01 6.23282683e-03 1.20052862e+02] [-6.11966386e-01 7.90868668e-01 4.88789159e-03 -5.05539287e+01] [-7.92066821e-03 5.12797522e-05 -9.99968630e-01 7.32500895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.380888479 meters 0.014569480239359148 Centerline is valid? [True, True] Translation: X:119.96, Y:-50.59, Z:0.73 [[-7.40452487e-01 -6.72078888e-01 6.33119134e-03 1.19962111e+02] [-6.72053951e-01 7.40479553e-01 5.78958541e-03 -5.05892122e+01] [-8.57917585e-03 3.20107584e-05 -9.99963198e-01 7.32231790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.410888479 meters 0.014468360765612389 Centerline is valid? [True, True] Translation: X:119.87, Y:-50.63, Z:0.73 [[-6.85222884e-01 -7.28308960e-01 5.97142297e-03 1.19871558e+02] [-7.28281229e-01 6.85248903e-01 6.35552578e-03 -5.06349016e+01] [-8.72069741e-03 6.07644636e-06 -9.99961974e-01 7.31924042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.440888479 meters 0.014231669621037177 Centerline is valid? [True, True] Translation: X:119.78, Y:-50.69, Z:0.73 [[-6.24161147e-01 -7.81271307e-01 6.16512034e-03 1.19778223e+02] [-7.81233814e-01 6.24191592e-01 7.65401344e-03 -5.06903110e+01] [-9.82807736e-03 -3.90626696e-05 -9.99951703e-01 7.32300689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.470888479 meters 0.014552381910537659 Centerline is valid? [True, True] Translation: X:119.69, Y:-50.76, Z:0.73 [[-5.60986940e-01 -8.27802681e-01 6.03118064e-03 1.19689652e+02] [-8.27756087e-01 5.61019356e-01 8.78309996e-03 -5.07565192e+01] [-1.06542828e-02 -6.51421141e-05 -9.99943239e-01 7.33597124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50088847899997 meters 0.014579757698147362 Centerline is valid? [True, True] Translation: X:119.61, Y:-50.83, Z:0.73 [[-4.94673880e-01 -8.69060926e-01 5.55514892e-03 1.19608228e+02] [-8.69008099e-01 4.94705063e-01 9.58247226e-03 -5.08278508e+01] [-1.10759125e-02 -8.72706714e-05 -9.99938656e-01 7.33609869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53088847899997 meters 0.014573080435926386 Centerline is valid? [True, True] Translation: X:119.53, Y:-50.91, Z:0.73 [[-4.24577140e-01 -9.05378992e-01 4.80971498e-03 1.19528124e+02] [-9.05323968e-01 4.24604366e-01 9.98221789e-03 -5.09120056e+01] [-1.10799163e-02 -1.16128737e-04 -9.99938609e-01 7.33282320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56088847899997 meters 0.014886849749234116 Centerline is valid? [True, True] Translation: X:119.46, Y:-51.00, Z:0.73 [[-3.53213245e-01 -9.35534200e-01 4.02034881e-03 1.19458387e+02] [-9.35477625e-01 3.53236102e-01 1.02892546e-02 -5.10003816e+01] [-1.10460819e-02 -1.26645362e-04 -9.99938982e-01 7.32869669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59088847899997 meters 0.014886849749234116 Centerline is valid? [True, True] Translation: X:119.40, Y:-51.10, Z:0.73 [[-2.80584569e-01 -9.59823904e-01 3.22083851e-03 1.19395509e+02] [-9.59765754e-01 2.80603026e-01 1.05659809e-02 -5.10970402e+01] [-1.10452581e-02 -1.26599303e-04 -9.99938991e-01 7.32830546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62088847899997 meters 0.015120792043455789 Centerline is valid? [True, True] Translation: X:119.34, Y:-51.20, Z:0.73 [[-2.05666972e-01 -9.78619271e-01 2.32777825e-03 1.19338507e+02] [-9.78563501e-01 2.05680104e-01 1.04484381e-02 -5.12025176e+01] [-1.07038206e-02 -1.28980202e-04 -9.99942704e-01 7.32231818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65088847899997 meters 0.015005523428331467 Centerline is valid? [True, True] Translation: X:119.29, Y:-51.31, Z:0.73 [[-1.29127856e-01 -9.91626895e-01 1.44857359e-03 1.19291958e+02] [-9.91575483e-01 1.29135913e-01 1.00984101e-02 -5.13066878e+01] [-1.02009179e-02 -1.32384015e-04 -9.99947961e-01 7.29090195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68088847899998 meters 0.014914149794800085 Centerline is valid? [True, True] Translation: X:119.25, Y:-51.42, Z:0.73 [[-5.25051783e-02 -9.98620417e-01 6.85526258e-04 1.19251735e+02] [-9.98565907e-01 5.25094755e-02 1.04347421e-02 -5.14209735e+01] [-1.04563431e-02 -1.36665155e-04 -9.99945322e-01 7.28648772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71088847899998 meters 0.015215646629833218 Centerline is valid? [True, True] Translation: X:119.22, Y:-51.54, Z:0.73 [[ 2.46546178e-02 -9.99696022e-01 -1.17551694e-04 1.19220035e+02] [-9.99641439e-01 -2.46545002e-02 1.04474582e-02 -5.15358917e+01] [-1.04471805e-02 -1.40068544e-04 -9.99945417e-01 7.29296587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74088847899998 meters 0.014995410285004887 Centerline is valid? [True, True] Translation: X:119.20, Y:-51.65, Z:0.73 [[ 1.01363041e-01 -9.94849011e-01 -9.89175612e-04 1.19198203e+02] [-9.94786327e-01 -1.01367759e-01 1.11687501e-02 -5.16526612e+01] [-1.12114905e-02 -1.48080089e-04 -9.99937138e-01 7.29053683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77088847899998 meters 0.015139813942890447 Centerline is valid? [True, True] Translation: X:119.19, Y:-51.77, Z:0.73 [[ 1.77832472e-01 -9.84058530e-01 -2.10287469e-03 1.19185326e+02] [-9.83977947e-01 -1.77844823e-01 1.25943676e-02 -5.17702329e+01] [-1.27675803e-02 -1.70505206e-04 -9.99918477e-01 7.29573858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80088847899998 meters 0.015185815828918278 Centerline is valid? [True, True] Translation: X:119.18, Y:-51.89, Z:0.73 [[ 2.53076147e-01 -9.67440859e-01 -3.26327960e-03 1.19182210e+02] [-9.67350878e-01 -2.53097119e-01 1.31957106e-02 -5.18910073e+01] [-1.35919962e-02 -1.82783202e-04 -9.99907608e-01 7.29910745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83088847899998 meters 0.015298718079381907 Centerline is valid? [True, True] Translation: X:119.19, Y:-52.01, Z:0.73 [[ 3.27249823e-01 -9.44926888e-01 -4.55301421e-03 1.19188705e+02] [-9.44826507e-01 -3.27281429e-01 1.37745058e-02 -5.20107955e+01] [-1.45060179e-02 -2.05896079e-04 -9.99894761e-01 7.29452051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86088847899998 meters 0.015830366214073282 Centerline is valid? [True, True] Translation: X:119.20, Y:-52.13, Z:0.73 [[ 3.99874904e-01 -9.16545932e-01 -6.60428172e-03 1.19202246e+02] [-9.16410043e-01 -3.99929354e-01 1.57843533e-02 -5.21269006e+01] [-1.71083309e-02 -2.59536655e-04 -9.99853608e-01 7.30641226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89088847899998 meters 0.016322290033045146 Centerline is valid? [True, True] Translation: X:119.22, Y:-52.24, Z:0.73 [[ 4.69364944e-01 -8.82967145e-01 -8.09752980e-03 1.19224054e+02] [-8.82825409e-01 -4.69434706e-01 1.58225845e-02 -5.22408108e+01] [-1.77720838e-02 -2.77861423e-04 -9.99842025e-01 7.31348773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92088847899998 meters 0.016372447970255423 Centerline is valid? [True, True] Translation: X:119.26, Y:-52.35, Z:0.73 [[ 5.35994885e-01 -8.44167083e-01 -9.56133965e-03 1.19255178e+02] [-8.44022872e-01 -5.36080077e-01 1.56058727e-02 -5.23510114e+01] [-1.82996078e-02 -2.94678608e-04 -9.99832505e-01 7.30631343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95088847899999 meters 0.01621921304820663 Centerline is valid? [True, True] Translation: X:119.30, Y:-52.46, Z:0.73 [[ 5.99381828e-01 -8.00385420e-01 -1.11625612e-02 1.19297248e+02] [-8.00236729e-01 -5.99485679e-01 1.54304341e-02 -5.24604946e+01] [-1.90420900e-02 -3.16030353e-04 -9.99818633e-01 7.28805349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.980888479 meters 0.016485103052284907 Centerline is valid? [True, True] Translation: X:119.34, Y:-52.56, Z:0.73 [[ 6.58685673e-01 -7.52322439e-01 -1.20054890e-02 1.19340398e+02] [-7.52188928e-01 -6.58795001e-01 1.41761575e-02 -5.25553579e+01] [-1.85741975e-02 -3.07235958e-04 -9.99827438e-01 7.27195213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010888479 meters 0.01668322511239047 Centerline is valid? [True, True] Translation: X:119.39, Y:-52.65, Z:0.73 [[ 7.13610183e-01 -7.00418037e-01 -1.32318114e-02 1.19390692e+02] [-7.00289845e-01 -7.13732783e-01 1.34032647e-02 -5.26490604e+01] [-1.88318659e-02 -2.98603007e-04 -9.99822620e-01 7.27120012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.040888479 meters 0.01634039950512315 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.74, Z:0.73 [[ 7.64277093e-01 -6.44733744e-01 -1.41040470e-02 1.19447270e+02] [-6.44617121e-01 -7.64407168e-01 1.22657604e-02 -5.27362188e+01] [-1.86893843e-02 -2.82729501e-04 -9.99825298e-01 7.25490180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.070888479 meters 0.015870018220573545 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.74, Z:0.72 [[ 8.11225509e-01 -5.84528012e-01 -1.54976255e-02 1.19447632e+02] [-5.84415329e-01 -8.11373488e-01 1.14797798e-02 -5.27417148e+01] [-1.92846154e-02 -2.55640334e-04 -9.99814002e-01 7.23410195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.100888479 meters 0.01618394575845623 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.75, Z:0.72 [[ 8.53908459e-01 -5.20165754e-01 -1.63686213e-02 1.19446163e+02] [-5.20064899e-01 -8.54065298e-01 1.02453948e-02 -5.27491784e+01] [-1.93091749e-02 -2.35883883e-04 -9.99813533e-01 7.24055779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.130888479 meters 0.01585803398805039 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.76, Z:0.72 [[ 8.91430482e-01 -4.52816366e-01 -1.75793904e-02 1.19446222e+02] [-4.52723486e-01 -8.91603775e-01 9.17355365e-03 -5.27565435e+01] [-1.98277861e-02 -2.18982425e-04 -9.99803386e-01 7.22811123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.160888479 meters 0.01563302411734808 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.76, Z:0.72 [[ 9.23118297e-01 -3.84094984e-01 -1.79903434e-02 1.19447481e+02] [-3.84018567e-01 -9.23293570e-01 7.66317486e-03 -5.27604556e+01] [-1.95537554e-02 -1.65391037e-04 -9.99808793e-01 7.20536672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.190888479 meters 0.01592815375593942 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.77, Z:0.72 [[ 9.49992067e-01 -3.11721462e-01 -1.85688676e-02 1.19447247e+02] [-3.11658929e-01 -9.50173515e-01 6.24521594e-03 -5.27667795e+01] [-1.95904141e-02 -1.45752196e-04 -9.99808079e-01 7.21829359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.220888479 meters 0.015597445675900753 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.77, Z:0.72 [[ 9.71244777e-01 -2.37301444e-01 -1.92771393e-02 1.19448749e+02] [-2.37252042e-01 -9.71436054e-01 4.84363169e-03 -5.27688349e+01] [-1.98759089e-02 -1.30811316e-04 -9.99802446e-01 7.19958606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25088847899997 meters 0.015836699061353692 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.77, Z:0.72 [[ 9.86770891e-01 -1.60844301e-01 -2.03056783e-02 1.19449935e+02] [-1.60807544e-01 -9.86979784e-01 3.44091365e-03 -5.27715595e+01] [-2.05947453e-02 -1.30087176e-04 -9.99787897e-01 7.20757339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28088847899997 meters 0.015622371905870952 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.78, Z:0.72 [[ 9.96296890e-01 -8.31026470e-02 -2.20557535e-02 1.19448178e+02] [-8.30792127e-02 -9.96540983e-01 1.97827236e-03 -5.27760334e+01] [-2.21438620e-02 -1.38571963e-04 -9.99754785e-01 7.20110581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31088847899997 meters 0.015681002570399526 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.78, Z:0.72 [[ 9.99727462e-01 -4.06057928e-03 -2.29894348e-02 1.19446045e+02] [-4.05580076e-03 -9.99991743e-01 2.54479700e-04 -5.27818658e+01] [-2.29902783e-02 -1.61169778e-04 -9.99735676e-01 7.20415090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34088847899997 meters 0.01556196677528919 Centerline is valid? [True, True] Translation: X:119.44, Y:-52.79, Z:0.72 [[ 9.96893511e-01 7.50646508e-02 -2.38458933e-02 1.19444174e+02] [ 7.50476438e-02 -9.97178652e-01 -1.60858490e-03 -5.27899094e+01] [-2.38993636e-02 -1.85990252e-04 -9.99714352e-01 7.20134068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37088847899997 meters 0.01563064086414496 Centerline is valid? [True, True] Translation: X:119.44, Y:-52.80, Z:0.72 [[ 9.87773006e-01 1.53939642e-01 -2.46388935e-02 1.19443329e+02] [ 1.53897288e-01 -9.88080229e-01 -3.61742778e-03 -5.27986374e+01] [-2.49020691e-02 -2.18661396e-04 -9.99689871e-01 7.20386536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40088847899997 meters 0.016267215290921514 Centerline is valid? [True, True] Translation: X:119.44, Y:-52.81, Z:0.72 [[ 9.72226505e-01 2.32750087e-01 -2.45564782e-02 1.19441656e+02] [ 2.32682906e-01 -9.72536541e-01 -5.59836292e-03 -5.28062686e+01] [-2.51850919e-02 -2.70995910e-04 -9.99682769e-01 7.21939702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43088847899998 meters 0.0162244335316745 Centerline is valid? [True, True] Translation: X:119.44, Y:-52.81, Z:0.72 [[ 9.50915495e-01 3.08514241e-01 -2.40558489e-02 1.19440207e+02] [ 3.08422993e-01 -9.51219683e-01 -7.50818818e-03 -5.28094705e+01] [-2.51987800e-02 -2.79724438e-04 -9.99682421e-01 7.21791497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46088847899998 meters 0.016351562770504143 Centerline is valid? [True, True] Translation: X:119.44, Y:-52.81, Z:0.72 [[ 9.23797215e-01 3.82154291e-01 -2.35966987e-02 1.19438684e+02] [ 3.82037536e-01 -9.24098489e-01 -9.45009493e-03 -5.28125290e+01] [-2.54170679e-02 -2.84853243e-04 -9.99676894e-01 7.21897923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49088847899998 meters 0.015681451897615183 Centerline is valid? [True, True] Translation: X:119.44, Y:-52.82, Z:0.72 [[ 8.91306914e-01 4.52875778e-01 -2.18062750e-02 1.19438509e+02] [ 4.52747444e-01 -8.91573587e-01 -1.07838131e-02 -5.28178999e+01] [-2.43256265e-02 -2.61048093e-04 -9.99704054e-01 7.19655222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52088847899998 meters 0.01625088434690451 Centerline is valid? [True, True] Translation: X:119.44, Y:-52.83, Z:0.72 [[ 8.53466029e-01 5.20748392e-01 -2.04168784e-02 1.19438897e+02] [ 5.20606170e-01 -8.53710170e-01 -1.21721666e-02 -5.28258903e+01] [-2.37687329e-02 -2.40622184e-04 -9.99717455e-01 7.22402082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55088847899998 meters 0.015362978361953324 Centerline is valid? [True, True] Translation: X:119.44, Y:-52.83, Z:0.72 [[ 8.10192882e-01 5.85843850e-01 -1.93514427e-02 1.19441073e+02] [ 5.85683759e-01 -8.10423919e-01 -1.36969548e-02 -5.28340638e+01] [-2.37071487e-02 -2.36650433e-04 -9.99718918e-01 7.17276729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58088847899998 meters 0.015530950252285082 Centerline is valid? [True, True] Translation: X:119.44, Y:-52.84, Z:0.72 [[ 7.62349164e-01 6.46932584e-01 -1.73776786e-02 1.19442481e+02] [ 6.46770818e-01 -7.62547171e-01 -1.44679411e-02 -5.28422715e+01] [-2.26110822e-02 -2.09752596e-04 -9.99744315e-01 7.17214045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61088847899998 meters 0.01556773325049977 Centerline is valid? [True, True] Translation: X:119.44, Y:-52.85, Z:0.72 [[ 7.09706788e-01 7.04312610e-01 -1.61252276e-02 1.19443621e+02] [ 7.04137171e-01 -7.09889927e-01 -1.57205319e-02 -5.28498570e+01] [-2.25193055e-02 -1.97403963e-04 -9.99746389e-01 7.17122624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64088847899998 meters 0.015562883440090195 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.86, Z:0.72 [[ 6.52577931e-01 7.57579651e-01 -1.46668249e-02 1.19445874e+02] [ 7.57394885e-01 -6.52742703e-01 -1.67318000e-02 -5.28564703e+01] [-2.22493342e-02 -1.89774701e-04 -9.99752435e-01 7.16890365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67088847899998 meters 0.015667193384855886 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.86, Z:0.72 [[ 5.91279138e-01 8.06359858e-01 -1.31438478e-02 1.19447407e+02] [ 8.06167672e-01 -5.91425182e-01 -1.76051118e-02 -5.28645042e+01] [-2.19696580e-02 -1.86609819e-04 -9.99758621e-01 7.17936283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70088847899999 meters 0.015386157626675548 Centerline is valid? [True, True] Translation: X:119.45, Y:-52.87, Z:0.72 [[ 5.26452383e-01 8.50126678e-01 -1.15117041e-02 1.19452523e+02] [ 8.49930980e-01 -5.26578197e-01 -1.82409369e-02 -5.28725931e+01] [-2.15689195e-02 -1.81169228e-04 -9.99767347e-01 7.16825062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730888479 meters 0.015465254205326965 Centerline is valid? [True, True] Translation: X:119.46, Y:-52.88, Z:0.72 [[ 4.58765054e-01 8.88499172e-01 -1.01905150e-02 1.19457691e+02] [ 8.88288233e-01 -4.58878189e-01 -1.93603387e-02 -5.28808723e+01] [-2.18778500e-02 -1.70267699e-04 -9.99760637e-01 7.17319480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.760888479 meters 0.015511645088542414 Centerline is valid? [True, True] Translation: X:119.46, Y:-52.89, Z:0.72 [[ 3.90262196e-01 9.20663670e-01 -8.59217219e-03 1.19459645e+02] [ 9.20446859e-01 -3.90356753e-01 -1.99796205e-02 -5.28867103e+01] [-2.17485232e-02 -1.11347333e-04 -9.99763467e-01 7.17950838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790888479 meters 0.015422694280043564 Centerline is valid? [True, True] Translation: X:119.46, Y:-52.89, Z:0.72 [[ 3.18576648e-01 9.47870662e-01 -7.08004316e-03 1.19463249e+02] [ 9.47641899e-01 -3.18655303e-01 -2.08237793e-02 -5.28931641e+01] [-2.19943428e-02 -7.53757328e-05 -9.99758092e-01 7.17905932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.820888479 meters 0.015455157553027543 Centerline is valid? [True, True] Translation: X:119.47, Y:-52.90, Z:0.72 [[ 2.45572878e-01 9.69362509e-01 -5.50345725e-03 1.19466863e+02] [ 9.69121526e-01 -2.45634537e-01 -2.16134657e-02 -5.28995730e+01] [-2.23031225e-02 -2.58379125e-05 -9.99751254e-01 7.18029739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.850888479 meters 0.015679549913463094 Centerline is valid? [True, True] Translation: X:119.47, Y:-52.91, Z:0.72 [[ 1.70830916e-01 9.85292894e-01 -3.83556780e-03 1.19471039e+02] [ 9.85042332e-01 -1.70873969e-01 -2.22191529e-02 -5.29062311e+01] [-2.25477721e-02 1.75215925e-05 -9.99745767e-01 7.18714328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.880888479 meters 0.016007709588319395 Centerline is valid? [True, True] Translation: X:119.47, Y:-52.91, Z:0.72 [[ 9.61923024e-02 9.95360655e-01 -2.05131576e-03 1.19472492e+02] [ 9.95115138e-01 -9.62141345e-02 -2.21066075e-02 -5.29138565e+01] [-2.22014129e-02 8.51901086e-05 -9.99753515e-01 7.19936823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.910888479 meters 0.015933198842187524 Centerline is valid? [True, True] Translation: X:119.48, Y:-52.92, Z:0.72 [[ 1.88096552e-02 9.99823036e-01 -3.04805070e-04 1.19478610e+02] [ 9.99590737e-01 -1.88118552e-02 -2.15516219e-02 -5.29204934e+01] [-2.15535420e-02 1.00698252e-04 -9.99767690e-01 7.19480813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.940888479 meters 0.016002548980652377 Centerline is valid? [True, True] Translation: X:119.49, Y:-52.93, Z:0.72 [[-5.86530637e-02 9.98277567e-01 1.31017876e-03 1.19485537e+02] [ 9.98069699e-01 5.86675866e-02 -2.03713256e-02 -5.29265494e+01] [-2.04131023e-02 1.12809061e-04 -9.99791625e-01 7.18687226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.970888479 meters 0.015975458198411688 Centerline is valid? [True, True] Translation: X:119.49, Y:-52.93, Z:0.72 [[-1.36108132e-01 9.90690279e-01 2.71047462e-03 1.19490522e+02] [ 9.90510438e-01 1.36135069e-01 -1.88763110e-02 -5.29329531e+01] [-1.90695684e-02 1.15533976e-04 -9.99818153e-01 7.18573679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00088847899997 meters 0.01596497393173464 Centerline is valid? [True, True] Translation: X:119.50, Y:-52.94, Z:0.72 [[-2.13530654e-01 9.76927904e-01 4.06585443e-03 1.19499871e+02] [ 9.76760312e-01 2.13569332e-01 -1.80951150e-02 -5.29383027e+01] [-1.85459646e-02 1.07503500e-04 -9.99828003e-01 7.18318577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03088847899997 meters 0.01593921159739784 Centerline is valid? [True, True] Translation: X:119.51, Y:-52.94, Z:0.72 [[-2.90127321e-01 9.56972827e-01 5.39861357e-03 1.19510149e+02] [ 9.56813056e-01 2.90177530e-01 -1.74864665e-02 -5.29426665e+01] [-1.83006296e-02 9.21622706e-05 -9.99832525e-01 7.18378960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06088847899997 meters 0.015942041784736294 Centerline is valid? [True, True] Translation: X:119.52, Y:-52.95, Z:0.72 [[-3.66731831e-01 9.30304022e-01 6.49549791e-03 1.19520675e+02] [ 9.30160031e-01 3.66789348e-01 -1.63673555e-02 -5.29475780e+01] [-1.76090960e-02 3.94223094e-05 -9.99844947e-01 7.20772726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09088847899997 meters 0.015762860032168563 Centerline is valid? [True, True] Translation: X:119.53, Y:-52.95, Z:0.72 [[-4.39848327e-01 8.98038337e-01 7.78425241e-03 1.19531834e+02] [ 8.97898238e-01 4.39917203e-01 -1.58621654e-02 -5.29503307e+01] [-1.76692592e-02 1.25196010e-05 -9.99843886e-01 7.19557892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12088847899997 meters 0.01572136601367084 Centerline is valid? [True, True] Translation: X:119.54, Y:-52.95, Z:0.72 [[-5.10366390e-01 8.59914647e-01 8.54099672e-03 1.19542717e+02] [ 8.59793633e-01 5.10437852e-01 -1.44259609e-02 -5.29540615e+01] [-1.67647431e-02 -1.90310153e-05 -9.99859462e-01 7.20530657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15088847899997 meters 0.015546353535843329 Centerline is valid? [True, True] Translation: X:119.55, Y:-52.96, Z:0.72 [[-5.77499855e-01 8.16340614e-01 9.05096462e-03 1.19553215e+02] [ 8.16239171e-01 5.77570775e-01 -1.28691421e-02 -5.29565802e+01] [-1.57331760e-02 -4.41758145e-05 -9.99876225e-01 7.19560565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18088847899998 meters 0.01566402907637999 Centerline is valid? [True, True] Translation: X:119.56, Y:-52.96, Z:0.72 [[-6.42459693e-01 7.66264844e-01 9.15049250e-03 1.19563325e+02] [ 7.66185041e-01 6.42524848e-01 -1.10590256e-02 -5.29573321e+01] [-1.43535614e-02 -9.40077502e-05 -9.99896978e-01 7.20508540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21088847899998 meters 0.015551587707707388 Centerline is valid? [True, True] Translation: X:119.57, Y:-52.96, Z:0.72 [[-7.01581652e-01 7.12526702e-01 9.42786537e-03 1.19574305e+02] [ 7.12460262e-01 7.01644987e-01 -9.73079577e-03 -5.29571472e+01] [-1.35484663e-02 -1.09968341e-04 -9.99908209e-01 7.20090515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24088847899998 meters 0.01568544779971818 Centerline is valid? [True, True] Translation: X:119.58, Y:-52.96, Z:0.72 [[-7.55872405e-01 6.54646107e-01 9.76635154e-03 1.19584888e+02] [ 6.54589426e-01 7.55935487e-01 -8.61528867e-03 -5.29566942e+01] [-1.30226969e-02 -1.19108529e-04 -9.99915194e-01 7.20672008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27088847899998 meters 0.015711468639652715 Centerline is valid? [True, True] Translation: X:119.61, Y:-52.94, Z:0.72 [[-8.01012254e-01 5.98577395e-01 9.19076165e-03 1.19607898e+02] [ 5.98536273e-01 8.01064971e-01 -7.01728390e-03 -5.29420204e+01] [-1.15627847e-02 -1.19926171e-04 -9.99933142e-01 7.19475668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30088847899998 meters 0.015776402425926775 Centerline is valid? [True, True] Translation: X:119.61, Y:-52.91, Z:0.72 [[-8.41663509e-01 5.39921355e-01 9.35242109e-03 1.19613849e+02] [ 5.39886393e-01 8.41715460e-01 -6.14554010e-03 -5.29125659e+01] [-1.11901858e-02 -1.23231958e-04 -9.99937380e-01 7.20018864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33088847899998 meters 0.01586408125066332 Centerline is valid? [True, True] Translation: X:119.65, Y:-52.90, Z:0.72 [[-8.77768448e-01 4.78987720e-01 9.66000509e-03 1.19648557e+02] [ 4.78957183e-01 8.77821593e-01 -5.40990704e-03 -5.29024468e+01] [-1.10710401e-02 -1.21916881e-04 -9.99938707e-01 7.19735204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36088847899998 meters 0.016483880700992687 Centerline is valid? [True, True] Translation: X:119.67, Y:-52.88, Z:0.72 [[-9.09520006e-01 4.15541873e-01 9.91512850e-03 1.19666107e+02] [ 4.15515717e-01 9.09574042e-01 -4.66388363e-03 -5.28798966e+01] [-1.09565824e-02 -1.22003746e-04 -9.99939967e-01 7.21577997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39088847899998 meters 0.015560041959956512 Centerline is valid? [True, True] Translation: X:119.68, Y:-52.86, Z:0.72 [[-9.36531792e-01 3.50445401e-01 9.80934228e-03 1.19679412e+02] [ 3.50424909e-01 9.36583156e-01 -3.79151088e-03 -5.28598946e+01] [-1.05159823e-02 -1.13432606e-04 -9.99944699e-01 7.19356067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42088847899998 meters 0.015392896783091498 Centerline is valid? [True, True] Translation: X:120.00, Y:-52.08, Z:-0.12 [[-9.03264231e-01 -4.29001431e-01 8.45588315e-03 1.19995983e+02] [ 4.28982953e-01 -9.03303809e-01 -3.98182929e-03 -5.20768965e+01] [ 9.34644193e-03 3.07857474e-05 9.99956321e-01 -1.23127544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45088847899999 meters 0.015291557666238522 Centerline is valid? [True, True] Translation: X:119.63, Y:-52.84, Z:0.72 [[-9.37441066e-01 3.48036936e-01 8.63358179e-03 1.19628401e+02] [ 3.48021281e-01 9.37480817e-01 -3.30229670e-03 -5.28441393e+01] [-9.24313854e-03 -9.10383422e-05 -9.99957277e-01 7.19380692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.480888479 meters 0.015291557666238522 Centerline is valid? [True, True] Translation: X:119.64, Y:-52.82, Z:0.72 [[-9.59736432e-01 2.80762785e-01 8.84526297e-03 1.19643116e+02] [ 2.80749987e-01 9.59777188e-01 -2.68225854e-03 -5.28200520e+01] [-9.24255999e-03 -9.09537730e-05 -9.99957283e-01 7.19374669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510888479 meters 0.015065611259347397 Centerline is valid? [True, True] Translation: X:119.67, Y:-52.80, Z:0.72 [[-9.76857445e-01 2.13761090e-01 7.46519120e-03 1.19667753e+02] [ 2.13754343e-01 9.76885967e-01 -1.69956746e-03 -5.28011563e+01] [-7.65594191e-03 -6.45180858e-05 -9.99970691e-01 7.18849858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.540888479 meters 0.014871023996435974 Centerline is valid? [True, True] Translation: X:119.68, Y:-52.78, Z:0.72 [[-9.89437067e-01 1.44787007e-01 7.14238349e-03 1.19675773e+02] [ 1.44782831e-01 9.89462844e-01 -1.10107258e-03 -5.27761789e+01] [-7.22654408e-03 -5.53475224e-05 -9.99973887e-01 7.18804896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.570888479 meters 0.014829635251127784 Centerline is valid? [True, True] Translation: X:119.68, Y:-52.75, Z:0.72 [[-9.97117567e-01 7.55319116e-02 7.17548693e-03 1.19679225e+02] [ 7.55296086e-02 9.97143384e-01 -5.91778142e-04 -5.27505221e+01] [-7.19968745e-03 -4.81106622e-05 -9.99974081e-01 7.18801059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.600888479 meters 0.0146445721007559 Centerline is valid? [True, True] Translation: X:119.74, Y:-51.89, Z:-0.12 [[-9.88673488e-01 -1.49939466e-01 6.54907318e-03 1.19743398e+02] [ 1.49936239e-01 -9.88695179e-01 -9.83854510e-04 -5.18853614e+01] [ 6.62255570e-03 9.23252829e-06 9.99978071e-01 -1.21636393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.630888479 meters 0.014587975197271185 Centerline is valid? [True, True] Translation: X:119.59, Y:-52.75, Z:0.72 [[-9.97407382e-01 7.16589959e-02 6.59562181e-03 1.19589270e+02] [ 7.16571887e-02 9.97429189e-01 -5.10220424e-04 -5.27482083e+01] [-6.61522760e-03 -3.62739013e-05 -9.99978118e-01 7.18113789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.660888479 meters 0.014540892209737023 Centerline is valid? [True, True] Translation: X:119.62, Y:-52.72, Z:0.72 [[-9.99977901e-01 6.58051440e-04 6.61544567e-03 1.19616835e+02] [ 6.57805608e-04 9.99999783e-01 -3.93358058e-05 -5.27225459e+01] [-6.61547012e-03 -3.49832592e-05 -9.99978117e-01 7.18027865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.690888479 meters 0.014509718270247917 Centerline is valid? [True, True] Translation: X:119.60, Y:-52.70, Z:0.72 [[-9.97490275e-01 -7.05016940e-02 6.53168793e-03 1.19602696e+02] [-7.05004133e-02 9.97511659e-01 4.26413889e-04 -5.26969442e+01] [-6.54549777e-03 -3.51429915e-05 -9.99978577e-01 7.18829827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.720888479 meters 0.014506496690422489 Centerline is valid? [True, True] Translation: X:119.57, Y:-51.82, Z:-0.12 [[-9.99978474e-01 -2.46978014e-03 6.07874271e-03 1.19566183e+02] [ 2.46975107e-03 -9.99996950e-01 -1.22881884e-05 -5.18190828e+01] [ 6.07875452e-03 2.72505742e-06 9.99981524e-01 -1.23060248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75088847899997 meters 0.014457627507733734 Centerline is valid? [True, True] Translation: X:119.49, Y:-52.70, Z:0.72 [[-9.97043698e-01 -7.65396232e-02 6.74910417e-03 1.19493139e+02] [-7.65381062e-02 9.97066540e-01 4.83143783e-04 -5.27042031e+01] [-6.76628559e-03 -3.48481878e-05 -9.99977108e-01 7.20079803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78088847899997 meters 0.014277996974693754 Centerline is valid? [True, True] Translation: X:119.50, Y:-52.68, Z:0.72 [[-9.89084458e-01 -1.47223027e-01 6.10854627e-03 1.19501320e+02] [-1.47220403e-01 9.89103321e-01 8.79448065e-04 -5.26771558e+01] [-6.17145841e-03 -2.94542333e-05 -9.99980956e-01 7.20792207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81088847899997 meters 0.014309780227416039 Centerline is valid? [True, True] Translation: X:119.49, Y:-52.65, Z:0.72 [[-9.75985987e-01 -2.17756288e-01 5.79246162e-03 1.19488878e+02] [-2.17752611e-01 9.76003175e-01 1.26578372e-03 -5.26525963e+01] [-5.92909330e-03 -2.59364629e-05 -9.99982422e-01 7.20595752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84088847899997 meters 0.014074219457050126 Centerline is valid? [True, True] Translation: X:119.44, Y:-52.64, Z:0.72 [[-9.57627447e-01 -2.87965797e-01 5.03716394e-03 1.19444913e+02] [-2.87961937e-01 9.57640694e-01 1.49126911e-03 -5.26367047e+01] [-5.25322767e-03 -2.24312524e-05 -9.99986201e-01 7.19823845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87088847899997 meters 0.013973142522963772 Centerline is valid? [True, True] Translation: X:119.38, Y:-52.63, Z:0.72 [[-9.34142023e-01 -3.56883973e-01 3.53716562e-03 1.19383525e+02] [-3.56881486e-01 9.34148719e-01 1.33250597e-03 -5.26300048e+01] [-3.77978876e-03 -1.75990981e-05 -9.99992856e-01 7.18150568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90088847899997 meters 0.013904412363705333 Centerline is valid? [True, True] Translation: X:119.31, Y:-52.63, Z:0.72 [[-9.05356661e-01 -4.24642750e-01 2.80187939e-03 1.19314678e+02] [-4.24640771e-01 9.05360997e-01 1.29649482e-03 -5.26291185e+01] [-3.08725944e-03 -1.60020027e-05 -9.99995234e-01 7.18000282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93088847899998 meters 0.013936797275839831 Centerline is valid? [True, True] Translation: X:119.25, Y:-52.63, Z:0.72 [[-8.71059840e-01 -4.91174616e-01 1.50081696e-03 1.19246300e+02] [-4.91173918e-01 8.71061133e-01 8.28209850e-04 -5.26328746e+01] [-1.71409898e-03 -1.57418072e-05 -9.99998531e-01 7.17321420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96088847899998 meters 0.013854678475057194 Centerline is valid? [True, True] Translation: X:119.16, Y:-52.65, Z:0.72 [[-8.31737190e-01 -5.55169461e-01 3.41192918e-04 1.19158514e+02] [-5.55169422e-01 8.31737260e-01 2.08064329e-04 -5.26541329e+01] [-3.99293824e-04 -1.63650354e-05 -9.99999920e-01 7.16092702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99088847899998 meters 0.013884527118367199 Centerline is valid? [True, True] Translation: X:119.07, Y:-52.68, Z:0.72 [[-7.87231265e-01 -6.16657846e-01 1.89290432e-04 1.19070341e+02] [-6.16657833e-01 7.87231288e-01 1.27217454e-04 -5.26835594e+01] [-2.27464992e-04 -1.65778702e-05 -9.99999974e-01 7.16343331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02088847899998 meters 0.013933883273727559 Centerline is valid? [True, True] Translation: X:118.96, Y:-52.74, Z:0.72 [[-7.38030281e-01 -6.74767173e-01 7.52963612e-04 1.18959002e+02] [-6.74766844e-01 7.38030665e-01 6.66619078e-04 -5.27419184e+01] [-1.00552291e-03 -1.60898147e-05 -9.99999494e-01 7.16709170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05088847899998 meters 0.013889799506192303 Centerline is valid? [True, True] Translation: X:118.89, Y:-52.77, Z:0.72 [[-6.83839606e-01 -7.29631161e-01 1.32765136e-03 1.18889249e+02] [-7.29629832e-01 6.83840894e-01 1.39279761e-03 -5.27716097e+01] [-1.92413083e-03 -1.62438639e-05 -9.99998149e-01 7.17267205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08088847899998 meters 0.014027523863999825 Centerline is valid? [True, True] Translation: X:118.80, Y:-52.83, Z:0.72 [[-6.25682336e-01 -7.80076322e-01 1.59587540e-03 1.18800457e+02] [-7.80073852e-01 6.25684371e-01 1.96306797e-03 -5.28303879e+01] [-2.52985713e-03 -1.66437174e-05 -9.99996800e-01 7.18316256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11088847899998 meters 0.013917852773319136 Centerline is valid? [True, True] Translation: X:118.71, Y:-52.90, Z:0.72 [[-5.63419046e-01 -8.26167148e-01 2.61195286e-03 1.18713174e+02] [-8.26158424e-01 5.63425100e-01 3.79666544e-03 -5.28980753e+01] [-4.60832006e-03 -1.87732422e-05 -9.99989381e-01 7.19996743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14088847899998 meters 0.013846542295694734 Centerline is valid? [True, True] Translation: X:118.63, Y:-52.98, Z:0.72 [[-4.98165916e-01 -8.67078284e-01 2.44314529e-03 1.18630243e+02] [-8.67068037e-01 4.98171907e-01 4.21555481e-03 -5.29762334e+01] [-4.87232238e-03 -1.83274612e-05 -9.99988130e-01 7.20744090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17088847899998 meters 0.013755196946760535 Centerline is valid? [True, True] Translation: X:118.55, Y:-53.07, Z:0.72 [[-4.30040616e-01 -9.02807787e-01 1.77992277e-03 1.18550647e+02] [-9.02800217e-01 4.30044299e-01 3.69712234e-03 -5.30670754e+01] [-4.10323648e-03 -1.70018986e-05 -9.99991582e-01 7.19512388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20088847899999 meters 0.01361052751066847 Centerline is valid? [True, True] Translation: X:118.48, Y:-53.16, Z:0.72 [[-3.59873500e-01 -9.32999980e-01 1.44934120e-03 1.18478096e+02] [-9.32992560e-01 3.59876419e-01 3.72096658e-03 -5.31645037e+01] [-3.99324546e-03 -1.31472885e-05 -9.99992027e-01 7.18265046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230888479 meters 0.013669767371854135 Centerline is valid? [True, True] Translation: X:118.41, Y:-53.27, Z:0.72 [[-2.86771653e-01 -9.57998218e-01 1.19695842e-03 1.18413858e+02] [-9.57990049e-01 2.86774151e-01 3.95631691e-03 -5.32655015e+01] [-4.13340129e-03 -1.21147165e-05 -9.99991457e-01 7.18104609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.260888479 meters 0.013553833311029674 Centerline is valid? [True, True] Translation: X:118.36, Y:-53.36, Z:0.72 [[-2.12415783e-01 -9.77178925e-01 9.40419656e-04 1.18359859e+02] [-9.77169573e-01 2.12417864e-01 4.27505648e-03 -5.33600580e+01] [-4.37725703e-03 -1.08600035e-05 -9.99990420e-01 7.18096591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290888479 meters 0.013557048795371302 Centerline is valid? [True, True] Translation: X:118.31, Y:-53.47, Z:0.72 [[-1.36130850e-01 -9.90690578e-01 7.55200582e-04 1.18310227e+02] [-9.90675693e-01 1.36132944e-01 5.43076239e-03 -5.34717955e+01] [-5.48301281e-03 -8.86456193e-06 -9.99984968e-01 7.19404925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.320888479 meters 0.013614692904089992 Centerline is valid? [True, True] Translation: X:118.27, Y:-53.59, Z:0.72 [[-5.85432334e-02 -9.98284808e-01 3.62135097e-04 1.18270559e+02] [-9.98266748e-01 5.85443526e-02 6.00492962e-03 -5.35864647e+01] [-6.01583098e-03 -9.95942901e-06 -9.99981905e-01 7.19681479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.350888479 meters 0.013698982458756493 Centerline is valid? [True, True] Translation: X:118.24, Y:-53.71, Z:0.72 [[ 1.90710250e-02 -9.99818125e-01 -1.14276032e-04 1.18239827e+02] [-9.99797171e-01 -1.90713652e-02 6.47298595e-03 -5.37115652e+01] [-6.47398808e-03 -9.19362354e-06 -9.99979043e-01 7.19387994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.380888479 meters 0.013549563976844294 Centerline is valid? [True, True] Translation: X:118.22, Y:-53.84, Z:0.72 [[ 9.65730057e-02 -9.95325708e-01 -6.24606745e-04 1.18218799e+02] [-9.95304287e-01 -9.65750252e-02 6.52992385e-03 -5.38388899e+01] [-6.55972249e-03 -8.94060231e-06 -9.99978485e-01 7.18593619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.410888479 meters 0.013569536950161764 Centerline is valid? [True, True] Translation: X:118.21, Y:-53.97, Z:0.72 [[ 1.73833334e-01 -9.84774587e-01 -9.92770675e-04 1.18208209e+02] [-9.84758146e-01 -1.73836169e-01 5.69045377e-03 -5.39685686e+01] [-5.77639371e-03 -1.15515435e-05 -9.99983316e-01 7.17881011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.440888479 meters 0.013532574249632504 Centerline is valid? [True, True] Translation: X:118.20, Y:-54.08, Z:0.72 [[ 2.49951717e-01 -9.68257433e-01 -1.29680531e-03 1.18202880e+02] [-9.68244134e-01 -2.49955081e-01 5.07484978e-03 -5.40767161e+01] [-5.23790410e-03 -1.28432839e-05 -9.99986282e-01 7.16744823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.470888479 meters 0.013559099744191477 Centerline is valid? [True, True] Translation: X:118.21, Y:-54.21, Z:0.72 [[ 3.25048487e-01 -9.45696574e-01 -1.21247757e-03 1.18212486e+02] [-9.45689797e-01 -3.25050748e-01 3.58044740e-03 -5.42109336e+01] [-3.78013359e-03 -1.71913435e-05 -9.99992855e-01 7.15011869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50088847899997 meters 0.013581242198158452 Centerline is valid? [True, True] Translation: X:118.23, Y:-54.33, Z:0.71 [[ 3.97947108e-01 -9.17407563e-01 -1.20953663e-03 1.18227555e+02] [-9.17403178e-01 -3.97948945e-01 2.83653167e-03 -5.43307242e+01] [-3.08358943e-03 -1.91568209e-05 -9.99995246e-01 7.14575319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53088847899997 meters 0.013577575483974357 Centerline is valid? [True, True] Translation: X:118.25, Y:-54.45, Z:0.71 [[ 4.68668829e-01 -8.83373052e-01 -1.25665923e-03 1.18251794e+02] [-8.83369753e-01 -4.68670513e-01 2.41453883e-03 -5.44492354e+01] [-2.72189766e-03 -2.15243336e-05 -9.99996295e-01 7.14454076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56088847899997 meters 0.01369978165756009 Centerline is valid? [True, True] Translation: X:118.29, Y:-54.57, Z:0.72 [[ 5.37465722e-01 -8.43283657e-01 -1.80864630e-03 1.18289010e+02] [-8.43278689e-01 -5.37468764e-01 2.89482040e-03 -5.45735572e+01] [-3.41324562e-03 -3.06738536e-05 -9.99994174e-01 7.15052943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59088847899997 meters 0.013768592730910871 Centerline is valid? [True, True] Translation: X:118.32, Y:-54.67, Z:0.72 [[ 6.01776544e-01 -7.98660026e-01 -2.67483099e-03 1.18322808e+02] [-7.98651837e-01 -6.01782487e-01 3.61694734e-03 -5.46725073e+01] [-4.49837770e-03 -4.03353863e-05 -9.99989881e-01 7.15242735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62088847899997 meters 0.01382326970920613 Centerline is valid? [True, True] Translation: X:118.37, Y:-54.77, Z:0.72 [[ 6.62025993e-01 -7.49472337e-01 -3.57785447e-03 1.18368824e+02] [-7.49460985e-01 -6.62035659e-01 4.12527719e-03 -5.47748704e+01] [-5.46044837e-03 -4.95783895e-05 -9.99985090e-01 7.15417101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65088847899997 meters 0.013841278884947046 Centerline is valid? [True, True] Translation: X:118.43, Y:-54.88, Z:0.72 [[ 7.17778185e-01 -6.96255513e-01 -4.76830470e-03 1.18434845e+02] [-6.96239610e-01 -7.17794021e-01 4.70627069e-03 -5.48848685e+01] [-6.69942752e-03 -5.81758326e-05 -9.99977557e-01 7.15502832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68088847899998 meters 0.013842613518351189 Centerline is valid? [True, True] Translation: X:118.43, Y:-54.89, Z:0.72 [[ 7.69676741e-01 -6.38413234e-01 -5.12414911e-03 1.18430228e+02] [-6.38398600e-01 -7.69693796e-01 4.32286221e-03 -5.48905153e+01] [-6.70379822e-03 -5.59568826e-05 -9.99977528e-01 7.15350210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71088847899998 meters 0.013826030799981135 Centerline is valid? [True, True] Translation: X:118.42, Y:-54.90, Z:0.72 [[ 8.16681861e-01 -5.77066258e-01 -5.02703867e-03 1.18424734e+02] [-5.77054966e-01 -8.16697331e-01 3.61043361e-03 -5.48968064e+01] [-6.18902849e-03 -4.76980123e-05 -9.99980847e-01 7.15076365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74088847899998 meters 0.013682364307062423 Centerline is valid? [True, True] Translation: X:118.42, Y:-54.90, Z:0.71 [[ 8.58618570e-01 -5.12590579e-01 -5.00499190e-03 1.18418698e+02] [-5.12581611e-01 -8.58633156e-01 3.03240324e-03 -5.49029071e+01] [-5.85183332e-03 -3.82109279e-05 -9.99982877e-01 7.14917520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77088847899998 meters 0.013621513291234972 Centerline is valid? [True, True] Translation: X:118.41, Y:-54.91, Z:0.71 [[ 8.94558548e-01 -4.46926008e-01 -4.70608787e-03 1.18411928e+02] [-4.46919716e-01 -8.94570927e-01 2.37165729e-03 -5.49057411e+01] [-5.26988471e-03 -1.83428466e-05 -9.99986114e-01 7.14249929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80088847899998 meters 0.013588063969424994 Centerline is valid? [True, True] Translation: X:118.41, Y:-54.91, Z:0.71 [[ 9.26021131e-01 -3.77443534e-01 -4.60909118e-03 1.18406370e+02] [-3.77438813e-01 -9.26032601e-01 1.88781239e-03 -5.49100897e+01] [-4.98071127e-03 -8.50425991e-06 -9.99987596e-01 7.13466680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83088847899998 meters 0.0137252422185767 Centerline is valid? [True, True] Translation: X:118.40, Y:-54.92, Z:0.71 [[ 9.52137909e-01 -3.05641126e-01 -4.11150254e-03 1.18400560e+02] [-3.05638270e-01 -9.52146786e-01 1.32132204e-03 -5.49160584e+01] [-4.31860429e-03 -1.44828359e-06 -9.99990675e-01 7.12565384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86088847899998 meters 0.014050024302295194 Centerline is valid? [True, True] Translation: X:118.39, Y:-54.92, Z:0.71 [[ 9.72231145e-01 -2.34003151e-01 -3.02110278e-03 1.18392647e+02] [-2.34002043e-01 -9.72235838e-01 7.20084639e-04 -5.49216411e+01] [-3.10572647e-03 6.85551003e-06 -9.99995177e-01 7.11013098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89088847899998 meters 0.014290166381727885 Centerline is valid? [True, True] Translation: X:118.38, Y:-54.93, Z:0.71 [[ 9.87273917e-01 -1.59007298e-01 -2.62547680e-03 1.18382433e+02] [-1.59006758e-01 -9.87277407e-01 4.14208826e-04 -5.49285917e+01] [-2.65793615e-03 8.53098443e-06 -9.99996468e-01 7.10662167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92088847899998 meters 0.014426758379696687 Centerline is valid? [True, True] Translation: X:118.37, Y:-54.94, Z:0.71 [[ 9.96571636e-01 -8.26932145e-02 -2.60891522e-03 1.18373782e+02] [-8.26929628e-02 -9.96575051e-01 2.04393441e-04 -5.49374474e+01] [-2.61688177e-03 1.20462231e-05 -9.99996576e-01 7.10378481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95088847899999 meters 0.01498033875524049 Centerline is valid? [True, True] Translation: X:118.37, Y:-54.95, Z:0.71 [[ 9.99973571e-01 -6.90482522e-03 -2.27616396e-03 1.18365129e+02] [-6.90483934e-03 -9.99976161e-01 1.65133770e-06 -5.49456562e+01] [-2.27612110e-03 1.40652524e-05 -9.99997410e-01 7.09806844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.980888479 meters 0.015275358688223124 Centerline is valid? [True, True] Translation: X:118.36, Y:-54.95, Z:0.71 [[ 9.97528256e-01 7.02223487e-02 -2.48991175e-03 1.18357058e+02] [ 7.02220796e-02 -9.97531364e-01 -1.95409778e-04 -5.49543625e+01] [-2.49748720e-03 2.00799934e-05 -9.99996881e-01 7.10325572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010888479 meters 0.015534645025099622 Centerline is valid? [True, True] Translation: X:118.35, Y:-54.96, Z:0.71 [[ 9.89065210e-01 1.47446012e-01 -3.11199486e-03 1.18349621e+02] [ 1.47445182e-01 -9.89070105e-01 -4.95837483e-04 -5.49628625e+01] [-3.15109034e-03 3.15669556e-05 -9.99995035e-01 7.10342546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.040888479 meters 0.015653477568081785 Centerline is valid? [True, True] Translation: X:118.34, Y:-54.97, Z:0.71 [[ 9.74692816e-01 2.23518203e-01 -3.67783980e-03 1.18344228e+02] [ 2.23516439e-01 -9.74699754e-01 -8.89126684e-04 -5.49734477e+01] [-3.78352554e-03 4.45677367e-05 -9.99992841e-01 7.10633725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.070888479 meters 0.015611868830917862 Centerline is valid? [True, True] Translation: X:118.34, Y:-54.98, Z:0.71 [[ 9.54153846e-01 2.99288456e-01 -4.10580225e-03 1.18339694e+02] [ 2.99285447e-01 -9.54162679e-01 -1.34298921e-03 -5.49846070e+01] [-4.31954444e-03 5.26114580e-05 -9.99990669e-01 7.11110982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.100888479 meters 0.015634165458350346 Centerline is valid? [True, True] Translation: X:118.34, Y:-55.00, Z:0.71 [[ 9.27777204e-01 3.73107771e-01 -4.47780881e-03 1.18336095e+02] [ 3.73103108e-01 -9.27788008e-01 -1.86636052e-03 -5.49957974e+01] [-4.85081093e-03 6.08823598e-05 -9.99988233e-01 7.11888254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.130888479 meters 0.015543896224962528 Centerline is valid? [True, True] Translation: X:118.33, Y:-55.01, Z:0.71 [[ 8.95285023e-01 4.45468105e-01 -4.78490979e-03 1.18334042e+02] [ 4.45461359e-01 -8.95297807e-01 -2.45232613e-03 -5.50078465e+01] [-5.37635232e-03 6.40384363e-05 -9.99985545e-01 7.12144271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.160888479 meters 0.015800270046666877 Centerline is valid? [True, True] Translation: X:118.33, Y:-55.02, Z:0.71 [[ 8.57354319e-01 5.14705806e-01 -4.63738788e-03 1.18329689e+02] [ 5.14697886e-01 -8.57366858e-01 -2.85598837e-03 -5.50182830e+01] [-5.44593648e-03 6.17402232e-05 -9.99985169e-01 7.12529868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.190888479 meters 0.014939743874516598 Centerline is valid? [True, True] Translation: X:118.33, Y:-55.03, Z:0.71 [[ 8.13937854e-01 5.80936075e-01 -4.29498319e-03 1.18330346e+02] [ 5.80927627e-01 -8.13949184e-01 -3.13346318e-03 -5.50324646e+01] [-5.31623987e-03 5.53699069e-05 -9.99985867e-01 7.11647765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.220888479 meters 0.014989220081641207 Centerline is valid? [True, True] Translation: X:118.33, Y:-55.05, Z:0.71 [[ 7.64839675e-01 6.44212299e-01 -3.28413229e-03 1.18330123e+02] [ 6.44206166e-01 -7.64846725e-01 -2.81131361e-03 -5.50452922e+01] [-4.32294063e-03 3.45459188e-05 -9.99990655e-01 7.11116890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25088847899997 meters 0.01478859575236311 Centerline is valid? [True, True] Translation: X:118.33, Y:-55.06, Z:0.71 [[ 7.11167525e-01 7.03018272e-01 -2.46181381e-03 1.18327980e+02] [ 7.03013959e-01 -7.11171786e-01 -2.46258401e-03 -5.50566579e+01] [-3.48201408e-03 2.06203072e-05 -9.99993938e-01 7.10745759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28088847899997 meters 0.01432079480465353 Centerline is valid? [True, True] Translation: X:118.33, Y:-55.07, Z:0.71 [[ 6.52543274e-01 7.57749275e-01 -1.81992501e-03 1.18332686e+02] [ 7.57746292e-01 -6.52545812e-01 -2.12639145e-03 -5.50709945e+01] [-2.79885602e-03 8.52101112e-06 -9.99996083e-01 7.09874136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31088847899997 meters 0.01385440616075435 Centerline is valid? [True, True] Translation: X:118.34, Y:-55.09, Z:0.71 [[ 5.87025090e-01 8.09568286e-01 -8.57403772e-04 1.18338963e+02] [ 8.09567448e-01 -5.87025716e-01 -1.16476989e-03 -5.50851343e+01] [-1.44627882e-03 -1.03770358e-05 -9.99998954e-01 7.09905840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34088847899997 meters 0.0137838066370794 Centerline is valid? [True, True] Translation: X:118.34, Y:-55.10, Z:0.71 [[ 5.19275198e-01 8.54606867e-01 -6.09282847e-04 1.18343112e+02] [ 8.54606312e-01 -5.19275555e-01 -9.74281211e-04 -5.50983325e+01] [-1.14901310e-03 -1.47768984e-05 -9.99999340e-01 7.09284793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37088847899997 meters 0.013886744411405411 Centerline is valid? [True, True] Translation: X:118.35, Y:-55.11, Z:0.71 [[ 4.47616706e-01 8.94225447e-01 -3.67537057e-04 1.18348453e+02] [ 8.94225177e-01 -4.47616857e-01 -6.94950817e-04 -5.51096929e+01] [-7.85958487e-04 -1.75892937e-05 -9.99999691e-01 7.08961271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40088847899997 meters 0.013886744411405411 Centerline is valid? [True, True] Translation: X:118.35, Y:-55.12, Z:0.71 [[ 3.76178455e-01 9.26547178e-01 -3.11695174e-04 1.18351947e+02] [ 9.26546897e-01 -3.76178584e-01 -7.21081667e-04 -5.51199987e+01] [-7.85369233e-04 -1.75448092e-05 -9.99999691e-01 7.08956147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43088847899998 meters 0.014167318407282088 Centerline is valid? [True, True] Translation: X:118.36, Y:-55.13, Z:0.71 [[ 2.99044163e-01 9.54239239e-01 -2.49793243e-04 1.18358522e+02] [ 9.54238961e-01 -2.99044267e-01 -7.29530100e-04 -5.51302499e+01] [-7.70845485e-04 -2.02007262e-05 -9.99999703e-01 7.09004938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46088847899998 meters 0.015285061605006717 Centerline is valid? [True, True] Translation: X:118.37, Y:-55.14, Z:0.71 [[ 2.16446564e-01 9.76294428e-01 -2.74056363e-04 1.18368333e+02] [ 9.76293815e-01 -2.16446735e-01 -1.09480529e-03 -5.51405242e+01] [-1.12817091e-03 -3.05926884e-05 -9.99999363e-01 7.09470350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49088847899998 meters 0.015357960184237284 Centerline is valid? [True, True] Translation: X:118.38, Y:-55.15, Z:0.71 [[ 1.36019721e-01 9.90706078e-01 -3.19628250e-04 1.18377763e+02] [ 9.90704127e-01 -1.36020087e-01 -1.96685381e-03 -5.51492516e+01] [-1.99204989e-03 -4.91261207e-05 -9.99998015e-01 7.09917121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52088847899998 meters 0.016046991434024556 Centerline is valid? [True, True] Translation: X:118.39, Y:-55.16, Z:0.71 [[ 5.52276417e-02 9.98473763e-01 -2.26789920e-04 1.18388824e+02] [ 9.98469808e-01 -5.52280615e-02 -2.81128644e-03 -5.51584079e+01] [-2.81952092e-03 -7.11821672e-05 -9.99996023e-01 7.10497342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55088847899998 meters 0.01715657917148183 Centerline is valid? [True, True] Translation: X:118.40, Y:-55.17, Z:0.71 [[-2.78214907e-02 9.99612907e-01 -2.69755839e-06 1.18399658e+02] [ 9.99605554e-01 2.78212757e-02 -3.83563482e-03 -5.51655846e+01] [-3.83407503e-03 -1.09409573e-04 -9.99992644e-01 7.11678490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58088847899998 meters 0.01757740434240995 Centerline is valid? [True, True] Translation: X:118.41, Y:-55.17, Z:0.71 [[-1.07522550e-01 9.94202608e-01 2.76106859e-04 1.18408706e+02] [ 9.94196249e-01 1.07522851e-01 -3.55748929e-03 -5.51722027e+01] [-3.56655292e-03 -1.08005917e-04 -9.99993634e-01 7.12055717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61088847899998 meters 0.017698421954494475 Centerline is valid? [True, True] Translation: X:118.42, Y:-55.18, Z:0.71 [[-1.86359659e-01 9.82481444e-01 5.38000565e-04 1.18418635e+02] [ 9.82475474e-01 1.86360403e-01 -3.42684801e-03 -5.51771432e+01] [-3.46707659e-03 -1.10053868e-04 -9.99993984e-01 7.12052503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64088847899998 meters 0.01842112147570558 Centerline is valid? [True, True] Translation: X:118.43, Y:-55.18, Z:0.71 [[-2.64115678e-01 9.64490698e-01 7.76117510e-04 1.18429221e+02] [ 9.64485207e-01 2.64116794e-01 -3.25653301e-03 -5.51824677e+01] [-3.34588146e-03 -1.11547565e-04 -9.99994396e-01 7.12373180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67088847899998 meters 0.01870627196074913 Centerline is valid? [True, True] Translation: X:118.44, Y:-55.19, Z:0.71 [[-3.38898662e-01 9.40822196e-01 1.13652185e-03 1.18439088e+02] [ 9.40815643e-01 3.38900546e-01 -3.51355485e-03 -5.51866084e+01] [-3.69079827e-03 -1.21481505e-04 -9.99993182e-01 7.12686944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70088847899999 meters 0.018577076801787266 Centerline is valid? [True, True] Translation: X:118.45, Y:-55.19, Z:0.71 [[-4.11136246e-01 9.11573004e-01 1.28277962e-03 1.18446780e+02] [ 9.11567696e-01 4.11138232e-01 -3.11272268e-03 -5.51913885e+01] [-3.36487371e-03 -1.10412657e-04 -9.99994333e-01 7.12676979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730888479 meters 0.01836913821202523 Centerline is valid? [True, True] Translation: X:118.45, Y:-55.20, Z:0.71 [[-4.80436558e-01 8.77028055e-01 1.58277596e-03 1.18452757e+02] [ 8.77022513e-01 4.80439152e-01 -3.11971614e-03 -5.51974109e+01] [-3.49650611e-03 -1.10695535e-04 -9.99993881e-01 7.12161750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.760888479 meters 0.018361992711452817 Centerline is valid? [True, True] Translation: X:118.46, Y:-55.20, Z:0.71 [[-5.47101845e-01 8.37063376e-01 2.11551669e-03 1.18460412e+02] [ 8.37056226e-01 5.47105922e-01 -3.46205404e-03 -5.52016164e+01] [-4.05537035e-03 -1.23289739e-04 -9.99991769e-01 7.12223654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790888479 meters 0.018438573342148146 Centerline is valid? [True, True] Translation: X:118.47, Y:-55.20, Z:0.71 [[-6.10359239e-01 7.92120621e-01 2.55368704e-03 1.18467553e+02] [ 7.92112796e-01 6.10364568e-01 -3.52324078e-03 -5.52049742e+01] [-4.34951176e-03 -1.27634375e-04 -9.99990533e-01 7.12350914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.820888479 meters 0.016829387662725154 Centerline is valid? [True, True] Translation: X:118.47, Y:-55.21, Z:0.71 [[-6.69252249e-01 7.43028379e-01 3.20224067e-03 1.18473954e+02] [ 7.43018899e-01 6.69259897e-01 -3.75581926e-03 -5.52087191e+01] [-4.93381156e-03 -1.34265144e-04 -9.99987820e-01 7.12740111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.850888479 meters 0.017700762362600476 Centerline is valid? [True, True] Translation: X:118.49, Y:-55.21, Z:0.71 [[-7.24578543e-01 6.89183168e-01 3.53509014e-03 1.18486688e+02] [ 6.89174080e-01 7.24587155e-01 -3.54167692e-03 -5.52077954e+01] [-5.00234502e-03 -1.29930611e-04 -9.99987480e-01 7.13913096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.880888479 meters 0.01629440124803115 Centerline is valid? [True, True] Translation: X:118.51, Y:-55.19, Z:0.71 [[-7.70507100e-01 6.37418603e-01 4.04133751e-03 1.18506640e+02] [ 6.37408956e-01 7.70517688e-01 -3.50920529e-03 -5.51927924e+01] [-5.35075477e-03 -1.27882868e-04 -9.99985676e-01 7.14421302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.910888479 meters 0.015493624433594306 Centerline is valid? [True, True] Translation: X:118.53, Y:-55.18, Z:0.71 [[-8.12510381e-01 5.82932780e-01 4.03181439e-03 1.18528478e+02] [ 5.82924918e-01 8.12520376e-01 -3.02951001e-03 -5.51776677e+01] [-5.04193203e-03 -1.11263260e-04 -9.99987283e-01 7.14649470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.940888479 meters 0.015206592764262027 Centerline is valid? [True, True] Translation: X:118.53, Y:-55.15, Z:0.71 [[-8.49703461e-01 5.27252153e-01 3.03239558e-03 1.18528817e+02] [ 5.27248503e-01 8.49708869e-01 -1.96326576e-03 -5.51495061e+01] [-3.61178952e-03 -6.93676822e-05 -9.99993475e-01 7.13526610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.970888479 meters 0.014488018259437206 Centerline is valid? [True, True] Translation: X:118.55, Y:-55.14, Z:0.71 [[-8.83856285e-01 4.67752776e-01 2.32542574e-03 1.18553828e+02] [ 4.67751012e-01 8.83859343e-01 -1.28569723e-03 -5.51372971e+01] [-2.65673771e-03 -4.86513348e-05 -9.99996470e-01 7.12270315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00088847899997 meters 0.014237179018914732 Centerline is valid? [True, True] Translation: X:118.58, Y:-55.12, Z:0.71 [[-9.13972732e-01 4.05772086e-01 1.69109879e-03 1.18583768e+02] [ 4.05771322e-01 9.13974296e-01 -7.88295508e-04 -5.51247902e+01] [-1.86548914e-03 -3.42812085e-05 -9.99998259e-01 7.11235630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03088847899997 meters 0.013632230269316392 Centerline is valid? [True, True] Translation: X:118.60, Y:-55.11, Z:0.71 [[-9.38687461e-01 3.44769259e-01 -9.41265880e-05 1.18603407e+02] [ 3.44769259e-01 9.38687465e-01 2.16199882e-05 -5.51082806e+01] [ 9.58093555e-05 -1.21575422e-05 -9.99999995e-01 7.09752920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06088847899997 meters 0.013487171364452794 Centerline is valid? [True, True] Translation: X:118.62, Y:-55.09, Z:0.71 [[-9.60067924e-01 2.79766652e-01 -4.48789868e-04 1.18622992e+02] [ 2.79766627e-01 9.60068029e-01 1.19424295e-04 -5.50877181e+01] [ 4.64279739e-04 -1.09009921e-05 -9.99999892e-01 7.09947230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09088847899997 meters 0.013547601136754973 Centerline is valid? [True, True] Translation: X:118.64, Y:-55.07, Z:0.71 [[-9.76834012e-01 2.13998269e-01 -2.32505987e-04 1.18640548e+02] [ 2.13998266e-01 9.76834039e-01 3.83747671e-05 -5.50652279e+01] [ 2.35331896e-04 -1.22701004e-05 -9.99999972e-01 7.10863504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12088847899997 meters 0.013430205185671435 Centerline is valid? [True, True] Translation: X:118.85, Y:-54.21, Z:-0.12 [[-9.60067219e-01 -2.79769396e-01 -1.43607490e-04 1.18848063e+02] [ 2.79769390e-01 -9.60067229e-01 5.98544574e-05 -5.42074858e+01] [-1.54618291e-04 1.72873224e-05 9.99999988e-01 -1.18312076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15088847899997 meters 0.013515369338373058 Centerline is valid? [True, True] Translation: X:118.60, Y:-55.06, Z:0.71 [[-9.76523294e-01 2.15408039e-01 1.27751912e-03 1.18597758e+02] [ 2.15407845e-01 9.76524130e-01 -2.89600451e-04 -5.50591857e+01] [-1.30991052e-03 -7.61394537e-06 -9.99999142e-01 7.14068021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18088847899998 meters 0.013790780371290962 Centerline is valid? [True, True] Translation: X:118.78, Y:-54.19, Z:-0.12 [[-9.62475461e-01 -2.71366687e-01 1.05290006e-03 1.18779179e+02] [ 2.71366519e-01 -9.62476037e-01 -3.01622702e-04 -5.41899215e+01] [ 1.09524143e-03 -4.58262612e-06 9.99999400e-01 -1.20201483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21088847899998 meters 0.013780935264491862 Centerline is valid? [True, True] Translation: X:118.53, Y:-55.05, Z:0.71 [[-9.76736398e-01 2.14435455e-01 1.85602619e-03 1.18532841e+02] [ 2.14435070e-01 9.76738161e-01 -4.06779550e-04 -5.50474750e+01] [-1.90007957e-03 6.80713964e-07 -9.99998195e-01 7.14236365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24088847899998 meters 0.014452561836246307 Centerline is valid? [True, True] Translation: X:118.56, Y:-55.03, Z:0.71 [[-9.88831506e-01 1.49033880e-01 1.07477429e-03 1.18558908e+02] [ 1.49033792e-01 9.88832090e-01 -1.62069577e-04 -5.50251112e+01] [-1.08692516e-03 -8.18167672e-08 -9.99999409e-01 7.14142431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27088847899998 meters 0.014614694194364914 Centerline is valid? [True, True] Translation: X:118.69, Y:-54.14, Z:-0.12 [[-9.81756748e-01 -1.90141056e-01 2.57698439e-04 1.18689377e+02] [ 1.90141038e-01 -9.81756781e-01 -9.14107591e-05 -5.41418843e+01] [ 2.70378128e-04 -4.07440810e-05 9.99999963e-01 -1.20156979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30088847899998 meters 0.015146994149234426 Centerline is valid? [True, True] Translation: X:118.50, Y:-55.02, Z:0.71 [[-9.88828840e-01 1.49055236e-01 2.49833031e-04 1.18495583e+02] [ 1.49055229e-01 9.88828871e-01 -4.63716898e-05 -5.50171587e+01] [-2.53954058e-04 -8.61474450e-06 -9.99999968e-01 7.13990257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33088847899998 meters 0.015907552954405893 Centerline is valid? [True, True] Translation: X:118.63, Y:-54.13, Z:-0.12 [[-9.84120633e-01 -1.77497877e-01 -1.04094506e-03 1.18629199e+02] [ 1.77497828e-01 -9.84121182e-01 1.40578080e-04 -5.41330188e+01] [-1.04936839e-03 -4.64196976e-05 9.99999448e-01 -1.19587919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36088847899998 meters 0.016866765492664477 Centerline is valid? [True, True] Translation: X:118.43, Y:-55.01, Z:0.71 [[-9.88233239e-01 1.52950617e-01 -1.08322501e-03 1.18433752e+02] [ 1.52950569e-01 9.88233832e-01 1.27411048e-04 -5.50099866e+01] [ 1.08996720e-03 -3.97680495e-05 -9.99999405e-01 7.13286349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39088847899998 meters 0.017833045942760306 Centerline is valid? [True, True] Translation: X:118.56, Y:-54.12, Z:-0.12 [[-9.86214583e-01 -1.65453244e-01 -2.45378068e-03 1.18558240e+02] [ 1.65452753e-01 -9.86217635e-01 4.02838463e-04 -5.41241276e+01] [-2.48661271e-03 -8.69960348e-06 9.99996908e-01 -1.19688162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42088847899998 meters 0.018493639187389298 Centerline is valid? [True, True] Translation: X:118.37, Y:-55.00, Z:0.71 [[-9.88027511e-01 1.54251332e-01 -2.85730465e-03 1.18366304e+02] [ 1.54250986e-01 9.88031637e-01 3.42485925e-04 -5.50000127e+01] [ 2.87593630e-03 -1.02356542e-04 -9.99995859e-01 7.13435415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45088847899999 meters 0.0192523494499946 Centerline is valid? [True, True] Translation: X:118.37, Y:-54.97, Z:0.71 [[-9.96382843e-01 8.48775219e-02 -4.12742486e-03 1.18370379e+02] [ 8.48774008e-02 9.96391381e-01 2.04792126e-04 -5.49715314e+01] [ 4.12991281e-03 -1.46273734e-04 -9.99991461e-01 7.13033437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.480888479 meters 0.018325730269677324 Centerline is valid? [True, True] Translation: X:118.38, Y:-54.94, Z:0.71 [[-9.99888702e-01 1.42719129e-02 -4.34693453e-03 1.18375269e+02] [ 1.42724532e-02 9.99898139e-01 -9.32901994e-05 -5.49397763e+01] [ 4.34516032e-03 -1.55321236e-04 -9.99990548e-01 7.13065450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510888479 meters 0.018240667711850983 Centerline is valid? [True, True] Translation: X:118.37, Y:-54.91, Z:0.71 [[-9.98299113e-01 -5.80828561e-02 -5.02630490e-03 1.18374760e+02] [-5.80812466e-02 9.98311751e-01 -4.65711850e-04 -5.49065857e+01] [ 5.04486912e-03 -1.72985672e-04 -9.99987260e-01 7.14212090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.540888479 meters 0.017853186453753642 Centerline is valid? [True, True] Translation: X:118.36, Y:-54.88, Z:0.71 [[-9.91378810e-01 -1.30953023e-01 -4.40020088e-03 1.18364896e+02] [-1.30951071e-01 9.91388564e-01 -7.30125924e-04 -5.48758510e+01] [ 4.45792103e-03 -1.47620353e-04 -9.99990053e-01 7.14498230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.570888479 meters 0.017599836007777606 Centerline is valid? [True, True] Translation: X:118.34, Y:-54.85, Z:0.72 [[-9.78880049e-01 -2.04395746e-01 -4.02847553e-03 1.18336937e+02] [-2.04393475e-01 9.78888330e-01 -9.71897137e-04 -5.48491603e+01] [ 4.14207933e-03 -1.27976604e-04 -9.99991413e-01 7.15179784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.600888479 meters 0.01715513554603959 Centerline is valid? [True, True] Translation: X:118.28, Y:-54.83, Z:0.72 [[-9.60363751e-01 -2.78728382e-01 -3.45746416e-03 1.18282199e+02] [-2.78726191e-01 9.60369970e-01 -1.10997349e-03 -5.48308774e+01] [ 3.62982587e-03 -1.02292486e-04 -9.99993407e-01 7.15620593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.630888479 meters 0.01647250473842323 Centerline is valid? [True, True] Translation: X:118.22, Y:-54.82, Z:0.72 [[-9.34902874e-01 -3.54893342e-01 -2.70779020e-03 1.18216030e+02] [-3.54891649e-01 9.34906793e-01 -1.09814466e-03 -5.48161491e+01] [ 2.92125568e-03 -6.56864735e-05 -9.99995731e-01 7.16334235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.660888479 meters 0.014979585070629547 Centerline is valid? [True, True] Translation: X:118.14, Y:-54.81, Z:0.72 [[-9.04643148e-01 -4.26164948e-01 -2.05236338e-03 1.18140200e+02] [-4.26163732e-01 9.04645475e-01 -1.01908178e-03 -5.48114266e+01] [ 2.29095817e-03 -4.72625091e-05 -9.99997375e-01 7.16996099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.690888479 meters 0.014209306505410422 Centerline is valid? [True, True] Translation: X:118.06, Y:-54.81, Z:0.72 [[-8.67351808e-01 -4.97689462e-01 -2.45765322e-03 1.18055668e+02] [-4.97687336e-01 8.67355289e-01 -1.45519634e-03 -5.48141467e+01] [ 2.85589441e-03 -3.90242950e-05 -9.99995921e-01 7.16703214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.720888479 meters 0.013983195995459507 Centerline is valid? [True, True] Translation: X:117.97, Y:-54.83, Z:0.72 [[-8.26226463e-01 -5.63331721e-01 -2.68396323e-03 1.17968073e+02] [-5.63328608e-01 8.26230822e-01 -1.87298847e-03 -5.48309959e+01] [ 3.27268696e-03 -3.55593693e-05 -9.99994644e-01 7.16839758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75088847899997 meters 0.014050922040931859 Centerline is valid? [True, True] Translation: X:117.88, Y:-54.86, Z:0.72 [[-7.80207092e-01 -6.25515343e-01 -2.72944589e-03 1.17875548e+02] [-6.25511377e-01 7.80211865e-01 -2.22764712e-03 -5.48598490e+01] [ 3.52297352e-03 -3.07266243e-05 -9.99993794e-01 7.16856365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78088847899997 meters 0.013915321769690878 Centerline is valid? [True, True] Translation: X:117.78, Y:-54.90, Z:0.72 [[-7.28210377e-01 -6.85348382e-01 -2.69109165e-03 1.17781044e+02] [-6.85343607e-01 7.28215349e-01 -2.55832761e-03 -5.48956811e+01] [ 3.71303994e-03 -1.86782542e-05 -9.99993106e-01 7.16335163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81088847899997 meters 0.013904521426930837 Centerline is valid? [True, True] Translation: X:117.69, Y:-54.94, Z:0.72 [[-6.73042319e-01 -7.39598991e-01 -2.71472419e-03 1.17688484e+02] [-7.39592891e-01 6.73047794e-01 -3.00392207e-03 -5.49447043e+01] [ 4.04883686e-03 -1.39759646e-05 -9.99991803e-01 7.16112685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84088847899997 meters 0.013901183063992307 Centerline is valid? [True, True] Translation: X:117.60, Y:-55.00, Z:0.72 [[-6.14218034e-01 -7.89131623e-01 -2.73649422e-03 1.17598397e+02] [-7.89123710e-01 6.14224130e-01 -3.53395227e-03 -5.50027820e+01] [ 4.46957427e-03 -1.11847394e-05 -9.99990011e-01 7.16059898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87088847899997 meters 0.013930034878209097 Centerline is valid? [True, True] Translation: X:117.51, Y:-55.07, Z:0.72 [[-5.51008091e-01 -8.34496932e-01 -2.22595556e-03 1.17505981e+02] [-8.34490081e-01 5.51012587e-01 -3.38137809e-03 -5.50738022e+01] [ 4.04827917e-03 -5.62885121e-06 -9.99991806e-01 7.16708697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90088847899997 meters 0.013796151453860593 Centerline is valid? [True, True] Translation: X:117.43, Y:-55.15, Z:0.72 [[-4.84928161e-01 -8.74552610e-01 -1.55264547e-03 1.17426209e+02] [-8.74548095e-01 4.84930646e-01 -2.81018814e-03 -5.51465606e+01] [ 3.21058274e-03 -4.87622553e-06 -9.99994846e-01 7.17469784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93088847899998 meters 0.013896789922503717 Centerline is valid? [True, True] Translation: X:117.35, Y:-55.23, Z:0.72 [[-4.15833169e-01 -9.09440371e-01 -9.93594205e-04 1.17349877e+02] [-9.09437744e-01 4.15834356e-01 -2.18576486e-03 -5.52296149e+01] [ 2.40099341e-03 -5.30145734e-06 -9.99997118e-01 7.18240990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96088847899998 meters 0.01388724968520337 Centerline is valid? [True, True] Translation: X:117.28, Y:-55.32, Z:0.72 [[-3.43731355e-01 -9.39067910e-01 -4.65016086e-04 1.17275459e+02] [-9.39067024e-01 3.43731669e-01 -1.28988446e-03 -5.53241382e+01] [ 1.37112986e-03 -6.69246243e-06 -9.99999060e-01 7.19075645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99088847899998 meters 0.013970401643893467 Centerline is valid? [True, True] Translation: X:117.21, Y:-55.43, Z:0.72 [[-2.70056053e-01 -9.62844564e-01 -2.72802192e-04 1.17210633e+02] [-9.62844044e-01 2.70056191e-01 -1.00053809e-03 -5.54255584e+01] [ 1.03703459e-03 -7.53540341e-06 -9.99999462e-01 7.19053474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02088847899998 meters 0.01393348258766918 Centerline is valid? [True, True] Translation: X:117.15, Y:-55.53, Z:0.72 [[-1.95072670e-01 -9.80788780e-01 -1.50341749e-04 1.17154098e+02] [-9.80788454e-01 1.95072728e-01 -7.99158946e-04 -5.55322516e+01] [ 8.13133702e-04 -8.44061759e-06 -9.99999669e-01 7.18957379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05088847899998 meters 0.013897288660073321 Centerline is valid? [True, True] Translation: X:117.11, Y:-55.64, Z:0.72 [[-1.19079674e-01 -9.92884697e-01 -9.44956288e-05 1.17106968e+02] [-9.92884327e-01 1.19079711e-01 -8.57413373e-04 -5.56398784e+01] [ 8.62565129e-04 -8.27727600e-06 -9.99999628e-01 7.18551704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08088847899998 meters 0.013950371751882663 Centerline is valid? [True, True] Translation: X:117.07, Y:-55.76, Z:0.72 [[-4.37679886e-02 -9.99041722e-01 -8.26582981e-06 1.17067920e+02] [-9.99041627e-01 4.37679880e-02 -4.36209115e-04 -5.57567273e+01] [ 4.36152884e-04 -1.08340875e-05 -9.99999905e-01 7.18572226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11088847899998 meters 0.014032466295062504 Centerline is valid? [True, True] Translation: X:117.04, Y:-55.88, Z:0.72 [[ 3.22105600e-02 -9.99481105e-01 5.93951124e-06 1.17038328e+02] [-9.99481085e-01 -3.22105582e-02 2.01759829e-04 -5.58802008e+01] [-2.01463822e-04 -1.24352262e-05 -9.99999980e-01 7.19090846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14088847899998 meters 0.014041295038104605 Centerline is valid? [True, True] Translation: X:116.32, Y:-56.01, Z:-0.13 [[-3.76701586e-02 9.99290228e-01 -1.90207679e-05 1.16324108e+02] [-9.99290008e-01 -3.76701376e-02 6.64515809e-04 -5.60062951e+01] [ 6.63327639e-04 4.40396792e-05 9.99999779e-01 -1.26942608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17088847899998 meters 0.014144050923532646 Centerline is valid? [True, True] Translation: X:117.05, Y:-56.16, Z:0.72 [[ 3.67636899e-02 -9.99323984e-01 -7.34670878e-05 1.17045208e+02] [-9.99321710e-01 -3.67637630e-02 2.13221564e-03 -5.61572603e+01] [-2.13347516e-03 -4.97085905e-06 -9.99997724e-01 7.20204841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20088847899999 meters 0.014399275633510511 Centerline is valid? [True, True] Translation: X:116.33, Y:-56.29, Z:-0.13 [[-2.19715167e-02 9.99758596e-01 5.29597513e-05 1.16329055e+02] [-9.99756865e-01 -2.19715772e-02 1.86022690e-03 -5.62929053e+01] [ 1.86094144e-03 -1.20748686e-05 9.99998268e-01 -1.26293799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230888479 meters 0.014666186059916845 Centerline is valid? [True, True] Translation: X:117.06, Y:-56.44, Z:0.72 [[ 4.18974967e-02 -9.99121912e-01 -7.46608978e-05 1.17055681e+02] [-9.99120400e-01 -4.18975631e-02 1.73806393e-03 -5.64425195e+01] [-1.73966586e-03 1.77469855e-06 -9.99998487e-01 7.18670399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.260888479 meters 0.015272516293362359 Centerline is valid? [True, True] Translation: X:117.04, Y:-56.55, Z:0.72 [[ 1.15677996e-01 -9.93286753e-01 -1.65549893e-04 1.17039218e+02] [-9.93285771e-01 -1.15678114e-01 1.39674351e-03 -5.65549090e+01] [-1.40651732e-03 2.86586395e-06 -9.99999011e-01 7.18022357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290888479 meters 0.015272516293362359 Centerline is valid? [True, True] Translation: X:117.03, Y:-56.68, Z:0.72 [[ 1.91916638e-01 -9.81411193e-01 -2.72595388e-04 1.17031009e+02] [-9.81410224e-01 -1.91916831e-01 1.37937171e-03 -5.66768716e+01] [-1.40604648e-03 2.80351978e-06 -9.99999012e-01 7.17998749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.320888479 meters 0.015891281423196388 Centerline is valid? [True, True] Translation: X:117.03, Y:-56.80, Z:0.72 [[ 2.62242377e-01 -9.65001989e-01 -3.12313415e-04 1.17033109e+02] [-9.65001332e-01 -2.62242563e-01 1.12606761e-03 -5.67984611e+01] [-1.16855935e-03 6.08021598e-06 -9.99999317e-01 7.17976698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.350888479 meters 0.01615174657848018 Centerline is valid? [True, True] Translation: X:117.04, Y:-56.91, Z:0.72 [[ 3.34021423e-01 -9.42565418e-01 -3.50144379e-04 1.17040441e+02] [-9.42564918e-01 -3.34021607e-01 9.70330846e-04 -5.69120734e+01] [-1.03155609e-03 5.92251773e-06 -9.99999468e-01 7.18329720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.380888479 meters 0.016533459176979987 Centerline is valid? [True, True] Translation: X:117.06, Y:-57.03, Z:0.72 [[ 4.03830699e-01 -9.14833519e-01 -6.31892192e-04 1.17058146e+02] [-9.14832466e-01 -4.03831193e-01 1.38834649e-03 -5.70305143e+01] [-1.52528368e-03 1.74185581e-05 -9.99998837e-01 7.18695945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.410888479 meters 0.01693009622988499 Centerline is valid? [True, True] Translation: X:117.09, Y:-57.15, Z:0.72 [[ 4.72461200e-01 -8.81351127e-01 -7.78810863e-04 1.17086592e+02] [-8.81349998e-01 -4.72461841e-01 1.41057622e-03 -5.71464377e+01] [-1.61117135e-03 1.99624210e-05 -9.99998702e-01 7.18364374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.440888479 meters 0.016740387759293367 Centerline is valid? [True, True] Translation: X:117.12, Y:-57.26, Z:0.72 [[ 5.38444065e-01 -8.42660907e-01 -7.64945178e-04 1.17119902e+02] [-8.42660099e-01 -5.38444608e-01 1.16725846e-03 -5.72581130e+01] [-1.39548368e-03 1.60853870e-05 -9.99999026e-01 7.18199023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.470888479 meters 0.01687534481017444 Centerline is valid? [True, True] Translation: X:117.16, Y:-57.37, Z:0.72 [[ 6.01095008e-01 -7.99177127e-01 -8.43001739e-04 1.17161293e+02] [-7.99176379e-01 -6.01095599e-01 1.09364261e-03 -5.73683439e+01] [-1.38073880e-03 1.63239616e-05 -9.99999047e-01 7.19129622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50088847899997 meters 0.017677627143195488 Centerline is valid? [True, True] Translation: X:117.21, Y:-57.47, Z:0.72 [[ 6.60294591e-01 -7.51006291e-01 -7.77140853e-04 1.17207169e+02] [-7.51005792e-01 -6.60295049e-01 8.65579614e-04 -5.74655533e+01] [-1.16319799e-03 1.20997445e-05 -9.99999323e-01 7.19786898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53088847899997 meters 0.01686915572547269 Centerline is valid? [True, True] Translation: X:117.26, Y:-57.56, Z:0.72 [[ 7.15485529e-01 -6.98626996e-01 -8.82736328e-04 1.17256949e+02] [-6.98626487e-01 -7.15486073e-01 8.43112090e-04 -5.75610400e+01] [-1.22060642e-03 1.34684807e-05 -9.99999255e-01 7.20010950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56088847899997 meters 0.018210753345773028 Centerline is valid? [True, True] Translation: X:117.25, Y:-57.57, Z:0.72 [[ 7.67830035e-01 -6.40653107e-01 -7.96039140e-04 1.17252979e+02] [-6.40652775e-01 -7.67830448e-01 6.52062044e-04 -5.75683348e+01] [-1.02896866e-03 9.31186179e-06 -9.99999471e-01 7.20041545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59088847899997 meters 0.01707937351807905 Centerline is valid? [True, True] Translation: X:117.25, Y:-57.58, Z:0.72 [[ 8.15741587e-01 -5.78416389e-01 -3.78998105e-04 1.17247705e+02] [-5.78416325e-01 -8.15741675e-01 2.71797589e-04 -5.75804275e+01] [-4.66376729e-04 -2.49790526e-06 -9.99999891e-01 7.19020996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62088847899997 meters 0.01676021018787748 Centerline is valid? [True, True] Translation: X:117.24, Y:-57.59, Z:0.72 [[ 8.58503526e-01 -5.12807575e-01 -2.96498123e-04 1.17243327e+02] [-5.12807542e-01 -8.58503577e-01 1.82816716e-04 -5.75934258e+01] [-3.48294496e-04 -4.90232120e-06 -9.99999939e-01 7.18613736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65088847899997 meters 0.019050822111923108 Centerline is valid? [True, True] Translation: X:117.24, Y:-57.61, Z:0.72 [[ 8.95990566e-01 -4.44073070e-01 -1.14533665e-04 1.17239767e+02] [-4.44073065e-01 -8.95990574e-01 6.71032699e-05 -5.76061252e+01] [-1.32419840e-04 -9.26258098e-06 -9.99999991e-01 7.19998834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68088847899998 meters 0.016820329441203524 Centerline is valid? [True, True] Translation: X:117.24, Y:-57.62, Z:0.72 [[ 9.28818333e-01 -3.70534916e-01 6.17557976e-04 1.17236627e+02] [-3.70534851e-01 -9.28818538e-01 -2.20882276e-04 -5.76197842e+01] [ 6.55443891e-04 -2.36672447e-05 -9.99999785e-01 7.18648262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71088847899998 meters 0.016752053199144235 Centerline is valid? [True, True] Translation: X:117.24, Y:-57.63, Z:0.72 [[ 9.55362447e-01 -2.95435742e-01 5.62417471e-04 1.17235410e+02] [-2.95435704e-01 -9.55362613e-01 -1.51407560e-04 -5.76305226e+01] [ 5.82043829e-04 -2.15091045e-05 -9.99999830e-01 7.19064097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74088847899998 meters 0.016162159682722044 Centerline is valid? [True, True] Translation: X:117.24, Y:-57.64, Z:0.72 [[ 9.75847916e-01 -2.18450928e-01 1.94244110e-04 1.17235376e+02] [-2.18450927e-01 -9.75847935e-01 -2.83266820e-05 -5.76448150e+01] [ 1.95740704e-04 -1.47902723e-05 -9.99999981e-01 7.20044270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77088847899998 meters 0.01606516148894503 Centerline is valid? [True, True] Translation: X:117.23, Y:-57.66, Z:0.72 [[ 9.90483984e-01 -1.37617235e-01 -1.72461133e-03 1.17232782e+02] [-1.37617041e-01 -9.90485485e-01 2.31651044e-04 -5.76567056e+01] [-1.74008167e-03 7.88925879e-06 -9.99998486e-01 7.21986261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80088847899998 meters 0.015875123640529152 Centerline is valid? [True, True] Translation: X:117.23, Y:-57.67, Z:0.72 [[ 9.98314610e-01 -5.79808622e-02 -2.48167514e-03 1.17232425e+02] [-5.79807135e-02 -9.98317695e-01 1.31885138e-04 -5.76666479e+01] [-2.48514702e-03 1.22264353e-05 -9.99996912e-01 7.22734525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83088847899998 meters 0.015573290015500226 Centerline is valid? [True, True] Translation: X:117.23, Y:-57.68, Z:0.72 [[ 9.99754562e-01 2.19999776e-02 -2.61078925e-03 1.17233089e+02] [ 2.19998786e-02 -9.99757971e-01 -6.66308297e-05 -5.76760977e+01] [-2.61162324e-03 9.17742946e-06 -9.99996590e-01 7.22948770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86088847899998 meters 0.015370217985845562 Centerline is valid? [True, True] Translation: X:117.23, Y:-57.69, Z:0.72 [[ 9.94767481e-01 1.02144292e-01 -2.05022107e-03 1.17233988e+02] [ 1.02144073e-01 -9.94769593e-01 -2.11273336e-04 -5.76855311e+01] [-2.06107795e-03 7.49913418e-07 -9.99997876e-01 7.23024616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89088847899998 meters 0.015245084826117444 Centerline is valid? [True, True] Translation: X:117.24, Y:-57.70, Z:0.72 [[ 9.83042563e-01 1.83372505e-01 -1.35806971e-03 1.17237532e+02] [ 1.83372342e-01 -9.83043501e-01 -2.44742473e-04 -5.77004654e+01] [-1.37992065e-03 -8.44015711e-06 -9.99999048e-01 7.22940883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92088847899998 meters 0.015366429566100324 Centerline is valid? [True, True] Translation: X:117.24, Y:-57.71, Z:0.72 [[ 9.65148318e-01 2.61702048e-01 -8.73175993e-04 1.17239849e+02] [ 2.61701952e-01 -9.65148713e-01 -2.25044141e-04 -5.77111128e+01] [-9.01639198e-04 -1.13108879e-05 -9.99999593e-01 7.22923865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95088847899999 meters 0.015451642900203571 Centerline is valid? [True, True] Translation: X:117.24, Y:-57.72, Z:0.72 [[ 9.40587162e-01 3.39552337e-01 -3.33922566e-05 1.17243025e+02] [ 3.39552337e-01 -9.40587163e-01 3.81434088e-07 -5.77219616e+01] [-3.12788112e-05 -1.16971908e-05 -9.99999999e-01 7.22180383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.980888479 meters 0.016454433903846565 Centerline is valid? [True, True] Translation: X:117.25, Y:-57.73, Z:0.72 [[ 9.10496177e-01 4.13517376e-01 -3.03016443e-04 1.17245228e+02] [ 4.13517358e-01 -9.10496227e-01 -1.23337273e-04 -5.77256997e+01] [-3.26897433e-04 -1.30044432e-05 -9.99999946e-01 7.22915416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010888479 meters 0.015842879030783463 Centerline is valid? [True, True] Translation: X:117.25, Y:-57.73, Z:0.72 [[ 8.74549675e-01 4.84935823e-01 -3.37227463e-04 1.17247968e+02] [ 4.84935793e-01 -8.74549740e-01 -1.71208153e-04 -5.77285952e+01] [-3.77947156e-04 -1.38036324e-05 -9.99999928e-01 7.22520453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.040888479 meters 0.016220972546288914 Centerline is valid? [True, True] Translation: X:117.25, Y:-57.73, Z:0.72 [[ 8.32556745e-01 5.53938774e-01 -1.04967388e-03 1.17252801e+02] [ 5.53938367e-01 -8.32557406e-01 -6.71892577e-04 -5.77345589e+01] [-1.24610111e-03 -2.20659371e-05 -9.99999223e-01 7.22923210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.070888479 meters 0.016317363034917366 Centerline is valid? [True, True] Translation: X:117.26, Y:-57.74, Z:0.72 [[ 7.86179404e-01 6.17997395e-01 -1.07930104e-03 1.17260107e+02] [ 6.17996854e-01 -7.86180144e-01 -8.17906711e-04 -5.77422938e+01] [-1.35398927e-03 -2.39832390e-05 -9.99999083e-01 7.23323144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.100888479 meters 0.016412135838589578 Centerline is valid? [True, True] Translation: X:117.27, Y:-57.75, Z:0.72 [[ 7.34994780e-01 6.78072204e-01 -8.71435547e-04 1.17267402e+02] [ 6.78071764e-01 -7.34995297e-01 -7.72816946e-04 -5.77501734e+01] [-1.16452672e-03 -2.28794162e-05 -9.99999322e-01 7.24072922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.130888479 meters 0.01633044260534851 Centerline is valid? [True, True] Translation: X:117.28, Y:-57.76, Z:0.72 [[ 6.79298604e-01 7.33861224e-01 -1.05432891e-03 1.17275143e+02] [ 7.33860401e-01 -6.79299421e-01 -1.09919315e-03 -5.77562341e+01] [-1.52286025e-03 -2.70498638e-05 -9.99998840e-01 7.24102936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.160888479 meters 0.01676571699275431 Centerline is valid? [True, True] Translation: X:117.28, Y:-57.76, Z:0.73 [[ 6.19199555e-01 7.85231779e-01 -1.72157355e-03 1.17281903e+02] [ 7.85228929e-01 -6.19201947e-01 -2.11632665e-03 -5.77610916e+01] [-2.72780864e-03 -4.14008352e-05 -9.99996279e-01 7.25349413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.190888479 meters 0.01761938200976927 Centerline is valid? [True, True] Translation: X:117.29, Y:-57.77, Z:0.73 [[ 5.55544573e-01 8.31484792e-01 -1.80769444e-03 1.17290186e+02] [ 8.31480665e-01 -5.55547512e-01 -2.62015012e-03 -5.77670662e+01] [-3.18287512e-03 -4.74527941e-05 -9.99994934e-01 7.26181787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.220888479 meters 0.01703414887935629 Centerline is valid? [True, True] Translation: X:117.30, Y:-57.77, Z:0.73 [[ 4.87780544e-01 8.72964592e-01 -1.72119112e-03 1.17296074e+02] [ 8.72959541e-01 -4.87783578e-01 -2.96984152e-03 -5.77700692e+01] [-3.43213525e-03 -5.38992971e-05 -9.99994109e-01 7.25378662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25088847899997 meters 0.0185007615144835 Centerline is valid? [True, True] Translation: X:117.31, Y:-57.78, Z:0.73 [[ 4.17492424e-01 9.08679015e-01 -1.58889203e-03 1.17306921e+02] [ 9.08672960e-01 -4.17495443e-01 -3.31762682e-03 -5.77761680e+01] [-3.67801305e-03 -5.86991640e-05 -9.99993234e-01 7.26459264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28088847899997 meters 0.017616660424725032 Centerline is valid? [True, True] Translation: X:117.31, Y:-57.78, Z:0.73 [[ 3.44983093e-01 9.38608062e-01 -1.25378622e-03 1.17310315e+02] [ 9.38602444e-01 -3.44985366e-01 -3.24789178e-03 -5.77770452e+01] [-3.48103531e-03 -5.63390620e-05 -9.99993940e-01 7.25753065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31088847899997 meters 0.017488834418302124 Centerline is valid? [True, True] Translation: X:117.32, Y:-57.78, Z:0.73 [[ 2.70583656e-01 9.62696071e-01 -8.71381517e-04 1.17317622e+02] [ 9.62691659e-01 -2.70585055e-01 -2.91519792e-03 -5.77791964e+01] [-3.04223240e-03 -5.00668063e-05 -9.99995371e-01 7.25293254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34088847899997 meters 0.017440255100827008 Centerline is valid? [True, True] Translation: X:117.33, Y:-57.78, Z:0.72 [[ 1.95132090e-01 9.80776889e-01 -4.01270199e-04 1.17325247e+02] [ 9.80775156e-01 -1.95132500e-01 -1.84388064e-03 -5.77809577e+01] [-1.88673638e-03 -3.37555577e-05 -9.99998220e-01 7.24259904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37088847899997 meters 0.017345555802641913 Centerline is valid? [True, True] Translation: X:117.34, Y:-57.78, Z:0.72 [[ 1.18317170e-01 9.92975838e-01 -1.82076106e-04 1.17335580e+02] [ 9.92974977e-01 -1.18317308e-01 -1.30749945e-03 -5.77832204e+01] [-1.31985812e-03 -2.60973818e-05 -9.99999129e-01 7.23629061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40088847899997 meters 0.017453189501687595 Centerline is valid? [True, True] Translation: X:117.35, Y:-57.78, Z:0.72 [[ 4.10482685e-02 9.99157162e-01 -7.40694912e-05 1.17345868e+02] [ 9.99156416e-01 -4.10483284e-02 -1.22134427e-03 -5.77848158e+01] [-1.22335530e-03 -2.38729399e-05 -9.99999251e-01 7.23373079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43088847899998 meters 0.017485991414641678 Centerline is valid? [True, True] Translation: X:117.35, Y:-57.79, Z:0.72 [[-3.54925435e-02 9.99369941e-01 3.70184076e-06 1.17354728e+02] [ 9.99369791e-01 3.54925402e-02 -5.48858085e-04 -5.77866620e+01] [-5.48643660e-04 -1.57808616e-05 -9.99999849e-01 7.23328469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46088847899998 meters 0.0174247284436431 Centerline is valid? [True, True] Translation: X:117.36, Y:-57.79, Z:0.72 [[-1.13149655e-01 9.93577955e-01 5.41613819e-05 1.17363586e+02] [ 9.93577763e-01 1.13149667e-01 -6.17264104e-04 -5.77863686e+01] [-6.19428349e-04 -1.60296760e-05 -9.99999808e-01 7.23439422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49088847899998 meters 0.017454364444945605 Centerline is valid? [True, True] Translation: X:117.37, Y:-57.79, Z:0.72 [[-1.90606566e-01 9.81666485e-01 2.20721079e-04 1.17373023e+02] [ 9.81665692e-01 1.90606693e-01 -1.24789081e-03 -5.77860705e+01] [-1.26708350e-03 -2.11818713e-05 -9.99999197e-01 7.23978995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52088847899998 meters 0.017660996236133666 Centerline is valid? [True, True] Translation: X:117.38, Y:-57.79, Z:0.73 [[-2.66730531e-01 9.63770964e-01 5.94652805e-04 1.17381656e+02] [ 9.63768318e-01 2.66731192e-01 -2.25836290e-03 -5.77860928e+01] [-2.33515704e-03 -2.92668033e-05 -9.99997273e-01 7.25172243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55088847899998 meters 0.017481469410303496 Centerline is valid? [True, True] Translation: X:117.39, Y:-57.78, Z:0.73 [[-3.41234376e-01 9.39977795e-01 9.19081579e-04 1.17391843e+02] [ 9.39974127e-01 3.41235612e-01 -2.62626605e-03 -5.77837744e+01] [-2.78225513e-03 -3.22593507e-05 -9.99996129e-01 7.25678018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58088847899998 meters 0.017428211284125347 Centerline is valid? [True, True] Translation: X:117.40, Y:-57.78, Z:0.73 [[-4.13457986e-01 9.10522576e-01 1.06454018e-03 1.17402307e+02] [ 9.10519368e-01 4.13459355e-01 -2.41706920e-03 -5.77810735e+01] [-2.64094017e-03 -3.00721076e-05 -9.99996512e-01 7.26355064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61088847899998 meters 0.017182487152723275 Centerline is valid? [True, True] Translation: X:117.41, Y:-57.78, Z:0.73 [[-4.82419902e-01 8.75939516e-01 1.00159275e-03 1.17410198e+02] [ 8.75937525e-01 4.82420941e-01 -1.86747320e-03 -5.77797137e+01] [-2.11898288e-03 -2.35735665e-05 -9.99997755e-01 7.26028254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64088847899998 meters 0.01733810707394951 Centerline is valid? [True, True] Translation: X:117.42, Y:-57.78, Z:0.73 [[-5.48849427e-01 8.35920876e-01 7.71233861e-04 1.17417256e+02] [ 8.35920004e-01 5.48849969e-01 -1.20781709e-03 -5.77776736e+01] [-1.43293120e-03 -1.82199045e-05 -9.99998973e-01 7.25290318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67088847899998 meters 0.01719012117139782 Centerline is valid? [True, True] Translation: X:117.43, Y:-57.77, Z:0.72 [[-6.11578747e-01 7.91183228e-01 7.32229907e-04 1.17425112e+02] [ 7.91182630e-01 6.11579185e-01 -9.72514420e-04 -5.77739993e+01] [-1.21725367e-03 -1.54415669e-05 -9.99999259e-01 7.24537522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70088847899999 meters 0.017104266200128646 Centerline is valid? [True, True] Translation: X:117.43, Y:-57.77, Z:0.72 [[-6.69305447e-01 7.42987338e-01 -1.82482674e-04 1.17432082e+02] [ 7.42987315e-01 6.69305472e-01 1.86763021e-04 -5.77717219e+01] [ 2.60899211e-04 -1.05808046e-05 -9.99999966e-01 7.24762235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730888479 meters 0.01722837611810808 Centerline is valid? [True, True] Translation: X:117.44, Y:-57.77, Z:0.73 [[-7.24681650e-01 6.89083583e-01 -5.67059839e-04 1.17439854e+02] [ 6.89083384e-01 7.24681872e-01 5.23944636e-04 -5.77664730e+01] [ 7.71979633e-04 -1.10584493e-05 -9.99999702e-01 7.25298423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.760888479 meters 0.017196180554322957 Centerline is valid? [True, True] Translation: X:117.46, Y:-57.75, Z:0.73 [[-7.70979702e-01 6.36859291e-01 -7.36160540e-04 1.17459589e+02] [ 6.36859014e-01 7.70980054e-01 5.93796593e-04 -5.77477580e+01] [ 9.45729970e-04 -1.10253557e-05 -9.99999553e-01 7.25306896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790888479 meters 0.017193481179505726 Centerline is valid? [True, True] Translation: X:117.48, Y:-57.73, Z:0.73 [[-8.13736989e-01 5.81231830e-01 -1.29310238e-03 1.17476790e+02] [ 5.81231121e-01 8.13738017e-01 9.07695452e-04 -5.77269372e+01] [ 1.57982806e-03 -1.29659837e-05 -9.99998752e-01 7.25228086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.820888479 meters 0.017232103244769224 Centerline is valid? [True, True] Translation: X:117.49, Y:-57.71, Z:0.72 [[-8.51988875e-01 5.23556859e-01 -1.78110535e-03 1.17492403e+02] [ 5.23555758e-01 8.51990736e-01 1.07412694e-03 -5.77071646e+01] [ 2.07985179e-03 -1.73637574e-05 -9.99997837e-01 7.24397297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.850888479 meters 0.017322155287608776 Centerline is valid? [True, True] Translation: X:117.51, Y:-57.69, Z:0.72 [[-8.86643413e-01 4.62448545e-01 -2.19104244e-03 1.17507973e+02] [ 4.62447189e-01 8.86646120e-01 1.12009172e-03 -5.76854396e+01] [ 2.46066406e-03 -2.01194755e-05 -9.99996972e-01 7.24156042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.880888479 meters 0.017143536201998006 Centerline is valid? [True, True] Translation: X:117.52, Y:-57.66, Z:0.72 [[-9.16897236e-01 3.99119155e-01 -1.83271578e-03 1.17523071e+02] [ 3.99118400e-01 9.16899067e-01 7.76686040e-04 -5.76620759e+01] [ 1.99040567e-03 -1.93293071e-05 -9.99998019e-01 7.24327753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.910888479 meters 0.017179337641489097 Centerline is valid? [True, True] Translation: X:117.53, Y:-57.64, Z:0.73 [[-9.42811645e-01 3.33320537e-01 -1.90293891e-03 1.17533352e+02] [ 3.33319900e-01 9.42813566e-01 6.51805034e-04 -5.76358105e+01] [ 2.01137663e-03 -1.97580318e-05 -9.99997977e-01 7.25241218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.940888479 meters 0.017034696723273214 Centerline is valid? [True, True] Translation: X:117.77, Y:-56.96, Z:-0.13 [[-9.21955696e-01 -3.87292750e-01 -1.42133395e-03 1.17773373e+02] [ 3.87292213e-01 -9.21956791e-01 6.46619558e-04 -5.69615901e+01] [-1.56083956e-03 4.56830121e-05 9.99998781e-01 -1.34897287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.970888479 meters 0.017068691932638855 Centerline is valid? [True, True] Translation: X:117.49, Y:-57.62, Z:0.73 [[-9.44526929e-01 3.28432847e-01 -8.63532886e-04 1.17489999e+02] [ 3.28432722e-01 9.44527324e-01 2.86427712e-04 -5.76210749e+01] [ 9.09702675e-04 -1.30737693e-05 -9.99999586e-01 7.26943572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00088847899997 meters 0.016843390341814805 Centerline is valid? [True, True] Translation: X:117.49, Y:-57.59, Z:0.73 [[-9.65776723e-01 2.59374584e-01 -3.81709709e-04 1.17494980e+02] [ 2.59374568e-01 9.65776799e-01 9.15313410e-05 -5.75941533e+01] [ 3.92387284e-04 -1.06069521e-05 -9.99999923e-01 7.26932411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03088847899997 meters 0.016841134580056417 Centerline is valid? [True, True] Translation: X:117.50, Y:-57.57, Z:0.73 [[-9.81837272e-01 1.89723746e-01 -6.86913139e-04 1.17499858e+02] [ 1.89723707e-01 9.81837512e-01 1.21629121e-04 -5.75662385e+01] [ 6.97513019e-04 -1.09037023e-05 -9.99999757e-01 7.27031779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06088847899997 meters 0.016816636747235193 Centerline is valid? [True, True] Translation: X:117.51, Y:-57.54, Z:0.73 [[-9.92955280e-01 1.18487738e-01 -6.84464485e-04 1.17506023e+02] [ 1.18487717e-01 9.92955516e-01 7.14555608e-05 -5.75383336e+01] [ 6.88109393e-04 -1.01484575e-05 -9.99999763e-01 7.26968220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09088847899997 meters 0.01663385632704174 Centerline is valid? [True, True] Translation: X:117.59, Y:-56.83, Z:-0.14 [[-9.82867545e-01 -1.84303387e-01 -1.91043026e-03 1.17591849e+02] [ 1.84303177e-01 -9.82869400e-01 2.87345464e-04 -5.68289544e+01] [-1.93066218e-03 -6.96758350e-05 9.99998134e-01 -1.35284888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12088847899997 meters 0.016674205043664396 Centerline is valid? [True, True] Translation: X:117.45, Y:-57.53, Z:0.73 [[-9.93692251e-01 1.12125475e-01 -1.89442710e-03 1.17447132e+02] [ 1.12125283e-01 9.93694056e-01 2.07212164e-04 -5.75299714e+01] [ 1.90571472e-03 -6.50805443e-06 -9.99998184e-01 7.27205388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15088847899997 meters 0.016562653525287404 Centerline is valid? [True, True] Translation: X:117.53, Y:-56.82, Z:-0.13 [[-9.83201096e-01 -1.82510982e-01 -2.31222767e-03 1.17528131e+02] [ 1.82510532e-01 -9.83203815e-01 4.05916503e-04 -5.68226200e+01] [-2.34747528e-03 -2.29083513e-05 9.99997244e-01 -1.34877716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18088847899998 meters 0.016694833662897663 Centerline is valid? [True, True] Translation: X:117.38, Y:-57.52, Z:0.73 [[-9.94347103e-01 1.06150604e-01 -2.42655438e-03 1.17383397e+02] [ 1.06150291e-01 9.94350064e-01 2.57840125e-04 -5.75231463e+01] [ 2.44021439e-03 -1.19687265e-06 -9.99997023e-01 7.26215499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21088847899998 meters 0.016694833662897663 Centerline is valid? [True, True] Translation: X:117.47, Y:-56.82, Z:-0.13 [[-9.83765422e-01 -1.79439476e-01 -2.65892969e-03 1.17465608e+02] [ 1.79438866e-01 -9.83769015e-01 4.68304075e-04 -5.68157785e+01] [-2.69980488e-03 -1.64139715e-05 9.99996355e-01 -1.34279129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24088847899998 meters 0.016657958561047452 Centerline is valid? [True, True] Translation: X:117.33, Y:-57.52, Z:0.73 [[-9.94899058e-01 1.00855230e-01 -2.02179484e-03 1.17329057e+02] [ 1.00855023e-01 9.94901112e-01 2.04297734e-04 -5.75178943e+01] [ 2.03209043e-03 -6.52542858e-07 -9.99997935e-01 7.25505205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27088847899998 meters 0.0167042855697905 Centerline is valid? [True, True] Translation: X:117.32, Y:-57.49, Z:0.73 [[-9.99611655e-01 2.77480757e-02 -2.56572651e-03 1.17324248e+02] [ 2.77479648e-02 9.99614948e-01 7.88027602e-05 -5.74878982e+01] [ 2.56692520e-03 7.57846865e-06 -9.99996705e-01 7.25500469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30088847899998 meters 0.016846181337111667 Centerline is valid? [True, True] Translation: X:117.36, Y:-56.78, Z:-0.13 [[-9.93973750e-01 -1.09574074e-01 -3.11564671e-03 1.17355509e+02] [ 1.09573690e-01 -9.93978632e-01 2.94260332e-04 -5.67814987e+01] [-3.12912956e-03 -4.89058612e-05 9.99995103e-01 -1.34200554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33088847899998 meters 0.016915801335107387 Centerline is valid? [True, True] Translation: X:117.26, Y:-57.48, Z:0.73 [[-9.99796689e-01 1.99246735e-02 -3.09653144e-03 1.17260842e+02] [ 1.99245124e-02 9.99801484e-01 8.28977012e-05 -5.74830336e+01] [ 3.09756844e-03 2.11839682e-05 -9.99995202e-01 7.27350308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36088847899998 meters 0.01716345384062636 Centerline is valid? [True, True] Translation: X:117.28, Y:-56.78, Z:-0.14 [[-9.93980598e-01 -1.09532497e-01 -2.28079626e-03 1.17277030e+02] [ 1.09532115e-01 -9.93983214e-01 2.92419303e-04 -5.67806225e+01] [-2.29910262e-03 4.08386759e-05 9.99997356e-01 -1.36584984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39088847899998 meters 0.017175683174865796 Centerline is valid? [True, True] Translation: X:117.19, Y:-57.48, Z:0.73 [[-9.99940355e-01 1.08837706e-02 -9.10917393e-04 1.17188317e+02] [ 1.08837632e-02 9.99940770e-01 1.30922699e-05 -5.74816217e+01] [ 9.11005933e-04 3.17727980e-06 -9.99999585e-01 7.28873505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42088847899998 meters 0.017382572499061787 Centerline is valid? [True, True] Translation: X:117.20, Y:-56.78, Z:-0.14 [[-9.94268293e-01 -1.06912287e-01 -5.69630903e-04 1.17197909e+02] [ 1.06912256e-01 -9.94268456e-01 8.50150259e-05 -5.67758942e+01] [-5.75455189e-04 2.36272198e-05 9.99999834e-01 -1.36752838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45088847899999 meters 0.017292997202224793 Centerline is valid? [True, True] Translation: X:117.11, Y:-57.48, Z:0.73 [[-9.99988343e-01 4.82059409e-03 2.73450128e-04 1.17111872e+02] [ 4.82059013e-03 9.99988381e-01 -1.51483950e-05 -5.74818993e+01] [-2.73519975e-04 -1.38300274e-05 -9.99999963e-01 7.29373369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.480888479 meters 0.01724830821276158 Centerline is valid? [True, True] Translation: X:117.13, Y:-56.77, Z:-0.14 [[-9.94830750e-01 -1.01546908e-01 -5.79879672e-05 1.17129768e+02] [ 1.01546909e-01 -9.94830752e-01 -6.78183286e-06 -5.67727899e+01] [-5.69995388e-05 -1.26352747e-05 9.99999998e-01 -1.37991051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510888479 meters 0.017283289080542278 Centerline is valid? [True, True] Translation: X:117.04, Y:-57.48, Z:0.73 [[-9.99999849e-01 2.90976406e-04 4.67179368e-04 1.17042284e+02] [ 2.90968685e-04 9.99999958e-01 -1.65909083e-05 -5.74814812e+01] [-4.67184176e-04 -1.64549713e-05 -9.99999891e-01 7.30130738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.540888479 meters 0.01728465054691481 Centerline is valid? [True, True] Translation: X:117.05, Y:-56.77, Z:-0.14 [[-9.95364662e-01 -9.61664809e-02 1.09391971e-03 1.17053940e+02] [ 9.61664957e-02 -9.95365261e-01 -3.91839600e-05 -5.67674713e+01] [ 1.09261786e-03 6.61960959e-05 9.99999401e-01 -1.39639245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.570888479 meters 0.01726128877005735 Centerline is valid? [True, True] Translation: X:116.97, Y:-57.49, Z:0.73 [[-9.99988184e-01 -4.14556919e-03 2.53893137e-03 1.16966991e+02] [-4.14567029e-03 9.99991406e-01 -3.45581216e-05 -5.74853527e+01] [-2.53876629e-03 -4.50832856e-05 -9.99996776e-01 7.32057839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.600888479 meters 0.0172690975160644 Centerline is valid? [True, True] Translation: X:116.96, Y:-57.46, Z:0.73 [[-9.97156638e-01 -7.53000876e-02 2.92176841e-03 1.16961320e+02] [-7.52999122e-02 9.97160917e-01 1.70144479e-04 -5.74594738e+01] [-2.92628516e-03 -5.03482080e-05 -9.99995717e-01 7.32787118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.630888479 meters 0.017250669135248357 Centerline is valid? [True, True] Translation: X:116.95, Y:-57.44, Z:0.73 [[-9.89230554e-01 -1.46338013e-01 2.84559074e-03 1.16950046e+02] [-1.46337553e-01 9.89234645e-01 3.70136939e-04 -5.74355375e+01] [-2.86912205e-03 -5.02660166e-05 -9.99995883e-01 7.32888209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.660888479 meters 0.017339446279423416 Centerline is valid? [True, True] Translation: X:116.94, Y:-57.41, Z:0.73 [[-9.76222491e-01 -2.16760618e-01 2.11703648e-03 1.16939315e+02] [-2.16760197e-01 9.76224786e-01 4.28775133e-04 -5.74098660e+01] [-2.15964505e-03 -4.03093169e-05 -9.99997667e-01 7.32247922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.690888479 meters 0.017378486863461724 Centerline is valid? [True, True] Translation: X:116.92, Y:-57.39, Z:0.73 [[-9.58055896e-01 -2.86576113e-01 1.74084986e-03 1.16915310e+02] [-2.86575708e-01 9.58057477e-01 4.83607372e-04 -5.73884726e+01] [-1.80642455e-03 -3.55623859e-05 -9.99998368e-01 7.31773799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.720888479 meters 0.017199238861578463 Centerline is valid? [True, True] Translation: X:116.87, Y:-57.38, Z:0.73 [[-9.34591780e-01 -3.55718369e-01 1.62687109e-03 1.16865765e+02] [-3.55717893e-01 9.34593196e-01 5.82431718e-04 -5.73793992e+01] [-1.72764431e-03 -3.43712601e-05 -9.99998507e-01 7.30416846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75088847899997 meters 0.016987733760434713 Centerline is valid? [True, True] Translation: X:116.80, Y:-57.38, Z:0.73 [[-9.05806292e-01 -4.23688095e-01 1.83302230e-03 1.16803465e+02] [-4.23687313e-01 9.05808146e-01 8.14716476e-04 -5.73772795e+01] [-2.00555220e-03 -3.86529817e-05 -9.99997988e-01 7.29994362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78088847899997 meters 0.01701796337108111 Centerline is valid? [True, True] Translation: X:116.73, Y:-57.39, Z:0.73 [[-8.71709459e-01 -4.90018413e-01 2.13852676e-03 1.16729495e+02] [-4.90017066e-01 8.71712081e-01 1.14976633e-03 -5.73854141e+01] [-2.42758628e-03 -4.56524180e-05 -9.99997052e-01 7.29631205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81088847899997 meters 0.01709141488554133 Centerline is valid? [True, True] Translation: X:116.65, Y:-57.40, Z:0.73 [[-8.32591056e-01 -5.53881544e-01 2.71442607e-03 1.16652339e+02] [-5.53878824e-01 8.32595479e-01 1.73674841e-03 -5.74004471e+01] [-3.22197177e-03 -5.74619304e-05 -9.99994808e-01 7.29915603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84088847899997 meters 0.01703058975526501 Centerline is valid? [True, True] Translation: X:116.57, Y:-57.43, Z:0.73 [[-7.88679202e-01 -6.14793426e-01 3.76283755e-03 1.16572512e+02] [-6.14786900e-01 7.88688175e-01 2.83392945e-03 -5.74258307e+01] [-4.70998667e-03 -7.82820107e-05 -9.99988905e-01 7.31093997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87088847899997 meters 0.01674772144213174 Centerline is valid? [True, True] Translation: X:116.48, Y:-57.46, Z:0.73 [[-7.40718546e-01 -6.71805592e-01 3.64441206e-03 1.16483998e+02] [-6.71797956e-01 7.40727508e-01 3.20401130e-03 -5.74644626e+01] [-4.85198897e-03 -7.50379778e-05 -9.99988226e-01 7.31581839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90088847899997 meters 0.01664530630586969 Centerline is valid? [True, True] Translation: X:116.39, Y:-57.52, Z:0.73 [[-6.88401726e-01 -7.25319670e-01 3.80003348e-03 1.16393042e+02] [-7.25309233e-01 6.88412209e-01 3.89187504e-03 -5.75156684e+01] [-5.43884296e-03 -7.70258813e-05 -9.99985206e-01 7.31746554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93088847899998 meters 0.016283447127279922 Centerline is valid? [True, True] Translation: X:116.32, Y:-57.57, Z:0.73 [[-6.33400089e-01 -7.73816524e-01 3.50934018e-03 1.16316099e+02] [-7.73805176e-01 6.33409807e-01 4.19117445e-03 -5.75679014e+01] [-5.46605053e-03 -6.08553262e-05 -9.99985059e-01 7.31458716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96088847899998 meters 0.016016197334428186 Centerline is valid? [True, True] Translation: X:116.24, Y:-57.63, Z:0.73 [[-5.73720354e-01 -8.19045614e-01 3.03935806e-03 1.16235217e+02] [-8.19034577e-01 5.73728403e-01 4.25225991e-03 -5.76333466e+01] [-5.22656088e-03 -4.97312836e-05 -9.99986340e-01 7.30574715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99088847899998 meters 0.015891206945991124 Centerline is valid? [True, True] Translation: X:116.15, Y:-57.71, Z:0.73 [[-5.10725902e-01 -8.59738797e-01 2.87279221e-03 1.16152638e+02] [-8.59725667e-01 5.10733980e-01 4.75181391e-03 -5.77148910e+01] [-5.55255138e-03 -4.29387518e-05 -9.99984584e-01 7.29763531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02088847899998 meters 0.015618050700577606 Centerline is valid? [True, True] Translation: X:116.08, Y:-57.80, Z:0.73 [[-4.46458498e-01 -8.94800686e-01 2.55786982e-03 1.16080874e+02] [-8.94786282e-01 4.46465825e-01 5.07715162e-03 -5.78005016e+01] [-5.68504021e-03 -2.20093369e-05 -9.99983840e-01 7.29006985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05088847899998 meters 0.015607270447191027 Centerline is valid? [True, True] Translation: X:116.01, Y:-57.89, Z:0.73 [[-3.78176963e-01 -9.25730516e-01 2.27938645e-03 1.16011555e+02] [-9.25713856e-01 3.78183832e-01 5.55387603e-03 -5.78914952e+01] [-6.00341963e-03 -9.71164719e-06 -9.99981979e-01 7.29259922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08088847899998 meters 0.015530845581190316 Centerline is valid? [True, True] Translation: X:115.95, Y:-58.00, Z:0.73 [[-3.07672224e-01 -9.51490506e-01 1.90239703e-03 1.15946194e+02] [-9.51472255e-01 3.07678105e-01 5.89333920e-03 -5.79960650e+01] [-6.19278221e-03 3.13878464e-06 -9.99980825e-01 7.29559124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11088847899998 meters 0.01566907955383982 Centerline is valid? [True, True] Translation: X:115.89, Y:-58.09, Z:0.73 [[-2.36983016e-01 -9.71512615e-01 1.51288441e-03 1.15894883e+02] [-9.71492022e-01 2.36987843e-01 6.32559008e-03 -5.80906894e+01] [-6.50392577e-03 2.93022817e-05 -9.99978849e-01 7.30285270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14088847899998 meters 0.0157522920584611 Centerline is valid? [True, True] Translation: X:115.85, Y:-58.20, Z:0.73 [[-1.62309746e-01 -9.86739261e-01 1.08503046e-03 1.15846679e+02] [-9.86715525e-01 1.62313368e-01 6.84416389e-03 -5.82020866e+01] [-6.92952017e-03 4.02581106e-05 -9.99975990e-01 7.30332608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17088847899998 meters 0.01591512826626397 Centerline is valid? [True, True] Translation: X:115.81, Y:-58.32, Z:0.73 [[-8.68492402e-02 -9.96221281e-01 6.08011532e-04 1.15807238e+02] [-9.96192337e-01 8.68513518e-02 7.59410652e-03 -5.83161816e+01] [-7.61821715e-03 5.38459524e-05 -9.99970980e-01 7.30579940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20088847899999 meters 0.016165091681702205 Centerline is valid? [True, True] Translation: X:115.78, Y:-58.45, Z:0.73 [[-1.05825288e-02 -9.99944003e-01 1.98378501e-05 1.15778433e+02] [-9.99899867e-01 1.05822481e-02 9.39527510e-03 -5.84450476e+01] [-9.39495893e-03 7.95899054e-05 -9.99955863e-01 7.30199371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230888479 meters 0.01629342388439302 Centerline is valid? [True, True] Translation: X:114.94, Y:-58.56, Z:-0.14 [[-5.91125270e-02 9.98251123e-01 6.35326529e-04 1.14935089e+02] [-9.98194758e-01 -5.91159406e-02 1.06080719e-02 -5.85617969e+01] [ 1.06270776e-02 -7.10967390e-06 9.99943531e-01 -1.39178347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.260888479 meters 0.016336377523409495 Centerline is valid? [True, True] Translation: X:115.78, Y:-58.76, Z:0.73 [[-4.82979704e-04 -9.99999878e-01 -1.00003559e-04 1.15776906e+02] [-9.99930164e-01 4.81765164e-04 1.18082897e-02 -5.87645841e+01] [-1.18082401e-02 1.05699739e-04 -9.99930275e-01 7.30955373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290888479 meters 0.016382321575561732 Centerline is valid? [True, True] Translation: X:115.76, Y:-58.88, Z:0.73 [[ 7.75792569e-02 -9.96985634e-01 -1.05118317e-03 1.15755147e+02] [-9.96911273e-01 -7.75863095e-02 1.21769837e-02 -5.88824678e+01] [-1.22218352e-02 1.03255006e-04 -9.99925305e-01 7.32017602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.320888479 meters 0.016062419410117428 Centerline is valid? [True, True] Translation: X:115.74, Y:-58.99, Z:0.73 [[ 1.55700005e-01 -9.87802143e-01 -2.10597664e-03 1.15739179e+02] [-9.87719987e-01 -1.55714217e-01 1.27400834e-02 -5.89907902e+01] [-1.29126122e-02 9.64841612e-05 -9.99916624e-01 7.31715702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.350888479 meters 0.01625112303108063 Centerline is valid? [True, True] Translation: X:115.74, Y:-59.11, Z:0.73 [[ 2.32230157e-01 -9.72656062e-01 -3.05607385e-03 1.15735910e+02] [-9.72576829e-01 -2.32250247e-01 1.24151039e-02 -5.91084645e+01] [-1.27854000e-02 8.91050968e-05 -9.99918259e-01 7.31936784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.380888479 meters 0.016128139349385635 Centerline is valid? [True, True] Translation: X:115.74, Y:-59.24, Z:0.73 [[ 3.07348866e-01 -9.51589046e-01 -3.86798587e-03 1.15744366e+02] [-9.51516919e-01 -3.07373194e-01 1.17162927e-02 -5.92365022e+01] [-1.23380109e-02 7.94647293e-05 -9.99923881e-01 7.30747723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.410888479 meters 0.015838857736641024 Centerline is valid? [True, True] Translation: X:115.76, Y:-59.35, Z:0.73 [[ 3.80758055e-01 -9.24662794e-01 -4.69268966e-03 1.15757949e+02] [-9.24594800e-01 -3.80786966e-01 1.12135199e-02 -5.93499431e+01] [-1.21556397e-02 6.91984469e-05 -9.99926115e-01 7.27234996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.440888479 meters 0.015838727885058836 Centerline is valid? [True, True] Translation: X:115.79, Y:-59.48, Z:0.73 [[ 4.51455152e-01 -8.92274874e-01 -5.81330622e-03 1.15788947e+02] [-8.92202840e-01 -4.51492574e-01 1.13378716e-02 -5.94818412e+01] [-1.27411626e-02 6.81077632e-05 -9.99918826e-01 7.26947174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.470888479 meters 0.015717544195655575 Centerline is valid? [True, True] Translation: X:115.81, Y:-59.59, Z:0.73 [[ 5.19228299e-01 -8.54611141e-01 -6.46303371e-03 1.15814494e+02] [-8.54546433e-01 -5.19268518e-01 1.05167064e-02 -5.95850300e+01] [-1.23437444e-02 6.23908225e-05 -9.99923811e-01 7.26569271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50088847899997 meters 0.015699786434808388 Centerline is valid? [True, True] Translation: X:115.86, Y:-59.71, Z:0.73 [[ 5.83981060e-01 -8.11733990e-01 -7.35198170e-03 1.15862638e+02] [-8.11670893e-01 -5.84027334e-01 1.01210584e-02 -5.97079932e+01] [-1.25093654e-02 5.68831399e-05 -9.99921753e-01 7.26967173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53088847899997 meters 0.015564126409543456 Centerline is valid? [True, True] Translation: X:115.90, Y:-59.80, Z:0.73 [[ 6.46399861e-01 -7.62955718e-01 -8.11117552e-03 1.15901033e+02] [-7.62896225e-01 -6.46450749e-01 9.52776306e-03 -5.98040397e+01] [-1.25127368e-02 2.92404675e-05 -9.99921712e-01 7.27187364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56088847899997 meters 0.01541609699284958 Centerline is valid? [True, True] Translation: X:115.95, Y:-59.90, Z:0.73 [[ 7.03988754e-01 -7.10151974e-01 -9.16560818e-03 1.15953217e+02] [-7.10092050e-01 -7.04048417e-01 9.22534407e-03 -5.99021766e+01] [-1.30044282e-02 1.38870304e-05 -9.99915439e-01 7.27233034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59088847899997 meters 0.01528027961177975 Centerline is valid? [True, True] Translation: X:116.02, Y:-60.00, Z:0.73 [[ 7.57111693e-01 -6.53211096e-01 -9.85639650e-03 1.16019049e+02] [-6.53155704e-01 -7.57175848e-01 8.50659314e-03 -6.00016501e+01] [-1.30196264e-02 -2.67954664e-06 -9.99915241e-01 7.25643519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62088847899997 meters 0.015259948246723744 Centerline is valid? [True, True] Translation: X:116.01, Y:-60.01, Z:0.73 [[ 8.06536730e-01 -5.91086131e-01 -1.07558687e-02 1.16012599e+02] [-5.91033270e-01 -8.06608446e-01 7.90499007e-03 -6.00063978e+01] [-1.33483046e-02 -1.85885738e-05 -9.99910907e-01 7.25643119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65088847899997 meters 0.015319419280820583 Centerline is valid? [True, True] Translation: X:116.01, Y:-60.01, Z:0.73 [[ 8.51363379e-01 -5.24417776e-01 -1.28993147e-02 1.16006843e+02] [-5.24356655e-01 -8.51461093e-01 8.00655131e-03 -6.00120087e+01] [-1.51820425e-02 -5.26430552e-05 -9.99884745e-01 7.26788540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68088847899998 meters 0.015383899904129288 Centerline is valid? [True, True] Translation: X:116.00, Y:-60.02, Z:0.73 [[ 8.90184462e-01 -4.55378949e-01 -1.41998630e-02 1.16001821e+02] [-4.55319750e-01 -8.90297707e-01 7.34285953e-03 -6.00165419e+01] [-1.59858892e-02 -7.10213788e-05 -9.99872215e-01 7.27811967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71088847899998 meters 0.015282123639927949 Centerline is valid? [True, True] Translation: X:116.00, Y:-60.02, Z:0.73 [[ 9.23648095e-01 -3.82925731e-01 -1.55589368e-02 1.15995679e+02] [-3.82869572e-01 -9.23779127e-01 6.55867306e-03 -6.00234766e+01] [-1.68845057e-02 -1.00862405e-04 -9.99857441e-01 7.27925180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74088847899998 meters 0.015353552219495904 Centerline is valid? [True, True] Translation: X:115.99, Y:-60.03, Z:0.73 [[ 9.50846357e-01 -3.09242036e-01 -1.61421519e-02 1.15990318e+02] [-3.09195567e-01 -9.50983360e-01 5.36187389e-03 -6.00298050e+01] [-1.70090347e-02 -1.07236447e-04 -9.99855330e-01 7.28501304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77088847899998 meters 0.015336396057336436 Centerline is valid? [True, True] Translation: X:115.99, Y:-60.04, Z:0.73 [[ 9.72189314e-01 -2.33607093e-01 -1.66031461e-02 1.15986176e+02] [-2.33571024e-01 -9.72331072e-01 4.10649261e-03 -6.00354435e+01] [-1.71030606e-02 -1.14274393e-04 -9.99853725e-01 7.28342526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80088847899998 meters 0.015238862309780802 Centerline is valid? [True, True] Translation: X:115.98, Y:-60.04, Z:0.73 [[ 9.87558222e-01 -1.56331231e-01 -1.70089522e-02 1.15978234e+02] [-1.56305908e-01 -9.87704678e-01 2.81641861e-03 -6.00421507e+01] [-1.72401158e-02 -1.22777642e-04 -9.99851371e-01 7.27434093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83088847899998 meters 0.015332284621448148 Centerline is valid? [True, True] Translation: X:115.97, Y:-60.05, Z:0.73 [[ 9.96736130e-01 -7.89034866e-02 -1.70683217e-02 1.15970562e+02] [-7.88899315e-02 -9.96882253e-01 1.46707157e-03 -6.00485877e+01] [-1.71308641e-02 -1.15764505e-04 -9.99853249e-01 7.27796257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86088847899998 meters 0.015123433044214138 Centerline is valid? [True, True] Translation: X:115.96, Y:-60.06, Z:0.73 [[ 9.99857150e-01 -1.31927425e-03 -1.68505057e-02 1.15963870e+02] [-1.31735604e-03 -9.99999124e-01 1.24936405e-04 -6.00552165e+01] [-1.68506557e-02 -1.02720442e-04 -9.99858012e-01 7.26603521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89088847899998 meters 0.015156345012539955 Centerline is valid? [True, True] Translation: X:115.96, Y:-60.06, Z:0.73 [[ 9.97002193e-01 7.56724386e-02 -1.61340953e-02 1.15957292e+02] [ 7.56638033e-02 -9.97132727e-01 -1.14585533e-03 -6.00616522e+01] [-1.61745441e-02 -7.83467373e-05 -9.99869180e-01 7.27031245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92088847899998 meters 0.014908995332883073 Centerline is valid? [True, True] Translation: X:115.95, Y:-60.07, Z:0.73 [[ 9.88186289e-01 1.52505816e-01 -1.51602807e-02 1.15951736e+02] [ 1.52488784e-01 -9.88302571e-01 -2.27990992e-03 -6.00710418e+01] [-1.53306439e-02 -5.87970458e-05 -9.99882477e-01 7.25209257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95088847899999 meters 0.014903382850212471 Centerline is valid? [True, True] Translation: X:115.95, Y:-60.08, Z:0.72 [[ 9.73716334e-01 2.27352880e-01 -1.36809375e-02 1.15945299e+02] [ 2.27330807e-01 -9.73812439e-01 -3.16812113e-03 -6.00787566e+01] [-1.40429486e-02 -2.52472666e-05 -9.99901393e-01 7.24574048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.980888479 meters 0.01474473707471797 Centerline is valid? [True, True] Translation: X:115.94, Y:-60.09, Z:0.72 [[ 9.53104873e-01 3.02346064e-01 -1.33400982e-02 1.15941228e+02] [ 3.02316715e-01 -9.53198226e-01 -4.21270056e-03 -6.00890188e+01] [-1.39894513e-02 -1.77892203e-05 -9.99902143e-01 7.24224176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010888479 meters 0.015014459517418196 Centerline is valid? [True, True] Translation: X:115.94, Y:-60.10, Z:0.73 [[ 9.26802309e-01 3.75331653e-01 -1.27917774e-02 1.15936375e+02] [ 3.75296009e-01 -9.26890581e-01 -5.17261051e-03 -6.00990569e+01] [-1.37980224e-02 -6.71563481e-06 -9.99904803e-01 7.26754854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.040888479 meters 0.014735125429297696 Centerline is valid? [True, True] Translation: X:115.93, Y:-60.11, Z:0.73 [[ 8.95377041e-01 4.45130025e-01 -1.26180209e-02 1.15932667e+02] [ 4.45085542e-01 -8.95465946e-01 -6.29283638e-03 -6.01068140e+01] [-1.41001384e-02 1.83625496e-05 -9.99900588e-01 7.25048215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.070888479 meters 0.014842431856767816 Centerline is valid? [True, True] Translation: X:115.93, Y:-60.12, Z:0.73 [[ 8.58098152e-01 5.13331758e-01 -1.25724803e-02 1.15930220e+02] [ 5.13276171e-01 -8.58190250e-01 -7.55431989e-03 -6.01158259e+01] [-1.46674523e-02 2.91933864e-05 -9.99892427e-01 7.25819792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.100888479 meters 0.014842431856767816 Centerline is valid? [True, True] Translation: X:115.93, Y:-60.13, Z:0.73 [[ 8.15270044e-01 5.78957809e-01 -1.19419875e-02 1.15927792e+02] [ 5.78895182e-01 -8.15357501e-01 -8.51544027e-03 -6.01257284e+01] [-1.46670697e-02 2.92243568e-05 -9.99892432e-01 7.25816343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.130888479 meters 0.014832417549180053 Centerline is valid? [True, True] Translation: X:115.93, Y:-60.14, Z:0.73 [[ 7.67967905e-01 6.40376132e-01 -1.19877470e-02 1.15926610e+02] [ 6.40297200e-01 -7.68061461e-01 -1.00542469e-02 -6.01361017e+01] [-1.56458262e-02 4.56181338e-05 -9.99877596e-01 7.26528177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.160888479 meters 0.014965491891103872 Centerline is valid? [True, True] Translation: X:115.93, Y:-60.15, Z:0.73 [[ 7.16841810e-01 6.97132903e-01 -1.19806462e-02 1.15928006e+02] [ 6.97033615e-01 -7.16941915e-01 -1.17656501e-02 -6.01476344e+01] [-1.67916493e-02 8.31967820e-05 -9.99859007e-01 7.28268848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.190888479 meters 0.015082284450971914 Centerline is valid? [True, True] Translation: X:115.93, Y:-60.16, Z:0.73 [[ 6.60654459e-01 7.50611314e-01 -1.08784639e-02 1.15928688e+02] [ 7.50507196e-01 -6.60744009e-01 -1.25021359e-02 -6.01603477e+01] [-1.65721245e-02 9.52263434e-05 -9.99862668e-01 7.29342540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.220888479 meters 0.01506245215797219 Centerline is valid? [True, True] Translation: X:115.93, Y:-60.17, Z:0.73 [[ 6.00968573e-01 7.99215344e-01 -9.57120467e-03 1.15931766e+02] [ 7.99110953e-01 -6.01044774e-01 -1.29176195e-02 -6.01719810e+01] [-1.60766823e-02 1.14628861e-04 -9.99870755e-01 7.29005447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25088847899997 meters 0.01548167362828485 Centerline is valid? [True, True] Translation: X:115.93, Y:-60.18, Z:0.73 [[ 5.39341081e-01 8.42053187e-01 -7.59131206e-03 1.15932747e+02] [ 8.41965893e-01 -5.39394483e-01 -1.21254847e-02 -6.01830530e+01] [-1.43050149e-02 1.48146178e-04 -9.99897667e-01 7.28955607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28088847899997 meters 0.01564010173216028 Centerline is valid? [True, True] Translation: X:115.93, Y:-60.19, Z:0.73 [[ 4.73440446e-01 8.80806037e-01 -5.90500868e-03 1.15934640e+02] [ 8.80733380e-01 -4.73477244e-01 -1.13142746e-02 -6.01932282e+01] [-1.27615686e-02 1.55896977e-04 -9.99918556e-01 7.27556691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31088847899997 meters 0.015733773252736144 Centerline is valid? [True, True] Translation: X:115.94, Y:-60.20, Z:0.73 [[ 4.04495545e-01 9.14529814e-01 -4.30975818e-03 1.15936818e+02] [ 9.14473865e-01 -4.04518475e-01 -1.01169790e-02 -6.02033668e+01] [-1.09956557e-02 1.51111712e-04 -9.99939535e-01 7.26035849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34088847899997 meters 0.015672533117937693 Centerline is valid? [True, True] Translation: X:115.94, Y:-60.21, Z:0.72 [[ 3.33420363e-01 9.42775045e-01 -2.46478658e-03 1.15943988e+02] [ 9.42746611e-01 -3.33429453e-01 -7.32307187e-03 -6.02146488e+01] [-7.72584186e-03 1.17992089e-04 -9.99970148e-01 7.23544662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37088847899997 meters 0.016106057538596296 Centerline is valid? [True, True] Translation: X:115.95, Y:-60.23, Z:0.72 [[ 2.58444606e-01 9.66024726e-01 -1.61710999e-03 1.15950259e+02] [ 9.66003345e-01 -2.58449646e-01 -6.42785558e-03 -6.02261840e+01] [-6.62740893e-03 9.91109426e-05 -9.99978034e-01 7.24103064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40088847899997 meters 0.0156325748820435 Centerline is valid? [True, True] Translation: X:115.96, Y:-60.24, Z:0.72 [[ 1.81360390e-01 9.83416121e-01 -1.06849113e-03 1.15959913e+02] [ 9.83395963e-01 -1.81363514e-01 -6.29725114e-03 -6.02372282e+01] [-6.38660360e-03 9.13220626e-05 -9.99979601e-01 7.24356906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43088847899998 meters 0.015244410486830798 Centerline is valid? [True, True] Translation: X:115.97, Y:-60.25, Z:0.73 [[ 1.01197165e-01 9.94866241e-01 -5.44037478e-04 1.15971499e+02] [ 9.94847874e-01 -1.01198602e-01 -6.04570732e-03 -6.02472483e+01] [-6.06972595e-03 7.05739103e-05 -9.99981577e-01 7.25308235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46088847899998 meters 0.015014892138557646 Centerline is valid? [True, True] Translation: X:115.98, Y:-60.26, Z:0.73 [[ 2.11670115e-02 9.99775951e-01 -6.70377084e-05 1.15980691e+02] [ 9.99758612e-01 -2.11670392e-02 -5.88849707e-03 -6.02568445e+01] [-5.88859675e-03 5.76203588e-05 -9.99982660e-01 7.25987865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49088847899998 meters 0.014521176787538063 Centerline is valid? [True, True] Translation: X:115.99, Y:-60.26, Z:0.73 [[-5.92837200e-02 9.98241109e-01 3.59082945e-04 1.15992995e+02] [ 9.98226723e-01 5.92847935e-02 -5.35928354e-03 -6.02640606e+01] [-5.37114530e-03 4.07279266e-05 -9.99985574e-01 7.26214546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52088847899998 meters 0.014580679535661273 Centerline is valid? [True, True] Translation: X:116.00, Y:-60.27, Z:0.73 [[-1.39148777e-01 9.90271181e-01 7.78683975e-04 1.16003567e+02] [ 9.90256893e-01 1.39150952e-01 -5.31970555e-03 -6.02715568e+01] [-5.37630571e-03 3.08666514e-05 -9.99985547e-01 7.27072599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55088847899998 meters 0.014020522105647417 Centerline is valid? [True, True] Translation: X:116.02, Y:-60.28, Z:0.73 [[-2.20833582e-01 9.75311135e-01 8.48280882e-04 1.16020530e+02] [ 9.75303967e-01 2.20835212e-01 -3.73924629e-03 -6.02754916e+01] [-3.83425883e-03 1.58055543e-06 -9.99992649e-01 7.25967457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58088847899998 meters 0.01393187121845637 Centerline is valid? [True, True] Translation: X:116.03, Y:-60.28, Z:0.73 [[-2.98307464e-01 9.54469266e-01 1.03839856e-03 1.16033700e+02] [ 9.54463417e-01 2.98309271e-01 -3.34145866e-03 -6.02789337e+01] [-3.49908351e-03 -5.66861875e-06 -9.99993878e-01 7.25623568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61088847899998 meters 0.013890167571427778 Centerline is valid? [True, True] Translation: X:116.05, Y:-60.28, Z:0.73 [[-3.73981835e-01 9.27435272e-01 1.18490293e-03 1.16047278e+02] [ 9.27430513e-01 3.73983712e-01 -2.97092884e-03 -6.02812495e+01] [-3.19847859e-03 -1.21582929e-05 -9.99994885e-01 7.25223819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64088847899998 meters 0.014028142180772063 Centerline is valid? [True, True] Translation: X:116.06, Y:-60.28, Z:0.73 [[-4.47309442e-01 8.94378893e-01 8.12131081e-04 1.16062990e+02] [ 8.94377359e-01 4.47310179e-01 -1.65650540e-03 -6.02810454e+01] [-1.84481797e-03 -1.46188562e-05 -9.99998298e-01 7.25895670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67088847899998 meters 0.014091497544999863 Centerline is valid? [True, True] Translation: X:116.08, Y:-60.28, Z:0.73 [[-5.16138601e-01 8.56504830e-01 6.47772133e-04 1.16075454e+02] [ 8.56504124e-01 5.16139008e-01 -1.10036045e-03 -6.02821047e+01] [-1.27680451e-03 -1.31190009e-05 -9.99999185e-01 7.25980510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70088847899999 meters 0.014035467536515342 Centerline is valid? [True, True] Translation: X:116.09, Y:-60.28, Z:0.73 [[-5.81349886e-01 8.13653642e-01 2.46067619e-04 1.16088003e+02] [ 8.13653562e-01 5.81349938e-01 -3.62230141e-04 -6.02813936e+01] [-4.37781268e-04 -1.03686566e-05 -9.99999904e-01 7.26734258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730888479 meters 0.014035408962720396 Centerline is valid? [True, True] Translation: X:116.10, Y:-60.28, Z:0.73 [[-6.43003147e-01 7.65863423e-01 4.11921963e-04 1.16099826e+02] [ 7.65863255e-01 6.43003279e-01 -5.07248233e-04 -6.02807578e+01] [-6.53350041e-04 -1.06863153e-05 -9.99999787e-01 7.27799770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.760888479 meters 0.013995017119130215 Centerline is valid? [True, True] Translation: X:116.11, Y:-60.28, Z:0.73 [[-6.99761502e-01 7.14376538e-01 4.69744356e-05 1.16110523e+02] [ 7.14376535e-01 6.99761504e-01 -6.10551991e-05 -6.02784860e+01] [-7.64873035e-05 -9.16664332e-06 -9.99999997e-01 7.28249805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790888479 meters 0.013978027540701243 Centerline is valid? [True, True] Translation: X:116.12, Y:-60.28, Z:0.73 [[-7.52424142e-01 6.58678819e-01 -3.51272785e-04 1.16119724e+02] [ 6.58678753e-01 7.52424224e-01 2.94712837e-04 -6.02780415e+01] [ 4.58427256e-04 -9.62686608e-06 -9.99999895e-01 7.28189160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.820888479 meters 0.014054823756010576 Centerline is valid? [True, True] Translation: X:116.14, Y:-60.26, Z:0.73 [[-7.96067225e-01 6.05208074e-01 -4.00233567e-04 1.16140024e+02] [ 6.05208004e-01 7.96067325e-01 2.92174595e-04 -6.02592358e+01] [ 4.95439289e-04 -9.63393938e-06 -9.99999877e-01 7.27772038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.850888479 meters 0.014456451534065322 Centerline is valid? [True, True] Translation: X:116.16, Y:-60.24, Z:0.73 [[-8.34465645e-01 5.51059563e-01 -6.67728894e-04 1.16160032e+02] [ 5.51059400e-01 8.34465912e-01 4.24149889e-04 -6.02403223e+01] [ 7.90928852e-04 -1.40197724e-05 -9.99999687e-01 7.28773067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.880888479 meters 0.014522786383724905 Centerline is valid? [True, True] Translation: X:116.18, Y:-60.22, Z:0.73 [[-8.70387922e-01 4.92365822e-01 -8.73081683e-04 1.16177247e+02] [ 4.92365594e-01 8.70388360e-01 4.73828010e-04 -6.02175186e+01] [ 9.93216851e-04 -1.74612045e-05 -9.99999507e-01 7.29881335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.910888479 meters 0.014851170344487604 Centerline is valid? [True, True] Translation: X:116.20, Y:-60.20, Z:0.73 [[-9.02119586e-01 4.31485092e-01 -9.31977065e-04 1.16201894e+02] [ 4.31484884e-01 9.02120067e-01 4.23597578e-04 -6.01993425e+01] [ 1.02353125e-03 -1.99983446e-05 -9.99999476e-01 7.30551828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.940888479 meters 0.01598163395307798 Centerline is valid? [True, True] Translation: X:116.21, Y:-60.18, Z:0.73 [[-9.29138351e-01 3.69731997e-01 -4.18460640e-04 1.16212377e+02] [ 3.69731966e-01 9.29138445e-01 1.50599636e-04 -6.01771470e+01] [ 4.44489372e-04 -1.47903772e-05 -9.99999901e-01 7.30650380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.970888479 meters 0.015772277797427854 Centerline is valid? [True, True] Translation: X:116.23, Y:-60.15, Z:0.73 [[-9.52472234e-01 3.04624862e-01 -5.80500479e-04 1.16226982e+02] [ 3.04624817e-01 9.52472411e-01 1.66527909e-04 -6.01513754e+01] [ 6.03639232e-04 -1.82216426e-05 -9.99999818e-01 7.31048880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00088847899997 meters 0.016132359072666008 Centerline is valid? [True, True] Translation: X:116.24, Y:-60.13, Z:0.73 [[-9.70962518e-01 2.39231525e-01 2.57344489e-04 1.16241961e+02] [ 2.39231516e-01 9.70962552e-01 -6.63163023e-05 -6.01259197e+01] [-2.65736812e-04 -2.82573181e-06 -9.99999965e-01 7.31532312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03088847899997 meters 0.01618358079039794 Centerline is valid? [True, True] Translation: X:116.25, Y:-60.10, Z:0.73 [[-9.85194960e-01 1.71437334e-01 -3.63092522e-04 1.16246111e+02] [ 1.71437329e-01 9.85195026e-01 4.70045264e-05 -6.00973873e+01] [ 3.65775278e-04 -1.59389896e-05 -9.99999933e-01 7.31282451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06088847899997 meters 0.016485624740721752 Centerline is valid? [True, True] Translation: X:116.26, Y:-60.07, Z:0.73 [[-9.94747349e-01 1.02360620e-01 1.23209125e-04 1.16255802e+02] [ 1.02360619e-01 9.94747357e-01 -1.79209942e-05 -6.00706795e+01] [-1.24396356e-04 -5.21509917e-06 -9.99999992e-01 7.30894909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09088847899997 meters 0.018218390366115004 Centerline is valid? [True, True] Translation: X:116.32, Y:-59.27, Z:-0.14 [[-9.92475180e-01 -1.22444009e-01 -6.93601845e-04 1.16324494e+02] [ 1.22443999e-01 -9.92475422e-01 5.72715339e-05 -5.92734093e+01] [-6.95395340e-04 -2.80868078e-05 9.99999758e-01 -1.40515556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12088847899997 meters 0.01911814136747256 Centerline is valid? [True, True] Translation: X:116.18, Y:-60.07, Z:0.73 [[-9.94861692e-01 1.01240728e-01 -7.26963065e-04 1.16179413e+02] [ 1.01240721e-01 9.94861957e-01 4.62777271e-05 -6.00683075e+01] [ 7.27913089e-04 -2.75583271e-05 -9.99999735e-01 7.30546321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15088847899997 meters 0.019754920162785763 Centerline is valid? [True, True] Translation: X:116.18, Y:-60.04, Z:0.73 [[-9.99504800e-01 3.14413400e-02 -1.26370989e-03 1.16178991e+02] [ 3.14413695e-02 9.99505598e-01 -3.54434741e-06 -6.00404129e+01] [ 1.26297367e-03 -4.32753620e-05 -9.99999202e-01 7.30175044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18088847899998 meters 0.018014303409011785 Centerline is valid? [True, True] Translation: X:116.18, Y:-60.01, Z:0.73 [[-9.99238718e-01 -3.89705528e-02 -1.81116591e-03 1.16179380e+02] [-3.89703794e-02 9.99240358e-01 -1.30933105e-04 -6.00079990e+01] [ 1.81489261e-03 -6.02516054e-05 -9.99998351e-01 7.30214987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21088847899998 meters 0.01774772038331323 Centerline is valid? [True, True] Translation: X:116.17, Y:-59.98, Z:0.73 [[-9.94051240e-01 -1.08869134e-01 -3.10563206e-03 1.16169055e+02] [-1.08868279e-01 9.94056086e-01 -4.43275714e-04 -5.99774197e+01] [ 3.13543149e-03 -1.02533954e-04 -9.99995079e-01 7.30537060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24088847899998 meters 0.018153956023728216 Centerline is valid? [True, True] Translation: X:116.15, Y:-59.95, Z:0.73 [[-9.83708875e-01 -1.79730174e-01 -3.72998905e-03 1.16147475e+02] [-1.79728401e-01 9.83715939e-01 -8.08019176e-04 -5.99526995e+01] [ 3.81447511e-03 -1.24470667e-04 -9.99992717e-01 7.30126561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27088847899998 meters 0.01794957400281698 Centerline is valid? [True, True] Translation: X:116.10, Y:-59.93, Z:0.73 [[-9.67948747e-01 -2.51111211e-01 -4.28742864e-03 1.16104039e+02] [-2.51108088e-01 9.67958232e-01 -1.26061254e-03 -5.99332731e+01] [ 4.46660579e-03 -1.43600321e-04 -9.99990014e-01 7.29425828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30088847899998 meters 0.01828728234022927 Centerline is valid? [True, True] Translation: X:116.04, Y:-59.92, Z:0.73 [[-9.46612293e-01 -3.22339885e-01 -4.70805464e-03 1.16041389e+02] [-3.22335068e-01 9.46623987e-01 -1.76921255e-03 -5.99237739e+01] [ 5.02704523e-03 -1.57187233e-04 -9.99987352e-01 7.28904015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33088847899998 meters 0.017238108702704546 Centerline is valid? [True, True] Translation: X:115.97, Y:-59.92, Z:0.73 [[-9.19059727e-01 -3.94096403e-01 -4.15249753e-03 1.15968934e+02] [-3.94091733e-01 9.19069099e-01 -1.92291876e-03 -5.99181471e+01] [ 4.57424753e-03 -1.30812237e-04 -9.99989530e-01 7.29232658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36088847899998 meters 0.017144803190841697 Centerline is valid? [True, True] Translation: X:115.89, Y:-59.92, Z:0.73 [[-8.86134481e-01 -4.63415820e-01 -3.38504454e-03 1.15890405e+02] [-4.63411987e-01 8.86140941e-01 -1.88762713e-03 -5.99240814e+01] [ 3.87438282e-03 -1.04021266e-04 -9.99992489e-01 7.29681112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39088847899998 meters 0.016499500817750725 Centerline is valid? [True, True] Translation: X:115.80, Y:-59.94, Z:0.73 [[-8.47588658e-01 -5.30649138e-01 -2.22703601e-03 1.15804706e+02] [-5.30647096e-01 8.47591581e-01 -1.47394792e-03 -5.99391007e+01] [ 2.66976617e-03 -6.75313500e-05 -9.99996434e-01 7.30352493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42088847899998 meters 0.01518690707653741 Centerline is valid? [True, True] Translation: X:115.71, Y:-59.96, Z:0.73 [[-8.02065811e-01 -5.97234701e-01 -1.07064482e-03 1.15712810e+02] [-5.97234117e-01 8.02066525e-01 -8.35943272e-04 -5.99611960e+01] [ 1.35798270e-03 -3.10559018e-05 -9.99999077e-01 7.31870780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45088847899999 meters 0.014832984029052408 Centerline is valid? [True, True] Translation: X:115.62, Y:-60.00, Z:0.73 [[-7.52862714e-01 -6.58177146e-01 -7.60182832e-04 1.15619072e+02] [-6.58176780e-01 7.52863098e-01 -6.94635496e-04 -5.99989250e+01] [ 1.02950681e-03 -2.26304763e-05 -9.99999470e-01 7.32257496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.480888479 meters 0.014676716429470656 Centerline is valid? [True, True] Translation: X:115.52, Y:-60.05, Z:0.73 [[-6.99081719e-01 -7.15041692e-01 -3.58160968e-04 1.15520065e+02] [-7.15041588e-01 6.99081811e-01 -3.86712466e-04 -6.00528631e+01] [ 5.26899354e-04 -1.42436284e-05 -9.99999861e-01 7.32666076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510888479 meters 0.014291390264112799 Centerline is valid? [True, True] Translation: X:115.44, Y:-60.10, Z:0.73 [[-6.40770936e-01 -7.67732112e-01 -1.10729963e-04 1.15437690e+02] [-7.67732098e-01 6.40770945e-01 -1.48033557e-04 -6.01003116e+01] [ 1.84602658e-04 -9.84465372e-06 -9.99999983e-01 7.32688762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.540888479 meters 0.014044213303016008 Centerline is valid? [True, True] Translation: X:115.35, Y:-60.17, Z:0.73 [[-5.77385456e-01 -8.16471698e-01 -3.47864670e-05 1.15347492e+02] [-8.16471696e-01 5.77385457e-01 -6.39140869e-05 -6.01674191e+01] [ 7.22692431e-05 -8.50089847e-06 -9.99999997e-01 7.32816371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.570888479 meters 0.013927206856011766 Centerline is valid? [True, True] Translation: X:115.27, Y:-60.24, Z:0.73 [[-5.11807232e-01 -8.59100308e-01 -1.32926695e-04 1.15265021e+02] [-8.59100274e-01 5.11807249e-01 -2.41052896e-04 -6.02415718e+01] [ 2.75121463e-04 -9.17525571e-06 -9.99999962e-01 7.32504327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.600888479 meters 0.013945989021169032 Centerline is valid? [True, True] Translation: X:115.18, Y:-60.33, Z:0.73 [[-4.43077025e-01 -8.96483545e-01 5.28477501e-05 1.15184392e+02] [-8.96483541e-01 4.43077028e-01 8.92126690e-05 -6.03288338e+01] [-1.03393314e-04 -7.84905415e-06 -9.99999995e-01 7.31870903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.630888479 meters 0.013861409290368018 Centerline is valid? [True, True] Translation: X:115.11, Y:-60.42, Z:0.73 [[-3.69461293e-01 -9.29246051e-01 -3.59501565e-04 1.15108891e+02] [-9.29245594e-01 3.69461468e-01 -9.21911627e-04 -6.04194218e+01] [ 9.89504715e-04 -6.54541654e-06 -9.99999510e-01 7.30861758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.660888479 meters 0.01398511831228741 Centerline is valid? [True, True] Translation: X:115.04, Y:-60.52, Z:0.73 [[-2.94918026e-01 -9.55522425e-01 -5.03036216e-04 1.15042807e+02] [-9.55521026e-01 2.94918455e-01 -1.63546902e-03 -6.05156661e+01] [ 1.71108198e-03 -1.66761286e-06 -9.99998536e-01 7.30549540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.690888479 meters 0.0141033207296082 Centerline is valid? [True, True] Translation: X:114.98, Y:-60.62, Z:0.73 [[-2.18639423e-01 -9.75805643e-01 -3.87608749e-04 1.14983069e+02] [-9.75804127e-01 2.18639767e-01 -1.72017618e-03 -6.06229784e+01] [ 1.76330431e-03 2.13188885e-06 -9.99998445e-01 7.30281717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.720888479 meters 0.014188815398489221 Centerline is valid? [True, True] Translation: X:114.93, Y:-60.73, Z:0.73 [[-1.41100459e-01 -9.89995268e-01 -1.75325645e-04 1.14933255e+02] [-9.89994515e-01 1.41100568e-01 -1.22086874e-03 -6.07284920e+01] [ 1.23339282e-03 1.30628820e-06 -9.99999239e-01 7.30191219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75088847899997 meters 0.014614955575488144 Centerline is valid? [True, True] Translation: X:114.89, Y:-60.84, Z:0.73 [[-6.15969145e-02 -9.98101107e-01 2.26835336e-05 1.14889226e+02] [-9.98101086e-01 6.15969179e-02 2.02844936e-04 -6.08440325e+01] [-2.03856991e-04 -1.01458374e-05 -9.99999979e-01 7.32199271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78088847899997 meters 0.0149213912821301 Centerline is valid? [True, True] Translation: X:114.86, Y:-60.97, Z:0.73 [[ 1.67286655e-02 -9.99860066e-01 2.85559163e-06 1.14855933e+02] [-9.99859528e-01 -1.67286535e-02 1.03781372e-03 -6.09682036e+01] [-1.03762073e-03 -2.02164291e-05 -9.99999461e-01 7.33114007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81088847899997 meters 0.015014722468080121 Centerline is valid? [True, True] Translation: X:114.83, Y:-61.08, Z:0.73 [[ 9.47433678e-02 -9.95501719e-01 -1.46078992e-04 1.14831841e+02] [-9.95499957e-01 -9.47434750e-02 1.87320865e-03 -6.10819020e+01] [-1.87862247e-03 -3.20524660e-05 -9.99998235e-01 7.34132500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84088847899997 meters 0.015023833537682607 Centerline is valid? [True, True] Translation: X:114.82, Y:-61.21, Z:0.73 [[ 1.71737747e-01 -9.85142643e-01 -3.43653523e-04 1.14818891e+02] [-9.85140208e-01 -1.71738087e-01 2.19081585e-03 -6.12087249e+01] [-2.21728452e-03 -3.76988767e-05 -9.99997541e-01 7.34546442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87088847899997 meters 0.014999355660122005 Centerline is valid? [True, True] Translation: X:114.82, Y:-61.33, Z:0.73 [[ 2.47063234e-01 -9.68999103e-01 -7.04819364e-04 1.14815120e+02] [-9.68994581e-01 -2.47064235e-01 2.96075677e-03 -6.13259816e+01] [-3.04310631e-03 -4.85280004e-05 -9.99995369e-01 7.34630190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90088847899997 meters 0.015003823504131784 Centerline is valid? [True, True] Translation: X:114.82, Y:-61.44, Z:0.73 [[ 3.20375475e-01 -9.47290115e-01 -9.96435939e-04 1.14819234e+02] [-9.47285041e-01 -3.20377021e-01 3.10084126e-03 -6.14407499e+01] [-3.25663145e-03 -4.95246320e-05 -9.99994696e-01 7.34841563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93088847899998 meters 0.014594495598465734 Centerline is valid? [True, True] Translation: X:114.84, Y:-61.56, Z:0.74 [[ 3.89618607e-01 -9.20974868e-01 -1.62304128e-03 1.14836927e+02] [-9.20966331e-01 -3.89621984e-01 3.96567296e-03 -6.15603593e+01] [-4.28465770e-03 -5.03336041e-05 -9.99990820e-01 7.35184773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96088847899998 meters 0.01432522917373453 Centerline is valid? [True, True] Translation: X:114.86, Y:-61.67, Z:0.74 [[ 4.57132852e-01 -8.89396036e-01 -2.06055094e-03 1.14858243e+02] [-8.89386580e-01 -4.57137494e-01 4.10143548e-03 -6.16684197e+01] [-4.58975555e-03 -4.22745482e-05 -9.99989466e-01 7.35160168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99088847899998 meters 0.014256930699224592 Centerline is valid? [True, True] Translation: X:114.89, Y:-61.78, Z:0.74 [[ 5.21676558e-01 -8.53139980e-01 -2.39648207e-03 1.14889781e+02] [-8.53130718e-01 -5.21682062e-01 3.97547190e-03 -6.17780256e+01] [-4.64183572e-03 -2.93980238e-05 -9.99989226e-01 7.35321245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02088847899998 meters 0.014256930699224592 Centerline is valid? [True, True] Translation: X:114.93, Y:-61.89, Z:0.74 [[ 5.85542298e-01 -8.10637379e-01 -2.69404781e-03 1.14928075e+02] [-8.10628567e-01 -5.85548495e-01 3.77979377e-03 -6.18871245e+01] [-4.64153776e-03 -2.93570135e-05 -9.99989228e-01 7.35306851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05088847899998 meters 0.01413952714887227 Centerline is valid? [True, True] Translation: X:114.98, Y:-62.00, Z:0.74 [[ 6.43480151e-01 -7.65456136e-01 -3.19370074e-03 1.14980522e+02] [-7.65446591e-01 -6.43488076e-01 3.82257606e-03 -6.19959448e+01] [-4.98112264e-03 -1.51444733e-05 -9.99987594e-01 7.35220712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08088847899998 meters 0.014403124892009535 Centerline is valid? [True, True] Translation: X:115.03, Y:-62.08, Z:0.73 [[ 6.95641591e-01 -7.18379962e-01 -3.60649795e-03 1.15027652e+02] [-7.18370435e-01 -6.95650940e-01 3.69974001e-03 -6.20799901e+01] [-5.16668277e-03 1.71084711e-05 -9.99986652e-01 7.34623648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11088847899998 meters 0.014655598621389314 Centerline is valid? [True, True] Translation: X:115.08, Y:-62.17, Z:0.73 [[ 7.46310434e-01 -6.65588964e-01 -3.47372639e-03 1.15084679e+02] [-6.65581936e-01 -7.46318518e-01 3.05891896e-03 -6.21683205e+01] [-4.62848903e-03 2.91463967e-05 -9.99989288e-01 7.34001843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14088847899998 meters 0.015249151383190426 Centerline is valid? [True, True] Translation: X:115.08, Y:-62.17, Z:0.73 [[ 7.94373607e-01 -6.07421513e-01 -3.11107425e-03 1.15082748e+02] [-6.07417021e-01 -7.94379698e-01 2.33626727e-03 -6.21722792e+01] [-3.89047323e-03 3.38503937e-05 -9.99992432e-01 7.33398458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17088847899998 meters 0.01565959701542969 Centerline is valid? [True, True] Translation: X:115.08, Y:-62.18, Z:0.73 [[ 8.37400979e-01 -5.46580829e-01 -2.99977823e-03 1.15080541e+02] [-5.46577507e-01 -8.37406351e-01 1.90608740e-03 -6.21783294e+01] [-3.55386417e-03 4.34518506e-05 -9.99993684e-01 7.33140235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20088847899999 meters 0.016324097815324252 Centerline is valid? [True, True] Translation: X:115.08, Y:-62.18, Z:0.73 [[ 8.76854638e-01 -4.80745185e-01 -3.16384364e-03 1.15077075e+02] [-4.80742257e-01 -8.76860345e-01 1.67863682e-03 -6.21838406e+01] [-3.58124559e-03 4.90728523e-05 -9.99993586e-01 7.33894058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230888479 meters 0.016304415524756765 Centerline is valid? [True, True] Translation: X:115.07, Y:-62.19, Z:0.73 [[ 9.11387342e-01 -4.11531199e-01 -3.89669258e-03 1.15073526e+02] [-4.11527735e-01 -9.11395670e-01 1.68983409e-03 -6.21923025e+01] [-4.24684819e-03 6.35036717e-05 -9.99990980e-01 7.34519867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.260888479 meters 0.016523871509830958 Centerline is valid? [True, True] Translation: X:115.07, Y:-62.20, Z:0.74 [[ 9.40633621e-01 -3.39383269e-01 -5.23333325e-03 1.15071159e+02] [-3.39378532e-01 -9.40648175e-01 1.79532912e-03 -6.21994089e+01] [-5.53203004e-03 8.73340258e-05 -9.99984694e-01 7.35136088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290888479 meters 0.01650266736451108 Centerline is valid? [True, True] Translation: X:115.07, Y:-62.21, Z:0.74 [[ 9.64339164e-01 -2.64603970e-01 -5.89197657e-03 1.15069977e+02] [-2.64599635e-01 -9.64357159e-01 1.51760474e-03 -6.22074391e+01] [-6.08353402e-03 9.55291578e-05 -9.99981491e-01 7.35327257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.320888479 meters 0.01626336936012463 Centerline is valid? [True, True] Translation: X:115.06, Y:-62.22, Z:0.74 [[ 9.82172456e-01 -1.87871979e-01 -6.43324344e-03 1.15064534e+02] [-1.87868619e-01 -9.82193519e-01 1.12806112e-03 -6.22168782e+01] [-6.53062109e-03 1.00653999e-04 -9.99978670e-01 7.35037944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.350888479 meters 0.016192320131952313 Centerline is valid? [True, True] Translation: X:115.06, Y:-62.23, Z:0.74 [[ 9.93915416e-01 -1.09936999e-01 -6.78249326e-03 1.15060050e+02] [-1.09935141e-01 -9.93938552e-01 6.47332530e-04 -6.22276403e+01] [-6.81254732e-03 1.02240570e-04 -9.99976789e-01 7.35358237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.380888479 meters 0.01603407836789189 Centerline is valid? [True, True] Translation: X:115.06, Y:-62.24, Z:0.74 [[ 9.99511289e-01 -3.04565369e-02 -7.04148683e-03 1.15055730e+02] [-3.04564611e-02 -9.99536087e-01 1.18009599e-04 -6.22367614e+01] [-7.04181436e-03 9.65068435e-05 -9.99975201e-01 7.35000861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.410888479 meters 0.016101820476464107 Centerline is valid? [True, True] Translation: X:115.05, Y:-62.25, Z:0.73 [[ 9.98785081e-01 4.87668034e-02 -7.08240667e-03 1.15053449e+02] [ 4.87649285e-02 -9.98810187e-01 -4.37267692e-04 -6.22459323e+01] [-7.09530408e-03 9.13633917e-05 -9.99974824e-01 7.34678934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.440888479 meters 0.015889534797676755 Centerline is valid? [True, True] Translation: X:115.05, Y:-62.26, Z:0.73 [[ 9.91822392e-01 1.27442107e-01 -6.84487566e-03 1.15051652e+02] [ 1.27438485e-01 -9.91846007e-01 -9.64566497e-04 -6.22578281e+01] [-6.91198898e-03 8.43780667e-05 -9.99976108e-01 7.34514607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.470888479 meters 0.015998096629203484 Centerline is valid? [True, True] Translation: X:115.05, Y:-62.27, Z:0.73 [[ 9.78442111e-01 2.06441649e-01 -5.73424339e-03 1.15050011e+02] [ 2.06437744e-01 -9.78458912e-01 -1.27120172e-03 -6.22678848e+01] [-5.87315052e-03 6.00330201e-05 -9.99982751e-01 7.34194560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50088847899997 meters 0.01571139037310204 Centerline is valid? [True, True] Translation: X:115.05, Y:-62.28, Z:0.73 [[ 9.59065259e-01 2.83139525e-01 -5.08309092e-03 1.15049848e+02] [ 2.83135274e-01 -9.59078728e-01 -1.55236662e-03 -6.22782356e+01] [-5.31462072e-03 4.96185572e-05 -9.99985876e-01 7.33942849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53088847899997 meters 0.015701575801289308 Centerline is valid? [True, True] Translation: X:115.05, Y:-62.29, Z:0.73 [[ 9.33583728e-01 3.58328479e-01 -4.70359974e-03 1.15049000e+02] [ 3.58323707e-01 -9.33595576e-01 -1.84986382e-03 -6.22875191e+01] [-5.05411880e-03 4.15914672e-05 -9.99987227e-01 7.34133532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56088847899997 meters 0.01549326098303594 Centerline is valid? [True, True] Translation: X:115.05, Y:-62.30, Z:0.73 [[ 9.01770075e-01 4.32195418e-01 -4.22525190e-03 1.15050417e+02] [ 4.32190527e-01 -9.01779973e-01 -2.05629709e-03 -6.22972853e+01] [-4.69896972e-03 2.81933378e-05 -9.99988959e-01 7.33625647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59088847899997 meters 0.0153871352418615 Centerline is valid? [True, True] Translation: X:115.05, Y:-62.31, Z:0.73 [[ 8.64425582e-01 5.02749323e-01 -3.39589941e-03 1.15050699e+02] [ 5.02745367e-01 -8.64432252e-01 -1.99427613e-03 -6.23060000e+01] [-3.93814595e-03 1.66306117e-05 -9.99992245e-01 7.32905289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62088847899997 meters 0.015336904131441568 Centerline is valid? [True, True] Translation: X:115.05, Y:-62.31, Z:0.73 [[ 8.21585852e-01 5.70078966e-01 -2.58082351e-03 1.15051355e+02] [ 5.70076125e-01 -8.21589906e-01 -1.79961026e-03 -6.23136800e+01] [-3.14629850e-03 7.26846511e-06 -9.99995050e-01 7.31964321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65088847899997 meters 0.015301789274310449 Centerline is valid? [True, True] Translation: X:115.05, Y:-62.32, Z:0.73 [[ 7.73574253e-01 6.33701896e-01 -2.18658120e-03 1.15051266e+02] [ 6.33699357e-01 -7.73577344e-01 -1.79377239e-03 -6.23210679e+01] [-2.82820665e-03 1.98103500e-06 -9.99996001e-01 7.31573076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68088847899998 meters 0.01545977524490658 Centerline is valid? [True, True] Translation: X:115.06, Y:-62.33, Z:0.73 [[ 7.18614945e-01 6.95405611e-01 -1.89675728e-03 1.15055934e+02] [ 6.95403224e-01 -7.18617448e-01 -1.82178219e-03 -6.23309596e+01] [-2.62992043e-03 -9.85121688e-06 -9.99996542e-01 7.31108414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71088847899998 meters 0.01558173225157251 Centerline is valid? [True, True] Translation: X:115.06, Y:-62.34, Z:0.73 [[ 6.59818582e-01 7.51423048e-01 -1.68590282e-03 1.15059909e+02] [ 7.51420660e-01 -6.59820736e-01 -1.89418758e-03 -6.23411384e+01] [-2.53572984e-03 -1.70020463e-05 -9.99996785e-01 7.32018776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74088847899998 meters 0.01584544970262479 Centerline is valid? [True, True] Translation: X:115.07, Y:-62.35, Z:0.73 [[ 5.96596284e-01 8.02539499e-01 -1.79614616e-03 1.15065419e+02] [ 8.02536000e-01 -5.96598987e-01 -2.37020700e-03 -6.23499835e+01] [-2.97376372e-03 -2.74152647e-05 -9.99995578e-01 7.32823483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77088847899998 meters 0.01652451717131337 Centerline is valid? [True, True] Translation: X:115.07, Y:-62.36, Z:0.73 [[ 5.26941486e-01 8.49898379e-01 -2.32704142e-03 1.15072917e+02] [ 8.49890604e-01 -5.26946620e-01 -3.63594752e-03 -6.23595524e+01] [-4.31641251e-03 -6.17990488e-05 -9.99990682e-01 7.34704579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80088847899998 meters 0.016997146746552023 Centerline is valid? [True, True] Translation: X:115.08, Y:-62.37, Z:0.74 [[ 4.56077206e-01 8.89936785e-01 -2.46997058e-03 1.15080589e+02] [ 8.89924778e-01 -4.56083885e-01 -4.62365921e-03 -6.23678650e+01] [-5.24127819e-03 -8.93424515e-05 -9.99986260e-01 7.35306540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83088847899998 meters 0.017516598676325226 Centerline is valid? [True, True] Translation: X:115.09, Y:-62.38, Z:0.74 [[ 3.82726568e-01 9.23859271e-01 -2.10282659e-03 1.15087913e+02] [ 9.23846763e-01 -3.82732331e-01 -4.80848157e-03 -6.23761948e+01] [-5.24718000e-03 -1.02355889e-04 -9.99986228e-01 7.36043368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86088847899998 meters 0.01857202562777 Centerline is valid? [True, True] Translation: X:115.09, Y:-62.38, Z:0.74 [[ 3.05415458e-01 9.52218177e-01 -1.39344047e-03 1.15093928e+02] [ 9.52209725e-01 -3.05418620e-01 -4.01323184e-03 -6.23832958e+01] [-4.24705497e-03 -1.01144528e-04 -9.99990976e-01 7.35944934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89088847899998 meters 0.018795857111336453 Centerline is valid? [True, True] Translation: X:115.10, Y:-62.39, Z:0.74 [[ 2.28570699e-01 9.73526851e-01 -9.51393761e-04 1.15099959e+02] [ 9.73520068e-01 -2.28572659e-01 -3.63539905e-03 -6.23894844e+01] [-3.75662120e-03 -9.52552156e-05 -9.99992939e-01 7.35589159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92088847899998 meters 0.019074128578172846 Centerline is valid? [True, True] Translation: X:115.11, Y:-62.39, Z:0.74 [[ 1.51130733e-01 9.88513563e-01 -6.61840320e-04 1.15106305e+02] [ 9.88506686e-01 -1.51132152e-01 -3.68836104e-03 -6.23949490e+01] [-3.74602026e-03 -9.68088724e-05 -9.99992979e-01 7.35851812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95088847899999 meters 0.01950235051235074 Centerline is valid? [True, True] Translation: X:115.11, Y:-62.40, Z:0.74 [[ 7.28873257e-02 9.97340127e-01 -3.30603106e-04 1.15111904e+02] [ 9.97334615e-01 -7.28880224e-02 -3.31677747e-03 -6.24005878e+01] [-3.33205227e-03 -8.79708813e-05 -9.99994445e-01 7.36144068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.980888479 meters 0.019427761748816705 Centerline is valid? [True, True] Translation: X:115.11, Y:-62.41, Z:0.74 [[-5.21313255e-03 9.99986410e-01 -5.18283939e-05 1.15113203e+02] [ 9.99983587e-01 5.21299462e-03 -2.37719340e-03 -6.24055635e+01] [-2.37689092e-03 -6.42201675e-05 -9.99997173e-01 7.35402835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010888479 meters 0.018833117014803873 Centerline is valid? [True, True] Translation: X:115.12, Y:-62.41, Z:0.73 [[-8.30713589e-02 9.96543594e-01 1.19183488e-04 1.15118891e+02] [ 9.96541348e-01 8.30714248e-02 -2.11654820e-03 -6.24102011e+01] [-2.11913330e-03 -5.70532618e-05 -9.99997753e-01 7.34388494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.040888479 meters 0.019325724217376185 Centerline is valid? [True, True] Translation: X:115.13, Y:-62.42, Z:0.73 [[-1.60209782e-01 9.87082960e-01 2.34597884e-04 1.15126419e+02] [ 9.87081428e-01 1.60209946e-01 -1.74023069e-03 -6.24156402e+01] [-1.75533698e-03 -4.72347653e-05 -9.99998458e-01 7.34123058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.070888479 meters 0.01879013838814422 Centerline is valid? [True, True] Translation: X:115.13, Y:-62.42, Z:0.73 [[-2.36280121e-01 9.71684933e-01 3.10617010e-04 1.15132219e+02] [ 9.71683858e-01 2.36280321e-01 -1.44529827e-03 -6.24193896e+01] [-1.47776724e-03 -3.96737157e-05 -9.99998907e-01 7.34402190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.100888479 meters 0.018636814947343722 Centerline is valid? [True, True] Translation: X:115.14, Y:-62.42, Z:0.74 [[-3.09915338e-01 9.50764015e-01 5.20616710e-04 1.15137197e+02] [ 9.50762427e-01 3.09915772e-01 -1.73825584e-03 -6.24244034e+01] [-1.81401843e-03 -4.37293389e-05 -9.99998354e-01 7.35647735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.130888479 meters 0.018450936069070847 Centerline is valid? [True, True] Translation: X:115.14, Y:-62.43, Z:0.74 [[-3.82738912e-01 9.23855977e-01 1.02875074e-03 1.15144373e+02] [ 9.23852191e-01 3.82740289e-01 -2.64571580e-03 -6.24276599e+01] [-2.83800472e-03 -6.22047629e-05 -9.99995971e-01 7.36790232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.160888479 meters 0.018489826761276813 Centerline is valid? [True, True] Translation: X:115.15, Y:-62.43, Z:0.74 [[-4.53076112e-01 8.91470724e-01 1.40874845e-03 1.15151864e+02] [ 8.91465946e-01 4.53078297e-01 -2.91951658e-03 -6.24319693e+01] [-3.24093691e-03 -6.69119571e-05 -9.99994746e-01 7.37995361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.190888479 meters 0.018130991039398418 Centerline is valid? [True, True] Translation: X:115.16, Y:-62.44, Z:0.74 [[-5.19676440e-01 8.54360610e-01 2.08474995e-03 1.15155545e+02] [ 8.54353151e-01 5.19680616e-01 -3.57086922e-03 -6.24368553e+01] [-4.13421414e-03 -7.45839153e-05 -9.99991451e-01 7.39511057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.220888479 meters 0.018053329491127063 Centerline is valid? [True, True] Translation: X:115.16, Y:-62.44, Z:0.74 [[-5.84032587e-01 8.11725536e-01 2.75528223e-03 1.15161788e+02] [ 8.11715847e-01 5.84039081e-01 -3.96673935e-03 -6.24405504e+01] [-4.82909613e-03 -8.01987975e-05 -9.99988337e-01 7.39838160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25088847899997 meters 0.017741290440201514 Centerline is valid? [True, True] Translation: X:115.17, Y:-62.44, Z:0.74 [[-6.44516247e-01 7.64584555e-01 3.04401194e-03 1.15167020e+02] [ 7.64575498e-01 6.44523431e-01 -3.72212612e-03 -6.24442401e+01] [-4.80781716e-03 -7.15938127e-05 -9.99988440e-01 7.39709384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28088847899997 meters 0.017612877128223764 Centerline is valid? [True, True] Translation: X:115.17, Y:-62.45, Z:0.74 [[-7.01424629e-01 7.12735543e-01 3.39632337e-03 1.15172935e+02] [ 7.12726731e-01 7.01432849e-01 -3.54486465e-03 -6.24479273e+01] [-4.90884381e-03 -6.58049208e-05 -9.99987949e-01 7.39410472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31088847899997 meters 0.017185984008649013 Centerline is valid? [True, True] Translation: X:115.18, Y:-62.45, Z:0.74 [[-7.52529061e-01 6.58552596e-01 2.91375981e-03 1.15177547e+02] [ 6.58547461e-01 7.52534701e-01 -2.60085985e-03 -6.24537431e+01] [-3.90550838e-03 -3.83734976e-05 -9.99992373e-01 7.38898218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34088847899997 meters 0.01703314746554139 Centerline is valid? [True, True] Translation: X:115.20, Y:-62.43, Z:0.74 [[-7.96057156e-01 6.05214800e-01 2.83717866e-03 1.15195079e+02] [ 6.05210829e-01 7.96062212e-01 -2.19265011e-03 -6.24348108e+01] [-3.58559502e-03 -2.83835581e-05 -9.99993571e-01 7.39021335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37088847899997 meters 0.01679325965476086 Centerline is valid? [True, True] Translation: X:115.21, Y:-62.41, Z:0.74 [[-8.35719059e-01 5.49150515e-01 2.71425213e-03 1.15207073e+02] [ 5.49147542e-01 8.35723466e-01 -1.80702785e-03 -6.24125525e+01] [-3.26069447e-03 -1.96427316e-05 -9.99994684e-01 7.38248711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40088847899997 meters 0.016714314288289064 Centerline is valid? [True, True] Translation: X:115.24, Y:-62.40, Z:0.74 [[-8.71502867e-01 4.90384199e-01 2.46788568e-03 1.15241940e+02] [ 4.90382193e-01 8.71506361e-01 -1.40282440e-03 -6.24041274e+01] [-2.83870098e-03 -1.23582944e-05 -9.99995971e-01 7.37596840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43088847899998 meters 0.016836689928081825 Centerline is valid? [True, True] Translation: X:115.26, Y:-62.39, Z:0.74 [[-9.02722549e-01 4.30219513e-01 1.78059686e-03 1.15261515e+02] [ 4.30218666e-01 9.02724305e-01 -8.53565870e-04 -6.23866764e+01] [-1.97460876e-03 -4.48715173e-06 -9.99998050e-01 7.37228587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46088847899998 meters 0.0168642412549136 Centerline is valid? [True, True] Translation: X:115.28, Y:-62.36, Z:0.74 [[-9.30359467e-01 3.66645073e-01 1.62855414e-03 1.15277216e+02] [ 3.66644508e-01 9.30360893e-01 -6.43865305e-04 -6.23640368e+01] [-1.75121312e-03 -1.92575236e-06 -9.99998467e-01 7.37166841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49088847899998 meters 0.01688472074852307 Centerline is valid? [True, True] Translation: X:115.28, Y:-62.34, Z:0.74 [[-9.53647884e-01 3.00922775e-01 1.09386548e-03 1.15277441e+02] [ 3.00922575e-01 9.53648511e-01 -3.47568083e-04 -6.23350810e+01] [-1.14775434e-03 -2.28875210e-06 -9.99999341e-01 7.37055328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52088847899998 meters 0.01711100253952667 Centerline is valid? [True, True] Translation: X:115.55, Y:-61.54, Z:-0.15 [[-9.34469726e-01 -3.56042366e-01 4.05053391e-04 1.15553441e+02] [ 3.56042315e-01 -9.34469813e-01 -1.94503302e-04 -6.15393883e+01] [ 4.47761583e-04 -3.75413000e-05 9.99999899e-01 -1.47982212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55088847899998 meters 0.017168725094700053 Centerline is valid? [True, True] Translation: X:115.25, Y:-62.33, Z:0.74 [[-9.53872767e-01 3.00209415e-01 1.02600941e-03 1.15250005e+02] [ 3.00209242e-01 9.53873318e-01 -3.21950519e-04 -6.23286270e+01] [-1.07533558e-03 9.17675342e-07 -9.99999422e-01 7.37619617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58088847899998 meters 0.01732169234483794 Centerline is valid? [True, True] Translation: X:115.26, Y:-62.30, Z:0.74 [[-9.72516916e-01 2.32829552e-01 1.11690404e-03 1.15261367e+02] [ 2.32829401e-01 9.72517558e-01 -2.64717152e-04 -6.23031302e+01] [-1.14784276e-03 2.60618915e-06 -9.99999341e-01 7.38165763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61088847899998 meters 0.017347855830486078 Centerline is valid? [True, True] Translation: X:115.46, Y:-61.48, Z:-0.15 [[-9.59130942e-01 -2.82960067e-01 1.19878816e-03 1.15463534e+02] [ 2.82959850e-01 -9.59131691e-01 -3.50569055e-04 -6.14843312e+01] [ 1.24899276e-03 2.96729019e-06 9.99999220e-01 -1.49029852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64088847899998 meters 0.01754820716060081 Centerline is valid? [True, True] Translation: X:115.21, Y:-62.29, Z:0.74 [[-9.73247848e-01 2.29754792e-01 1.16663346e-03 1.15212596e+02] [ 2.29754632e-01 9.73248548e-01 -2.71445327e-04 -6.22910942e+01] [-1.19779018e-03 3.85586024e-06 -9.99999283e-01 7.38491885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67088847899998 meters 0.017452509856229394 Centerline is valid? [True, True] Translation: X:115.22, Y:-62.26, Z:0.74 [[-9.87081294e-01 1.60215687e-01 1.20540203e-03 1.15224860e+02] [ 1.60215573e-01 9.87082030e-01 -1.91431750e-04 -6.22635594e+01] [-1.22050105e-03 4.16547616e-06 -9.99999255e-01 7.38383751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70088847899999 meters 0.017409772987005395 Centerline is valid? [True, True] Translation: X:115.23, Y:-62.23, Z:0.74 [[-9.95956816e-01 8.98263848e-02 1.11455373e-03 1.15229183e+02] [ 8.98263323e-02 9.95957439e-01 -9.71414072e-05 -6.22348377e+01] [-1.11877394e-03 3.36762719e-06 -9.99999374e-01 7.38118543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730888479 meters 0.017550024026285145 Centerline is valid? [True, True] Translation: X:115.23, Y:-62.21, Z:0.74 [[-9.99818829e-01 1.90077111e-02 1.00775708e-03 1.15228421e+02] [ 1.90077040e-02 9.99819337e-01 -1.65575320e-05 -6.22063562e+01] [-1.00788973e-03 2.60061601e-06 -9.99999492e-01 7.37961033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.760888479 meters 0.017542322041410843 Centerline is valid? [True, True] Translation: X:115.24, Y:-61.37, Z:-0.15 [[-9.97630711e-01 -6.87941557e-02 5.73109557e-04 1.15239891e+02] [ 6.87941287e-02 -9.97630875e-01 -6.66184904e-05 -6.13731133e+01] [ 5.76334752e-04 -2.70340792e-05 9.99999834e-01 -1.48667368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790888479 meters 0.01743782572220763 Centerline is valid? [True, True] Translation: X:115.14, Y:-62.20, Z:0.74 [[-9.99908688e-01 1.34960244e-02 6.87096449e-04 1.15138547e+02] [ 1.34960214e-02 9.99908925e-01 -9.03364727e-06 -6.22005540e+01] [-6.87155789e-04 2.40245989e-07 -9.99999764e-01 7.38023648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.820888479 meters 0.017522465584832406 Centerline is valid? [True, True] Translation: X:115.13, Y:-62.17, Z:0.74 [[-9.98317353e-01 -5.79803024e-02 8.64994653e-04 1.15127689e+02] [-5.79802791e-02 9.98317727e-01 5.20789953e-05 -6.21719181e+01] [-8.66559052e-04 1.83873335e-06 -9.99999625e-01 7.37919026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.850888479 meters 0.017621644556869404 Centerline is valid? [True, True] Translation: X:115.08, Y:-61.35, Z:-0.15 [[-9.99963185e-01 8.56927369e-03 4.43677156e-04 1.15079857e+02] [-8.56928448e-03 -9.99963283e-01 -2.24422553e-05 -6.13479427e+01] [ 4.43468552e-04 -2.62434248e-05 9.99999901e-01 -1.48538967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.880888479 meters 0.017516395691676255 Centerline is valid? [True, True] Translation: X:115.03, Y:-62.18, Z:0.74 [[-9.97923523e-01 -6.44095674e-02 -2.23746309e-04 1.15028955e+02] [-6.44095640e-02 9.97923548e-01 -2.25741390e-05 -6.21760644e+01] [ 2.24735700e-04 -8.11586212e-06 -9.99999975e-01 7.36392960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.910888479 meters 0.017516395691676255 Centerline is valid? [True, True] Translation: X:115.02, Y:-62.15, Z:0.74 [[-9.90785437e-01 -1.35440643e-01 -2.21805100e-04 1.15022343e+02] [-1.35440638e-01 9.90785462e-01 -3.82783231e-05 -6.21485146e+01] [ 2.24945710e-04 -7.88418080e-06 -9.99999975e-01 7.36390006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.940888479 meters 0.017675319547175432 Centerline is valid? [True, True] Translation: X:114.90, Y:-61.34, Z:-0.15 [[-9.96277142e-01 8.62042505e-02 -8.26983190e-04 1.14895179e+02] [-8.62041980e-02 -9.96277485e-01 -9.89051089e-05 -6.13364875e+01] [-8.32430773e-04 -2.72474766e-05 9.99999653e-01 -1.46731642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.970888479 meters 0.017685134912571617 Centerline is valid? [True, True] Translation: X:114.89, Y:-62.17, Z:0.74 [[-9.89752476e-01 -1.42791951e-01 -7.04084869e-04 1.14886415e+02] [-1.42791906e-01 9.89752726e-01 -1.13647004e-04 -6.21654962e+01] [ 7.13097796e-04 -1.19447829e-05 -9.99999746e-01 7.35420471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00088847899997 meters 0.01744798277289789 Centerline is valid? [True, True] Translation: X:114.75, Y:-61.36, Z:-0.15 [[-9.95922472e-01 9.02077890e-02 -9.91829084e-04 1.14753867e+02] [-9.02077391e-02 -9.95922966e-01 -9.50608580e-05 -6.13610360e+01] [-9.96360593e-04 -5.20258554e-06 9.99999504e-01 -1.46683452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03088847899997 meters 0.017452225515699672 Centerline is valid? [True, True] Translation: X:114.76, Y:-62.18, Z:0.74 [[-9.88085077e-01 -1.53908672e-01 2.62464404e-05 1.14757528e+02] [-1.53908673e-01 9.88085078e-01 -1.71704751e-06 -6.21765669e+01] [-2.56694477e-05 -5.73614383e-06 -1.00000000e+00 7.36498976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06088847899997 meters 0.017452819723890137 Centerline is valid? [True, True] Translation: X:114.73, Y:-62.15, Z:0.74 [[-9.73988625e-01 -2.26596788e-01 2.31976286e-04 1.14734378e+02] [-2.26596783e-01 9.73988653e-01 4.87506376e-05 -6.21503019e+01] [-2.36989008e-04 -5.08251363e-06 -9.99999972e-01 7.37398686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09088847899997 meters 0.017466023601760958 Centerline is valid? [True, True] Translation: X:114.69, Y:-62.13, Z:0.74 [[-9.54413077e-01 -2.98486730e-01 1.16185087e-03 1.14691021e+02] [-2.98486516e-01 9.54413784e-01 3.57968462e-04 -6.21312064e+01] [-1.21573532e-03 -5.14703739e-06 -9.99999261e-01 7.37970321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12088847899997 meters 0.017450717536551353 Centerline is valid? [True, True] Translation: X:114.63, Y:-62.12, Z:0.74 [[-9.28799484e-01 -3.70574487e-01 2.46322231e-03 1.14632553e+02] [-3.70573218e-01 9.28802751e-01 9.69766050e-04 -6.21198038e+01] [-2.64721821e-03 -1.20860108e-05 -9.99996496e-01 7.38483760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15088847899997 meters 0.017483604050937403 Centerline is valid? [True, True] Translation: X:114.56, Y:-62.12, Z:0.74 [[-8.98576163e-01 -4.38809916e-01 2.59568774e-03 1.14558043e+02] [-4.38808131e-01 8.98579912e-01 1.25172773e-03 -6.21214710e+01] [-2.88170341e-03 -1.42361830e-05 -9.99995848e-01 7.38943525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18088847899998 meters 0.01735724873585432 Centerline is valid? [True, True] Translation: X:114.49, Y:-62.13, Z:0.74 [[-8.63437088e-01 -5.04449992e-01 2.56893348e-03 1.14488949e+02] [-5.04447805e-01 8.63440910e-01 1.48569479e-03 -6.21264524e+01] [-2.96758099e-03 -1.30888704e-05 -9.99995597e-01 7.39330484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21088847899998 meters 0.01746953861920733 Centerline is valid? [True, True] Translation: X:114.40, Y:-62.15, Z:0.74 [[-8.23597540e-01 -5.67169560e-01 2.40470144e-03 1.14401819e+02] [-5.67167180e-01 8.23601050e-01 1.64308465e-03 -6.21492266e+01] [-2.91242223e-03 -1.06272608e-05 -9.99995759e-01 7.38941426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24088847899998 meters 0.01730535036313271 Centerline is valid? [True, True] Translation: X:114.32, Y:-62.18, Z:0.74 [[-7.79480426e-01 -6.26424433e-01 1.64186857e-03 1.14317884e+02] [-6.26423058e-01 7.79482155e-01 1.31238558e-03 -6.21783879e+01] [-2.10191765e-03 -5.52546111e-06 -9.99997791e-01 7.38611564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27088847899998 meters 0.017288837751874377 Centerline is valid? [True, True] Translation: X:114.23, Y:-62.22, Z:0.74 [[-7.30525770e-01 -6.82883174e-01 1.63430216e-03 1.14229781e+02] [-6.82881474e-01 7.30527598e-01 1.52379769e-03 -6.22188606e+01] [-2.23447863e-03 -2.86119136e-06 -9.99997504e-01 7.38150188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30088847899998 meters 0.017236206618175064 Centerline is valid? [True, True] Translation: X:114.14, Y:-62.27, Z:0.74 [[-6.77187262e-01 -7.35809504e-01 1.33631190e-03 1.14138315e+02] [-7.35808075e-01 6.77188581e-01 1.45018696e-03 -6.22726639e+01] [-1.97199651e-03 -1.22095091e-06 -9.99998056e-01 7.37743206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33088847899998 meters 0.017441934475416993 Centerline is valid? [True, True] Translation: X:114.05, Y:-62.33, Z:0.74 [[-6.19862617e-01 -7.84709454e-01 1.18685541e-03 1.14053692e+02] [-7.84708013e-01 6.19863754e-01 1.50394296e-03 -6.23306444e+01] [-1.91584690e-03 9.03067385e-07 -9.99998165e-01 7.37250947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36088847899998 meters 0.017453391980361353 Centerline is valid? [True, True] Translation: X:113.97, Y:-62.41, Z:0.74 [[-5.59334176e-01 -8.28941505e-01 1.12279289e-03 1.13966946e+02] [-8.28939818e-01 5.59335303e-01 1.67229737e-03 -6.24050201e+01] [-2.01425440e-03 4.64533589e-06 -9.99997971e-01 7.37515087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39088847899998 meters 0.017537276090472842 Centerline is valid? [True, True] Translation: X:113.88, Y:-62.49, Z:0.74 [[-4.95033419e-01 -8.68873327e-01 1.02700220e-03 1.13880295e+02] [-8.68871427e-01 4.95034485e-01 1.81732510e-03 -6.24934747e+01] [-2.08742681e-03 7.30379393e-06 -9.99997821e-01 7.37477350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42088847899998 meters 0.017585030283017423 Centerline is valid? [True, True] Translation: X:113.81, Y:-62.57, Z:0.74 [[-4.27333296e-01 -9.04093561e-01 1.04285757e-03 1.13809381e+02] [-9.04090802e-01 4.27334568e-01 2.23344713e-03 -6.25731606e+01] [-2.46489426e-03 1.15883897e-05 -9.99996962e-01 7.37722506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45088847899999 meters 0.017620197995098424 Centerline is valid? [True, True] Translation: X:113.74, Y:-62.67, Z:0.74 [[-3.57004737e-01 -9.34101360e-01 1.50574841e-03 1.13738772e+02] [-9.34092726e-01 3.57007911e-01 4.01626598e-03 -6.26698653e+01] [-4.28916361e-03 2.73173465e-05 -9.99990801e-01 7.38072060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.480888479 meters 0.017576543770754537 Centerline is valid? [True, True] Translation: X:113.68, Y:-62.77, Z:0.74 [[-2.83952095e-01 -9.58837618e-01 1.27700604e-03 1.13677010e+02] [-9.58827435e-01 2.83954965e-01 4.41902946e-03 -6.27662658e+01] [-4.59974388e-03 3.03642528e-05 -9.99989421e-01 7.38881467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510888479 meters 0.017463995307602214 Centerline is valid? [True, True] Translation: X:113.62, Y:-62.88, Z:0.74 [[-2.08663925e-01 -9.77986763e-01 1.12174040e-03 1.13620849e+02] [-9.77971695e-01 2.08666937e-01 5.42901033e-03 -6.28759271e+01] [-5.54357037e-03 3.58082385e-05 -9.99984634e-01 7.39232254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.540888479 meters 0.017435728771652302 Centerline is valid? [True, True] Translation: X:113.57, Y:-62.99, Z:0.74 [[-1.31999174e-01 -9.91249534e-01 7.61519991e-04 1.13573500e+02] [-9.91231381e-01 1.32001365e-01 5.99906827e-03 -6.29889362e+01] [-6.04709531e-03 3.70295427e-05 -9.99981715e-01 7.39259959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.570888479 meters 0.017374525627351815 Centerline is valid? [True, True] Translation: X:113.53, Y:-63.11, Z:0.74 [[-5.37324494e-02 -9.98555312e-01 3.36213836e-04 1.13534589e+02] [-9.98531487e-01 5.37334899e-02 6.89787367e-03 -6.31086882e+01] [-6.90597434e-03 3.49195460e-05 -9.99976153e-01 7.39571190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.600888479 meters 0.017363060743408133 Centerline is valid? [True, True] Translation: X:113.50, Y:-63.23, Z:0.74 [[ 2.41037782e-02 -9.99709443e-01 -1.95238086e-04 1.13504450e+02] [-9.99686295e-01 -2.41045487e-02 6.80308494e-03 -6.32279318e+01] [-6.80581438e-03 3.11967891e-05 -9.99976840e-01 7.39526496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.630888479 meters 0.017349463580373963 Centerline is valid? [True, True] Translation: X:113.48, Y:-63.35, Z:0.74 [[ 1.02226729e-01 -9.94760823e-01 -7.75681329e-04 1.13483967e+02] [-9.94734231e-01 -1.02229668e-01 7.27359259e-03 -6.33505552e+01] [-7.31478260e-03 2.80411896e-05 -9.99973246e-01 7.39537106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.660888479 meters 0.017278383099882187 Centerline is valid? [True, True] Translation: X:113.47, Y:-63.48, Z:0.74 [[ 1.79396086e-01 -9.83776015e-01 -1.34050328e-03 1.13474520e+02] [-9.83749542e-01 -1.79401092e-01 7.21717212e-03 -6.34815517e+01] [-7.34056858e-03 2.39870546e-05 -9.99973057e-01 7.39345017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.690888479 meters 0.017190784361443393 Centerline is valid? [True, True] Translation: X:113.47, Y:-63.60, Z:0.74 [[ 2.56065002e-01 -9.66657903e-01 -1.79272261e-03 1.13471988e+02] [-9.66634600e-01 -2.56071277e-01 6.71201332e-03 -6.36000071e+01] [-6.94728549e-03 1.41959990e-05 -9.99975867e-01 7.38535037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.720888479 meters 0.017154815259229 Centerline is valid? [True, True] Translation: X:113.48, Y:-63.72, Z:0.74 [[ 3.30619617e-01 -9.43761509e-01 -2.20959434e-03 1.13479700e+02] [-9.43740611e-01 -3.30627000e-01 6.28061262e-03 -6.37225621e+01] [-6.65795200e-03 8.79017035e-06 -9.99977836e-01 7.37501903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75088847899997 meters 0.017073981089433494 Centerline is valid? [True, True] Translation: X:113.50, Y:-63.85, Z:0.74 [[ 4.02809158e-01 -9.15279910e-01 -2.73278757e-03 1.13498300e+02] [-9.15258960e-01 -4.02818428e-01 6.19269044e-03 -6.38470209e+01] [-6.76886234e-03 6.73588928e-06 -9.99977091e-01 7.37389960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78088847899997 meters 0.01708902001594813 Centerline is valid? [True, True] Translation: X:113.52, Y:-63.96, Z:0.74 [[ 4.73019087e-01 -8.81047526e-01 -2.86357017e-03 1.13522275e+02] [-8.81031382e-01 -4.73027755e-01 5.33349222e-03 -6.39622125e+01] [-6.05360829e-03 5.15680155e-08 -9.99981677e-01 7.36666898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81088847899997 meters 0.016928283801995674 Centerline is valid? [True, True] Translation: X:113.55, Y:-64.07, Z:0.74 [[ 5.39643253e-01 -8.41887828e-01 -3.16927725e-03 1.13554306e+02] [-8.41873296e-01 -5.39652559e-01 4.94668146e-03 -6.40732897e+01] [-5.87485949e-03 -1.31338976e-06 -9.99982743e-01 7.36843591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84088847899997 meters 0.016982787151276647 Centerline is valid? [True, True] Translation: X:113.60, Y:-64.19, Z:0.74 [[ 6.03284261e-01 -7.97518439e-01 -3.52701865e-03 1.13597570e+02] [-7.97504758e-01 -6.03294571e-01 4.67131530e-03 -6.41867700e+01] [-5.85329129e-03 -5.31684407e-06 -9.99982869e-01 7.36750742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87088847899997 meters 0.01693693154596152 Centerline is valid? [True, True] Translation: X:113.64, Y:-64.29, Z:0.74 [[ 6.63307100e-01 -7.48338096e-01 -3.71280837e-03 1.13643000e+02] [-7.48326292e-01 -6.63317491e-01 4.20321101e-03 -6.42884634e+01] [-5.60819366e-03 -9.62759286e-06 -9.99984274e-01 7.36911267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90088847899997 meters 0.016813353609976073 Centerline is valid? [True, True] Translation: X:113.70, Y:-64.39, Z:0.74 [[ 7.19722922e-01 -6.94250790e-01 -3.84147971e-03 1.13698458e+02] [-6.94240770e-01 -7.19733173e-01 3.72987941e-03 -6.43883466e+01] [-5.35431211e-03 -1.75678738e-05 -9.99985665e-01 7.35472470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93088847899998 meters 0.01675563354874835 Centerline is valid? [True, True] Translation: X:113.69, Y:-64.40, Z:0.73 [[ 7.71923372e-01 -6.35700600e-01 -4.36518297e-03 1.13692677e+02] [-6.35690290e-01 -7.71935714e-01 3.62061197e-03 -6.43968198e+01] [-5.67126583e-03 -1.99305743e-05 -9.99983918e-01 7.34836853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96088847899998 meters 0.016723420337327956 Centerline is valid? [True, True] Translation: X:113.69, Y:-64.41, Z:0.74 [[ 8.19436461e-01 -5.73150835e-01 -4.69112114e-03 1.13686684e+02] [-5.73141288e-01 -8.19449889e-01 3.30806524e-03 -6.44050952e+01] [-5.74015905e-03 -2.20740657e-05 -9.99983525e-01 7.35122765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99088847899998 meters 0.016755118047855014 Centerline is valid? [True, True] Translation: X:113.68, Y:-64.41, Z:0.74 [[ 8.61978499e-01 -5.06914416e-01 -5.55360667e-03 1.13680380e+02] [-5.06903690e-01 -8.61996389e-01 3.29769788e-03 -6.44145491e+01] [-6.45883949e-03 -2.74009564e-05 -9.99979141e-01 7.35985420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02088847899998 meters 0.016719076192450263 Centerline is valid? [True, True] Translation: X:113.67, Y:-64.43, Z:0.74 [[ 8.99151134e-01 -4.37581007e-01 -7.07812013e-03 1.13674140e+02] [-4.37567136e-01 -8.99178993e-01 3.48436811e-03 -6.44254733e+01] [-7.88919023e-03 -3.58207835e-05 -9.99968879e-01 7.37604528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05088847899998 meters 0.01673213880252229 Centerline is valid? [True, True] Translation: X:113.67, Y:-64.43, Z:0.74 [[ 9.30610342e-01 -3.65920984e-01 -8.13783177e-03 1.13670060e+02] [-3.65906625e-01 -9.30645922e-01 3.24183533e-03 -6.44346526e+01] [-8.75969552e-03 -3.91989259e-05 -9.99961632e-01 7.38120912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08088847899998 meters 0.016631059649786777 Centerline is valid? [True, True] Translation: X:113.67, Y:-64.44, Z:0.74 [[ 9.55975115e-01 -2.93325856e-01 -8.45704571e-03 1.13666892e+02] [-2.93314121e-01 -9.56012522e-01 2.62394296e-03 -6.44428772e+01] [-8.85471191e-03 -2.78532477e-05 -9.99960796e-01 7.39207204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11088847899998 meters 0.016735254856167767 Centerline is valid? [True, True] Translation: X:113.67, Y:-64.44, Z:0.74 [[ 9.75774678e-01 -2.18615958e-01 -8.41663066e-03 1.13666504e+02] [-2.18607656e-01 -9.75810977e-01 1.90532065e-03 -6.44440810e+01] [-8.62957409e-03 -1.92237434e-05 -9.99962764e-01 7.38587349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14088847899998 meters 0.01649633861959559 Centerline is valid? [True, True] Translation: X:113.66, Y:-64.45, Z:0.74 [[ 9.89667814e-01 -1.43132174e-01 -8.41415738e-03 1.13662025e+02] [-1.43126954e-01 -9.89703582e-01 1.22243343e-03 -6.44516815e+01] [-8.50249126e-03 -5.51030600e-06 -9.99963853e-01 7.36949796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17088847899998 meters 0.016579188358871823 Centerline is valid? [True, True] Translation: X:113.66, Y:-64.46, Z:0.74 [[ 9.97756398e-01 -6.64498157e-02 -8.16045639e-03 1.13656326e+02] [-6.64476310e-02 -9.97789768e-01 5.38861310e-04 -6.44587329e+01] [-8.17822712e-03 4.59067493e-06 -9.99966558e-01 7.38106564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20088847899999 meters 0.016489159946298414 Centerline is valid? [True, True] Translation: X:113.65, Y:-64.47, Z:0.74 [[ 9.99923755e-01 9.31038413e-03 -8.11180435e-03 1.13652159e+02] [ 9.30987079e-03 -9.99956657e-01 -1.01042407e-04 -6.44675081e+01] [-8.11239350e-03 2.55148521e-05 -9.99967094e-01 7.36134210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230888479 meters 0.016579975685877442 Centerline is valid? [True, True] Translation: X:113.65, Y:-64.48, Z:0.74 [[ 9.96251161e-01 8.61630585e-02 -7.71698842e-03 1.13648115e+02] [ 8.61602032e-02 -9.96281048e-01 -7.02320894e-04 -6.44755095e+01] [-7.74880342e-03 3.47907163e-05 -9.99969977e-01 7.36450110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.260888479 meters 0.016591120669745815 Centerline is valid? [True, True] Translation: X:113.65, Y:-64.49, Z:0.74 [[ 9.86620324e-01 1.62862594e-01 -7.49074562e-03 1.13646157e+02] [ 1.62857579e-01 -9.86648759e-01 -1.27881889e-03 -6.44866920e+01] [-7.59900663e-03 4.17840132e-05 -9.99971126e-01 7.35476821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290888479 meters 0.01680397480932585 Centerline is valid? [True, True] Translation: X:113.64, Y:-64.50, Z:0.74 [[ 9.71154938e-01 2.38341666e-01 -7.16492001e-03 1.13643845e+02] [ 2.38334797e-01 -9.71181367e-01 -1.81027758e-03 -6.44968419e+01] [-7.38990138e-03 5.04102600e-05 -9.99972693e-01 7.35447501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.320888479 meters 0.016934442945033157 Centerline is valid? [True, True] Translation: X:113.64, Y:-64.51, Z:0.73 [[ 9.50368808e-01 3.11041006e-01 -7.25407094e-03 1.13642828e+02] [ 3.11031355e-01 -9.50396489e-01 -2.45136152e-03 -6.45058287e+01] [-7.65671751e-03 7.34540085e-05 -9.99970684e-01 7.34714498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.350888479 meters 0.017135182614154774 Centerline is valid? [True, True] Translation: X:113.64, Y:-64.52, Z:0.73 [[ 9.23520673e-01 3.83483971e-01 -7.04346404e-03 1.13641740e+02] [ 3.83472140e-01 -9.23547528e-01 -3.01344911e-03 -6.45152433e+01] [-7.66058324e-03 8.20103212e-05 -9.99970654e-01 7.34811138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.380888479 meters 0.017052153160304364 Centerline is valid? [True, True] Translation: X:113.64, Y:-64.52, Z:0.74 [[ 8.91056535e-01 4.53839072e-01 -6.95337270e-03 1.13640508e+02] [ 4.53824453e-01 -8.91083660e-01 -3.64371715e-03 -6.45246684e+01] [-7.84969800e-03 9.11474157e-05 -9.99969187e-01 7.35186276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.410888479 meters 0.017125770238091628 Centerline is valid? [True, True] Translation: X:113.64, Y:-64.54, Z:0.74 [[ 8.53369728e-01 5.21256662e-01 -7.18327331e-03 1.13642101e+02] [ 5.21237125e-01 -8.53399953e-01 -4.51436226e-03 -6.45354362e+01] [-8.48334652e-03 1.08231368e-04 -9.99964010e-01 7.35781825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.440888479 meters 0.01739621530443683 Centerline is valid? [True, True] Translation: X:113.64, Y:-64.54, Z:0.74 [[ 8.09852110e-01 5.86592709e-01 -6.96804734e-03 1.13642882e+02] [ 5.86569824e-01 -8.09882079e-01 -5.18258604e-03 -6.45449304e+01] [-8.68336385e-03 1.09881939e-04 -9.99962293e-01 7.36348095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.470888479 meters 0.017046795219982834 Centerline is valid? [True, True] Translation: X:113.65, Y:-64.56, Z:0.74 [[ 7.60834257e-01 6.48908526e-01 -6.99702805e-03 1.13647016e+02] [ 6.48879761e-01 -7.60866422e-01 -6.11090527e-03 -6.45570198e+01] [-9.28922223e-03 1.09156184e-04 -9.99956848e-01 7.35943764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50088847899997 meters 0.017018179595338617 Centerline is valid? [True, True] Translation: X:113.65, Y:-64.57, Z:0.74 [[ 7.07166892e-01 7.07013561e-01 -6.84188479e-03 1.13649455e+02] [ 7.06978986e-01 -7.07199981e-01 -6.99294586e-03 -6.45674776e+01] [-9.78268835e-03 1.08111019e-04 -9.99952143e-01 7.36271814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53088847899997 meters 0.01672568797073198 Centerline is valid? [True, True] Translation: X:113.65, Y:-64.58, Z:0.74 [[ 6.48666813e-01 7.61047855e-01 -6.12601903e-03 1.13654528e+02] [ 7.61012553e-01 -6.48695733e-01 -7.33075490e-03 -6.45779619e+01] [-9.55297770e-03 9.32400391e-05 -9.99954365e-01 7.35749640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56088847899997 meters 0.01662024196662566 Centerline is valid? [True, True] Translation: X:113.66, Y:-64.59, Z:0.74 [[ 5.86263600e-01 8.10102339e-01 -5.40291364e-03 1.13658698e+02] [ 8.10066650e-01 -5.86288490e-01 -7.60455321e-03 -6.45880630e+01] [-9.32813242e-03 8.15525909e-05 -9.99956489e-01 7.35774436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59088847899997 meters 0.01625489184968993 Centerline is valid? [True, True] Translation: X:113.67, Y:-64.60, Z:0.74 [[ 5.18436175e-01 8.55106736e-01 -4.05005158e-03 1.13665619e+02] [ 8.55079979e-01 -5.18451992e-01 -6.76465972e-03 -6.45979169e+01] [-7.88426341e-03 4.39262934e-05 -9.99968918e-01 7.35567313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62088847899997 meters 0.016099604948559224 Centerline is valid? [True, True] Translation: X:113.67, Y:-64.61, Z:0.73 [[ 4.48360879e-01 8.93846413e-01 -3.33344150e-03 1.13671453e+02] [ 8.93821233e-01 -4.48373269e-01 -6.70926428e-03 -6.46058295e+01] [-7.49167787e-03 2.86708378e-05 -9.99971937e-01 7.34794014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65088847899997 meters 0.016100972508237374 Centerline is valid? [True, True] Translation: X:113.68, Y:-64.61, Z:0.73 [[ 3.74880900e-01 9.27068991e-01 -2.71970012e-03 1.13676667e+02] [ 9.27044375e-01 -3.74890765e-01 -6.75580575e-03 -6.46136318e+01] [-7.28268848e-03 1.13398389e-05 -9.99973481e-01 7.34455053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68088847899998 meters 0.015957443711070503 Centerline is valid? [True, True] Translation: X:113.69, Y:-64.62, Z:0.73 [[ 2.96519480e-01 9.55023597e-01 -2.47532399e-03 1.13687531e+02] [ 9.54991056e-01 -2.96529810e-01 -7.88387077e-03 -6.46210776e+01] [-8.26328997e-03 -2.61910140e-05 -9.99965858e-01 7.33268871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71088847899998 meters 0.016045866023203056 Centerline is valid? [True, True] Translation: X:113.70, Y:-64.63, Z:0.73 [[ 2.18589747e-01 9.75815172e-01 -1.80917656e-03 1.13696597e+02] [ 9.75783397e-01 -2.18597229e-01 -7.87491737e-03 -6.46282804e+01] [-8.07994483e-03 -4.39882513e-05 -9.99967356e-01 7.33439749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74088847899998 meters 0.01617676886350209 Centerline is valid? [True, True] Translation: X:113.71, Y:-64.63, Z:0.73 [[ 1.39719540e-01 9.90190334e-01 -1.24602442e-03 1.13705598e+02] [ 9.90154755e-01 -1.39725082e-01 -8.39415742e-03 -6.46348287e+01] [-8.48591440e-03 -6.09291945e-05 -9.99963992e-01 7.34077031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77088847899998 meters 0.0164376158263988 Centerline is valid? [True, True] Translation: X:113.71, Y:-64.64, Z:0.74 [[ 6.00259972e-02 9.98196634e-01 -6.00369528e-04 1.13714178e+02] [ 9.98158769e-01 -6.00289497e-02 -8.69461763e-03 -6.46407048e+01] [-8.71497760e-03 -7.73610157e-05 -9.99962021e-01 7.35285923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80088847899998 meters 0.016667017834423824 Centerline is valid? [True, True] Translation: X:113.72, Y:-64.65, Z:0.74 [[-2.12093338e-02 9.99775052e-01 9.38742299e-05 1.13721803e+02] [ 9.99726925e-01 2.12092340e-02 -9.81043384e-03 -6.46450073e+01] [-9.81021801e-03 -1.14224171e-04 -9.99951872e-01 7.35999959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83088847899998 meters 0.016667017834423824 Centerline is valid? [True, True] Translation: X:113.73, Y:-64.65, Z:0.74 [[-9.94547828e-02 9.95041709e-01 8.62056704e-04 1.13728516e+02] [ 9.94993723e-01 9.94584532e-02 -9.77273414e-03 -6.46489508e+01] [-9.81001691e-03 -1.14204141e-04 -9.99951874e-01 7.35998239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86088847899998 meters 0.016549436661252172 Centerline is valid? [True, True] Translation: X:113.74, Y:-64.65, Z:0.74 [[-1.78107127e-01 9.84009531e-01 1.75887613e-03 1.13737598e+02] [ 9.83953839e-01 1.78115761e-01 -1.04698433e-02 -6.46512519e+01] [-1.06157092e-02 -1.34100788e-04 -9.99943643e-01 7.35788343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89088847899998 meters 0.016912415976885822 Centerline is valid? [True, True] Translation: X:113.75, Y:-64.65, Z:0.74 [[-2.55478777e-01 9.66810816e-01 2.72773998e-03 1.13747050e+02] [ 9.66749199e-01 2.55493293e-01 -1.09162165e-02 -6.46535780e+01] [-1.12508354e-02 -1.51821192e-04 -9.99936696e-01 7.36542322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92088847899998 meters 0.016736860005092963 Centerline is valid? [True, True] Translation: X:113.75, Y:-64.66, Z:0.74 [[-3.31025457e-01 9.43614976e-01 3.59486076e-03 1.13753845e+02] [ 9.43554000e-01 3.31044938e-01 -1.07284230e-02 -6.46552761e+01] [-1.13135611e-02 -1.59435886e-04 -9.99935987e-01 7.35955773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95088847899999 meters 0.0166075386085871 Centerline is valid? [True, True] Translation: X:113.76, Y:-64.66, Z:0.74 [[-4.04053202e-01 9.14724035e-01 4.57703601e-03 1.13762629e+02] [ 9.14660622e-01 4.04079091e-01 -1.07719120e-02 -6.46556460e+01] [-1.17028114e-02 -1.65990942e-04 -9.99931506e-01 7.35550773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.980888479 meters 0.016665403867971225 Centerline is valid? [True, True] Translation: X:113.77, Y:-64.66, Z:0.74 [[-4.74534865e-01 8.80222312e-01 5.03427528e-03 1.13771512e+02] [ 8.80169252e-01 4.74561543e-01 -9.66588465e-03 -6.46557178e+01] [-1.08972008e-02 -1.55784958e-04 -9.99940612e-01 7.35689813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010888479 meters 0.016658406906258933 Centerline is valid? [True, True] Translation: X:113.78, Y:-64.66, Z:0.73 [[-5.41767371e-01 8.40511295e-01 5.37386402e-03 1.13778741e+02] [ 8.40467319e-01 5.41794004e-01 -8.59902532e-03 -6.46565109e+01] [-1.01391052e-02 -1.42114263e-04 -9.99948588e-01 7.34805412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.040888479 meters 0.01651377014286189 Centerline is valid? [True, True] Translation: X:113.79, Y:-64.66, Z:0.73 [[-6.05593534e-01 7.95753221e-01 5.76922858e-03 1.13785577e+02] [ 7.95715015e-01 6.05620999e-01 -7.79874415e-03 -6.46573441e+01] [-9.69984175e-03 -1.32207220e-04 -9.99952947e-01 7.34289036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.070888479 meters 0.016389199152494597 Centerline is valid? [True, True] Translation: X:113.79, Y:-64.66, Z:0.73 [[-6.65411386e-01 7.46450957e-01 6.21736802e-03 1.13792183e+02] [ 7.46416668e-01 6.65440421e-01 -7.15570321e-03 -6.46567428e+01] [-9.47866950e-03 -1.20739272e-04 -9.99955069e-01 7.33755034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.100888479 meters 0.01631999372891952 Centerline is valid? [True, True] Translation: X:113.80, Y:-64.66, Z:0.73 [[-7.21307769e-01 6.92583150e-01 6.60931682e-03 1.13799330e+02] [ 6.92552657e-01 7.21338040e-01 -6.49999193e-03 -6.46553093e+01] [-9.26933652e-03 -1.11194752e-04 -9.99957033e-01 7.33492708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.130888479 meters 0.016045515930403674 Centerline is valid? [True, True] Translation: X:113.82, Y:-64.64, Z:0.73 [[-7.67312016e-01 6.41236061e-01 6.97016960e-03 1.13820697e+02] [ 6.41208502e-01 7.67343668e-01 -5.94576475e-03 -6.46403829e+01] [-9.16115428e-03 -9.29247397e-05 -9.99958031e-01 7.34173574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.160888479 meters 0.016000661739840907 Centerline is valid? [True, True] Translation: X:113.84, Y:-64.62, Z:0.73 [[-8.10382707e-01 5.85851501e-01 7.60832459e-03 1.13838259e+02] [ 5.85824643e-01 8.10418417e-01 -5.61046078e-03 -6.46204962e+01] [-9.45282324e-03 -8.94763606e-05 -9.99955317e-01 7.34084399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.190888479 meters 0.015836347213588786 Centerline is valid? [True, True] Translation: X:113.86, Y:-64.60, Z:0.73 [[-8.49472066e-01 5.27561728e-01 8.70820706e-03 1.13855557e+02] [ 5.27532912e-01 8.49516695e-01 -5.51462088e-03 -6.46002678e+01] [-1.03070702e-02 -9.06505584e-05 -9.99946877e-01 7.34557823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.220888479 meters 0.01578542494190486 Centerline is valid? [True, True] Translation: X:113.88, Y:-64.58, Z:0.74 [[-8.84364173e-01 4.66703492e-01 9.37338799e-03 1.13876678e+02] [ 4.66676239e-01 8.84413842e-01 -5.04428526e-03 -6.45816188e+01] [-1.06441396e-02 -8.66477128e-05 -9.99943346e-01 7.35370248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25088847899997 meters 0.015528714722228353 Centerline is valid? [True, True] Translation: X:114.25, Y:-63.90, Z:-0.15 [[-8.43770313e-01 -5.36623381e-01 9.32765432e-03 1.14254090e+02] [ 5.36592021e-01 -8.43821862e-01 -5.80242860e-03 -6.39036586e+01] [ 1.09845975e-02 1.09227890e-04 9.99939662e-01 -1.46972184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28088847899997 meters 0.015399603815962242 Centerline is valid? [True, True] Translation: X:113.84, Y:-64.57, Z:0.73 [[-8.84649782e-01 4.66151904e-01 9.85724012e-03 1.13839177e+02] [ 4.66122249e-01 8.84704696e-01 -5.25831403e-03 -6.45699839e+01] [-1.11719197e-02 -5.70874300e-05 -9.99937591e-01 7.34628943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31088847899997 meters 0.015389800331869184 Centerline is valid? [True, True] Translation: X:113.85, Y:-64.55, Z:0.73 [[-9.15104983e-01 4.03078317e-01 1.05233295e-02 1.13852328e+02] [ 4.03051051e-01 9.15165486e-01 -4.68860479e-03 -6.45475256e+01] [-1.15204629e-02 -4.91265912e-05 -9.99933636e-01 7.34295083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34088847899997 meters 0.0152727445783166 Centerline is valid? [True, True] Translation: X:113.87, Y:-64.53, Z:0.74 [[-9.40829040e-01 3.38697838e-01 1.11576154e-02 1.13867871e+02] [ 3.38673619e-01 9.40895198e-01 -4.05052858e-03 -6.45264947e+01] [-1.18700520e-02 -3.20649294e-05 -9.99929548e-01 7.35007410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37088847899997 meters 0.015264971168071448 Centerline is valid? [True, True] Translation: X:113.88, Y:-64.50, Z:0.74 [[-9.62376347e-01 2.71471680e-01 1.16143572e-02 1.13876303e+02] [ 2.71451548e-01 9.62446428e-01 -3.30622651e-03 -6.45011758e+01] [-1.20757434e-02 -2.90989602e-05 -9.99927085e-01 7.35356214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40088847899997 meters 0.015227481334117198 Centerline is valid? [True, True] Translation: X:113.89, Y:-64.48, Z:0.74 [[-9.79058290e-01 2.03226943e-01 1.19864034e-02 1.13886895e+02] [ 2.03211455e-01 9.79131661e-01 -2.50902811e-03 -6.44772713e+01] [-1.22461692e-02 -2.07102962e-05 -9.99925013e-01 7.35773484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43088847899998 meters 0.015156233660424972 Centerline is valid? [True, True] Translation: X:113.89, Y:-64.45, Z:0.74 [[-9.91023796e-01 1.33166421e-01 1.17702972e-02 1.13891377e+02] [ 1.33156778e-01 9.91093691e-01 -1.60268205e-03 -6.44513300e+01] [-1.18788907e-02 -2.10012086e-05 -9.99929443e-01 7.35716748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46088847899998 meters 0.015062736010154718 Centerline is valid? [True, True] Translation: X:113.90, Y:-64.43, Z:0.73 [[-9.97978710e-01 6.23756099e-02 1.21563743e-02 1.13897638e+02] [ 6.23707041e-02 9.98052745e-01 -7.82618647e-04 -6.44257375e+01] [-1.21815190e-02 -2.28351257e-05 -9.99925802e-01 7.34610077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49088847899998 meters 0.014998665606217048 Centerline is valid? [True, True] Translation: X:113.94, Y:-63.62, Z:-0.15 [[-9.91100877e-01 -1.32567697e-01 1.20356732e-02 1.13936469e+02] [ 1.32558169e-01 -9.91173953e-01 -1.58947196e-03 -6.36170411e+01] [ 1.21401584e-02 2.00997457e-05 9.99926305e-01 -1.46182492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52088847899998 meters 0.014961044798455699 Centerline is valid? [True, True] Translation: X:113.81, Y:-64.42, Z:0.73 [[-9.98395773e-01 5.53813546e-02 1.17807092e-02 1.13808440e+02] [ 5.53771027e-02 9.98465275e-01 -6.87063152e-04 -6.44228262e+01] [-1.18006796e-02 -3.35794014e-05 -9.99930369e-01 7.33476145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55088847899998 meters 0.014857771765842569 Centerline is valid? [True, True] Translation: X:113.81, Y:-64.40, Z:0.73 [[-9.99804286e-01 -1.62733729e-02 1.12502030e-02 1.13809022e+02] [-1.62727753e-02 9.99867579e-01 1.44656058e-04 -6.43956419e+01] [-1.12510672e-02 -3.84442786e-05 -9.99936704e-01 7.32524678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58088847899998 meters 0.014701114751083212 Centerline is valid? [True, True] Translation: X:113.81, Y:-63.58, Z:-0.14 [[-9.98247872e-01 -5.83662296e-02 9.72469613e-03 1.13805781e+02] [ 5.83628026e-02 -9.98295236e-01 -6.36056934e-04 -6.35790501e+01] [ 9.74524207e-03 -6.73819601e-05 9.99952512e-01 -1.42870437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61088847899998 meters 0.0146632510454631 Centerline is valid? [True, True] Translation: X:113.71, Y:-64.40, Z:0.73 [[-9.99660100e-01 -2.43315856e-02 9.36257741e-03 1.13709000e+02] [-2.43309829e-02 9.99703942e-01 1.78285616e-04 -6.43982603e+01] [-9.36414352e-03 -4.95756949e-05 -9.99956154e-01 7.30898731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64088847899998 meters 0.01464310045204754 Centerline is valid? [True, True] Translation: X:113.71, Y:-64.37, Z:0.73 [[-9.95347646e-01 -9.59256748e-02 9.01820528e-03 1.13707672e+02] [-9.59222153e-02 9.95388498e-01 8.16360175e-04 -6.43716212e+01] [-9.05492771e-03 -5.24840499e-05 -9.99959002e-01 7.30450757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67088847899998 meters 0.014617738018192331 Centerline is valid? [True, True] Translation: X:113.70, Y:-64.35, Z:0.73 [[-9.85916330e-01 -1.67018821e-01 8.58504340e-03 1.13699836e+02] [-1.67012955e-01 9.85953706e-01 1.40085140e-03 -6.43455062e+01] [-8.69842391e-03 -5.26911913e-05 -9.99962167e-01 7.30243718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70088847899999 meters 0.014723488902642265 Centerline is valid? [True, True] Translation: X:113.67, Y:-64.32, Z:0.73 [[-9.71345776e-01 -2.37503633e-01 8.91112675e-03 1.13672245e+02] [-2.37494161e-01 9.71386649e-01 2.12183271e-03 -6.43234540e+01] [-9.16009253e-03 -5.53073325e-05 -9.99958044e-01 7.30877513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730888479 meters 0.014720501471549803 Centerline is valid? [True, True] Translation: X:113.62, Y:-64.31, Z:0.73 [[-9.51748751e-01 -3.06739927e-01 9.21581625e-03 1.13623903e+02] [-3.06726122e-01 9.51793367e-01 2.91072862e-03 -6.43098502e+01] [-9.66438946e-03 -5.64492480e-05 -9.99953297e-01 7.32827597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.760888479 meters 0.014582893367218092 Centerline is valid? [True, True] Translation: X:113.58, Y:-64.30, Z:0.73 [[-9.26346558e-01 -3.76549106e-01 9.63458303e-03 1.13582488e+02] [-3.76529397e-01 9.26396658e-01 3.85305534e-03 -6.42965265e+01] [-1.03763101e-02 -5.84391898e-05 -9.99946163e-01 7.33202972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790888479 meters 0.014579842060792826 Centerline is valid? [True, True] Translation: X:113.51, Y:-64.30, Z:0.73 [[-8.96007844e-01 -4.43934200e-01 9.61092521e-03 1.13512196e+02] [-4.43909312e-01 8.96059386e-01 4.70105531e-03 -6.42997459e+01] [-1.06989190e-02 -5.41967624e-05 -9.99942763e-01 7.32896448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.820888479 meters 0.014457941494464282 Centerline is valid? [True, True] Translation: X:113.43, Y:-64.31, Z:0.73 [[-8.60406294e-01 -5.09525991e-01 9.18007872e-03 1.13432842e+02] [-5.09497613e-01 8.60455264e-01 5.37777539e-03 -6.43118467e+01] [-1.06391634e-02 -5.01564054e-05 -9.99943401e-01 7.32788866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.850888479 meters 0.014364113225159361 Centerline is valid? [True, True] Translation: X:113.34, Y:-64.34, Z:0.73 [[-8.20623437e-01 -5.71401799e-01 8.78406907e-03 1.13343714e+02] [-5.71369477e-01 8.20670448e-01 6.07759018e-03 -6.43388776e+01] [-1.06815719e-02 -3.15360183e-05 -9.99942950e-01 7.32774546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.880888479 meters 0.014245809248260832 Centerline is valid? [True, True] Translation: X:113.26, Y:-64.37, Z:0.73 [[-7.75750732e-01 -6.30989001e-01 7.98015295e-03 1.13262393e+02] [-6.30955840e-01 7.75791776e-01 6.46900022e-03 -6.43668254e+01] [-1.02728050e-02 -1.67924539e-05 -9.99947233e-01 7.32116630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.910888479 meters 0.014185163024617682 Centerline is valid? [True, True] Translation: X:113.16, Y:-64.42, Z:0.73 [[-7.26329187e-01 -6.87310016e-01 7.13123271e-03 1.13163756e+02] [-6.87276969e-01 7.26364194e-01 6.73990750e-03 -6.44181583e+01] [-9.81227803e-03 -5.74046927e-06 -9.99951858e-01 7.31343043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.940888479 meters 0.014319445829093683 Centerline is valid? [True, True] Translation: X:113.08, Y:-64.47, Z:0.73 [[-6.73712741e-01 -7.38964885e-01 6.48393525e-03 1.13076971e+02] [-7.38930365e-01 6.73743941e-01 7.14267760e-03 -6.44715595e+01] [-9.64670002e-03 2.09362529e-05 -9.99953469e-01 7.32780618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.970888479 meters 0.014406062420526904 Centerline is valid? [True, True] Translation: X:112.99, Y:-64.53, Z:0.73 [[-6.16143513e-01 -7.87610771e-01 6.03700426e-03 1.12992149e+02] [-7.87572405e-01 6.16173086e-01 7.77401279e-03 -6.45317733e+01] [-9.84273575e-03 3.53295860e-05 -9.99951558e-01 7.32384926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00088847899997 meters 0.014292128835071765 Centerline is valid? [True, True] Translation: X:112.91, Y:-64.60, Z:0.73 [[-5.54820647e-01 -8.31953699e-01 5.20506045e-03 1.12910209e+02] [-8.31916309e-01 5.54845061e-01 7.88760269e-03 -6.45995588e+01] [-9.45012231e-03 4.60301582e-05 -9.99955346e-01 7.30711763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03088847899997 meters 0.014347448989890425 Centerline is valid? [True, True] Translation: X:112.82, Y:-64.69, Z:0.73 [[-4.90235364e-01 -8.71578879e-01 4.42109544e-03 1.12823499e+02] [-8.71542403e-01 4.90255296e-01 7.97399737e-03 -6.46908396e+01] [-9.11743314e-03 5.59633552e-05 -9.99958434e-01 7.30532325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06088847899997 meters 0.014602565418819807 Centerline is valid? [True, True] Translation: X:112.75, Y:-64.77, Z:0.73 [[-4.22954791e-01 -9.06141697e-01 4.05839066e-03 1.12751872e+02] [-9.06098244e-01 4.22974255e-01 8.87428437e-03 -6.47721883e+01] [-9.75795386e-03 7.61204382e-05 -9.99952387e-01 7.31332708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09088847899997 meters 0.014653092110071415 Centerline is valid? [True, True] Translation: X:112.68, Y:-64.87, Z:0.73 [[-3.51875322e-01 -9.36040097e-01 3.56301315e-03 1.12680536e+02] [-9.35989701e-01 3.51893351e-01 9.71331636e-03 -6.48714962e+01] [-1.03458542e-02 8.29327048e-05 -9.99946477e-01 7.32523996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12088847899997 meters 0.014680361416521006 Centerline is valid? [True, True] Translation: X:112.62, Y:-64.97, Z:0.73 [[-2.78411053e-01 -9.60457935e-01 2.80009332e-03 1.12618003e+02] [-9.60406315e-01 2.78425121e-01 9.95797111e-03 -6.49706617e+01] [-1.03438287e-02 8.31819226e-05 -9.99946498e-01 7.33027918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15088847899997 meters 0.014703990833667737 Centerline is valid? [True, True] Translation: X:112.56, Y:-65.09, Z:0.73 [[-2.03026345e-01 -9.79171190e-01 2.02080393e-03 1.12560206e+02] [-9.79118669e-01 2.03036385e-01 1.01418748e-02 -6.50893017e+01] [-1.03409284e-02 8.04609217e-05 -9.99946528e-01 7.33804383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18088847899998 meters 0.01475795272910759 Centerline is valid? [True, True] Translation: X:112.51, Y:-65.19, Z:0.73 [[-1.25209408e-01 -9.92129580e-01 1.22507774e-03 1.12514954e+02] [-9.92076752e-01 1.25215384e-01 1.02384581e-02 -6.51940438e+01] [-1.03112757e-02 6.65801300e-05 -9.99946835e-01 7.33817446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21088847899998 meters 0.014628779581834006 Centerline is valid? [True, True] Translation: X:112.48, Y:-65.32, Z:0.73 [[-4.69702621e-02 -9.98896206e-01 4.04357035e-04 1.12475683e+02] [-9.98848784e-01 4.69719723e-02 9.73347803e-03 -6.53243438e+01] [-9.74172772e-03 5.32924808e-05 -9.99952547e-01 7.33120893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24088847899998 meters 0.014594257776006108 Centerline is valid? [True, True] Translation: X:112.45, Y:-65.46, Z:0.73 [[ 3.15669857e-02 -9.99501581e-01 -3.39940236e-04 1.12446457e+02] [-9.99457021e-01 -3.15687883e-02 9.43789532e-03 -6.54622006e+01] [-9.44392280e-03 4.18297492e-05 -9.99955404e-01 7.33112756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27088847899998 meters 0.014357762438429797 Centerline is valid? [True, True] Translation: X:112.42, Y:-65.56, Z:0.73 [[ 1.11181020e-01 -9.93799676e-01 -9.92306393e-04 1.12421854e+02] [-9.93761668e-01 -1.11185447e-01 8.69156970e-03 -6.55583448e+01] [-8.74800918e-03 1.97784694e-05 -9.99961735e-01 7.32168038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30088847899998 meters 0.014447140561164518 Centerline is valid? [True, True] Translation: X:112.41, Y:-65.69, Z:0.73 [[ 1.89225656e-01 -9.81932293e-01 -1.61981078e-03 1.12411360e+02] [-9.81896622e-01 -1.89232589e-01 8.36967385e-03 -6.56851334e+01] [-8.52497402e-03 6.72970452e-06 -9.99963662e-01 7.32549879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33088847899998 meters 0.014377456121768651 Centerline is valid? [True, True] Translation: X:112.41, Y:-65.81, Z:0.73 [[ 2.66006550e-01 -9.63968828e-01 -2.14802277e-03 1.12409200e+02] [-9.63937261e-01 -2.66015222e-01 7.80114286e-03 -6.58064632e+01] [-8.09146530e-03 -4.59590446e-06 -9.99967264e-01 7.32649153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36088847899998 meters 0.014516675121382314 Centerline is valid? [True, True] Translation: X:112.42, Y:-65.93, Z:0.73 [[ 3.41742192e-01 -9.39790174e-01 -2.58896655e-03 1.12416024e+02] [-9.39762763e-01 -3.41751998e-01 7.17782686e-03 -6.59290561e+01] [-7.63043564e-03 -1.99519312e-05 -9.99970888e-01 7.32302928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39088847899998 meters 0.01440211140982721 Centerline is valid? [True, True] Translation: X:112.43, Y:-66.05, Z:0.73 [[ 4.13739463e-01 -9.10390453e-01 -2.97978194e-03 1.12434446e+02] [-9.10366455e-01 -4.13750193e-01 6.61020432e-03 -6.60508361e+01] [-7.25075226e-03 -2.22088673e-05 -9.99973713e-01 7.32053031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42088847899998 meters 0.014382738982441879 Centerline is valid? [True, True] Translation: X:112.46, Y:-66.17, Z:0.73 [[ 4.82818309e-01 -8.75713942e-01 -3.40174204e-03 1.12461086e+02] [-8.75691890e-01 -4.82830292e-01 6.21466382e-03 -6.61676631e+01] [-7.08473185e-03 -2.16755584e-05 -9.99974903e-01 7.31337069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45088847899999 meters 0.014325150135354429 Centerline is valid? [True, True] Translation: X:112.50, Y:-66.29, Z:0.73 [[ 5.48761027e-01 -8.35972350e-01 -3.40064444e-03 1.12503422e+02] [-8.35956093e-01 -5.48771564e-01 5.21366329e-03 -6.62949520e+01] [-6.22465532e-03 -1.82657814e-05 -9.99980626e-01 7.30870664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.480888479 meters 0.014319199740028179 Centerline is valid? [True, True] Translation: X:112.55, Y:-66.40, Z:0.73 [[ 6.11578994e-01 -7.91174947e-01 -3.65210814e-03 1.12545617e+02] [-7.91160666e-01 -6.11589898e-01 4.75367109e-03 -6.64036866e+01] [-5.99457792e-03 -1.78410732e-05 -9.99982032e-01 7.30905042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510888479 meters 0.014317963235262335 Centerline is valid? [True, True] Translation: X:112.59, Y:-66.50, Z:0.73 [[ 6.70318266e-01 -7.42063533e-01 -3.89048913e-03 1.12589962e+02] [-7.42050903e-01 -6.70329555e-01 4.32942606e-03 -6.65002492e+01] [-5.82061904e-03 -1.51523937e-05 -9.99983060e-01 7.29978688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.540888479 meters 0.014295001771155816 Centerline is valid? [True, True] Translation: X:112.65, Y:-66.60, Z:0.73 [[ 7.24858883e-01 -6.88886360e-01 -3.89640348e-03 1.12645040e+02] [-6.88876322e-01 -7.24869355e-01 3.71893414e-03 -6.65968636e+01] [-5.38630648e-03 -1.15623478e-05 -9.99985494e-01 7.30001460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.570888479 meters 0.014326891110434753 Centerline is valid? [True, True] Translation: X:112.64, Y:-66.61, Z:0.73 [[ 7.75578289e-01 -6.31237768e-01 -4.14700789e-03 1.12640183e+02] [-6.31228713e-01 -7.75589376e-01 3.38101948e-03 -6.66050390e+01] [-5.35060245e-03 -4.53484777e-06 -9.99985685e-01 7.29589634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.600888479 meters 0.014399128583034295 Centerline is valid? [True, True] Translation: X:112.63, Y:-66.61, Z:0.73 [[ 8.21870439e-01 -5.69655686e-01 -4.62387817e-03 1.12633961e+02] [-5.69646683e-01 -8.21883446e-01 3.20262521e-03 -6.66136894e+01] [-5.62468258e-03 1.83386888e-06 -9.99984181e-01 7.30295047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.630888479 meters 0.014513745058682304 Centerline is valid? [True, True] Translation: X:112.63, Y:-66.62, Z:0.73 [[ 8.62930538e-01 -5.05294356e-01 -5.33864151e-03 1.12627048e+02] [-5.05284787e-01 -8.62947051e-01 3.10968976e-03 -6.66222031e+01] [-6.17827364e-03 1.40880823e-05 -9.99980914e-01 7.31404827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.660888479 meters 0.014705008631327423 Centerline is valid? [True, True] Translation: X:112.62, Y:-66.63, Z:0.73 [[ 8.99294554e-01 -4.37303614e-01 -5.90376791e-03 1.12620099e+02] [-4.37294355e-01 -8.99313932e-01 2.84580175e-03 -6.66280669e+01] [-6.55382012e-03 2.24703615e-05 -9.99978523e-01 7.31470143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.690888479 meters 0.014689418702813298 Centerline is valid? [True, True] Translation: X:112.62, Y:-66.64, Z:0.73 [[ 9.30320541e-01 -3.66700157e-01 -5.88949209e-03 1.12615153e+02] [-3.66693005e-01 -9.30339182e-01 2.29042283e-03 -6.66353749e+01] [-6.31912367e-03 2.88081493e-05 -9.99980034e-01 7.31005631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.720888479 meters 0.014689418702813298 Centerline is valid? [True, True] Translation: X:112.61, Y:-66.64, Z:0.73 [[ 9.56130841e-01 -2.92877464e-01 -6.05032031e-03 1.12610024e+02] [-2.92871791e-01 -9.56149983e-01 1.82312393e-03 -6.66435861e+01] [-6.31896558e-03 2.88231274e-05 -9.99980035e-01 7.31003984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75088847899997 meters 0.014888504020571344 Centerline is valid? [True, True] Translation: X:112.61, Y:-66.65, Z:0.73 [[ 9.75798304e-01 -2.18592228e-01 -5.92509735e-03 1.12605903e+02] [-2.18588424e-01 -9.75816292e-01 1.29016380e-03 -6.66513923e+01] [-6.06382631e-03 3.62180471e-05 -9.99981614e-01 7.30552998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78088847899997 meters 0.015226413731083318 Centerline is valid? [True, True] Translation: X:112.60, Y:-66.66, Z:0.73 [[ 9.89423950e-01 -1.44950016e-01 -5.45342986e-03 1.12597939e+02] [-1.44948101e-01 -9.89438977e-01 7.47022133e-04 -6.66572609e+01] [-5.50411693e-03 5.13427105e-05 -9.99984851e-01 7.30223981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81088847899997 meters 0.015510305166823163 Centerline is valid? [True, True] Translation: X:112.59, Y:-66.66, Z:0.73 [[ 9.97615405e-01 -6.87995939e-02 -5.48807386e-03 1.12591278e+02] [-6.87988888e-02 -9.97630499e-01 3.17384260e-04 -6.66647675e+01] [-5.49690577e-03 6.09459559e-05 -9.99984890e-01 7.30587047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84088847899997 meters 0.01598921774510966 Centerline is valid? [True, True] Translation: X:112.58, Y:-66.67, Z:0.73 [[ 9.99954145e-01 7.66703207e-03 -5.73796643e-03 1.12583881e+02] [ 7.66647755e-03 -9.99970605e-01 -1.18629632e-04 -6.66705914e+01] [-5.73870730e-03 7.46342011e-05 -9.99983531e-01 7.31201075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87088847899997 meters 0.0167430843415393 Centerline is valid? [True, True] Translation: X:112.58, Y:-66.68, Z:0.73 [[ 9.96575491e-01 8.24892447e-02 -5.72837557e-03 1.12578576e+02] [ 8.24873350e-02 -9.96591950e-01 -5.69235226e-04 -6.66761885e+01] [-5.75580876e-03 9.47674399e-05 -9.99983431e-01 7.31571789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90088847899997 meters 0.016868415643223156 Centerline is valid? [True, True] Translation: X:112.57, Y:-66.68, Z:0.73 [[ 9.87267867e-01 1.58957952e-01 -5.87604084e-03 1.12573788e+02] [ 1.58954496e-01 -9.87285348e-01 -1.05354235e-03 -6.66832389e+01] [-5.96879796e-03 1.06105398e-04 -9.99982181e-01 7.30856323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93088847899998 meters 0.017197508511425715 Centerline is valid? [True, True] Translation: X:112.57, Y:-66.69, Z:0.73 [[ 9.72018315e-01 2.34842790e-01 -5.40913951e-03 1.12569387e+02] [ 2.34838554e-01 -9.72033360e-01 -1.41427399e-03 -6.66904156e+01] [-5.58999610e-03 1.04425721e-04 -9.99984370e-01 7.30680259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96088847899998 meters 0.017262966267348683 Centerline is valid? [True, True] Translation: X:112.57, Y:-66.70, Z:0.73 [[ 9.50920950e-01 3.09388868e-01 -5.27969467e-03 1.12566815e+02] [ 3.09383460e-01 -9.50935601e-01 -1.83246170e-03 -6.67017657e+01] [-5.58759287e-03 1.09076012e-04 -9.99984383e-01 7.30929307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99088847899998 meters 0.017936507336822703 Centerline is valid? [True, True] Translation: X:112.56, Y:-66.71, Z:0.73 [[ 9.23695830e-01 3.83092471e-01 -5.11592460e-03 1.12563177e+02] [ 3.83085947e-01 -9.23709991e-01 -2.23831769e-03 -6.67105439e+01] [-5.58311332e-03 1.07685892e-04 -9.99984409e-01 7.31765469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02088847899998 meters 0.018015582042004704 Centerline is valid? [True, True] Translation: X:112.56, Y:-66.72, Z:0.73 [[ 8.90603157e-01 4.54758904e-01 -4.51175260e-03 1.12558992e+02] [ 4.54752525e-01 -8.90614580e-01 -2.41060177e-03 -6.67163150e+01] [-5.11447526e-03 9.51586585e-05 -9.99986916e-01 7.31494123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05088847899998 meters 0.016520170686989345 Centerline is valid? [True, True] Translation: X:112.56, Y:-66.73, Z:0.73 [[ 8.51927089e-01 5.23646253e-01 -3.85197881e-03 1.12561204e+02] [ 5.23640464e-01 -8.51935793e-01 -2.46352258e-03 -6.67313869e+01] [-4.57165299e-03 8.16896469e-05 -9.99989547e-01 7.30004973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08088847899998 meters 0.01616031312449841 Centerline is valid? [True, True] Translation: X:112.56, Y:-66.75, Z:0.73 [[ 8.07448199e-01 5.89932857e-01 -2.57499456e-03 1.12564282e+02] [ 5.89929652e-01 -8.07452303e-01 -1.94526809e-03 -6.67456683e+01] [-3.22676285e-03 5.16375689e-05 -9.99994793e-01 7.28167719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11088847899998 meters 0.016120146061549115 Centerline is valid? [True, True] Translation: X:112.57, Y:-66.76, Z:0.73 [[ 7.58356938e-01 6.51834714e-01 -2.50189080e-03 1.12567753e+02] [ 6.51830942e-01 -7.58361063e-01 -2.21820709e-03 -6.67579734e+01] [-3.34324095e-03 5.13828953e-05 -9.99994410e-01 7.27772756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14088847899998 meters 0.015949691115782476 Centerline is valid? [True, True] Translation: X:112.57, Y:-66.77, Z:0.73 [[ 7.03705311e-01 7.10486821e-01 -2.70413289e-03 1.12573651e+02] [ 7.10481282e-01 -7.03710504e-01 -2.80603275e-03 -6.67718351e+01] [-3.89657601e-03 5.33843484e-05 -9.99992407e-01 7.28418350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17088847899998 meters 0.015744159581675726 Centerline is valid? [True, True] Translation: X:112.58, Y:-66.78, Z:0.73 [[ 6.44993261e-01 7.64184448e-01 -2.41291681e-03 1.12577361e+02] [ 7.64178823e-01 -6.44997773e-01 -2.93239411e-03 -6.67839839e+01] [-3.79721594e-03 4.74745124e-05 -9.99992789e-01 7.28555823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20088847899999 meters 0.015526459580789123 Centerline is valid? [True, True] Translation: X:112.58, Y:-66.80, Z:0.73 [[ 5.82076803e-01 8.13131607e-01 -1.89358270e-03 1.12583143e+02] [ 8.13127099e-01 -5.82079882e-01 -2.70770832e-03 -6.67955286e+01] [-3.30393960e-03 3.63707957e-05 -9.99994541e-01 7.28549543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230888479 meters 0.015292038568951184 Centerline is valid? [True, True] Translation: X:112.59, Y:-66.81, Z:0.73 [[ 5.15290506e-01 8.57014069e-01 -1.60618025e-03 1.12591427e+02] [ 8.57009723e-01 -5.15293009e-01 -2.72933045e-03 -6.68072401e+01] [-3.16672805e-03 2.98859783e-05 -9.99994985e-01 7.28223393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.260888479 meters 0.015041875085450447 Centerline is valid? [True, True] Translation: X:112.60, Y:-66.82, Z:0.73 [[ 4.43421544e-01 8.96312593e-01 -1.03471898e-03 1.12600856e+02] [ 8.96310084e-01 -4.43422751e-01 -2.12079911e-03 -6.68196241e+01] [-2.35971689e-03 1.29789625e-05 -9.99997216e-01 7.28271108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290888479 meters 0.014924755856947853 Centerline is valid? [True, True] Translation: X:112.61, Y:-66.83, Z:0.73 [[ 3.69957130e-01 9.29048280e-01 -1.00778883e-03 1.12610034e+02] [ 9.29044758e-01 -3.69958502e-01 -2.55825415e-03 -6.68292118e+01] [-2.74958166e-03 1.01634327e-05 -9.99996220e-01 7.28354702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.320888479 meters 0.014849621281254336 Centerline is valid? [True, True] Translation: X:112.62, Y:-66.84, Z:0.73 [[ 2.92149809e-01 9.56371967e-01 -1.07195177e-03 1.12620291e+02] [ 9.56365531e-01 -2.92151776e-01 -3.50870663e-03 -6.68390385e+01] [-3.66880127e-03 -1.09749758e-07 -9.99993270e-01 7.29734027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.350888479 meters 0.01475793531882107 Centerline is valid? [True, True] Translation: X:112.63, Y:-66.85, Z:0.73 [[ 2.14262822e-01 9.76775591e-01 -9.42237257e-04 1.12628731e+02] [ 9.76766322e-01 -2.14264894e-01 -4.25530156e-03 -6.68458556e+01] [-4.35836306e-03 -8.59269862e-06 -9.99990502e-01 7.29940534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.380888479 meters 0.014861160780114692 Centerline is valid? [True, True] Translation: X:112.64, Y:-66.85, Z:0.73 [[ 1.35354218e-01 9.90797052e-01 -6.61664136e-04 1.12637037e+02] [ 9.90785831e-01 -1.35355834e-01 -4.71543438e-03 -6.68527321e+01] [-4.76159858e-03 -1.73135202e-05 -9.99988663e-01 7.30625250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.410888479 meters 0.01490317040073756 Centerline is valid? [True, True] Translation: X:112.65, Y:-66.86, Z:0.73 [[ 5.50867027e-02 9.98481517e-01 -3.38801495e-04 1.12649819e+02] [ 9.98466046e-01 -5.50877352e-02 -5.55837893e-03 -6.68584917e+01] [-5.56860244e-03 -3.20890210e-05 -9.99984495e-01 7.31102792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.440888479 meters 0.014927506354457961 Centerline is valid? [True, True] Translation: X:112.66, Y:-66.86, Z:0.73 [[-2.35866332e-02 9.99721792e-01 1.00566170e-04 1.12660390e+02] [ 9.99705436e-01 2.35868226e-02 -5.71861793e-03 -6.68635711e+01] [-5.71939900e-03 -3.43463968e-05 -9.99983644e-01 7.31492354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.470888479 meters 0.01496530266058202 Centerline is valid? [True, True] Translation: X:112.67, Y:-66.87, Z:0.73 [[-1.01714083e-01 9.94813504e-01 5.80865563e-04 1.12669207e+02] [ 9.94795234e-01 1.01715735e-01 -6.02915927e-03 -6.68683956e+01] [-6.05697223e-03 -3.54081124e-05 -9.99981656e-01 7.31758298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50088847899997 meters 0.015071306905717861 Centerline is valid? [True, True] Translation: X:112.68, Y:-66.87, Z:0.73 [[-1.78344565e-01 9.83967575e-01 1.01364133e-03 1.12678419e+02] [ 9.83950761e-01 1.78347443e-01 -5.75242863e-03 -6.68718042e+01] [-5.84098359e-03 -2.85412220e-05 -9.99982941e-01 7.30623837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53088847899997 meters 0.015008656142802695 Centerline is valid? [True, True] Translation: X:112.69, Y:-66.87, Z:0.73 [[-2.54257727e-01 9.67135545e-01 1.35858285e-03 1.12687960e+02] [ 9.67121244e-01 2.54261356e-01 -5.25951673e-03 -6.68741720e+01] [-5.43210070e-03 -2.33584328e-05 -9.99985246e-01 7.30229862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56088847899997 meters 0.015021139526500662 Centerline is valid? [True, True] Translation: X:112.70, Y:-66.88, Z:0.73 [[-3.28993956e-01 9.44330325e-01 1.79295242e-03 1.12697856e+02] [ 9.44315929e-01 3.28998841e-01 -5.21422535e-03 -6.68761868e+01] [-5.51383039e-03 -2.23350914e-05 -9.99984798e-01 7.30113931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59088847899997 meters 0.015057657974840908 Centerline is valid? [True, True] Translation: X:112.71, Y:-66.88, Z:0.73 [[-4.01932507e-01 9.15666185e-01 2.38688209e-03 1.12708271e+02] [ 9.15649690e-01 4.01939593e-01 -5.49625721e-03 -6.68781353e+01] [-5.99211929e-03 -2.35765944e-05 -9.99982047e-01 7.30209062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62088847899997 meters 0.015007225793984795 Centerline is valid? [True, True] Translation: X:112.72, Y:-66.88, Z:0.73 [[-4.72856178e-01 8.81135013e-01 2.85018494e-03 1.12717943e+02] [ 8.81118665e-01 4.72864767e-01 -5.36744583e-03 -6.68787896e+01] [-6.07719649e-03 -2.66787684e-05 -9.99981533e-01 7.30763266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65088847899997 meters 0.015086903820644067 Centerline is valid? [True, True] Translation: X:112.73, Y:-66.88, Z:0.73 [[-5.40964377e-01 8.41039513e-01 3.17484771e-03 1.12727170e+02] [ 8.41024704e-01 5.40973693e-01 -4.99110325e-03 -6.68791190e+01] [-5.91522414e-03 -2.98837094e-05 -9.99982504e-01 7.30924649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68088847899998 meters 0.015264408063560598 Centerline is valid? [True, True] Translation: X:112.74, Y:-66.88, Z:0.73 [[-6.05600852e-01 7.95761523e-01 3.34776342e-03 1.12736526e+02] [ 7.95749077e-01 6.05610104e-01 -4.45069816e-03 -6.68773512e+01] [-5.56913370e-03 -3.13669383e-05 -9.99984492e-01 7.30636875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71088847899998 meters 0.015184475747774323 Centerline is valid? [True, True] Translation: X:112.75, Y:-66.88, Z:0.73 [[-6.66179905e-01 7.45782314e-01 3.61572526e-03 1.12746275e+02] [ 7.45771073e-01 6.66189717e-01 -4.09492887e-03 -6.68754979e+01] [-5.46268452e-03 -3.14560206e-05 -9.99985079e-01 7.30986140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74088847899998 meters 0.015132134424493975 Centerline is valid? [True, True] Translation: X:112.75, Y:-66.88, Z:0.73 [[-7.22521724e-01 6.91337245e-01 3.89500692e-03 1.12752379e+02] [ 6.91326968e-01 7.22532222e-01 -3.76981376e-03 -6.68760420e+01] [-5.42048067e-03 -3.10490142e-05 -9.99985309e-01 7.30891632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77088847899998 meters 0.015136525595707067 Centerline is valid? [True, True] Translation: X:112.77, Y:-66.86, Z:0.73 [[-7.69123258e-01 6.39083951e-01 4.59536880e-03 1.12774535e+02] [ 6.39072319e-01 7.69136986e-01 -3.85586495e-03 -6.68619461e+01] [-5.99868951e-03 -2.88624157e-05 -9.99982007e-01 7.30001670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80088847899998 meters 0.014996948003490135 Centerline is valid? [True, True] Translation: X:113.27, Y:-66.29, Z:-0.14 [[-7.19118872e-01 -6.94873901e-01 4.27894045e-03 1.13270201e+02] [ 6.94861801e-01 -7.19131602e-01 -4.10078748e-03 -6.62855260e+01] [ 5.92665149e-03 2.43186034e-05 9.99982437e-01 -1.42160453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83088847899998 meters 0.014955461382997118 Centerline is valid? [True, True] Translation: X:112.74, Y:-66.84, Z:0.73 [[-7.70075573e-01 6.37936860e-01 4.49158923e-03 1.12741311e+02] [ 6.37925885e-01 7.70088672e-01 -3.74202315e-03 -6.68382189e+01] [-5.84609648e-03 -1.63395834e-05 -9.99982911e-01 7.29921932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86088847899998 meters 0.014968827420914921 Centerline is valid? [True, True] Translation: X:112.76, Y:-66.82, Z:0.73 [[-8.13016032e-01 5.82220648e-01 4.90399362e-03 1.12762312e+02] [ 5.82209951e-01 8.13030821e-01 -3.52938528e-03 -6.68202787e+01] [-6.04197895e-03 -1.42929303e-05 -9.99981747e-01 7.29793263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89088847899998 meters 0.014975495740468333 Centerline is valid? [True, True] Translation: X:112.78, Y:-66.80, Z:0.73 [[-8.52017807e-01 5.23486890e-01 5.20901921e-03 1.12780724e+02] [ 5.23477008e-01 8.52033730e-01 -3.21647829e-03 -6.68002325e+01] [-6.12204428e-03 -1.36949852e-05 -9.99981260e-01 7.29333290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92088847899998 meters 0.014993871135281292 Centerline is valid? [True, True] Translation: X:112.80, Y:-66.78, Z:0.73 [[-8.86636232e-01 4.62432722e-01 5.67188511e-03 1.12799704e+02] [ 4.62423187e-01 8.86654373e-01 -2.96965542e-03 -6.67798142e+01] [-6.40226757e-03 -1.01929083e-05 -9.99979505e-01 7.29506606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95088847899999 meters 0.015064315470515946 Centerline is valid? [True, True] Translation: X:112.81, Y:-66.76, Z:0.73 [[-9.17137916e-01 3.98529071e-01 5.71159814e-03 1.12814759e+02] [ 3.98521277e-01 9.17155701e-01 -2.49239478e-03 -6.67561949e+01] [-6.23171657e-03 -9.67637338e-06 -9.99980583e-01 7.29658082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.980888479 meters 0.015030898207796215 Centerline is valid? [True, True] Translation: X:112.83, Y:-66.73, Z:0.73 [[-9.42866524e-01 3.33111860e-01 6.26149575e-03 1.12827641e+02] [ 3.33104468e-01 9.42887315e-01 -2.21925074e-03 -6.67318325e+01] [-6.64314366e-03 -6.72502488e-06 -9.99977934e-01 7.29660524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010888479 meters 0.015046061706114543 Centerline is valid? [True, True] Translation: X:112.83, Y:-66.71, Z:0.73 [[-9.63937399e-01 2.66042618e-01 6.78349179e-03 1.12833051e+02] [ 2.66036011e-01 9.63961268e-01 -1.87489345e-03 -6.67050454e+01] [-7.03782491e-03 -2.62682390e-06 -9.99975234e-01 7.30419953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.040888479 meters 0.015310246414918773 Centerline is valid? [True, True] Translation: X:112.85, Y:-66.68, Z:0.73 [[-9.80060568e-01 1.98557717e-01 7.49104832e-03 1.12850824e+02] [ 1.98551991e-01 9.80089196e-01 -1.50788891e-03 -6.66832020e+01] [-7.64129851e-03 9.54009598e-06 -9.99970805e-01 7.30872302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.070888479 meters 0.015394287527452418 Centerline is valid? [True, True] Translation: X:112.85, Y:-66.66, Z:0.73 [[-9.91521871e-01 1.29723806e-01 7.49090482e-03 1.12854430e+02] [ 1.29720248e-01 9.91550167e-01 -9.60988399e-04 -6.66567011e+01] [-7.55227100e-03 1.88810129e-05 -9.99971481e-01 7.30022344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.100888479 meters 0.015616978997759542 Centerline is valid? [True, True] Translation: X:112.96, Y:-65.88, Z:-0.14 [[-9.82108327e-01 -1.88173688e-01 7.34142612e-03 1.12963764e+02] [ 1.88168254e-01 -9.82135766e-01 -1.43021312e-03 -6.58824979e+01] [ 7.47940564e-03 -2.32008789e-05 9.99972029e-01 -1.42057475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.130888479 meters 0.01571612090009863 Centerline is valid? [True, True] Translation: X:112.79, Y:-66.65, Z:0.73 [[-9.91709288e-01 1.28267390e-01 7.75658243e-03 1.12794143e+02] [ 1.28263810e-01 9.91739620e-01 -9.59362181e-04 -6.66527147e+01] [-7.81556500e-03 4.34804268e-05 -9.99969457e-01 7.29353778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.160888479 meters 0.015843770698622237 Centerline is valid? [True, True] Translation: X:112.79, Y:-66.63, Z:0.73 [[-9.98287048e-01 5.80031274e-02 7.65552092e-03 1.12792607e+02] [ 5.80017769e-02 9.98316400e-01 -3.98506663e-04 -6.66253377e+01] [-7.66574672e-03 4.62097759e-05 -9.99970617e-01 7.29398335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.190888479 meters 0.016097866749333792 Centerline is valid? [True, True] Translation: X:112.84, Y:-65.84, Z:-0.14 [[-9.93698180e-01 -1.11830327e-01 7.60951116e-03 1.12842872e+02] [ 1.11826691e-01 -9.93727315e-01 -9.03021382e-04 -6.58389638e+01] [ 7.66276426e-03 -4.63842543e-05 9.99970640e-01 -1.41947428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.220888479 meters 0.016252236385117046 Centerline is valid? [True, True] Translation: X:112.72, Y:-66.62, Z:0.73 [[-9.98560987e-01 5.30065915e-02 8.13980483e-03 1.12717191e+02] [ 5.30052539e-02 9.98594161e-01 -3.80117625e-04 -6.66224048e+01] [-8.14851032e-03 5.18817912e-05 -9.99966799e-01 7.29859475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25088847899997 meters 0.016510238166216586 Centerline is valid? [True, True] Translation: X:112.71, Y:-66.60, Z:0.73 [[-9.99798961e-01 -1.81681263e-02 8.48269669e-03 1.12713210e+02] [-1.81670178e-02 9.99834945e-01 2.07724504e-04 -6.65961379e+01] [-8.48507054e-03 5.35774419e-05 -9.99964000e-01 7.31336866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28088847899997 meters 0.016383410266429973 Centerline is valid? [True, True] Translation: X:112.71, Y:-66.57, Z:0.73 [[-9.95887747e-01 -9.00425291e-02 9.99686772e-03 1.12714989e+02] [-9.00374155e-02 9.95937920e-01 9.61312865e-04 -6.65686658e+01] [-1.00428187e-02 5.72675711e-05 -9.99949568e-01 7.30909630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31088847899997 meters 0.016302081757715706 Centerline is valid? [True, True] Translation: X:112.70, Y:-66.54, Z:0.73 [[-9.86849556e-01 -1.61309378e-01 1.03555991e-02 1.12698994e+02] [-1.61299901e-01 9.86903887e-01 1.74942355e-03 -6.65429226e+01] [-1.05021794e-02 5.60607340e-05 -9.99944849e-01 7.30771360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34088847899997 meters 0.016232793451310675 Centerline is valid? [True, True] Translation: X:112.55, Y:-65.76, Z:-0.14 [[-9.94423028e-01 1.04971006e-01 1.01945510e-02 1.12546993e+02] [-1.04966233e-01 -9.94475280e-01 1.00368251e-03 -6.57613463e+01] [ 1.02435865e-02 -7.19986139e-05 9.99947531e-01 -1.42809377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37088847899997 meters 0.0161798101641757 Centerline is valid? [True, True] Translation: X:112.56, Y:-66.57, Z:0.73 [[-9.85449343e-01 -1.69685696e-01 9.81617760e-03 1.12557062e+02] [-1.69676883e-01 9.85498231e-01 1.72986447e-03 -6.65675409e+01] [-9.96735891e-03 3.91153930e-05 -9.99950324e-01 7.29860979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40088847899997 meters 0.016344105804631172 Centerline is valid? [True, True] Translation: X:112.40, Y:-65.78, Z:-0.14 [[-9.93858961e-01 1.10228614e-01 9.69629907e-03 1.12397344e+02] [-1.10223888e-01 -9.93906258e-01 1.02213296e-03 -6.57831752e+01] [ 9.74988062e-03 -5.29077780e-05 9.99952467e-01 -1.42132688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43088847899998 meters 0.016328482029644053 Centerline is valid? [True, True] Translation: X:112.41, Y:-66.59, Z:0.73 [[-9.83714786e-01 -1.79480228e-01 9.59514805e-03 1.12409530e+02] [-1.79471594e-01 9.83761581e-01 1.76047772e-03 -6.65941432e+01] [-9.75530895e-03 9.75145421e-06 -9.99952416e-01 7.29931083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46088847899998 meters 0.016382069706984186 Centerline is valid? [True, True] Translation: X:112.38, Y:-66.57, Z:0.73 [[-9.67816119e-01 -2.51464618e-01 9.87450446e-03 1.12381100e+02] [-2.51451610e-01 9.67866492e-01 2.55775203e-03 -6.65727001e+01] [-1.02003861e-02 -7.52639918e-06 -9.99947975e-01 7.29683534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49088847899998 meters 0.01646830200193346 Centerline is valid? [True, True] Translation: X:112.33, Y:-66.56, Z:0.73 [[-9.46051967e-01 -3.23864376e-01 9.87628740e-03 1.12328226e+02] [-3.23847042e-01 9.46103517e-01 3.35083329e-03 -6.65597874e+01] [-1.04292058e-02 -2.83440399e-05 -9.99945614e-01 7.29695603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52088847899998 meters 0.01647733634821923 Centerline is valid? [True, True] Translation: X:112.27, Y:-66.55, Z:0.73 [[-9.18878221e-01 -3.94425753e-01 9.54677027e-03 1.12266204e+02] [-3.94404978e-01 9.18927812e-01 4.04839546e-03 -6.65531675e+01] [-1.03695841e-02 -4.53112985e-05 -9.99946233e-01 7.29748676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55088847899998 meters 0.01657505078288134 Centerline is valid? [True, True] Translation: X:112.19, Y:-66.56, Z:0.73 [[-8.85491846e-01 -4.64565071e-01 9.13699745e-03 1.12191682e+02] [-4.64541255e-01 8.85538982e-01 4.70469864e-03 -6.65567004e+01] [-1.02768061e-02 -7.85399750e-05 -9.99947189e-01 7.29903954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58088847899998 meters 0.016512275896103754 Centerline is valid? [True, True] Translation: X:112.11, Y:-66.57, Z:0.73 [[-8.47596484e-01 -5.30564400e-01 9.03428310e-03 1.12110648e+02] [-5.30535444e-01 8.47644624e-01 5.54382532e-03 -6.65710408e+01] [-1.05992179e-02 -9.40805517e-05 -9.99943822e-01 7.29676275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61088847899998 meters 0.016748440859110432 Centerline is valid? [True, True] Translation: X:112.00, Y:-66.61, Z:0.73 [[-8.04978765e-01 -5.93241433e-01 8.59008035e-03 1.12002673e+02] [-5.93209030e-01 8.05024591e-01 6.20125880e-03 -6.66108477e+01] [-1.05940696e-02 -1.03831571e-04 -9.99943876e-01 7.30106884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64088847899998 meters 0.016748440859110432 Centerline is valid? [True, True] Translation: X:111.92, Y:-66.64, Z:0.73 [[-7.57709420e-01 -6.52541877e-01 8.09536124e-03 1.11916399e+02] [-6.52506095e-01 7.57752657e-01 6.83429488e-03 -6.66439721e+01] [-1.05939451e-02 -1.03862945e-04 -9.99943877e-01 7.30101669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67088847899998 meters 0.016480650152601185 Centerline is valid? [True, True] Translation: X:111.85, Y:-66.67, Z:0.73 [[-7.05244020e-01 -7.08923139e-01 7.67172715e-03 1.11852384e+02] [-7.08882912e-01 7.05285737e-01 7.55295660e-03 -6.66705304e+01] [-1.07652254e-02 -1.11678807e-04 -9.99942047e-01 7.28756437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70088847899999 meters 0.01656058375376152 Centerline is valid? [True, True] Translation: X:111.77, Y:-66.72, Z:0.73 [[-6.49092669e-01 -7.60676111e-01 7.11061543e-03 1.11766854e+02] [-7.60632353e-01 6.49131606e-01 8.15976169e-03 -6.67227005e+01] [-1.08226610e-02 -1.12122652e-04 -9.99941427e-01 7.29095707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730888479 meters 0.016495614740414253 Centerline is valid? [True, True] Translation: X:111.68, Y:-66.79, Z:0.73 [[-5.89522688e-01 -8.07725790e-01 6.48449623e-03 1.11680862e+02] [-8.07678882e-01 5.89558341e-01 8.70558112e-03 -6.67879643e+01] [-1.08547112e-02 -1.05253086e-04 -9.99941080e-01 7.29398940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.760888479 meters 0.016354134814352456 Centerline is valid? [True, True] Translation: X:111.60, Y:-66.87, Z:0.73 [[-5.27131890e-01 -8.49763496e-01 5.82854366e-03 1.11598769e+02] [-8.49713404e-01 5.27164105e-01 9.22703403e-03 -6.68674628e+01] [-1.09133957e-02 -8.87277825e-05 -9.99940443e-01 7.28350249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790888479 meters 0.01632707243477832 Centerline is valid? [True, True] Translation: X:111.53, Y:-66.94, Z:0.73 [[-4.61059753e-01 -8.87354906e-01 5.01737904e-03 1.11525361e+02] [-8.87304158e-01 4.61087046e-01 9.49039679e-03 -6.69430470e+01] [-1.07347986e-02 -7.63012849e-05 -9.99942377e-01 7.27978631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.820888479 meters 0.016151856484702905 Centerline is valid? [True, True] Translation: X:111.45, Y:-67.05, Z:0.73 [[-3.92571335e-01 -9.19713106e-01 3.94319370e-03 1.11449635e+02] [-9.19668170e-01 3.92591134e-01 9.09166717e-03 -6.70450005e+01] [-9.90978834e-03 -5.73018126e-05 -9.99950895e-01 7.27697502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.850888479 meters 0.016045925144890394 Centerline is valid? [True, True] Translation: X:111.38, Y:-67.15, Z:0.73 [[-3.20480578e-01 -9.47249687e-01 3.19841381e-03 1.11378889e+02] [-9.47204248e-01 3.20496533e-01 9.27814201e-03 -6.71549903e+01] [-9.81379765e-03 -5.60868299e-05 -9.99951842e-01 7.27356554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.880888479 meters 0.015902257284118874 Centerline is valid? [True, True] Translation: X:111.32, Y:-67.26, Z:0.73 [[-2.46920358e-01 -9.69032807e-01 2.39896445e-03 1.11321545e+02] [-9.68988938e-01 2.46932007e-01 9.22073595e-03 -6.72569126e+01] [-9.52757675e-03 -4.77825863e-05 -9.99954610e-01 7.27967487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.910888479 meters 0.01583356199645993 Centerline is valid? [True, True] Translation: X:111.28, Y:-67.35, Z:0.73 [[-1.71531764e-01 -9.85177150e-01 1.68460067e-03 1.11275256e+02] [-9.85132093e-01 1.71540031e-01 9.42218427e-03 -6.73471536e+01] [-9.57149709e-03 -4.33502888e-05 -9.99954191e-01 7.27004606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.940888479 meters 0.015750206761569328 Centerline is valid? [True, True] Translation: X:111.23, Y:-67.46, Z:0.73 [[-9.56478758e-02 -9.95414767e-01 9.61723788e-04 1.11232631e+02] [-9.95367979e-01 9.56527046e-02 9.65119832e-03 -6.74595055e+01] [-9.69893681e-03 -3.41524452e-05 -9.99952964e-01 7.28126966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.970888479 meters 0.015660065194992898 Centerline is valid? [True, True] Translation: X:111.20, Y:-67.58, Z:0.73 [[-2.08342416e-02 -9.99782916e-01 2.34167238e-04 1.11201399e+02] [-9.99724612e-01 2.08355556e-02 1.07971695e-02 -6.75814374e+01] [-1.07997047e-02 -9.15191163e-06 -9.99941681e-01 7.27675632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00088847899997 meters 0.015561214275782085 Centerline is valid? [True, True] Translation: X:111.18, Y:-67.70, Z:0.73 [[ 5.56472472e-02 -9.98450309e-01 -6.03928050e-04 1.11177409e+02] [-9.98392155e-01 -5.56505242e-02 1.07760504e-02 -6.76995024e+01] [-1.07929598e-02 3.29948565e-06 -9.99941754e-01 7.25584815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03088847899997 meters 0.01550799839819753 Centerline is valid? [True, True] Translation: X:111.16, Y:-67.82, Z:0.73 [[ 1.31450753e-01 -9.91321763e-01 -1.36444095e-03 1.11162737e+02] [-9.91269833e-01 -1.31457833e-01 1.01467294e-02 -6.78224028e+01] [-1.02380401e-02 1.87339417e-05 -9.99947590e-01 7.25415843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06088847899997 meters 0.015504898647469305 Centerline is valid? [True, True] Translation: X:111.16, Y:-67.94, Z:0.72 [[ 2.05198619e-01 -9.78718205e-01 -2.04985830e-03 1.11156663e+02] [-9.78671552e-01 -2.05208853e-01 9.55612043e-03 -6.79404315e+01] [-9.77339810e-03 4.52352840e-05 -9.99952238e-01 7.24746270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09088847899997 meters 0.015506750361345181 Centerline is valid? [True, True] Translation: X:111.16, Y:-68.07, Z:0.72 [[ 2.79444129e-01 -9.60158100e-01 -2.72053743e-03 1.11162937e+02] [-9.60114472e-01 -2.79457366e-01 9.15321727e-03 -6.80744374e+01] [-9.54880993e-03 5.42145359e-05 -9.99954408e-01 7.24556367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12088847899997 meters 0.015492896098380811 Centerline is valid? [True, True] Translation: X:111.18, Y:-68.19, Z:0.72 [[ 3.51214487e-01 -9.36289000e-01 -3.36048660e-03 1.11175525e+02] [-9.36248067e-01 -3.51230556e-01 8.75523875e-03 -6.81941139e+01] [-9.37773931e-03 7.12823982e-05 -9.99956026e-01 7.24272694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15088847899997 meters 0.015578706328938478 Centerline is valid? [True, True] Translation: X:111.20, Y:-68.31, Z:0.72 [[ 4.22141440e-01 -9.06522112e-01 -3.77687877e-03 1.11196142e+02] [-9.06487336e-01 -4.22158329e-01 7.94069559e-03 -6.83117861e+01] [-8.79285697e-03 7.15960988e-05 -9.99961340e-01 7.24029456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18088847899998 meters 0.015521050019997215 Centerline is valid? [True, True] Translation: X:111.22, Y:-68.43, Z:0.72 [[ 4.90497908e-01 -8.71432411e-01 -4.16612189e-03 1.11224830e+02] [-8.71402225e-01 -4.90515595e-01 7.25355802e-03 -6.84264710e+01] [-8.36453331e-03 7.25128535e-05 -9.99965014e-01 7.23699907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21088847899998 meters 0.015583725991611085 Centerline is valid? [True, True] Translation: X:111.26, Y:-68.53, Z:0.72 [[ 5.56390644e-01 -8.30909253e-01 -4.38913837e-03 1.11259124e+02] [-8.30884344e-01 -5.56407951e-01 6.43414094e-03 -6.85336383e+01] [-7.78833874e-03 6.69705372e-05 -9.99969668e-01 7.23564211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24088847899998 meters 0.015327762752516749 Centerline is valid? [True, True] Translation: X:111.31, Y:-68.65, Z:0.72 [[ 6.19355749e-01 -7.85098140e-01 -4.40082271e-03 1.11307791e+02] [-7.85078954e-01 -6.19371381e-01 5.48900230e-03 -6.86478453e+01] [-7.03514914e-03 5.53481531e-05 -9.99975252e-01 7.22499440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27088847899998 meters 0.015191476516285364 Centerline is valid? [True, True] Translation: X:111.36, Y:-68.75, Z:0.72 [[ 6.78400854e-01 -7.34679086e-01 -4.34997562e-03 1.11355716e+02] [-7.34664413e-01 -6.78414798e-01 4.64346479e-03 -6.87463948e+01] [-6.36254430e-03 4.56418042e-05 -9.99979758e-01 7.22062228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30088847899998 meters 0.01520015803248401 Centerline is valid? [True, True] Translation: X:111.41, Y:-68.84, Z:0.72 [[ 7.33348961e-01 -6.79839126e-01 -4.25004853e-03 1.11411153e+02] [-6.79827996e-01 -7.33361276e-01 3.89044950e-03 -6.88413117e+01] [-5.76170080e-03 3.62448670e-05 -9.99983401e-01 7.21635046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33088847899998 meters 0.015103477096772113 Centerline is valid? [True, True] Translation: X:111.40, Y:-68.85, Z:0.72 [[ 7.85465810e-01 -6.18893315e-01 -3.81125771e-03 1.11404314e+02] [-6.18886152e-01 -7.85475057e-01 2.97774780e-03 -6.88493264e+01] [-4.83655607e-03 1.98155283e-05 -9.99988304e-01 7.21171077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36088847899998 meters 0.01488586650535921 Centerline is valid? [True, True] Translation: X:111.40, Y:-68.86, Z:0.72 [[ 8.32333319e-01 -5.54262855e-01 -3.73271106e-03 1.11396582e+02] [-5.54257339e-01 -8.32341689e-01 2.47284775e-03 -6.88575810e+01] [-4.47749868e-03 1.06489254e-05 -9.99989976e-01 7.20605167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39088847899998 meters 0.01482590013151326 Centerline is valid? [True, True] Translation: X:111.39, Y:-68.86, Z:0.72 [[ 8.73759938e-01 -4.86345421e-01 -3.42088443e-03 1.11387192e+02] [-4.86341709e-01 -8.73766635e-01 1.90004702e-03 -6.88642065e+01] [-3.91313385e-03 3.53381247e-06 -9.99992344e-01 7.20259434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42088847899998 meters 0.014755798566098563 Centerline is valid? [True, True] Translation: X:111.38, Y:-68.87, Z:0.72 [[ 9.10264658e-01 -4.14017715e-01 -2.75387435e-03 1.11378781e+02] [-4.14015799e-01 -9.10268824e-01 1.25970312e-03 -6.88720496e+01] [-3.02830537e-03 -6.51574304e-06 -9.99995415e-01 7.20500407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45088847899999 meters 0.014766354580703734 Centerline is valid? [True, True] Translation: X:111.37, Y:-68.88, Z:0.72 [[ 9.40222544e-01 -3.40550515e-01 -2.62938107e-03 1.11373107e+02] [-3.40549155e-01 -9.40226221e-01 9.62410696e-04 -6.88784669e+01] [-2.79996249e-03 -9.44673010e-06 -9.99996080e-01 7.20943285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.480888479 meters 0.014976552724189025 Centerline is valid? [True, True] Translation: X:111.37, Y:-68.89, Z:0.72 [[ 9.64345079e-01 -2.64638666e-01 -2.22396246e-03 1.11367672e+02] [-2.64637934e-01 -9.64347643e-01 6.22374304e-04 -6.88871715e+01] [-2.30937727e-03 -1.16387645e-05 -9.99997333e-01 7.21333693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510888479 meters 0.01506812282897728 Centerline is valid? [True, True] Translation: X:111.36, Y:-68.89, Z:0.72 [[ 9.82318985e-01 -1.87197511e-01 -2.55028347e-03 1.11360403e+02] [-1.87196838e-01 -9.82322295e-01 5.02040402e-04 -6.88947508e+01] [-2.59918103e-03 -1.57588163e-05 -9.99996622e-01 7.21565054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.540888479 meters 0.015277684396382643 Centerline is valid? [True, True] Translation: X:111.35, Y:-68.90, Z:0.72 [[ 9.94077209e-01 -1.08653557e-01 -2.21544095e-03 1.11352085e+02] [-1.08653250e-01 -9.94079677e-01 2.58602868e-04 -6.89007748e+01] [-2.23042295e-03 -1.63563578e-05 -9.99997512e-01 7.22251237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.570888479 meters 0.015422287855423105 Centerline is valid? [True, True] Translation: X:111.34, Y:-68.91, Z:0.72 [[ 9.99538760e-01 -3.02791251e-02 -2.33275946e-03 1.11344894e+02] [-3.02790017e-02 -9.99541482e-01 8.82108420e-05 -6.89069668e+01] [-2.33436079e-03 -1.75365280e-05 -9.99997275e-01 7.22888807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.600888479 meters 0.015433093670830487 Centerline is valid? [True, True] Translation: X:111.34, Y:-68.91, Z:0.72 [[ 9.98835311e-01 4.81871691e-02 -2.45311924e-03 1.11337987e+02] [ 4.81870692e-02 -9.98838323e-01 -9.98278119e-05 -6.89133296e+01] [-2.45507993e-03 -1.84970828e-05 -9.99996986e-01 7.23167594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.630888479 meters 0.0156718214431792 Centerline is valid? [True, True] Translation: X:111.33, Y:-68.92, Z:0.72 [[ 9.92010171e-01 1.26134203e-01 -2.44621056e-03 1.11330348e+02] [ 1.26133865e-01 -9.92013187e-01 -2.92636339e-04 -6.89182844e+01] [-2.46358459e-03 -1.82517678e-05 -9.99996965e-01 7.23566246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.660888479 meters 0.01571149523437759 Centerline is valid? [True, True] Translation: X:111.32, Y:-68.93, Z:0.72 [[ 9.79118707e-01 2.03273061e-01 -2.57298256e-03 1.11324651e+02] [ 2.03272410e-01 -9.79122088e-01 -5.14932394e-04 -6.89262825e+01] [-2.62393594e-03 -1.88364240e-05 -9.99996557e-01 7.23044992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.690888479 meters 0.015719835446588327 Centerline is valid? [True, True] Translation: X:111.32, Y:-68.93, Z:0.72 [[ 9.60337012e-01 2.78830644e-01 -2.50898363e-03 1.11318463e+02] [ 2.78829740e-01 -9.60340290e-01 -7.10374040e-04 -6.89348577e+01] [-2.60755212e-03 -1.73807698e-05 -9.99996600e-01 7.22832595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.720888479 meters 0.015667599330465423 Centerline is valid? [True, True] Translation: X:111.31, Y:-68.94, Z:0.72 [[ 9.35812180e-01 3.52490436e-01 -2.46113151e-03 1.11314111e+02] [ 3.52489260e-01 -9.35815416e-01 -9.10332470e-04 -6.89435070e+01] [-2.62404830e-03 -1.56222126e-05 -9.99996557e-01 7.22571422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75088847899997 meters 0.015572043621280071 Centerline is valid? [True, True] Translation: X:111.31, Y:-68.95, Z:0.72 [[ 9.06104290e-01 4.23051129e-01 -1.66080918e-03 1.11311429e+02] [ 4.23050436e-01 -9.06105812e-01 -7.65987447e-04 -6.89536835e+01] [-1.82892071e-03 -8.54153652e-06 -9.99998328e-01 7.22931452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78088847899997 meters 0.015519373622064445 Centerline is valid? [True, True] Translation: X:111.31, Y:-68.96, Z:0.72 [[ 8.70757471e-01 4.91710393e-01 -1.52193557e-03 1.11308861e+02] [ 4.91709655e-01 -8.70758801e-01 -8.52168048e-04 -6.89632712e+01] [-1.74425867e-03 -6.31871720e-06 -9.99998479e-01 7.23109565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81088847899997 meters 0.01547259600561356 Centerline is valid? [True, True] Translation: X:111.31, Y:-68.97, Z:0.72 [[ 8.30244208e-01 5.57399047e-01 -9.26077278e-04 1.11306156e+02] [ 5.57398706e-01 -8.30244724e-01 -6.17194120e-04 -6.89739661e+01] [-1.11289419e-03 -3.77243283e-06 -9.99999381e-01 7.23234196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84088847899997 meters 0.015430362395064791 Centerline is valid? [True, True] Translation: X:111.30, Y:-68.98, Z:0.72 [[ 7.85688978e-01 6.18621712e-01 8.26051388e-05 1.11303987e+02] [ 6.18621708e-01 -7.85688983e-01 6.91286695e-05 -6.89837490e+01] [ 1.07666443e-04 -3.21230170e-06 -9.99999994e-01 7.22270813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87088847899997 meters 0.015550770375256902 Centerline is valid? [True, True] Translation: X:111.30, Y:-68.99, Z:0.72 [[ 7.35879775e-01 6.77112219e-01 -1.77420765e-06 1.11302056e+02] [ 6.77112219e-01 -7.35879775e-01 2.43008004e-06 -6.89948205e+01] [ 3.39833237e-07 -2.98958445e-06 -1.00000000e+00 7.22217108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90088847899997 meters 0.015615355481215188 Centerline is valid? [True, True] Translation: X:111.30, Y:-69.01, Z:0.72 [[ 6.81612543e-01 7.31713162e-01 -4.36092775e-04 1.11303157e+02] [ 7.31713012e-01 -6.81612683e-01 -4.68403208e-04 -6.90066886e+01] [-6.39983159e-04 1.74744236e-07 -9.99999795e-01 7.22400365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93088847899998 meters 0.0157378900231601 Centerline is valid? [True, True] Translation: X:111.30, Y:-69.02, Z:0.72 [[ 6.23252721e-01 7.82020226e-01 -6.41232143e-04 1.11304095e+02] [ 7.82019807e-01 -6.23253051e-01 -8.10183247e-04 -6.90191539e+01] [-1.03322958e-03 3.49267711e-06 -9.99999466e-01 7.22729933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96088847899998 meters 0.015917829760720873 Centerline is valid? [True, True] Translation: X:111.31, Y:-69.03, Z:0.72 [[ 5.61930333e-01 8.27184071e-01 -9.02028647e-04 1.11305015e+02] [ 8.27182974e-01 -5.61931057e-01 -1.34701331e-03 -6.90305614e+01] [-1.62110586e-03 1.07848962e-05 -9.99998686e-01 7.23201111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99088847899998 meters 0.01603348803532069 Centerline is valid? [True, True] Translation: X:111.31, Y:-69.04, Z:0.72 [[ 4.96125890e-01 8.68250152e-01 -8.80317828e-04 1.11307995e+02] [ 8.68248735e-01 -4.96126671e-01 -1.56835532e-03 -6.90419345e+01] [-1.79847390e-03 1.37668373e-05 -9.99998383e-01 7.22973341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02088847899998 meters 0.016067796474416342 Centerline is valid? [True, True] Translation: X:111.31, Y:-69.05, Z:0.72 [[ 4.27430166e-01 9.04048050e-01 -7.59081089e-04 1.11312656e+02] [ 9.04046559e-01 -4.27430840e-01 -1.64178995e-03 -6.90536778e+01] [-1.80871167e-03 1.55059027e-05 -9.99998364e-01 7.22786185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05088847899998 meters 0.0164381574650354 Centerline is valid? [True, True] Translation: X:111.32, Y:-69.07, Z:0.72 [[ 3.56326822e-01 9.34361043e-01 -7.98799503e-04 1.11319387e+02] [ 9.34358548e-01 -3.56327716e-01 -2.15922495e-03 -6.90655636e+01] [-2.30213008e-03 2.30246196e-05 -9.99997350e-01 7.22719445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08088847899998 meters 0.01680355730938726 Centerline is valid? [True, True] Translation: X:111.32, Y:-69.08, Z:0.72 [[ 2.82758407e-01 9.59190966e-01 -6.10922146e-04 1.11324604e+02] [ 9.59188541e-01 -2.82759066e-01 -2.15734696e-03 -6.90770398e+01] [-2.24205149e-03 2.40184695e-05 -9.99997486e-01 7.22851423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11088847899998 meters 0.017262967073193896 Centerline is valid? [True, True] Translation: X:111.33, Y:-69.09, Z:0.72 [[ 2.07436782e-01 9.78248299e-01 -4.97693042e-04 1.11328736e+02] [ 9.78245134e-01 -2.07437377e-01 -2.48849728e-03 -6.90869158e+01] [-2.53760837e-03 2.93400713e-05 -9.99996780e-01 7.23045898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14088847899998 meters 0.017896761144212982 Centerline is valid? [True, True] Translation: X:111.33, Y:-69.10, Z:0.72 [[ 1.32163574e-01 9.91227816e-01 -4.53817945e-04 1.11332516e+02] [ 9.91220499e-01 -1.32164343e-01 -3.80898338e-03 -6.90974138e+01] [-3.83554882e-03 5.35752075e-05 -9.99992643e-01 7.23381465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17088847899998 meters 0.01782597394590709 Centerline is valid? [True, True] Translation: X:111.34, Y:-69.11, Z:0.72 [[ 5.50035578e-02 9.98486142e-01 -1.81742985e-04 1.11339211e+02] [ 9.98475843e-01 -5.50038161e-02 -4.53546157e-03 -6.91077723e+01] [-4.53859208e-03 6.80005422e-05 -9.99989698e-01 7.23353064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20088847899999 meters 0.017979740339327536 Centerline is valid? [True, True] Translation: X:111.35, Y:-69.12, Z:0.72 [[-2.28298972e-02 9.99739346e-01 1.88621725e-04 1.11346425e+02] [ 9.99727296e-01 2.28305482e-02 -4.90912048e-03 -6.91170492e+01] [-4.91214723e-03 7.64955714e-05 -9.99987932e-01 7.23744399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230888479 meters 0.01766830630294356 Centerline is valid? [True, True] Translation: X:111.36, Y:-69.13, Z:0.72 [[-1.00336915e-01 9.94953307e-01 6.48291680e-04 1.11358518e+02] [ 9.94938000e-01 1.00338968e-01 -5.51983445e-03 -6.91251774e+01] [-5.55702646e-03 9.11668652e-05 -9.99984555e-01 7.23456040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.260888479 meters 0.01803533192737927 Centerline is valid? [True, True] Translation: X:111.37, Y:-69.13, Z:0.72 [[-1.78022985e-01 9.84025728e-01 1.08810373e-03 1.11369679e+02] [ 9.84010364e-01 1.78026287e-01 -5.49950029e-03 -6.91341330e+01] [-5.60536084e-03 9.16678952e-05 -9.99984286e-01 7.23792641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290888479 meters 0.01846093438993701 Centerline is valid? [True, True] Translation: X:111.38, Y:-69.14, Z:0.72 [[-2.54529400e-01 9.67064031e-01 1.39470643e-03 1.11379385e+02] [ 9.67051273e-01 2.54533207e-01 -4.96804173e-03 -6.91422813e+01] [-5.15941356e-03 8.42399485e-05 -9.99986687e-01 7.23018138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.320888479 meters 0.017844352193402677 Centerline is valid? [True, True] Translation: X:111.39, Y:-69.15, Z:0.72 [[-3.29786817e-01 9.44053809e-01 1.74955032e-03 1.11391320e+02] [ 9.44041802e-01 3.29791448e-01 -4.76198669e-03 -6.91475357e+01] [-5.07255841e-03 8.12082017e-05 -9.99987131e-01 7.22382344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.350888479 meters 0.017673406689930806 Centerline is valid? [True, True] Translation: X:111.40, Y:-69.15, Z:0.72 [[-4.03439198e-01 9.15004268e-01 2.00057414e-03 1.11403900e+02] [ 9.14993898e-01 4.03444152e-01 -4.35690159e-03 -6.91516603e+01] [-4.79370349e-03 7.27682445e-05 -9.99988508e-01 7.22018173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.380888479 meters 0.01749568696446543 Centerline is valid? [True, True] Translation: X:111.42, Y:-69.16, Z:0.72 [[-4.74492331e-01 8.80255783e-01 2.60443516e-03 1.11417129e+02] [ 8.80243413e-01 4.74499473e-01 -4.66739102e-03 -6.91550809e+01] [-5.34430105e-03 7.78956502e-05 -9.99985716e-01 7.21303173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.410888479 meters 0.01715331487837582 Centerline is valid? [True, True] Translation: X:111.43, Y:-69.15, Z:0.72 [[-5.44308805e-01 8.38879201e-01 3.10022810e-03 1.11433221e+02] [ 8.38866282e-01 5.44317630e-01 -4.65600092e-03 -6.91549866e+01] [-5.59333114e-03 6.63745264e-05 -9.99984355e-01 7.20026586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.440888479 meters 0.01693751570616013 Centerline is valid? [True, True] Translation: X:111.45, Y:-69.15, Z:0.72 [[-6.09544632e-01 7.92744081e-01 3.48747424e-03 1.11446641e+02] [ 7.92731651e-01 6.09554606e-01 -4.43971438e-03 -6.91547349e+01] [-5.64536328e-03 5.84271434e-05 -9.99984063e-01 7.19776196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.470888479 meters 0.016815292805892498 Centerline is valid? [True, True] Translation: X:111.46, Y:-69.15, Z:0.72 [[-6.70689484e-01 7.41728087e-01 3.88084948e-03 1.11460086e+02] [ 7.41716117e-01 6.70700710e-01 -4.21422205e-03 -6.91546660e+01] [-5.72869536e-03 5.20541968e-05 -9.99983590e-01 7.20068520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50088847899997 meters 0.016494112823294372 Centerline is valid? [True, True] Translation: X:111.47, Y:-69.15, Z:0.72 [[-7.28298530e-01 6.85242308e-01 4.92239939e-03 1.11474111e+02] [ 6.85227086e-01 7.28315163e-01 -4.56770139e-03 -6.91505275e+01] [-6.71504036e-03 4.63111797e-05 -9.99977453e-01 7.20672096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53088847899997 meters 0.016494112823294372 Centerline is valid? [True, True] Translation: X:111.50, Y:-69.13, Z:0.72 [[-7.74918492e-01 6.32039512e-01 5.23310456e-03 1.11497819e+02] [ 6.32025506e-01 7.74936160e-01 -4.20800769e-03 -6.91339190e+01] [-6.71494908e-03 4.65925844e-05 -9.99977453e-01 7.20671094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56088847899997 meters 0.016624696334039506 Centerline is valid? [True, True] Translation: X:111.52, Y:-69.11, Z:0.72 [[-8.17976955e-01 5.75218839e-01 6.08173479e-03 1.11519035e+02] [ 5.75203375e-01 8.17999563e-01 -4.21818648e-03 -6.91132141e+01] [-7.40123672e-03 4.78550447e-05 -9.99972609e-01 7.21209331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59088847899997 meters 0.0164596115898759 Centerline is valid? [True, True] Translation: X:111.54, Y:-69.09, Z:0.72 [[-8.56995155e-01 5.15281168e-01 6.67999072e-03 1.11542196e+02] [ 5.15265924e-01 8.57021188e-01 -3.96372971e-03 -6.90929307e+01] [-7.76732885e-03 4.50744361e-05 -9.99969833e-01 7.21253101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62088847899997 meters 0.01639875748438168 Centerline is valid? [True, True] Translation: X:111.56, Y:-69.07, Z:0.72 [[-8.91400980e-01 4.53157935e-01 7.22342314e-03 1.11558842e+02] [ 4.53143467e-01 8.91430246e-01 -3.62137332e-03 -6.90687848e+01] [-8.08023192e-03 4.51512792e-05 -9.99967353e-01 7.21119682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65088847899997 meters 0.01652079940938787 Centerline is valid? [True, True] Translation: X:111.94, Y:-68.33, Z:-0.13 [[-8.64404574e-01 -5.02748561e-01 6.97256860e-03 1.11940902e+02] [ 5.02731790e-01 -8.64432694e-01 -4.10667972e-03 -6.83317425e+01] [ 8.09194358e-03 -4.45008468e-05 9.99967259e-01 -1.33778450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68088847899998 meters 0.016461369101923192 Centerline is valid? [True, True] Translation: X:111.52, Y:-69.05, Z:0.72 [[-8.93764268e-01 4.48488296e-01 6.60922707e-03 1.11521851e+02] [ 4.48476277e-01 8.93788704e-01 -3.28351441e-03 -6.90478379e+01] [-7.37987028e-03 2.93936919e-05 -9.99972768e-01 7.20426557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71088847899998 meters 0.0164920097097494 Centerline is valid? [True, True] Translation: X:111.54, Y:-69.02, Z:0.72 [[-9.23844068e-01 3.82718357e-01 6.22876347e-03 1.11537455e+02] [ 3.82709781e-01 9.23865065e-01 -2.56209849e-03 -6.90204490e+01] [-6.73509909e-03 1.68292120e-05 -9.99977319e-01 7.20707896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74088847899998 meters 0.016417184827045316 Centerline is valid? [True, True] Translation: X:111.55, Y:-68.99, Z:0.72 [[-9.48951956e-01 3.15362456e-01 6.05857414e-03 1.11550345e+02] [ 3.15356094e-01 9.48971296e-01 -2.00317711e-03 -6.89930439e+01] [-6.38113981e-03 9.68943492e-06 -9.99979640e-01 7.21109589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77088847899998 meters 0.01626310179950771 Centerline is valid? [True, True] Translation: X:111.56, Y:-68.97, Z:0.72 [[-9.69170114e-01 2.46326187e-01 5.71839486e-03 1.11562308e+02] [ 2.46321915e-01 9.69186984e-01 -1.45065699e-03 -6.89651933e+01] [-5.89952867e-03 2.63257560e-06 -9.99982598e-01 7.21113533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80088847899998 meters 0.016437542851700758 Centerline is valid? [True, True] Translation: X:111.57, Y:-68.93, Z:0.72 [[-9.84774695e-01 1.73755477e-01 5.27577985e-03 1.11567012e+02] [ 1.73752900e-01 9.84788827e-01 -9.46416934e-04 -6.89340477e+01] [-5.35997418e-03 -1.53253987e-05 -9.99985635e-01 7.21003389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83088847899998 meters 0.0164907381846162 Centerline is valid? [True, True] Translation: X:111.58, Y:-68.91, Z:0.72 [[-9.94759779e-01 1.02101482e-01 5.31699259e-03 1.11578797e+02] [ 1.02099903e-01 9.94773988e-01 -5.68169729e-04 -6.89058836e+01] [-5.34721689e-03 -2.23279651e-05 -9.99985703e-01 7.21173351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86088847899998 meters 0.016708993070538403 Centerline is valid? [True, True] Translation: X:111.66, Y:-68.11, Z:-0.13 [[-9.84056632e-01 -1.77776113e-01 5.31027300e-03 1.11664915e+02] [ 1.77773664e-01 -9.84070959e-01 -9.33488074e-04 -6.81126971e+01] [ 5.39163732e-03 2.54215597e-05 9.99985465e-01 -1.34057848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89088847899998 meters 0.0168219749238636 Centerline is valid? [True, True] Translation: X:111.51, Y:-68.89, Z:0.72 [[-9.95488017e-01 9.46983909e-02 5.98522207e-03 1.11508747e+02] [ 9.46964272e-02 9.95506009e-01 -6.11287196e-04 -6.88948601e+01] [-6.01621245e-03 -4.17499325e-05 -9.99981902e-01 7.21913227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92088847899998 meters 0.01702942897762959 Centerline is valid? [True, True] Translation: X:111.60, Y:-68.11, Z:-0.13 [[-9.84337621e-01 -1.76186141e-01 6.15560675e-03 1.11600015e+02] [ 1.76183066e-01 -9.84356866e-01 -1.04253254e-03 -6.81107571e+01] [ 6.24299356e-03 5.83096711e-05 9.99980511e-01 -1.34922346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95088847899999 meters 0.017220944716367828 Centerline is valid? [True, True] Translation: X:111.45, Y:-68.89, Z:0.72 [[-9.96113183e-01 8.78449619e-02 6.46444107e-03 1.11447260e+02] [ 8.78427211e-02 9.96134157e-01 -6.30301275e-04 -6.88851054e+01] [-6.49481935e-03 -5.99973151e-05 -9.99978907e-01 7.22627302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.980888479 meters 0.017172159545933496 Centerline is valid? [True, True] Translation: X:111.45, Y:-68.86, Z:0.72 [[-9.99831734e-01 1.72289442e-02 6.29811454e-03 1.11448206e+02] [ 1.72282486e-02 9.99851569e-01 -1.64687755e-04 -6.88565761e+01] [-6.30001710e-03 -5.61545607e-05 -9.99980153e-01 7.22801697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010888479 meters 0.017040401037178052 Centerline is valid? [True, True] Translation: X:111.48, Y:-68.07, Z:-0.14 [[-9.95017989e-01 -9.95402206e-02 5.56293354e-03 1.11478658e+02] [ 9.95386927e-02 -9.95033539e-01 -5.51540352e-04 -6.80742743e+01] [ 5.59020590e-03 4.93456049e-06 9.99984375e-01 -1.35570627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.040888479 meters 0.01689400688762 Centerline is valid? [True, True] Translation: X:111.37, Y:-68.85, Z:0.72 [[-9.99866481e-01 1.53891843e-02 5.49488922e-03 1.11369818e+02] [ 1.53887845e-02 9.99881579e-01 -1.15029331e-04 -6.88549537e+01] [-5.49600872e-03 -3.04543065e-05 -9.99984896e-01 7.23264277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.070888479 meters 0.016768069700980194 Centerline is valid? [True, True] Translation: X:111.37, Y:-68.83, Z:0.72 [[-9.98523971e-01 -5.40334937e-02 5.50097344e-03 1.11372772e+02] [-5.40327877e-02 9.98539123e-01 2.76985849e-04 -6.88282187e+01] [-5.50790371e-03 -2.06559200e-05 -9.99984831e-01 7.23428594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.100888479 meters 0.0167499616483359 Centerline is valid? [True, True] Translation: X:111.33, Y:-68.04, Z:-0.14 [[-9.99817987e-01 -1.82963500e-02 5.40715268e-03 1.11327243e+02] [ 1.82961575e-02 -9.99832608e-01 -8.50734999e-05 -6.80411196e+01] [ 5.40780410e-03 1.38721015e-05 9.99985378e-01 -1.36214970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.130888479 meters 0.016754958633582902 Centerline is valid? [True, True] Translation: X:111.26, Y:-68.84, Z:0.72 [[-9.98472932e-01 -5.49676524e-02 5.51006767e-03 1.11263987e+02] [-5.49667645e-02 9.98488136e-01 3.12572354e-04 -6.88369146e+01] [-5.51891856e-03 9.22444277e-06 -9.99984771e-01 7.23532183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.160888479 meters 0.01683060597225977 Centerline is valid? [True, True] Translation: X:111.27, Y:-68.81, Z:0.72 [[-9.92238272e-01 -1.24240120e-01 5.25391849e-03 1.11266752e+02] [-1.24238278e-01 9.92252182e-01 6.76845868e-04 -6.88092460e+01] [-5.29730350e-03 1.88545894e-05 -9.99985969e-01 7.24090905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.190888479 meters 0.017200668244484407 Centerline is valid? [True, True] Translation: X:111.25, Y:-68.78, Z:0.73 [[-9.81305226e-01 -1.92386236e-01 5.25260669e-03 1.11250410e+02] [-1.92383288e-01 9.81319283e-01 1.06558901e-03 -6.87845376e+01] [-5.35948889e-03 3.51543160e-05 -9.99985637e-01 7.25108927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.220888479 meters 0.017384657762648997 Centerline is valid? [True, True] Translation: X:111.21, Y:-68.77, Z:0.73 [[-9.65093557e-01 -2.61863942e-01 4.65854857e-03 1.11214504e+02] [-2.61860704e-01 9.65104800e-01 1.30290201e-03 -6.87652320e+01] [-4.83717064e-03 3.75315246e-05 -9.99988300e-01 7.25130580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25088847899997 meters 0.017472816233708853 Centerline is valid? [True, True] Translation: X:111.16, Y:-68.75, Z:0.72 [[-9.43689882e-01 -3.30808484e-01 3.89270742e-03 1.11156963e+02] [-3.30805504e-01 9.43697910e-01 1.40464975e-03 -6.87548284e+01] [-4.13820991e-03 3.78247098e-05 -9.99991437e-01 7.24432001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28088847899997 meters 0.017327960199939048 Centerline is valid? [True, True] Translation: X:111.09, Y:-68.75, Z:0.72 [[-9.17822153e-01 -3.96982424e-01 2.72956657e-03 1.11087908e+02] [-3.96980553e-01 9.17826211e-01 1.21943421e-03 -6.87520245e+01] [-2.98936169e-03 3.56388926e-05 -9.99995531e-01 7.23106160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31088847899997 meters 0.01782808168125003 Centerline is valid? [True, True] Translation: X:111.01, Y:-68.76, Z:0.72 [[-8.86251442e-01 -4.63197963e-01 2.45518076e-03 1.11012795e+02] [-4.63196070e-01 8.86254842e-01 1.32484707e-03 -6.87590693e+01] [-2.78958230e-03 3.69175488e-05 -9.99996108e-01 7.23628094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34088847899997 meters 0.018062187168087062 Centerline is valid? [True, True] Translation: X:110.93, Y:-68.78, Z:0.72 [[-8.49602449e-01 -5.27417766e-01 2.48572039e-03 1.10929969e+02] [-5.27415361e-01 8.49606084e-01 1.59342311e-03 -6.87761491e+01] [-2.95228283e-03 4.27690578e-05 -9.99995641e-01 7.24158716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37088847899997 meters 0.018009880876331055 Centerline is valid? [True, True] Translation: X:110.84, Y:-68.80, Z:0.72 [[-8.08004531e-01 -5.89171200e-01 2.44434081e-03 1.10842422e+02] [-5.89168325e-01 8.08008227e-01 1.84141210e-03 -6.88019219e+01] [-3.05995446e-03 4.77411382e-05 -9.99995317e-01 7.24453456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40088847899997 meters 0.01832443995904736 Centerline is valid? [True, True] Translation: X:110.75, Y:-68.84, Z:0.73 [[-7.61652536e-01 -6.47979447e-01 2.83750814e-03 1.10749271e+02] [-6.47974639e-01 7.61657819e-01 2.49693138e-03 -6.88417849e+01] [-3.77917047e-03 6.31608043e-05 -9.99992857e-01 7.26130483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43088847899998 meters 0.01855320387767688 Centerline is valid? [True, True] Translation: X:110.66, Y:-68.89, Z:0.73 [[-7.10222637e-01 -7.03971680e-01 2.77127664e-03 1.10660326e+02] [-7.03965949e-01 7.10228041e-01 2.84127359e-03 -6.88875942e+01] [-3.96841452e-03 6.70524267e-05 -9.99992124e-01 7.26948467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46088847899998 meters 0.019429626587133753 Centerline is valid? [True, True] Translation: X:110.56, Y:-68.95, Z:0.73 [[-6.53373047e-01 -7.57032698e-01 2.27076153e-03 1.10564338e+02] [-7.57027834e-01 6.53376991e-01 2.71406326e-03 -6.89541606e+01] [-3.53829797e-03 5.42660977e-05 -9.99993739e-01 7.27533638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49088847899998 meters 0.017934741779127145 Centerline is valid? [True, True] Translation: X:110.48, Y:-69.01, Z:0.73 [[-5.92992657e-01 -8.05206456e-01 1.50738408e-03 1.10478342e+02] [-8.05203692e-01 5.92994572e-01 2.11014628e-03 -6.90102879e+01] [-2.59297399e-03 3.75500201e-05 -9.99996638e-01 7.26705996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52088847899998 meters 0.017824819073559945 Centerline is valid? [True, True] Translation: X:110.39, Y:-69.09, Z:0.73 [[-5.28679908e-01 -8.48820502e-01 1.14511217e-03 1.10390322e+02] [-8.48818389e-01 5.28681147e-01 1.89416514e-03 -6.90910298e+01] [-2.21320542e-03 2.94147890e-05 -9.99997550e-01 7.26581961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55088847899998 meters 0.017619795675555387 Centerline is valid? [True, True] Translation: X:110.31, Y:-69.18, Z:0.73 [[-4.60960904e-01 -8.87420007e-01 8.81131528e-04 1.10307777e+02] [-8.87418287e-01 4.60961746e-01 1.74738735e-03 -6.91780192e+01] [-1.95683442e-03 2.35450221e-05 -9.99998085e-01 7.27123199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58088847899998 meters 0.017799547433150147 Centerline is valid? [True, True] Translation: X:110.24, Y:-69.27, Z:0.73 [[-3.88413985e-01 -9.21484829e-01 5.34873420e-04 1.10235471e+02] [-9.21483913e-01 3.88414354e-01 1.29930944e-03 -6.92666556e+01] [-1.40504645e-03 1.17927046e-05 -9.99999013e-01 7.28257456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61088847899998 meters 0.017149255203729098 Centerline is valid? [True, True] Translation: X:110.17, Y:-69.37, Z:0.73 [[-3.14779091e-01 -9.49164939e-01 2.05927260e-04 1.10165381e+02] [-9.49164729e-01 3.14779158e-01 6.31219578e-04 -6.93654991e+01] [-6.63953102e-04 3.23583301e-06 -9.99999780e-01 7.27762110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64088847899998 meters 0.016954617056198773 Centerline is valid? [True, True] Translation: X:110.10, Y:-69.48, Z:0.73 [[-2.38744434e-01 -9.71082427e-01 1.19080742e-04 1.10103718e+02] [-9.71082305e-01 2.38744464e-01 4.87925904e-04 -6.94762616e+01] [-5.02246140e-04 8.52392799e-07 -9.99999874e-01 7.27639068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67088847899998 meters 0.01692534310169994 Centerline is valid? [True, True] Translation: X:110.05, Y:-69.58, Z:0.73 [[-1.61316621e-01 -9.86902704e-01 9.77176525e-06 1.10053604e+02] [-9.86902703e-01 1.61316622e-01 4.62175872e-05 -6.95823486e+01] [-4.71886101e-05 -2.18811655e-06 -9.99999999e-01 7.27762642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70088847899999 meters 0.016586060694993125 Centerline is valid? [True, True] Translation: X:110.01, Y:-69.70, Z:0.73 [[-8.16704897e-02 -9.96659382e-01 -8.53978562e-05 1.10005810e+02] [-9.96658783e-01 8.16705342e-02 -1.09283467e-03 -6.96961432e+01] [ 1.09615842e-03 -4.13981923e-06 -9.99999399e-01 7.28449853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730888479 meters 0.016564602694772498 Centerline is valid? [True, True] Translation: X:109.97, Y:-69.81, Z:0.73 [[-2.99556475e-03 -9.99995513e-01 -1.76781065e-06 1.09970802e+02] [-9.99994488e-01 2.99556421e-03 -1.43212951e-03 -6.98138268e+01] [ 1.43212838e-03 -2.52223578e-06 -9.99998975e-01 7.29332852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.760888479 meters 0.016538798790644356 Centerline is valid? [True, True] Translation: X:109.95, Y:-69.95, Z:0.73 [[ 7.56438408e-02 -9.97134899e-01 5.66695024e-05 1.09946177e+02] [-9.97134632e-01 -7.56438620e-02 -7.29208120e-04 -6.99477296e+01] [ 7.31405564e-04 -1.34702052e-06 -9.99999733e-01 7.30038794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790888479 meters 0.01649258796007387 Centerline is valid? [True, True] Translation: X:109.93, Y:-70.05, Z:0.73 [[ 1.54682744e-01 -9.87964193e-01 5.59046531e-05 1.09928006e+02] [-9.87964130e-01 -1.54682754e-01 -3.50998203e-04 -7.00546672e+01] [ 3.55421142e-04 -9.38426926e-07 -9.99999937e-01 7.30900088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.820888479 meters 0.01666931042546459 Centerline is valid? [True, True] Translation: X:109.92, Y:-70.17, Z:0.73 [[ 2.31055062e-01 -9.72940647e-01 2.35211704e-04 1.09921837e+02] [-9.72940133e-01 -2.31055182e-01 -1.00062924e-03 -7.01746014e+01] [ 1.02789974e-03 2.35354493e-06 -9.99999472e-01 7.31463708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.850888479 meters 0.016804613131824037 Centerline is valid? [True, True] Translation: X:109.93, Y:-70.30, Z:0.73 [[ 3.06385368e-01 -9.51907538e-01 2.15254834e-04 1.09925602e+02] [-9.51907299e-01 -3.06385444e-01 -6.73941136e-04 -7.02964924e+01] [ 7.07480595e-04 1.58305548e-06 -9.99999750e-01 7.31673413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.880888479 meters 0.016712171887592588 Centerline is valid? [True, True] Translation: X:109.94, Y:-70.42, Z:0.73 [[ 3.78946823e-01 -9.25418363e-01 3.97986932e-04 1.09938211e+02] [-9.25417843e-01 -3.78947032e-01 -9.81595213e-04 -7.04158538e+01] [ 1.05920220e-03 3.66817935e-06 -9.99999439e-01 7.31954062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.910888479 meters 0.016715803090011812 Centerline is valid? [True, True] Translation: X:109.96, Y:-70.53, Z:0.73 [[ 4.48832595e-01 -8.93615701e-01 5.30292367e-04 1.09960209e+02] [-8.93615066e-01 -4.48832908e-01 -1.06498319e-03 -7.05349566e+01] [ 1.18969836e-03 4.12191887e-06 -9.99999292e-01 7.31476572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.940888479 meters 0.01663433938445153 Centerline is valid? [True, True] Translation: X:109.99, Y:-70.65, Z:0.73 [[ 5.15506690e-01 -8.56885277e-01 6.89549983e-04 1.09992309e+02] [-8.56884500e-01 -5.15507151e-01 -1.15366248e-03 -7.06515095e+01] [ 1.34402434e-03 3.85603534e-06 -9.99999097e-01 7.32111750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.970888479 meters 0.016287536468082925 Centerline is valid? [True, True] Translation: X:110.03, Y:-70.76, Z:0.73 [[ 5.77932526e-01 -8.16084058e-01 8.97337997e-04 1.10029240e+02] [-8.16083071e-01 -5.77933223e-01 -1.26924417e-03 -7.07555825e+01] [ 1.55441138e-03 1.23514306e-06 -9.99998792e-01 7.32775550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00088847899997 meters 0.01647338829210861 Centerline is valid? [True, True] Translation: X:110.08, Y:-70.86, Z:0.73 [[ 6.38155446e-01 -7.69907102e-01 8.25119227e-04 1.10076317e+02] [-7.69906459e-01 -6.38155980e-01 -9.94729233e-04 -7.08604978e+01] [ 1.29240387e-03 -4.72745171e-07 -9.99999165e-01 7.32542951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03088847899997 meters 0.01638339054667609 Centerline is valid? [True, True] Translation: X:110.13, Y:-70.96, Z:0.73 [[ 6.94450929e-01 -7.19539363e-01 1.00650631e-03 1.10128017e+02] [-7.19538611e-01 -6.94451658e-01 -1.04029191e-03 -7.09584129e+01] [ 1.44750096e-03 -1.78847271e-06 -9.99998952e-01 7.32216336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06088847899997 meters 0.01634653759575177 Centerline is valid? [True, True] Translation: X:110.19, Y:-71.05, Z:0.73 [[ 7.46671913e-01 -6.65192103e-01 7.21476028e-04 1.10186150e+02] [-6.65191796e-01 -7.46672261e-01 -6.38800535e-04 -7.10515581e+01] [ 9.63631208e-04 -2.94551752e-06 -9.99999536e-01 7.32713467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09088847899997 meters 0.01627881750983739 Centerline is valid? [True, True] Translation: X:110.18, Y:-71.06, Z:0.73 [[ 7.95338409e-01 -6.06165588e-01 3.08272459e-04 1.10182921e+02] [-6.06165544e-01 -7.95338469e-01 -2.30837248e-04 -7.10561742e+01] [ 3.85106542e-04 -3.27041328e-06 -9.99999926e-01 7.34428839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12088847899997 meters 0.016321558442788014 Centerline is valid? [True, True] Translation: X:110.18, Y:-71.06, Z:0.74 [[ 8.40023958e-01 -5.42549297e-01 9.86782987e-05 1.10178951e+02] [-5.42549294e-01 -8.40023964e-01 -6.05568458e-05 -7.10633263e+01] [ 1.15747210e-04 -2.66863992e-06 -9.99999993e-01 7.35246817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15088847899997 meters 0.01639946905493863 Centerline is valid? [True, True] Translation: X:110.18, Y:-71.07, Z:0.73 [[ 8.79537890e-01 -4.75828771e-01 2.83646897e-04 1.10176222e+02] [-4.75828748e-01 -8.79537936e-01 -1.49508766e-04 -7.10672332e+01] [ 3.20618779e-04 -3.46872347e-06 -9.99999949e-01 7.34780932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18088847899998 meters 0.01643460380251403 Centerline is valid? [True, True] Translation: X:110.18, Y:-71.07, Z:0.73 [[ 9.13948834e-01 -4.05829373e-01 2.22338311e-04 1.10175511e+02] [-4.05829362e-01 -9.13948861e-01 -9.51823120e-05 -7.10682548e+01] [ 2.41833624e-04 -3.23965183e-06 -9.99999971e-01 7.34245536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21088847899998 meters 0.016473762110283757 Centerline is valid? [True, True] Translation: X:110.17, Y:-71.07, Z:0.73 [[ 9.42725877e-01 -3.33568454e-01 8.59019934e-05 1.10174918e+02] [-3.33568453e-01 -9.42725881e-01 -2.75365920e-05 -7.10685308e+01] [ 9.01673707e-05 -2.69473722e-06 -9.99999996e-01 7.34388014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24088847899998 meters 0.0163885638654877 Centerline is valid? [True, True] Translation: X:110.17, Y:-71.08, Z:0.74 [[ 9.65709330e-01 -2.59624849e-01 6.53216154e-04 1.10172530e+02] [-2.59624794e-01 -9.65709551e-01 -1.69731227e-04 -7.10772828e+01] [ 6.74883523e-04 -5.68008018e-06 -9.99999772e-01 7.35213777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27088847899998 meters 0.01642419640907231 Centerline is valid? [True, True] Translation: X:110.17, Y:-71.09, Z:0.74 [[ 9.83046956e-01 -1.83352473e-01 7.43097219e-04 1.10168887e+02] [-1.83352425e-01 -9.83047237e-01 -1.32343848e-04 -7.10854860e+01] [ 7.54765240e-04 -6.14845992e-06 -9.99999715e-01 7.35553158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30088847899998 meters 0.016267988572203896 Centerline is valid? [True, True] Translation: X:110.16, Y:-71.10, Z:0.74 [[ 9.94378900e-01 -1.05874623e-01 1.08015066e-03 1.10163737e+02] [-1.05874569e-01 -9.94379487e-01 -1.07116025e-04 -7.10956578e+01] [ 1.08542053e-03 -7.84657069e-06 -9.99999411e-01 7.35452219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33088847899998 meters 0.016394736617856558 Centerline is valid? [True, True] Translation: X:110.16, Y:-71.10, Z:0.74 [[ 9.99618146e-01 -2.76072383e-02 1.18466198e-03 1.10158750e+02] [-2.76072286e-02 -9.99618848e-01 -2.45409892e-05 -7.11044982e+01] [ 1.18488795e-03 -8.17361595e-06 -9.99999298e-01 7.35459931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36088847899998 meters 0.01622660600440412 Centerline is valid? [True, True] Translation: X:110.15, Y:-71.11, Z:0.74 [[ 9.98671405e-01 5.15287825e-02 4.57343362e-04 1.10154743e+02] [ 5.15287751e-02 -9.98671510e-01 2.78133499e-05 -7.11103170e+01] [ 4.58168974e-04 -4.21005401e-06 -9.99999895e-01 7.35756485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39088847899998 meters 0.016069920871092273 Centerline is valid? [True, True] Translation: X:110.15, Y:-71.12, Z:0.74 [[ 9.91523511e-01 1.29927279e-01 1.68953122e-04 1.10151615e+02] [ 1.29927277e-01 -9.91523526e-01 2.50995660e-05 -7.11191349e+01] [ 1.70782113e-04 -2.93519079e-06 -9.99999985e-01 7.35762197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42088847899998 meters 0.016110492654712285 Centerline is valid? [True, True] Translation: X:110.15, Y:-71.13, Z:0.74 [[ 9.78282895e-01 2.07274086e-01 -1.72500636e-04 1.10147842e+02] [ 2.07274083e-01 -9.78282911e-01 -3.49054874e-05 -7.11276593e+01] [-1.75989427e-04 -1.60746996e-06 -9.99999985e-01 7.36029010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45088847899999 meters 0.016110492654712285 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.13, Z:0.74 [[ 9.59050689e-01 2.83234439e-01 -1.69151114e-04 1.10144872e+02] [ 2.83234435e-01 -9.59050704e-01 -4.82860094e-05 -7.11345982e+01] [-1.75900755e-04 -1.60068946e-06 -9.99999985e-01 7.36028200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.480888479 meters 0.016017901480461123 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.14, Z:0.74 [[ 9.33738072e-01 3.57953317e-01 -1.62356809e-03 1.10142404e+02] [ 3.57952769e-01 -9.33739484e-01 -6.25928350e-04 -7.11418324e+01] [-1.74004276e-03 3.29243734e-06 -9.99998486e-01 7.36916284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510888479 meters 0.016038739116670187 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.15, Z:0.74 [[ 9.02783752e-01 4.30089996e-01 -2.02327936e-03 1.10141643e+02] [ 4.30088904e-01 -9.02786019e-01 -9.68976526e-04 -7.11504097e+01] [-2.24333542e-03 4.58626245e-06 -9.99997484e-01 7.37530037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.540888479 meters 0.01590716222573457 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.16, Z:0.74 [[ 8.66346539e-01 4.99437896e-01 -2.33731718e-03 1.10141132e+02] [ 4.99436059e-01 -8.66349692e-01 -1.35443841e-03 -7.11582957e+01] [-2.70139189e-03 6.07254747e-06 -9.99996351e-01 7.37477062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.570888479 meters 0.015939897742386383 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.16, Z:0.74 [[ 8.25088931e-01 5.64996209e-01 -2.74590499e-03 1.10138096e+02] [ 5.64993036e-01 -8.25093500e-01 -1.89361215e-03 -7.11640997e+01] [-3.33551204e-03 1.09812304e-05 -9.99994437e-01 7.37687904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.600888479 meters 0.015982112652102944 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.17, Z:0.74 [[ 7.78604565e-01 6.27509267e-01 -2.65533156e-03 1.10137082e+02] [ 6.27505562e-01 -7.78609093e-01 -2.15653680e-03 -7.11714648e+01] [-3.42071213e-03 1.28540729e-05 -9.99994149e-01 7.37523232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.630888479 meters 0.015957310120977175 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.18, Z:0.74 [[ 7.27304274e-01 6.86310643e-01 -2.48897859e-03 1.10137150e+02] [ 6.86306558e-01 -7.27308532e-01 -2.36797956e-03 -7.11801342e+01] [-3.43542494e-03 1.40393218e-05 -9.99994099e-01 7.37412340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.660888479 meters 0.01593920269607136 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.19, Z:0.74 [[ 6.71583181e-01 7.40924727e-01 -2.56527055e-03 1.10137744e+02] [ 7.40919223e-01 -6.71588080e-01 -2.85590576e-03 -7.11889519e+01] [-3.83881632e-03 1.73200105e-05 -9.99992632e-01 7.37986872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.690888479 meters 0.015901271522610415 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.20, Z:0.74 [[ 6.11773662e-01 7.91027444e-01 -2.92728541e-03 1.10137287e+02] [ 7.91018202e-01 -6.11780665e-01 -3.82400426e-03 -7.11980492e+01] [-4.81574893e-03 2.38890500e-05 -9.99988404e-01 7.38904901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.720888479 meters 0.015985214494799244 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.21, Z:0.74 [[ 5.47804106e-01 8.36602398e-01 -2.66251096e-03 1.10137390e+02] [ 8.36592306e-01 -5.47810576e-01 -4.10923194e-03 -7.12071161e+01] [-4.89634496e-03 2.36179418e-05 -9.99988013e-01 7.39095935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75088847899997 meters 0.015969385011913785 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.22, Z:0.74 [[ 4.80542390e-01 8.76968031e-01 -2.46666013e-03 1.10138466e+02] [ 8.76956212e-01 -4.80548721e-01 -4.55296037e-03 -7.12153856e+01] [-5.17815106e-03 2.47375318e-05 -9.99986593e-01 7.39167686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78088847899997 meters 0.016033998115366568 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.22, Z:0.74 [[ 4.10387167e-01 9.11908921e-01 -2.11975896e-03 1.10138921e+02] [ 9.11896440e-01 -4.10392640e-01 -4.77112096e-03 -7.12244313e+01] [-5.22076125e-03 2.50061645e-05 -9.99986371e-01 7.39412836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81088847899997 meters 0.015931385167193106 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.23, Z:0.74 [[ 3.37796276e-01 9.41217210e-01 -1.95941570e-03 1.10140706e+02] [ 9.41200876e-01 -3.37801957e-01 -5.54508558e-03 -7.12323690e+01] [-5.88102443e-03 2.89054858e-05 -9.99982706e-01 7.39203589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84088847899997 meters 0.016052857179139214 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.24, Z:0.74 [[ 2.63310417e-01 9.64709912e-01 -1.55221923e-03 1.10142724e+02] [ 9.64692443e-01 -2.63314990e-01 -5.80580529e-03 -7.12423032e+01] [-6.00964050e-03 3.13148464e-05 -9.99981941e-01 7.39324906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87088847899997 meters 0.016181951539743947 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.25, Z:0.74 [[ 1.87177006e-01 9.82325522e-01 -1.15621128e-03 1.10143729e+02] [ 9.82305612e-01 -1.87180574e-01 -6.25443555e-03 -7.12514038e+01] [-6.36031196e-03 3.49336914e-05 -9.99979772e-01 7.39791226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90088847899997 meters 0.016060000653826286 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.26, Z:0.74 [[ 1.09606335e-01 9.93974832e-01 -6.95824088e-04 1.10142729e+02] [ 9.93952631e-01 -1.09608538e-01 -6.64342789e-03 -7.12589839e+01] [-6.67966838e-03 3.65456006e-05 -9.99977690e-01 7.40462644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93088847899998 meters 0.015994488570030514 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.27, Z:0.74 [[ 3.10916205e-02 9.99516525e-01 -1.68368124e-04 1.10143239e+02] [ 9.99495475e-01 -3.10920584e-02 -6.48680460e-03 -7.12676793e+01] [-6.48890330e-03 3.34020888e-05 -9.99978946e-01 7.40826933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96088847899998 meters 0.01603946136021657 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.28, Z:0.74 [[-4.72721727e-02 9.98881984e-01 3.51610337e-04 1.10143780e+02] [ 9.98859534e-01 4.72734676e-02 -6.69704286e-03 -7.12764970e+01] [-6.70617730e-03 3.46255705e-05 -9.99977513e-01 7.40611321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99088847899998 meters 0.016046405561309186 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.28, Z:0.74 [[-1.25202745e-01 9.92130851e-01 8.04250148e-04 1.10144398e+02] [ 9.92112038e-01 1.25205324e-01 -6.10996015e-03 -7.12846842e+01] [-6.16257636e-03 3.29224699e-05 -9.99981011e-01 7.40125278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02088847899998 meters 0.01611328394612052 Centerline is valid? [True, True] Translation: X:110.14, Y:-71.29, Z:0.74 [[-2.01882771e-01 9.79408680e-01 1.40827348e-03 1.10143715e+02] [ 9.79386246e-01 2.01887679e-01 -6.62914828e-03 -7.12948614e+01] [-6.77695843e-03 4.09328468e-05 -9.99977035e-01 7.39915417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05088847899998 meters 0.016043890468701978 Centerline is valid? [True, True] Translation: X:110.15, Y:-71.30, Z:0.74 [[-2.77608293e-01 9.60692278e-01 1.99546276e-03 1.10149779e+02] [ 9.60668614e-01 2.77615461e-01 -6.74318415e-03 -7.13024752e+01] [-7.03209626e-03 4.50146034e-05 -9.99975274e-01 7.39063214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08088847899998 meters 0.016106200149037096 Centerline is valid? [True, True] Translation: X:110.16, Y:-71.31, Z:0.74 [[-3.51492004e-01 9.36187280e-01 2.59786426e-03 1.10155702e+02] [ 9.36162762e-01 3.51501600e-01 -6.77551070e-03 -7.13100011e+01] [-7.25630037e-03 5.04859535e-05 -9.99973671e-01 7.39084001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11088847899998 meters 0.016162192101030648 Centerline is valid? [True, True] Translation: X:110.16, Y:-71.32, Z:0.74 [[-4.23460097e-01 9.05909331e-01 3.13525235e-03 1.10161888e+02] [ 9.05885420e-01 4.23471700e-01 -6.58218061e-03 -7.13183950e+01] [-7.29054948e-03 5.28885479e-05 -9.99973422e-01 7.39568902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14088847899998 meters 0.016067930139890274 Centerline is valid? [True, True] Translation: X:110.17, Y:-71.32, Z:0.74 [[-4.92442081e-01 8.70337073e-01 3.76517609e-03 1.10170700e+02] [ 8.70312569e-01 4.92456471e-01 -6.53116401e-03 -7.13243058e+01] [-7.53849950e-03 6.06600761e-05 -9.99971583e-01 7.39719264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17088847899998 meters 0.016046918752255737 Centerline is valid? [True, True] Translation: X:110.18, Y:-71.33, Z:0.74 [[-5.58428115e-01 8.29541818e-01 4.29101629e-03 1.10181171e+02] [ 8.29518245e-01 5.58444597e-01 -6.25398264e-03 -7.13272522e+01] [-7.58423499e-03 6.70765697e-05 -9.99971237e-01 7.39566678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20088847899999 meters 0.016099712556823423 Centerline is valid? [True, True] Translation: X:110.19, Y:-71.33, Z:0.74 [[-6.21027517e-01 7.83774242e-01 4.77089592e-03 1.10191544e+02] [ 7.83752020e-01 6.21045838e-01 -5.90237231e-03 -7.13299332e+01] [-7.58907244e-03 7.36636943e-05 -9.99971200e-01 7.39118265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.230888479 meters 0.01653622726479667 Centerline is valid? [True, True] Translation: X:110.20, Y:-71.33, Z:0.74 [[-6.79547862e-01 7.33614575e-01 4.93536978e-03 1.10201190e+02] [ 7.33596069e-01 6.79565779e-01 -5.21148867e-03 -7.13336917e+01] [-7.17713246e-03 7.91118823e-05 -9.99974241e-01 7.39063950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.260888479 meters 0.017164593567863942 Centerline is valid? [True, True] Translation: X:110.21, Y:-71.34, Z:0.74 [[-7.34350755e-01 6.78753688e-01 4.73292587e-03 1.10208528e+02] [ 6.78740249e-01 7.34366003e-01 -4.27184016e-03 -7.13412831e+01] [-6.37522712e-03 7.53982398e-05 -9.99979675e-01 7.39172413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290888479 meters 0.01725801838662614 Centerline is valid? [True, True] Translation: X:110.80, Y:-70.70, Z:-0.15 [[-7.05916431e-01 -7.08283091e-01 4.12981573e-03 1.10801771e+02] [ 7.08270183e-01 -7.05928505e-01 -4.27708023e-03 -7.06999698e+01] [ 5.94473825e-03 -9.42358724e-05 9.99982325e-01 -1.51590978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.320888479 meters 0.017068787974622256 Centerline is valid? [True, True] Translation: X:110.78, Y:-70.68, Z:-0.15 [[-7.06736214e-01 -7.07464136e-01 4.29181809e-03 1.10782808e+02] [ 7.07450290e-01 -7.06749240e-01 -4.42707871e-03 -7.06809590e+01] [ 6.16523859e-03 -9.25288914e-05 9.99980990e-01 -1.51155649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.350888479 meters 0.017278058830455075 Centerline is valid? [True, True] Translation: X:110.77, Y:-70.66, Z:-0.15 [[-7.07560715e-01 -7.06640682e-01 4.09653627e-03 1.10765319e+02] [ 7.06628069e-01 -7.07572567e-01 -4.22297522e-03 -7.06618179e+01] [ 5.88272277e-03 -9.32838481e-05 9.99982692e-01 -1.50867361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.380888479 meters 0.016872647187185855 Centerline is valid? [True, True] Translation: X:110.74, Y:-70.64, Z:-0.15 [[-7.08666330e-01 -7.05533740e-01 3.76501000e-03 1.10744692e+02] [ 7.05523082e-01 -7.08676325e-01 -3.87900840e-03 -7.06421358e+01] [ 5.40494476e-03 -9.26211858e-05 9.99985389e-01 -1.50025952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.410888479 meters 0.017670944350570077 Centerline is valid? [True, True] Translation: X:110.73, Y:-70.62, Z:-0.15 [[-7.09158004e-01 -7.05038640e-01 3.92946469e-03 1.10727380e+02] [ 7.05027038e-01 -7.09168884e-01 -4.04600435e-03 -7.06217577e+01] [ 5.63924350e-03 -9.88775184e-05 9.99984094e-01 -1.51115019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.440888479 meters 0.017887506491899 Centerline is valid? [True, True] Translation: X:110.71, Y:-70.60, Z:-0.15 [[-7.09518354e-01 -7.04673940e-01 4.28293648e-03 1.10708821e+02] [ 7.04660166e-01 -7.09531273e-01 -4.40721394e-03 -7.06030327e+01] [ 6.14452619e-03 -1.08984449e-04 9.99981116e-01 -1.51886752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.470888479 meters 0.01728592244272865 Centerline is valid? [True, True] Translation: X:110.69, Y:-70.59, Z:-0.15 [[-7.09791396e-01 -7.04398290e-01 4.38452335e-03 1.10688195e+02] [ 7.04383867e-01 -7.09804929e-01 -4.50896111e-03 -7.05855340e+01] [ 6.28826078e-03 -1.12034279e-04 9.99980222e-01 -1.51879186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50088847899997 meters 0.01691319000885387 Centerline is valid? [True, True] Translation: X:110.67, Y:-70.57, Z:-0.15 [[-7.09459934e-01 -7.04734863e-01 3.92100352e-03 1.10667618e+02] [ 7.04723348e-01 -7.09470763e-01 -4.02974381e-03 -7.05675682e+01] [ 5.62173831e-03 -9.57190507e-05 9.99984193e-01 -1.51479044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53088847899997 meters 0.016928283507247475 Centerline is valid? [True, True] Translation: X:110.65, Y:-70.55, Z:-0.15 [[-7.09138820e-01 -7.05058903e-01 3.75201919e-03 1.10648172e+02] [ 7.05048377e-01 -7.09148740e-01 -3.85366422e-03 -7.05486494e+01] [ 5.37779995e-03 -8.74278580e-05 9.99985536e-01 -1.51249865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56088847899997 meters 0.016780441085611986 Centerline is valid? [True, True] Translation: X:110.63, Y:-70.53, Z:-0.15 [[-7.08494541e-01 -7.05707143e-01 3.59340079e-03 1.10628966e+02] [ 7.05697509e-01 -7.08503650e-01 -3.68832722e-03 -7.05304055e+01] [ 5.14881644e-03 -7.73057192e-05 9.99986742e-01 -1.50935127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59088847899997 meters 0.0165110375490952 Centerline is valid? [True, True] Translation: X:110.61, Y:-70.51, Z:-0.15 [[-7.07819366e-01 -7.06385676e-01 3.31975410e-03 1.10608167e+02] [ 7.06377471e-01 -7.07827148e-01 -3.40530540e-03 -7.05125375e+01] [ 4.75527104e-03 -6.53416046e-05 9.99988692e-01 -1.50778632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62088847899997 meters 0.01608358620297982 Centerline is valid? [True, True] Translation: X:110.59, Y:-70.50, Z:-0.15 [[-7.05256560e-01 -7.08943258e-01 3.55550819e-03 1.10585310e+02] [ 7.08933889e-01 -7.05265521e-01 -3.64512046e-03 -7.04955542e+01] [ 5.09176091e-03 -5.01248726e-05 9.99987036e-01 -1.51039047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65088847899997 meters 0.015779707176273902 Centerline is valid? [True, True] Translation: X:110.56, Y:-70.48, Z:-0.15 [[-7.03929189e-01 -7.10261675e-01 3.47114199e-03 1.10563317e+02] [ 7.10252771e-01 -7.03937747e-01 -3.55675031e-03 -7.04770899e+01] [ 4.96969131e-03 -3.83121482e-05 9.99987650e-01 -1.51410008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68088847899998 meters 0.01572682140616841 Centerline is valid? [True, True] Translation: X:110.54, Y:-70.46, Z:-0.15 [[-7.02602669e-01 -7.11572873e-01 3.67908604e-03 1.10543731e+02] [ 7.11562901e-01 -7.02612301e-01 -3.76731910e-03 -7.04598427e+01] [ 5.26569318e-03 -2.90273199e-05 9.99986136e-01 -1.51898703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71088847899998 meters 0.015570193514924153 Centerline is valid? [True, True] Translation: X:110.52, Y:-70.44, Z:-0.15 [[-7.00051336e-01 -7.14085602e-01 3.14316468e-03 1.10521507e+02] [ 7.14078358e-01 -7.00058392e-01 -3.21653930e-03 -7.04430321e+01] [ 4.49728322e-03 -7.27675763e-06 9.99989887e-01 -1.51511520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74088847899998 meters 0.015407074477574535 Centerline is valid? [True, True] Translation: X:110.50, Y:-70.42, Z:-0.15 [[-6.99090910e-01 -7.15026361e-01 3.03366693e-03 1.10501183e+02] [ 7.15019629e-01 -6.99097492e-01 -3.10256050e-03 -7.04246450e+01] [ 4.33924148e-03 1.59558122e-07 9.99990585e-01 -1.51085793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77088847899998 meters 0.015474461131811697 Centerline is valid? [True, True] Translation: X:110.48, Y:-70.41, Z:-0.15 [[-6.98492799e-01 -7.15610476e-01 3.07513281e-03 1.10481307e+02] [ 7.15603574e-01 -6.98499568e-01 -3.14300718e-03 -7.04065801e+01] [ 4.39714781e-03 5.20814392e-06 9.99990333e-01 -1.51120747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80088847899998 meters 0.015484246933291654 Centerline is valid? [True, True] Translation: X:110.46, Y:-70.39, Z:-0.15 [[-6.98295348e-01 -7.15804022e-01 2.86510306e-03 1.10462107e+02] [ 7.15798040e-01 -6.98301225e-01 -2.92642818e-03 -7.03889448e+01] [ 4.09545404e-03 7.32397221e-06 9.99991614e-01 -1.51209518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83088847899998 meters 0.015397268620307505 Centerline is valid? [True, True] Translation: X:110.44, Y:-70.37, Z:-0.15 [[-6.98046729e-01 -7.16047535e-01 2.58701686e-03 1.10441007e+02] [ 7.16042665e-01 -6.98051523e-01 -2.64090008e-03 -7.03701006e+01] [ 3.69688105e-03 8.94278406e-06 9.99993166e-01 -1.50526038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86088847899998 meters 0.01543971740245434 Centerline is valid? [True, True] Translation: X:110.42, Y:-70.35, Z:-0.15 [[-6.98324336e-01 -7.15777975e-01 2.23864550e-03 1.10422466e+02] [ 7.15774331e-01 -6.98327924e-01 -2.28415353e-03 -7.03518980e+01] [ 3.19825545e-03 7.28498828e-06 9.99994886e-01 -1.50024583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89088847899998 meters 0.015473184836386909 Centerline is valid? [True, True] Translation: X:110.40, Y:-70.33, Z:-0.15 [[-6.98907617e-01 -7.15209801e-01 1.75621768e-03 1.10403264e+02] [ 7.15207559e-01 -6.98909823e-01 -1.79080182e-03 -7.03320555e+01] [ 2.50823680e-03 4.45512939e-06 9.99996854e-01 -1.48997758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92088847899998 meters 0.015387106928897425 Centerline is valid? [True, True] Translation: X:110.38, Y:-70.31, Z:-0.15 [[-6.99977615e-01 -7.14163442e-01 1.38425612e-03 1.10384331e+02] [ 7.14162049e-01 -6.99978984e-01 -1.41062360e-03 -7.03125187e+01] [ 1.97636600e-03 1.17824086e-06 9.99998047e-01 -1.48457816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95088847899999 meters 0.015497723451634401 Centerline is valid? [True, True] Translation: X:110.37, Y:-70.29, Z:-0.15 [[-7.02405499e-01 -7.11776096e-01 1.14192105e-03 1.10365686e+02] [ 7.11775146e-01 -7.02406427e-01 -1.16293877e-03 -7.02929370e+01] [ 1.62984471e-03 -4.06356769e-06 9.99998672e-01 -1.48581021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.980888479 meters 0.015598311005282998 Centerline is valid? [True, True] Translation: X:110.35, Y:-70.27, Z:-0.15 [[-7.03932701e-01 -7.10265117e-01 1.48870960e-03 1.10347336e+02] [ 7.10263501e-01 -7.03934275e-01 -1.51511403e-03 -7.02735418e+01] [ 2.12408636e-03 -9.16222319e-06 9.99997744e-01 -1.49208667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010888479 meters 0.01567348079817676 Centerline is valid? [True, True] Translation: X:110.33, Y:-70.25, Z:-0.15 [[-7.05478764e-01 -7.08728322e-01 1.96950824e-03 1.10328671e+02] [ 7.08725491e-01 -7.05481513e-01 -2.00318987e-03 -7.02538885e+01] [ 2.80916905e-03 -1.73672189e-05 9.99996054e-01 -1.49771800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.040888479 meters 0.016105607064150037 Centerline is valid? [True, True] Translation: X:110.31, Y:-70.23, Z:-0.15 [[-7.08809486e-01 -7.05395799e-01 2.42467089e-03 1.10310586e+02] [ 7.05391494e-01 -7.08813632e-01 -2.46469314e-03 -7.02331311e+01] [ 3.45722397e-03 -3.66556537e-05 9.99994023e-01 -1.50741532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.070888479 meters 0.01643928000617884 Centerline is valid? [True, True] Translation: X:110.29, Y:-70.21, Z:-0.15 [[-7.10717734e-01 -7.03473049e-01 2.44373944e-03 1.10291676e+02] [ 7.03468670e-01 -7.10721933e-01 -2.48269943e-03 -7.02127374e+01] [ 3.48333136e-03 -4.54043833e-05 9.99993932e-01 -1.50564829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.100888479 meters 0.016982893531495676 Centerline is valid? [True, True] Translation: X:110.27, Y:-70.19, Z:-0.15 [[-7.12404813e-01 -7.01764468e-01 2.45212769e-03 1.10273528e+02] [ 7.01760052e-01 -7.12409031e-01 -2.49021796e-03 -7.01922765e+01] [ 3.49446440e-03 -5.32380072e-05 9.99993893e-01 -1.50249842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.130888479 meters 0.017235576523311626 Centerline is valid? [True, True] Translation: X:110.25, Y:-70.17, Z:-0.15 [[-7.14475858e-01 -6.99655764e-01 2.46180558e-03 1.10254515e+02] [ 6.99651305e-01 -7.14480097e-01 -2.49858398e-03 -7.01722692e+01] [ 3.50705977e-03 -6.27724449e-05 9.99993848e-01 -1.49905116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.160888479 meters 0.018318884086553393 Centerline is valid? [True, True] Translation: X:110.24, Y:-70.15, Z:-0.15 [[-7.17550572e-01 -6.96503950e-01 1.85041958e-03 1.10236522e+02] [ 6.96501422e-01 -7.17552956e-01 -1.87731563e-03 -7.01518809e+01] [ 2.63533179e-03 -5.82490350e-05 9.99996526e-01 -1.49076470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.190888479 meters 0.017942907769143375 Centerline is valid? [True, True] Translation: X:110.22, Y:-70.13, Z:-0.15 [[-7.19097662e-01 -6.94906561e-01 1.85014075e-03 1.10215967e+02] [ 6.94904032e-01 -7.19100040e-01 -1.87590603e-03 -7.01332450e+01] [ 2.63401569e-03 -6.32893728e-05 9.99996529e-01 -1.48555995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.220888479 meters 0.01818978760894486 Centerline is valid? [True, True] Translation: X:110.20, Y:-70.11, Z:-0.15 [[-7.20565747e-01 -6.93384936e-01 1.52813762e-03 1.10196111e+02] [ 6.93383209e-01 -7.20567365e-01 -1.54854129e-03 -7.01132691e+01] [ 2.17486130e-03 -5.62408455e-05 9.99997633e-01 -1.48336041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25088847899997 meters 0.01964342818143608 Centerline is valid? [True, True] Translation: X:110.18, Y:-70.09, Z:-0.15 [[-7.21707693e-01 -6.92196809e-01 1.25866745e-03 1.10179324e+02] [ 6.92195636e-01 -7.21708789e-01 -1.27489143e-03 -7.00924836e+01] [ 1.79086714e-03 -4.88548398e-05 9.99998395e-01 -1.48087048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28088847899997 meters 0.01925657483836748 Centerline is valid? [True, True] Translation: X:110.16, Y:-70.07, Z:-0.15 [[-7.22723188e-01 -6.91136958e-01 9.47773718e-04 1.10158391e+02] [ 6.91136293e-01 -7.22723809e-01 -9.59455502e-04 -7.00731092e+01] [ 1.34809379e-03 -3.83799246e-05 9.99999091e-01 -1.47615782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31088847899997 meters 0.02018626743380589 Centerline is valid? [True, True] Translation: X:110.14, Y:-70.05, Z:-0.15 [[-7.23973839e-01 -6.89827232e-01 5.19171153e-04 1.10139768e+02] [ 6.89827033e-01 -7.23974025e-01 -5.25258600e-04 -7.00534551e+01] [ 7.38204116e-04 -2.21351893e-05 9.99999727e-01 -1.46367685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34088847899997 meters 0.02018626743380589 Centerline is valid? [True, True] Translation: X:110.12, Y:-70.03, Z:-0.15 [[-7.24184695e-01 -6.89605871e-01 5.19331968e-04 1.10120858e+02] [ 6.89605672e-01 -7.24184881e-01 -5.25099602e-04 -7.00344727e+01] [ 7.38204128e-04 -2.21348242e-05 9.99999727e-01 -1.46368375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37088847899997 meters 0.019672776789261028 Centerline is valid? [True, True] Translation: X:110.10, Y:-70.02, Z:-0.15 [[-7.24373047e-01 -6.89407991e-01 5.57183363e-04 1.10100216e+02] [ 6.89407762e-01 -7.24373261e-01 -5.63020082e-04 -7.00161760e+01] [ 7.91759273e-04 -2.37100375e-05 9.99999686e-01 -1.45837962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40088847899997 meters 0.019195261401877065 Centerline is valid? [True, True] Translation: X:110.08, Y:-70.00, Z:-0.15 [[-7.24307721e-01 -6.89476514e-01 6.79515642e-04 1.10079224e+02] [ 6.89476173e-01 -7.24308039e-01 -6.86250463e-04 -6.99980524e+01] [ 9.65332219e-04 -2.85466641e-05 9.99999534e-01 -1.45652761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43088847899998 meters 0.019000884821592175 Centerline is valid? [True, True] Translation: X:110.06, Y:-69.98, Z:-0.15 [[-7.23782571e-01 -6.90027664e-01 7.82258727e-04 1.10058433e+02] [ 6.90027213e-01 -7.23782993e-01 -7.89568474e-04 -6.99791519e+01] [ 1.11100965e-03 -3.16960909e-05 9.99999382e-01 -1.45561258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46088847899998 meters 0.018572035678722603 Centerline is valid? [True, True] Translation: X:110.04, Y:-69.96, Z:-0.15 [[-7.21405358e-01 -6.92511399e-01 1.50709004e-03 1.10036463e+02] [ 6.92509732e-01 -7.21406931e-01 -1.52031337e-03 -6.99620926e+01] [ 2.14005954e-03 -5.30876894e-05 9.99997709e-01 -1.45632275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49088847899998 meters 0.019058321587404344 Centerline is valid? [True, True] Translation: X:110.02, Y:-69.94, Z:-0.15 [[-7.19801201e-01 -6.94178426e-01 1.59481918e-03 1.10017209e+02] [ 6.94176566e-01 -7.19802966e-01 -1.60795149e-03 -6.99435726e+01] [ 2.26416081e-03 -5.03193166e-05 9.99997436e-01 -1.46059620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52088847899998 meters 0.017444462660120202 Centerline is valid? [True, True] Translation: X:109.99, Y:-69.93, Z:-0.15 [[-7.17938299e-01 -6.96104806e-01 1.64258085e-03 1.09993142e+02] [ 6.96102839e-01 -7.17940177e-01 -1.65517831e-03 -6.99278427e+01] [ 2.33145236e-03 -4.49107094e-05 9.99997281e-01 -1.45806823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55088847899998 meters 0.01707021697371254 Centerline is valid? [True, True] Translation: X:109.97, Y:-69.91, Z:-0.15 [[-7.15940744e-01 -6.98157965e-01 2.07536073e-03 1.09971718e+02] [ 6.98154837e-01 -7.15943750e-01 -2.09042441e-03 -6.99108079e+01] [ 2.94528799e-03 -4.76968745e-05 9.99995662e-01 -1.46052746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58088847899998 meters 0.01642694512217801 Centerline is valid? [True, True] Translation: X:109.95, Y:-69.90, Z:-0.15 [[-7.12066154e-01 -7.02107508e-01 2.61508551e-03 1.09947408e+02] [ 7.02102574e-01 -7.12070955e-01 -2.63258714e-03 -6.98955283e+01] [ 3.71048563e-03 -3.85179305e-05 9.99993115e-01 -1.46831056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61088847899998 meters 0.016200894103786275 Centerline is valid? [True, True] Translation: X:109.93, Y:-69.88, Z:-0.15 [[-7.10440903e-01 -7.03750359e-01 3.02586076e-03 1.09927291e+02] [ 7.03743773e-01 -7.10447346e-01 -3.04463490e-03 -6.98783379e+01] [ 4.29237765e-03 -3.36024991e-05 9.99990787e-01 -1.47160782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64088847899998 meters 0.016148344854309802 Centerline is valid? [True, True] Translation: X:109.91, Y:-69.86, Z:-0.15 [[-7.09240177e-01 -7.04960176e-01 3.08573134e-03 1.09906174e+02] [ 7.04953347e-01 -7.09246889e-01 -3.10296799e-03 -6.98604094e+01] [ 4.37601422e-03 -2.54529295e-05 9.99990425e-01 -1.47398990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67088847899998 meters 0.015955634596857716 Centerline is valid? [True, True] Translation: X:109.89, Y:-69.84, Z:-0.15 [[-7.07163915e-01 -7.07044117e-01 2.79538108e-03 1.09885546e+02] [ 7.07038536e-01 -7.07169440e-01 -2.80918337e-03 -6.98444240e+01] [ 3.96302464e-03 -1.01109650e-05 9.99992147e-01 -1.47093103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70088847899999 meters 0.015895160467412087 Centerline is valid? [True, True] Translation: X:109.87, Y:-69.83, Z:-0.15 [[-7.06445028e-01 -7.07763360e-01 2.53950888e-03 1.09865018e+02] [ 7.07758764e-01 -7.06449593e-01 -2.55048165e-03 -6.98263775e+01] [ 3.59917247e-03 -4.41541254e-06 9.99993523e-01 -1.46236989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.730888479 meters 0.01576471737618392 Centerline is valid? [True, True] Translation: X:109.84, Y:-69.81, Z:-0.15 [[-7.05718559e-01 -7.08487388e-01 2.63366707e-03 1.09844313e+02] [ 7.08482457e-01 -7.05723473e-01 -2.64338656e-03 -6.98079823e+01] [ 3.73144672e-03 4.19962076e-07 9.99993038e-01 -1.45894370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.760888479 meters 0.015790901938181952 Centerline is valid? [True, True] Translation: X:109.82, Y:-69.79, Z:-0.15 [[-7.04878776e-01 -7.09321815e-01 2.91114347e-03 1.09823405e+02] [ 7.09315804e-01 -7.04884787e-01 -2.92024677e-03 -6.97885551e+01] [ 4.12341548e-03 6.50009882e-06 9.99991499e-01 -1.46057219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790888479 meters 0.015752902916602415 Centerline is valid? [True, True] Translation: X:109.80, Y:-69.77, Z:-0.15 [[-7.03333474e-01 -7.10851823e-01 3.42192937e-03 1.09802725e+02] [ 7.10843546e-01 -7.03341798e-01 -3.43047648e-03 -6.97704071e+01] [ 4.84534642e-03 1.96874664e-05 9.99988261e-01 -1.46657790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.820888479 meters 0.01594979797890425 Centerline is valid? [True, True] Translation: X:109.78, Y:-69.75, Z:-0.15 [[-7.02707099e-01 -7.11469697e-01 3.68820531e-03 1.09783633e+02] [ 7.11460103e-01 -7.02716778e-01 -3.69498682e-03 -6.97522244e+01] [ 5.22063490e-03 2.75174542e-05 9.99986372e-01 -1.47155283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.850888479 meters 0.015886448145669977 Centerline is valid? [True, True] Translation: X:109.76, Y:-69.73, Z:-0.15 [[-7.02272926e-01 -7.11895477e-01 4.19119950e-03 1.09763261e+02] [ 7.11883109e-01 -7.02285432e-01 -4.19654874e-03 -6.97322248e+01] [ 5.93092242e-03 3.65215640e-05 9.99982411e-01 -1.46941490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.880888479 meters 0.015891130749507487 Centerline is valid? [True, True] Translation: X:109.74, Y:-69.71, Z:-0.15 [[-7.01935688e-01 -7.12226576e-01 4.42656759e-03 1.09743785e+02] [ 7.12212804e-01 -7.01949644e-01 -4.42928325e-03 -6.97141321e+01] [ 6.26188079e-03 4.35861328e-05 9.99980393e-01 -1.47558116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.910888479 meters 0.015810639755021384 Centerline is valid? [True, True] Translation: X:109.72, Y:-69.70, Z:-0.15 [[-7.01720722e-01 -7.12439013e-01 4.32227350e-03 1.09723321e+02] [ 7.12425903e-01 -7.01734032e-01 -4.32225652e-03 -6.96956175e+01] [ 6.11243058e-03 4.62826325e-05 9.99981318e-01 -1.46954033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.940888479 meters 0.01591420563089567 Centerline is valid? [True, True] Translation: X:109.18, Y:-70.23, Z:0.73 [[-7.60328841e-01 6.49524077e-01 4.30431236e-03 1.09184103e+02] [ 6.49513332e-01 7.60341023e-01 -3.73630580e-03 -7.02289123e+01] [-5.69956584e-03 -4.51127921e-05 -9.99983756e-01 7.34288372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97088847899997 meters 0.01565221123630268 Centerline is valid? [True, True] Translation: X:109.21, Y:-70.22, Z:0.73 [[-8.04199327e-01 5.94340995e-01 4.71412431e-03 1.09210272e+02] [ 5.94330457e-01 8.04213143e-01 -3.53964564e-03 -7.02152903e+01] [-5.89491724e-03 -4.48329883e-05 -9.99982624e-01 7.33826533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00088847899997 meters 0.015606682069899278 Centerline is valid? [True, True] Translation: X:109.23, Y:-70.20, Z:0.73 [[-8.43570616e-01 5.36996273e-01 4.85983758e-03 1.09227321e+02] [ 5.36987108e-01 8.43584614e-01 -3.13751434e-03 -7.01956299e+01] [-5.78451772e-03 -3.70447723e-05 -9.99983269e-01 7.33324613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03088847899997 meters 0.015571908885899738 Centerline is valid? [True, True] Translation: X:109.25, Y:-70.18, Z:0.73 [[-8.78987654e-01 4.76813923e-01 5.40253780e-03 1.09245974e+02] [ 4.76804686e-01 8.79004256e-01 -2.96807931e-03 -7.01757615e+01] [-6.16407526e-03 -3.29497285e-05 -9.99981001e-01 7.33111669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06088847899997 meters 0.015646873383854152 Centerline is valid? [True, True] Translation: X:109.26, Y:-70.15, Z:0.73 [[-9.09867696e-01 4.14850181e-01 6.33266882e-03 1.09261633e+02] [ 4.14839935e-01 9.09889733e-01 -2.91575211e-03 -7.01536947e+01] [-6.97163063e-03 -2.59047272e-05 -9.99975698e-01 7.33371151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09088847899997 meters 0.015593153556833321 Centerline is valid? [True, True] Translation: X:109.27, Y:-70.13, Z:0.73 [[-9.36496057e-01 3.50602855e-01 7.26445658e-03 1.09273247e+02] [ 3.50592157e-01 9.36524232e-01 -2.73895954e-03 -7.01295743e+01] [-7.76362666e-03 -1.81633057e-05 -9.99969862e-01 7.34079415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12088847899997 meters 0.015662502401411125 Centerline is valid? [True, True] Translation: X:109.29, Y:-70.11, Z:0.74 [[-9.58401781e-01 2.85307528e-01 8.10195114e-03 1.09285956e+02] [ 2.85297312e-01 9.58436025e-01 -2.41438023e-03 -7.01057514e+01] [-8.45404270e-03 -2.48142655e-06 -9.99964264e-01 7.35022395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15088847899997 meters 0.015902850645604746 Centerline is valid? [True, True] Translation: X:109.51, Y:-69.37, Z:-0.15 [[-9.38224999e-01 -3.45922138e-01 8.46912677e-03 1.09513525e+02] [ 3.45908387e-01 -9.38263222e-01 -3.08461183e-03 -6.93655973e+01] [ 9.01330569e-03 3.54820476e-05 9.99959379e-01 -1.48941834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18088847899998 meters 0.015932225100931414 Centerline is valid? [True, True] Translation: X:109.24, Y:-70.10, Z:0.74 [[-9.57879461e-01 2.87042815e-01 8.56508745e-03 1.09235171e+02] [ 2.87031784e-01 9.57917752e-01 -2.51692982e-03 -7.00979935e+01] [-8.92711594e-03 4.75369456e-05 -9.99960151e-01 7.35021480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21088847899998 meters 0.01609540977711778 Centerline is valid? [True, True] Translation: X:109.25, Y:-70.08, Z:0.73 [[-9.75403432e-01 2.20275149e-01 8.18551765e-03 1.09251931e+02] [ 2.20267915e-01 9.75437776e-01 -1.78621344e-03 -7.00755388e+01] [-8.37792157e-03 6.07281895e-05 -9.99964903e-01 7.34433619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24088847899998 meters 0.016162061437739364 Centerline is valid? [True, True] Translation: X:109.26, Y:-70.05, Z:0.73 [[-9.88318660e-01 1.52168059e-01 8.43258654e-03 1.09260055e+02] [ 1.52163178e-01 9.88354631e-01 -1.22124230e-03 -7.00497043e+01] [-8.52022003e-03 7.61526142e-05 -9.99963699e-01 7.33895901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27088847899998 meters 0.016755974335877232 Centerline is valid? [True, True] Translation: X:109.27, Y:-70.02, Z:0.73 [[-9.96379870e-01 8.46311061e-02 8.04549017e-03 1.09267752e+02] [ 8.46291292e-02 9.96412348e-01 -5.86456355e-04 -7.00241466e+01] [-8.06625820e-03 9.65495206e-05 -9.99967463e-01 7.34435791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30088847899998 meters 0.0169379099741391 Centerline is valid? [True, True] Translation: X:109.33, Y:-69.23, Z:-0.15 [[-9.92029019e-01 -1.25719683e-01 8.54318747e-03 1.09333949e+02] [ 1.25714430e-01 -9.92065803e-01 -1.15126610e-03 -6.92324397e+01] [ 8.62014094e-03 -6.80874374e-05 9.99962844e-01 -1.47819238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33088847899998 meters 0.017163225496478293 Centerline is valid? [True, True] Translation: X:109.19, Y:-70.02, Z:0.73 [[-9.96573434e-01 8.23184822e-02 8.06583247e-03 1.09193630e+02] [ 8.23167477e-02 9.96606067e-01 -5.47347944e-04 -7.00219626e+01] [-8.08351443e-03 1.18480676e-04 -9.99967321e-01 7.33801893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36088847899998 meters 0.01721819793344205 Centerline is valid? [True, True] Translation: X:109.19, Y:-70.00, Z:0.73 [[-9.99892170e-01 1.25472448e-02 7.62992100e-03 1.09190504e+02] [ 1.25478054e-02 9.99921273e-01 2.55955591e-05 -6.99952520e+01] [-7.62899917e-03 1.21331563e-04 -9.99970891e-01 7.32995083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39088847899998 meters 0.017162379426248427 Centerline is valid? [True, True] Translation: X:109.19, Y:-69.97, Z:0.73 [[-9.98320981e-01 -5.74814977e-02 7.14821265e-03 1.09192919e+02] [-5.74791458e-02 9.98346564e-01 5.34185704e-04 -6.99676787e+01] [-7.16709934e-03 1.22415639e-04 -9.99974309e-01 7.32576458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42088847899998 meters 0.018246096098216355 Centerline is valid? [True, True] Translation: X:109.14, Y:-69.16, Z:-0.15 [[-9.99655013e-01 2.51787461e-02 7.47567483e-03 1.09139298e+02] [-2.51788447e-02 -9.99682959e-01 8.09441968e-05 -6.91636965e+01] [ 7.47534281e-03 -1.07312583e-04 9.99972053e-01 -1.47041172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45088847899999 meters 0.017187615073502426 Centerline is valid? [True, True] Translation: X:109.09, Y:-69.97, Z:0.73 [[-9.97891930e-01 -6.43746108e-02 8.22224442e-03 1.09086491e+02] [-6.43712823e-02 9.97925794e-01 6.69091807e-04 -6.99747898e+01] [-8.24826232e-03 1.38404898e-04 -9.99965973e-01 7.33216262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.480888479 meters 0.017091499976369728 Centerline is valid? [True, True] Translation: X:109.07, Y:-69.95, Z:0.73 [[-9.90622321e-01 -1.36375871e-01 8.30896897e-03 1.09071355e+02] [-1.36369945e-01 9.90657158e-01 1.27833915e-03 -6.99473527e+01] [-8.40567420e-03 1.33257654e-04 -9.99964663e-01 7.33468395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510888479 meters 0.017010798840954737 Centerline is valid? [True, True] Translation: X:109.05, Y:-69.92, Z:0.73 [[-9.77983989e-01 -2.08539121e-01 7.66500147e-03 1.09052033e+02] [-2.08531790e-01 9.78014019e-01 1.75234693e-03 -6.99220072e+01] [-7.86191178e-03 1.15370765e-04 -9.99969088e-01 7.33463184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.540888479 meters 0.016659448780644324 Centerline is valid? [True, True] Translation: X:109.01, Y:-69.90, Z:0.73 [[-9.60107846e-01 -2.79533954e-01 7.32745609e-03 1.09009497e+02] [-2.79524967e-01 9.60135801e-01 2.24406254e-03 -6.99032240e+01] [-7.66264460e-03 1.06335129e-04 -9.99970636e-01 7.33031128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.570888479 meters 0.016581725860659657 Centerline is valid? [True, True] Translation: X:108.95, Y:-69.89, Z:0.73 [[-9.36580594e-01 -3.50384551e-01 6.88896605e-03 1.08953710e+02] [-3.50374313e-01 9.36605924e-01 2.68022060e-03 -6.98921467e+01] [-7.39135430e-03 9.65258473e-05 -9.99972679e-01 7.32908292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.600888479 meters 0.016155492442006165 Centerline is valid? [True, True] Translation: X:108.88, Y:-69.89, Z:0.73 [[-9.07487030e-01 -4.20026100e-01 6.73533997e-03 1.08879532e+02] [-4.20013814e-01 9.07512021e-01 3.21382706e-03 -6.98906058e+01] [-7.46229323e-03 8.75705487e-05 -9.99972153e-01 7.32708746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.630888479 meters 0.01596645140308849 Centerline is valid? [True, True] Translation: X:108.80, Y:-69.90, Z:0.73 [[-8.73454488e-01 -4.86861608e-01 6.55980603e-03 1.08800130e+02] [-4.86847131e-01 8.73479116e-01 3.75560332e-03 -6.98998577e+01] [-7.55831265e-03 8.67258329e-05 -9.99971432e-01 7.32708317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.660888479 meters 0.015933681309378764 Centerline is valid? [True, True] Translation: X:108.72, Y:-69.92, Z:0.73 [[-8.34364492e-01 -5.51178005e-01 6.22101190e-03 1.08715131e+02] [-5.51161915e-01 8.34387679e-01 4.21239108e-03 -6.99196182e+01] [-7.51251300e-03 8.58847095e-05 -9.99971777e-01 7.32781219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.690888479 meters 0.01585178099075134 Centerline is valid? [True, True] Translation: X:108.63, Y:-69.95, Z:0.73 [[-7.89984106e-01 -6.13098283e-01 5.96720547e-03 1.08629062e+02] [-6.13079998e-01 7.90006638e-01 4.73579377e-03 -6.99480988e+01] [-7.61763896e-03 8.28274925e-05 -9.99970982e-01 7.32531645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72088847899997 meters 0.015780435264244788 Centerline is valid? [True, True] Translation: X:108.54, Y:-69.99, Z:0.73 [[-7.40985884e-01 -6.71498813e-01 5.40960651e-03 1.08535858e+02] [-6.71480153e-01 7.41005626e-01 5.00668350e-03 -6.99899120e+01] [-7.37053088e-03 7.74383955e-05 -9.99972834e-01 7.32810765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75088847899997 meters 0.015627745681929796 Centerline is valid? [True, True] Translation: X:108.45, Y:-70.04, Z:0.73 [[-6.87703465e-01 -7.25973093e-01 5.19729630e-03 1.08445668e+02] [-7.25951471e-01 6.87723099e-01 5.60362230e-03 -7.00388336e+01] [-7.64237973e-03 8.06455799e-05 -9.99970793e-01 7.32921824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78088847899997 meters 0.015948049847402952 Centerline is valid? [True, True] Translation: X:108.35, Y:-70.10, Z:0.73 [[-6.30364240e-01 -7.76284214e-01 4.87274559e-03 1.08354336e+02] [-7.76259995e-01 6.30383068e-01 6.13253402e-03 -7.01019661e+01] [-7.83228567e-03 8.32126744e-05 -9.99969324e-01 7.33214466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81088847899997 meters 0.016281561979787067 Centerline is valid? [True, True] Translation: X:108.27, Y:-70.17, Z:0.73 [[-5.69851005e-01 -8.21736652e-01 4.32514137e-03 1.08270338e+02] [-8.21711787e-01 5.69867412e-01 6.39307928e-03 -7.01706344e+01] [-7.71818469e-03 8.90830101e-05 -9.99970210e-01 7.33273980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84088847899997 meters 0.016162627864428524 Centerline is valid? [True, True] Translation: X:108.19, Y:-70.25, Z:0.73 [[-5.05761569e-01 -8.62663310e-01 4.15322173e-03 1.08187053e+02] [-8.62632526e-01 5.05778610e-01 7.28852614e-03 -7.02521929e+01] [-8.38815480e-03 1.03552259e-04 -9.99964813e-01 7.32483009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87088847899997 meters 0.016319574886423074 Centerline is valid? [True, True] Translation: X:108.11, Y:-70.34, Z:0.73 [[-4.38605496e-01 -8.98671934e-01 3.73821538e-03 1.08111480e+02] [-8.98637030e-01 4.38621411e-01 7.92128945e-03 -7.03384826e+01] [-8.75830181e-03 1.15022327e-04 -9.99961639e-01 7.32867497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90088847899997 meters 0.016750594660372906 Centerline is valid? [True, True] Translation: X:108.04, Y:-70.43, Z:0.73 [[-3.69000832e-01 -9.29422726e-01 3.43257689e-03 1.08041108e+02] [-9.29379018e-01 3.69016772e-01 9.01457964e-03 -7.04326827e+01] [-9.64503362e-03 1.36222447e-04 -9.99953476e-01 7.34474763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93088847899998 meters 0.016712829418869268 Centerline is valid? [True, True] Translation: X:107.98, Y:-70.53, Z:0.73 [[-2.96343440e-01 -9.55077016e-01 2.90859733e-03 1.07976913e+02] [-9.55026051e-01 2.96357677e-01 9.86754792e-03 -7.05339000e+01] [-1.02862534e-02 1.46396874e-04 -9.99947084e-01 7.34373030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96088847899998 meters 0.016670230797392653 Centerline is valid? [True, True] Translation: X:107.92, Y:-70.65, Z:0.73 [[-2.21869028e-01 -9.75074182e-01 2.11531482e-03 1.07919165e+02] [-9.75023376e-01 2.21879063e-01 9.95481912e-03 -7.06462782e+01] [-1.01760312e-02 1.46184649e-04 -9.99948212e-01 7.34546616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99088847899998 meters 0.01627643696900589 Centerline is valid? [True, True] Translation: X:107.87, Y:-70.76, Z:0.73 [[-1.45689254e-01 -9.89329576e-01 1.27739658e-03 1.07871068e+02] [-9.89282846e-01 1.45694789e-01 9.61657322e-03 -7.07555910e+01] [-9.70007033e-03 1.37324856e-04 -9.99952944e-01 7.33625410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02088847899998 meters 0.01657912428937019 Centerline is valid? [True, True] Translation: X:107.83, Y:-70.87, Z:0.73 [[-6.84414917e-02 -9.97654986e-01 5.40164132e-04 1.07832028e+02] [-9.97606244e-01 6.84434878e-02 9.86256660e-03 -7.08749949e+01] [-9.87640946e-03 1.36137659e-04 -9.99951218e-01 7.34304393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05088847899998 meters 0.016537377257604423 Centerline is valid? [True, True] Translation: X:107.80, Y:-70.99, Z:0.73 [[ 9.35198356e-03 -9.99956245e-01 -2.21125916e-04 1.07801348e+02] [-9.99908676e-01 -9.35369572e-03 9.75439733e-03 -7.09949638e+01] [-9.75603886e-03 1.29882758e-04 -9.99952400e-01 7.34407679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08088847899998 meters 0.016271992989208048 Centerline is valid? [True, True] Translation: X:107.78, Y:-71.11, Z:0.73 [[ 8.68735779e-02 -9.96218871e-01 -9.70375864e-04 1.07779259e+02] [-9.96171708e-01 -8.68789081e-02 9.69447408e-03 -7.11120762e+01] [-9.74212322e-03 1.24467333e-04 -9.99952537e-01 7.34303381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11088847899998 meters 0.016217318905109468 Centerline is valid? [True, True] Translation: X:107.77, Y:-71.24, Z:0.73 [[ 1.64657917e-01 -9.86349032e-01 -1.83225143e-03 1.07767746e+02] [-9.86295935e-01 -1.64668066e-01 1.02351079e-02 -7.12359202e+01] [-1.03971020e-02 1.21850597e-04 -9.99945941e-01 7.34169885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14088847899998 meters 0.01619869537962484 Centerline is valid? [True, True] Translation: X:107.77, Y:-71.36, Z:0.73 [[ 2.41528893e-01 -9.70390538e-01 -2.44908628e-03 1.07765038e+02] [-9.70344863e-01 -2.41541287e-01 9.41561124e-03 -7.13611483e+01] [-9.72837551e-03 1.02316135e-04 -9.99952673e-01 7.34829449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17088847899998 meters 0.016206310594963365 Centerline is valid? [True, True] Translation: X:107.77, Y:-71.48, Z:0.73 [[ 3.16338861e-01 -9.48641737e-01 -2.92913705e-03 1.07771705e+02] [-9.48603636e-01 -3.16352410e-01 8.50266489e-03 -7.14836136e+01] [-8.99262235e-03 8.88667224e-05 -9.99959562e-01 7.34914002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20088847899999 meters 0.01633104967892759 Centerline is valid? [True, True] Translation: X:107.79, Y:-71.60, Z:0.73 [[ 3.88828605e-01 -9.21304503e-01 -3.21383444e-03 1.07787961e+02] [-9.21274639e-01 -3.88841879e-01 7.41838437e-03 -7.16041099e+01] [-8.08426435e-03 7.63441155e-05 -9.99967319e-01 7.34896325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.230888479 meters 0.0159861470571593 Centerline is valid? [True, True] Translation: X:107.81, Y:-71.72, Z:0.73 [[ 4.59397453e-01 -8.88225463e-01 -3.08341845e-03 1.07811576e+02] [-8.88206273e-01 -4.59407797e-01 5.83884516e-03 -7.17180480e+01] [-6.60275742e-03 5.63610219e-05 -9.99978200e-01 7.32951173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.260888479 meters 0.0159861470571593 Centerline is valid? [True, True] Translation: X:107.84, Y:-71.83, Z:0.73 [[ 5.26407846e-01 -8.50224890e-01 -3.52369655e-03 1.07844968e+02] [-8.50206554e-01 -5.26419636e-01 5.58407414e-03 -7.18320366e+01] [-6.60266188e-03 5.63694630e-05 -9.99978201e-01 7.32946416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290888479 meters 0.01595627000903023 Centerline is valid? [True, True] Translation: X:107.89, Y:-71.95, Z:0.73 [[ 5.90407212e-01 -8.07098095e-01 -3.46269490e-03 1.07890785e+02] [-8.07084684e-01 -5.90417364e-01 4.65289291e-03 -7.19483438e+01] [-5.79977620e-03 4.75864891e-05 -9.99983180e-01 7.32359908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.320888479 meters 0.015755472808792935 Centerline is valid? [True, True] Translation: X:107.94, Y:-72.05, Z:0.73 [[ 6.50922847e-01 -7.59135671e-01 -3.53287243e-03 1.07935692e+02] [-7.59124836e-01 -6.50932432e-01 4.05609435e-03 -7.20503619e+01] [-5.37878715e-03 4.16867192e-05 -9.99985533e-01 7.31605734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.350888479 meters 0.015712740715527987 Centerline is valid? [True, True] Translation: X:107.99, Y:-72.15, Z:0.73 [[ 7.08119926e-01 -7.06085652e-01 -3.03697652e-03 1.07987297e+02] [-7.06079316e-01 -7.08126438e-01 2.99120010e-03 -7.21473722e+01] [-4.26260684e-03 2.62179141e-05 -9.99990915e-01 7.31322933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.380888479 meters 0.015513588247216697 Centerline is valid? [True, True] Translation: X:107.98, Y:-72.16, Z:0.73 [[ 7.61590758e-01 -6.48050990e-01 -3.07113959e-03 1.07982116e+02] [-6.48045835e-01 -7.61596950e-01 2.58474905e-03 -7.21552147e+01] [-4.01401972e-03 2.17182296e-05 -9.99991944e-01 7.31117646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.410888479 meters 0.015410652931606067 Centerline is valid? [True, True] Translation: X:107.98, Y:-72.16, Z:0.73 [[ 8.10323611e-01 -5.85973899e-01 -3.19938169e-03 1.07976828e+02] [-5.85969421e-01 -8.10329926e-01 2.29090084e-03 -7.21618274e+01] [-3.93496283e-03 1.83687958e-05 -9.99992258e-01 7.31585579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.440888479 meters 0.015323458435201234 Centerline is valid? [True, True] Translation: X:107.97, Y:-72.17, Z:0.73 [[ 8.53954372e-01 -5.20335655e-01 -3.56887689e-03 1.07973299e+02] [-5.20331195e-01 -8.53961829e-01 2.15443055e-03 -7.21671427e+01] [-4.16871166e-03 1.72125904e-05 -9.99991311e-01 7.31817146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47088847899997 meters 0.015222582159748704 Centerline is valid? [True, True] Translation: X:107.97, Y:-72.17, Z:0.73 [[ 8.92295578e-01 -4.51428588e-01 -4.56415221e-03 1.07969120e+02] [-4.51422789e-01 -8.92307251e-01 2.28827097e-03 -7.21748789e+01] [-5.10561705e-03 1.85482529e-05 -9.99986966e-01 7.31717390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50088847899997 meters 0.0151208008324435 Centerline is valid? [True, True] Translation: X:107.97, Y:-72.18, Z:0.73 [[ 9.25160497e-01 -3.79530460e-01 -5.88934866e-03 1.07965297e+02] [-3.79522899e-01 -9.25179242e-01 2.39574726e-03 -7.21806272e+01] [-6.35796219e-03 1.86919535e-05 -9.99979788e-01 7.32936466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53088847899997 meters 0.015054213652473503 Centerline is valid? [True, True] Translation: X:107.96, Y:-72.19, Z:0.73 [[ 9.52011685e-01 -3.05988184e-01 -6.70690638e-03 1.07962219e+02] [-3.05980741e-01 -9.52035310e-01 2.13442195e-03 -7.21891235e+01] [-7.03831958e-03 2.01895399e-05 -9.99975231e-01 7.32989023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56088847899997 meters 0.01503360282554015 Centerline is valid? [True, True] Translation: X:107.96, Y:-72.20, Z:0.73 [[ 9.73055413e-01 -2.30454772e-01 -7.33219869e-03 1.07959905e+02] [-2.30448388e-01 -9.73083037e-01 1.71547739e-03 -7.21970971e+01] [-7.53017812e-03 2.04388075e-05 -9.99971648e-01 7.33564096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59088847899997 meters 0.014982960037178422 Centerline is valid? [True, True] Translation: X:107.95, Y:-72.20, Z:0.73 [[ 9.87926073e-01 -1.54781370e-01 -6.69347242e-03 1.07953908e+02] [-1.54778000e-01 -9.87948747e-01 1.02184758e-03 -7.22022260e+01] [-6.77097066e-03 2.64924080e-05 -9.99977076e-01 7.33908694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62088847899997 meters 0.015010838927679314 Centerline is valid? [True, True] Translation: X:107.95, Y:-72.21, Z:0.73 [[ 9.96926134e-01 -7.80955228e-02 -6.27474214e-03 1.07949097e+02] [-7.80941767e-02 -9.96945880e-01 4.59630035e-04 -7.22068493e+01] [-6.29147338e-03 3.18036280e-05 -9.99980208e-01 7.33107516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65088847899997 meters 0.015142647286339761 Centerline is valid? [True, True] Translation: X:107.94, Y:-72.21, Z:0.73 [[ 9.99983060e-01 -1.57126906e-03 -5.60445619e-03 1.07944867e+02] [-1.57145642e-03 -9.99998765e-01 -2.90271832e-05 -7.22109344e+01] [-5.60440366e-03 3.78338501e-05 -9.99984295e-01 7.32946333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.68088847899998 meters 0.015738351623099302 Centerline is valid? [True, True] Translation: X:107.94, Y:-72.21, Z:0.73 [[ 9.97358953e-01 7.24676774e-02 -4.85330135e-03 1.07938716e+02] [ 7.24665593e-02 -9.97370760e-01 -4.06059865e-04 -7.22101101e+01] [-4.86996707e-03 5.32853915e-05 -9.99988140e-01 7.31853348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71088847899998 meters 0.015749532934754538 Centerline is valid? [True, True] Translation: X:107.93, Y:-72.22, Z:0.73 [[ 9.89032490e-01 1.47643092e-01 -4.03137313e-03 1.07934718e+02] [ 1.47641637e-01 -9.89040704e-01 -6.57777032e-04 -7.22202061e+01] [-4.08430836e-03 5.53643274e-05 -9.99991658e-01 7.31173912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74088847899998 meters 0.01698293154441688 Centerline is valid? [True, True] Translation: X:107.93, Y:-72.23, Z:0.73 [[ 9.75014462e-01 2.22111400e-01 -3.65034760e-03 1.07929767e+02] [ 2.22109611e-01 -9.75021293e-01 -8.93510491e-04 -7.22269749e+01] [-3.75762551e-03 6.04083633e-05 -9.99992938e-01 7.31679955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77088847899998 meters 0.01710432730155476 Centerline is valid? [True, True] Translation: X:107.93, Y:-72.23, Z:0.73 [[ 9.55209754e-01 2.95912570e-01 -3.17446700e-03 1.07926409e+02] [ 2.95910727e-01 -9.55215027e-01 -1.04622197e-03 -7.22333858e+01] [-3.34188881e-03 6.00025989e-05 -9.99994414e-01 7.31492163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80088847899998 meters 0.01741018604029028 Centerline is valid? [True, True] Translation: X:107.92, Y:-72.24, Z:0.73 [[ 9.30606775e-01 3.66015020e-01 -2.00894320e-03 1.07924416e+02] [ 3.66014058e-01 -9.30608942e-01 -8.40667836e-04 -7.22426779e+01] [-2.17723756e-03 4.70297308e-05 -9.99997629e-01 7.31175001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83088847899998 meters 0.01795431393458119 Centerline is valid? [True, True] Translation: X:107.92, Y:-72.25, Z:0.73 [[ 8.99799132e-01 4.36302950e-01 -1.12210780e-03 1.07921971e+02] [ 4.36302571e-01 -8.99799831e-01 -5.75470030e-04 -7.22521325e+01] [-1.26075168e-03 2.82289164e-05 -9.99999205e-01 7.31303807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86088847899998 meters 0.018100727138146432 Centerline is valid? [True, True] Translation: X:107.92, Y:-72.26, Z:0.73 [[ 8.63512207e-01 5.04327624e-01 -5.62620115e-04 1.07921802e+02] [ 5.04327506e-01 -8.63512390e-01 -3.45352919e-04 -7.22626017e+01] [-6.60000458e-04 1.44716616e-05 -9.99999782e-01 7.31105907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89088847899998 meters 0.01857623967438547 Centerline is valid? [True, True] Translation: X:107.92, Y:-72.27, Z:0.73 [[ 8.21835227e-01 5.69725228e-01 -1.56702622e-04 1.07919989e+02] [ 5.69725217e-01 -8.21835242e-01 -1.11914153e-04 -7.22725355e+01] [-1.92544054e-04 2.69755833e-06 -9.99999981e-01 7.30909482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92088847899998 meters 0.01847802516985819 Centerline is valid? [True, True] Translation: X:107.92, Y:-72.28, Z:0.73 [[ 7.74934848e-01 6.32040913e-01 -5.15331687e-04 1.07920290e+02] [ 6.32040760e-01 -7.74935019e-01 -4.40553628e-04 -7.22836339e+01] [-6.77796488e-04 1.56897277e-05 -9.99999770e-01 7.31726618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95088847899999 meters 0.018577754657727676 Centerline is valid? [True, True] Translation: X:107.92, Y:-72.29, Z:0.73 [[ 7.22625529e-01 6.91239102e-01 -9.20803642e-04 1.07919840e+02] [ 6.91238485e-01 -7.22626115e-01 -9.24534365e-04 -7.22947088e+01] [-1.30447106e-03 3.15972202e-05 -9.99999149e-01 7.32791758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.980888479 meters 0.01870210879085774 Centerline is valid? [True, True] Translation: X:107.92, Y:-72.31, Z:0.73 [[ 6.65722179e-01 7.46198532e-01 -1.31535515e-03 1.07919173e+02] [ 7.46196928e-01 -6.65723477e-01 -1.54797593e-03 -7.23051366e+01] [-2.03076017e-03 4.90079401e-05 -9.99997937e-01 7.33534722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010888479 meters 0.01787500038090451 Centerline is valid? [True, True] Translation: X:107.92, Y:-72.32, Z:0.73 [[ 6.03510577e-01 7.97353402e-01 -1.59239084e-03 1.07923161e+02] [ 7.97350359e-01 -6.03512674e-01 -2.20394503e-03 -7.23168582e+01] [-2.71835112e-03 6.04107295e-05 -9.99996303e-01 7.34502025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.040888479 meters 0.01750103920188093 Centerline is valid? [True, True] Translation: X:107.93, Y:-72.33, Z:0.74 [[ 5.38370622e-01 8.42707284e-01 -1.22775368e-03 1.07927954e+02] [ 8.42704879e-01 -5.38372019e-01 -2.01408059e-03 -7.23278641e+01] [-2.35826861e-03 4.96878044e-05 -9.99997218e-01 7.35104344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.070888479 meters 0.01759069914990206 Centerline is valid? [True, True] Translation: X:107.93, Y:-72.34, Z:0.74 [[ 4.69848333e-01 8.82746732e-01 -8.66360938e-04 1.07931947e+02] [ 8.82745079e-01 -4.69849131e-01 -1.70869661e-03 -7.23390051e+01] [-1.91540528e-03 3.80524001e-05 -9.99998165e-01 7.35968860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.100888479 meters 0.01755571554906621 Centerline is valid? [True, True] Translation: X:107.93, Y:-72.35, Z:0.74 [[ 3.97562803e-01 9.17574914e-01 -3.07897107e-04 1.07934929e+02] [ 9.17574613e-01 -3.97562922e-01 -7.43666565e-04 -7.23495227e+01] [-8.04778258e-04 1.31355948e-05 -9.99999676e-01 7.36394052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.130888479 meters 0.017319314201114877 Centerline is valid? [True, True] Translation: X:107.94, Y:-72.36, Z:0.74 [[ 3.23666571e-01 9.46171206e-01 -1.21398717e-05 1.07938896e+02] [ 9.46171205e-01 -3.23666572e-01 -3.02042336e-05 -7.23592727e+01] [-3.25076469e-05 -1.71029630e-06 -9.99999999e-01 7.35641950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.160888479 meters 0.017208897760250034 Centerline is valid? [True, True] Translation: X:107.94, Y:-72.37, Z:0.73 [[ 2.47818854e-01 9.68806361e-01 2.23099501e-04 1.07943395e+02] [ 9.68805895e-01 -2.47818954e-01 9.50809100e-04 -7.23687055e+01] [ 9.76438189e-04 -1.94883094e-05 -9.99999523e-01 7.34652284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.190888479 meters 0.017022246735382635 Centerline is valid? [True, True] Translation: X:107.95, Y:-72.38, Z:0.73 [[ 1.70282094e-01 9.85395303e-01 3.25768980e-04 1.07948694e+02] [ 9.85393049e-01 -1.70282402e-01 2.10783366e-03 -7.23774295e+01] [ 2.13252211e-03 -3.79158414e-05 -9.99997725e-01 7.33638519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22088847899997 meters 0.016734071054629738 Centerline is valid? [True, True] Translation: X:107.95, Y:-72.39, Z:0.73 [[ 8.99135517e-02 9.95949531e-01 2.89816602e-04 1.07954751e+02] [ 9.95942143e-01 -8.99140012e-02 3.83677895e-03 -7.23857381e+01] [ 3.84729677e-03 -5.63378558e-05 -9.99992598e-01 7.32413964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25088847899997 meters 0.016637840565628306 Centerline is valid? [True, True] Translation: X:107.96, Y:-72.40, Z:0.73 [[ 9.91671800e-03 9.99950828e-01 -1.22686406e-05 1.07960445e+02] [ 9.99942583e-01 -9.91658640e-03 4.06112588e-03 -7.23953841e+01] [ 4.06080452e-03 -5.25409763e-05 -9.99991754e-01 7.32406487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28088847899997 meters 0.016369558690363044 Centerline is valid? [True, True] Translation: X:107.97, Y:-72.40, Z:0.73 [[-6.98690932e-02 9.97556110e-01 -3.41292613e-04 1.07967510e+02] [ 9.97547345e-01 6.98699101e-02 4.18208398e-03 -7.24026969e+01] [ 4.19570952e-03 -4.82571242e-05 -9.99991197e-01 7.33082504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31088847899997 meters 0.016096174222775317 Centerline is valid? [True, True] Translation: X:107.98, Y:-72.41, Z:0.73 [[-1.49073571e-01 9.88825946e-01 -5.64052032e-04 1.07978852e+02] [ 9.88819764e-01 1.49074633e-01 3.49676761e-03 -7.24093483e+01] [ 3.54178039e-03 -3.64701641e-05 -9.99993727e-01 7.33951048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34088847899997 meters 0.01606535117793612 Centerline is valid? [True, True] Translation: X:107.99, Y:-72.42, Z:0.74 [[-2.27418388e-01 9.73796900e-01 -6.89485322e-04 1.07988202e+02] [ 9.73792770e-01 2.27419431e-01 2.83610543e-03 -7.24168179e+01] [ 2.91859303e-03 -2.64332985e-05 -9.99995741e-01 7.35581242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37088847899997 meters 0.016155507602836267 Centerline is valid? [True, True] Translation: X:108.00, Y:-72.42, Z:0.74 [[-3.03301322e-01 9.52894450e-01 -6.89030911e-04 1.07997002e+02] [ 9.52892139e-01 3.03302104e-01 2.09896694e-03 -7.24222272e+01] [ 2.20907848e-03 -1.99526891e-05 -9.99997560e-01 7.36574882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40088847899997 meters 0.016272498914859258 Centerline is valid? [True, True] Translation: X:108.01, Y:-72.43, Z:0.74 [[-3.76539770e-01 9.26400153e-01 -7.47784319e-04 1.08005631e+02] [ 9.26398424e-01 3.76540512e-01 1.78986188e-03 -7.24287436e+01] [ 1.93969941e-03 -1.87920343e-05 -9.99998119e-01 7.36710992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43088847899998 meters 0.01664602199386037 Centerline is valid? [True, True] Translation: X:108.01, Y:-72.44, Z:0.74 [[-4.46245656e-01 8.94909940e-01 -1.00702378e-03 1.08012811e+02] [ 8.94907788e-01 4.46246792e-01 1.96282754e-03 -7.24351577e+01] [ 2.20593501e-03 -2.52901635e-05 -9.99997567e-01 7.36648584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46088847899998 meters 0.016946086251787056 Centerline is valid? [True, True] Translation: X:108.02, Y:-72.44, Z:0.74 [[-5.13995087e-01 8.57792119e-01 -1.31563263e-03 1.08020724e+02] [ 8.57789464e-01 5.13996770e-01 2.13450162e-03 -7.24404544e+01] [ 2.50718958e-03 -3.14124624e-05 -9.99996857e-01 7.37246185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49088847899998 meters 0.017285077483865787 Centerline is valid? [True, True] Translation: X:108.03, Y:-72.45, Z:0.74 [[-5.78612900e-01 8.15600987e-01 -1.46336673e-03 1.08028689e+02] [ 8.15598527e-01 5.78614749e-01 2.00380415e-03 -7.24468296e+01] [ 2.48103021e-03 -3.40928181e-05 -9.99996922e-01 7.37714982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52088847899998 meters 0.017579632847612048 Centerline is valid? [True, True] Translation: X:108.04, Y:-72.45, Z:0.74 [[-6.39763742e-01 7.68570331e-01 -1.41459659e-03 1.08035870e+02] [ 7.68568565e-01 6.39765305e-01 1.64803118e-03 -7.24534642e+01] [ 2.17163769e-03 -3.28638758e-05 -9.99997641e-01 7.38285546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55088847899998 meters 0.017983380276998695 Centerline is valid? [True, True] Translation: X:108.04, Y:-72.46, Z:0.74 [[-6.96425610e-01 7.17626906e-01 -1.73030513e-03 1.08044433e+02] [ 7.17624840e-01 6.96427758e-01 1.72253957e-03 -7.24567060e+01] [ 2.44117326e-03 -4.20892731e-05 -9.99997019e-01 7.38868396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58088847899998 meters 0.017664867925335576 Centerline is valid? [True, True] Translation: X:108.07, Y:-72.44, Z:0.74 [[-7.44521712e-01 6.67595608e-01 -1.87720993e-03 1.08069344e+02] [ 6.67593640e-01 7.44524077e-01 1.62169017e-03 -7.24397813e+01] [ 2.48026123e-03 -4.58298679e-05 -9.99996923e-01 7.39368398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61088847899998 meters 0.017905043101650243 Centerline is valid? [True, True] Translation: X:108.09, Y:-72.42, Z:0.74 [[-7.89232041e-01 6.14092651e-01 -1.73235291e-03 1.08090793e+02] [ 6.14091289e-01 7.89233941e-01 1.29415086e-03 -7.24216500e+01] [ 2.16196024e-03 -4.24375086e-05 -9.99997662e-01 7.39809328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64088847899998 meters 0.01850873363664097 Centerline is valid? [True, True] Translation: X:108.12, Y:-72.41, Z:0.74 [[-8.29459239e-01 5.58564885e-01 -1.62487891e-03 1.08118196e+02] [ 5.58563912e-01 8.29460830e-01 1.04301859e-03 -7.24068964e+01] [ 1.93036697e-03 -4.24573157e-05 -9.99998136e-01 7.41129159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67088847899998 meters 0.01887020790253831 Centerline is valid? [True, True] Translation: X:108.13, Y:-72.38, Z:0.74 [[-8.66570513e-01 4.99052649e-01 -1.41381313e-03 1.08134390e+02] [ 4.99052054e-01 8.66571666e-01 7.71689802e-04 -7.23837973e+01] [ 1.61028424e-03 -3.68427186e-05 -9.99998703e-01 7.41275668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70088847899999 meters 0.018944613134475288 Centerline is valid? [True, True] Translation: X:108.15, Y:-72.36, Z:0.74 [[-8.99734181e-01 4.36436148e-01 -1.37567140e-03 1.08152568e+02] [ 4.36435696e-01 8.99735232e-01 6.28759002e-04 -7.23609159e+01] [ 1.51215318e-03 -3.46761399e-05 -9.99998856e-01 7.41840449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.730888479 meters 0.01851697333669805 Centerline is valid? [True, True] Translation: X:108.17, Y:-72.33, Z:0.74 [[-9.28779796e-01 3.70631754e-01 4.40612456e-04 1.08171133e+02] [ 3.70631716e-01 9.28779900e-01 -1.67526055e-04 -7.23348914e+01] [-4.71322469e-04 7.71013489e-06 -9.99999889e-01 7.43325604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.760888479 meters 0.01845770341835477 Centerline is valid? [True, True] Translation: X:108.18, Y:-72.31, Z:0.74 [[-9.53072945e-01 3.02737736e-01 1.35123698e-03 1.08182888e+02] [ 3.02737469e-01 9.53073902e-01 -4.02703770e-04 -7.23079751e+01] [-1.40974233e-03 2.52639963e-05 -9.99999006e-01 7.44203602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790888479 meters 0.018473471764411328 Centerline is valid? [True, True] Translation: X:108.43, Y:-71.51, Z:-0.16 [[-9.43686094e-01 -3.30834615e-01 2.23923221e-03 1.08428500e+02] [ 3.30833726e-01 -9.43688750e-01 -7.67200315e-04 -7.15076547e+01] [ 2.36695467e-03 1.68172679e-05 9.99997199e-01 -1.58760204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.820888479 meters 0.01824792037539375 Centerline is valid? [True, True] Translation: X:108.14, Y:-72.29, Z:0.75 [[-9.54806528e-01 2.97214379e-01 2.84731051e-03 1.08136008e+02] [ 2.97213211e-01 9.54810772e-01 -8.34624370e-04 -7.22920555e+01] [-2.96670511e-03 4.93535027e-05 -9.99995598e-01 7.45434172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.850888479 meters 0.01814347628356208 Centerline is valid? [True, True] Translation: X:108.14, Y:-72.26, Z:0.75 [[-9.73723343e-01 2.27714803e-01 2.96975909e-03 1.08140277e+02] [ 2.27713892e-01 9.73727871e-01 -6.45836441e-04 -7.22630751e+01] [-3.03880371e-03 4.73893811e-05 -9.99995382e-01 7.45283682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.880888479 meters 0.01790173749137816 Centerline is valid? [True, True] Translation: X:108.34, Y:-71.46, Z:-0.16 [[-9.65090811e-01 -2.61903747e-01 2.48077720e-03 1.08335317e+02] [ 2.61902697e-01 -9.65093997e-01 -7.44591365e-04 -7.14566595e+01] [ 2.58919445e-03 -6.88760445e-05 9.99996646e-01 -1.58510266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.910888479 meters 0.01738204880656547 Centerline is valid? [True, True] Translation: X:108.09, Y:-72.25, Z:0.74 [[-9.75105515e-01 2.21736129e-01 1.52469242e-03 1.08094882e+02] [ 2.21735889e-01 9.75106706e-01 -3.26215826e-04 -7.22497124e+01] [-1.55907164e-03 1.99841790e-05 -9.99998784e-01 7.43474162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.940888479 meters 0.01747980992946482 Centerline is valid? [True, True] Translation: X:108.10, Y:-72.22, Z:0.74 [[-9.88517916e-01 1.51100290e-01 1.01590774e-03 1.08102318e+02] [ 1.51100223e-01 9.88518438e-01 -1.43668256e-04 -7.22229603e+01] [-1.02595185e-03 1.14852411e-05 -9.99999474e-01 7.42474908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97088847899997 meters 0.017105734836069586 Centerline is valid? [True, True] Translation: X:108.11, Y:-72.19, Z:0.74 [[-9.96824271e-01 7.96310253e-02 5.22889520e-04 1.08113831e+02] [ 7.96310166e-02 9.96824408e-01 -3.73996411e-05 -7.21942436e+01] [-5.24207208e-04 4.35735417e-06 -9.99999863e-01 7.41762027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00088847899997 meters 0.017020169036289286 Centerline is valid? [True, True] Translation: X:108.11, Y:-72.17, Z:0.74 [[-9.99969786e-01 7.74852521e-03 6.22197523e-04 1.08111768e+02] [ 7.74852685e-03 9.99969980e-01 2.29318932e-07 -7.21653545e+01] [-6.22177067e-04 5.05042620e-06 -9.99999806e-01 7.41240953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03088847899997 meters 0.016788332647857805 Centerline is valid? [True, True] Translation: X:108.11, Y:-72.13, Z:0.74 [[-9.97838761e-01 -6.56982044e-02 1.24644847e-03 1.08109375e+02] [-6.56981413e-02 9.97839539e-01 9.15454320e-05 -7.21347755e+01] [-1.24976994e-03 9.45823254e-06 -9.99999219e-01 7.41578477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06088847899997 meters 0.016633099784545847 Centerline is valid? [True, True] Translation: X:108.05, Y:-71.32, Z:-0.16 [[-9.99876340e-01 1.56470336e-02 1.57302427e-03 1.08053433e+02] [-1.56469993e-02 -9.99877578e-01 3.41244762e-05 -7.13249135e+01] [ 1.57336564e-03 9.50714683e-06 9.99998762e-01 -1.55580805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09088847899997 meters 0.016458191054350087 Centerline is valid? [True, True] Translation: X:108.00, Y:-72.14, Z:0.74 [[-9.97210647e-01 -7.45842427e-02 2.84873675e-03 1.08000862e+02] [-7.45838897e-02 9.97214716e-01 2.30126632e-04 -7.21389560e+01] [-2.85796603e-03 1.70148604e-05 -9.99995916e-01 7.42523611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12088847899997 meters 0.016325731473832632 Centerline is valid? [True, True] Translation: X:107.99, Y:-72.11, Z:0.74 [[-9.88981517e-01 -1.47956274e-01 4.94977052e-03 1.07994627e+02] [-1.47954323e-01 9.88993903e-01 7.60195256e-04 -7.21102634e+01] [-5.00776853e-03 1.94791126e-05 -9.99987461e-01 7.43193245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15088847899997 meters 0.016325731473832632 Centerline is valid? [True, True] Translation: X:107.86, Y:-71.32, Z:-0.16 [[-9.95981212e-01 8.94266993e-02 4.92846995e-03 1.07860556e+02] [-8.94257203e-02 -9.95993406e-01 4.19094679e-04 -7.13164508e+01] [ 4.94620182e-03 -2.33215482e-05 9.99987767e-01 -1.56716060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18088847899998 meters 0.016244819458084595 Centerline is valid? [True, True] Translation: X:107.86, Y:-72.13, Z:0.74 [[-9.87794394e-01 -1.55655214e-01 5.80417613e-03 1.07861046e+02] [-1.55652420e-01 9.87811447e-01 9.32865200e-04 -7.21290661e+01] [-5.87863695e-03 1.80449555e-05 -9.99982721e-01 7.43436668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21088847899998 meters 0.016090612854465395 Centerline is valid? [True, True] Translation: X:107.83, Y:-72.11, Z:0.74 [[-9.73874489e-01 -2.27013326e-01 5.78176812e-03 1.07830989e+02] [-2.27009248e-01 9.73891652e-01 1.36076467e-03 -7.21062414e+01] [-5.93972742e-03 1.26991721e-05 -9.99982360e-01 7.43126472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24088847899998 meters 0.016064485204834302 Centerline is valid? [True, True] Translation: X:107.78, Y:-72.09, Z:0.74 [[-9.54635306e-01 -2.97715621e-01 6.06972075e-03 1.07784133e+02] [-2.97709542e-01 9.54654602e-01 1.90250338e-03 -7.20900872e+01] [-6.36089182e-03 9.18310729e-06 -9.99979769e-01 7.42491608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27088847899998 meters 0.015930094608774124 Centerline is valid? [True, True] Translation: X:107.73, Y:-72.08, Z:0.74 [[-9.29679369e-01 -3.68338529e-01 4.79576256e-03 1.07730757e+02] [-3.68333622e-01 9.29691738e-01 1.90140083e-03 -7.20786537e+01] [-5.15894001e-03 1.25253623e-06 -9.99986693e-01 7.40019691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30088847899998 meters 0.01589041991706064 Centerline is valid? [True, True] Translation: X:107.66, Y:-72.08, Z:0.74 [[-8.99684223e-01 -4.36519212e-01 4.39044017e-03 1.07662731e+02] [-4.36514012e-01 8.99694936e-01 2.13079857e-03 -7.20778519e+01] [-4.88019130e-03 5.57207874e-07 -9.99988092e-01 7.39499580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33088847899998 meters 0.015866510776433054 Centerline is valid? [True, True] Translation: X:107.57, Y:-72.09, Z:0.74 [[-8.64510964e-01 -5.02596097e-01 4.23761449e-03 1.07572620e+02] [-5.02590066e-01 8.64521349e-01 2.46204693e-03 -7.20943807e+01] [-4.90092337e-03 -1.31638316e-06 -9.99987990e-01 7.38389411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36088847899998 meters 0.01589355436107204 Centerline is valid? [True, True] Translation: X:107.51, Y:-72.10, Z:0.74 [[-8.23716592e-01 -5.66984013e-01 4.48379939e-03 1.07508747e+02] [-5.66975640e-01 8.23728796e-01 3.08125658e-03 -7.21019550e+01] [-5.44045789e-03 -4.12285712e-06 -9.99985201e-01 7.38177013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39088847899998 meters 0.015851800329403528 Centerline is valid? [True, True] Translation: X:107.42, Y:-72.13, Z:0.74 [[-7.78442065e-01 -6.27701594e-01 4.31967510e-03 1.07420139e+02] [-6.27691967e-01 7.78454051e-01 3.47644663e-03 -7.21332526e+01] [-5.54483967e-03 -5.21306547e-06 -9.99984627e-01 7.38188099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42088847899998 meters 0.015816217902260368 Centerline is valid? [True, True] Translation: X:107.33, Y:-72.18, Z:0.74 [[-7.28448128e-01 -6.85084134e-01 4.80152536e-03 1.07329731e+02] [-6.85069313e-01 7.28463952e-01 4.50623995e-03 -7.21751989e+01] [-6.58489163e-03 -6.81562087e-06 -9.99978319e-01 7.38067005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45088847899999 meters 0.015828303599303057 Centerline is valid? [True, True] Translation: X:107.24, Y:-72.23, Z:0.74 [[-6.74073219e-01 -7.38649939e-01 4.64363020e-03 1.07237476e+02] [-7.38632495e-01 6.74089213e-01 5.07638729e-03 -7.22297263e+01] [-6.87989419e-03 -8.07944571e-06 -9.99976333e-01 7.37939552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.480888479 meters 0.015907139000049662 Centerline is valid? [True, True] Translation: X:107.15, Y:-72.29, Z:0.74 [[-6.16036831e-01 -7.87704847e-01 4.43808349e-03 1.07152355e+02] [-7.87684460e-01 6.16052817e-01 5.66724466e-03 -7.22883263e+01] [-7.19820992e-03 -4.57796119e-06 -9.99974093e-01 7.37539731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510888479 meters 0.015804162154594976 Centerline is valid? [True, True] Translation: X:107.06, Y:-72.36, Z:0.74 [[-5.54659537e-01 -8.32066341e-01 4.28974495e-03 1.07064967e+02] [-8.32041417e-01 5.54676126e-01 6.44014845e-03 -7.23620244e+01] [-7.73804987e-03 2.84429133e-06 -9.99970061e-01 7.37942733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.540888479 meters 0.01588209934626133 Centerline is valid? [True, True] Translation: X:106.99, Y:-72.44, Z:0.74 [[-4.89963801e-01 -8.71732749e-01 4.18192248e-03 1.06985775e+02] [-8.71700788e-01 4.89981648e-01 7.46469503e-03 -7.24391672e+01] [-8.55628438e-03 1.20452315e-05 -9.99963394e-01 7.38826377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.570888479 meters 0.016093080026440797 Centerline is valid? [True, True] Translation: X:106.91, Y:-72.53, Z:0.74 [[-4.22518531e-01 -9.06344870e-01 4.13115713e-03 1.06911177e+02] [-9.06300942e-01 4.22538726e-01 8.92346371e-03 -7.25263058e+01] [-9.83330943e-03 2.62571853e-05 -9.99951652e-01 7.39862527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.600888479 meters 0.016286680682197466 Centerline is valid? [True, True] Translation: X:106.84, Y:-72.63, Z:0.74 [[-3.54077459e-01 -9.35208170e-01 3.85116711e-03 1.06842750e+02] [-9.35150952e-01 3.54098397e-01 1.03452045e-02 -7.26257112e+01] [-1.10386118e-02 6.15811237e-05 -9.99939071e-01 7.41134701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.630888479 meters 0.016524626962481807 Centerline is valid? [True, True] Translation: X:106.77, Y:-72.75, Z:0.74 [[-2.82328513e-01 -9.59312410e-01 3.21117114e-03 1.06774144e+02] [-9.59246992e-01 2.82346762e-01 1.12032902e-02 -7.27519653e+01] [-1.16541191e-02 8.27020038e-05 -9.99932085e-01 7.41248446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.660888479 meters 0.016900770055273243 Centerline is valid? [True, True] Translation: X:106.72, Y:-72.87, Z:0.74 [[-2.08724681e-01 -9.77971667e-01 2.32946126e-03 1.06719124e+02] [-9.77905358e-01 2.08737656e-01 1.13886941e-02 -7.28720536e+01] [-1.16240664e-02 9.91088831e-05 -9.99932433e-01 7.41326154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.690888479 meters 0.017666800573229346 Centerline is valid? [True, True] Translation: X:106.67, Y:-73.05, Z:0.74 [[-1.35756562e-01 -9.90741238e-01 1.39829745e-03 1.06667909e+02] [-9.90678185e-01 1.35763699e-01 1.11781674e-02 -7.30461284e+01] [-1.12645094e-02 1.32246796e-04 -9.99936545e-01 7.40903622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72088847899997 meters 0.018109193048224864 Centerline is valid? [True, True] Translation: X:106.63, Y:-73.17, Z:0.74 [[-5.97755269e-02 -9.98211712e-01 5.14013573e-04 1.06633124e+02] [-9.98151238e-01 5.97775640e-02 1.09886014e-02 -7.31700113e+01] [-1.09996771e-02 1.43786156e-04 -9.99939491e-01 7.40635786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75088847899997 meters 0.01816200867822368 Centerline is valid? [True, True] Translation: X:106.61, Y:-73.29, Z:0.74 [[ 1.72018517e-02 -9.99851986e-01 -3.18569896e-04 1.06607954e+02] [-9.99799438e-01 -1.72042140e-02 1.02518066e-02 -7.32878902e+01] [-1.02557699e-02 1.42155946e-04 -9.99947398e-01 7.39869728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78088847899997 meters 0.018733118001059743 Centerline is valid? [True, True] Translation: X:106.59, Y:-73.42, Z:0.74 [[ 9.42766416e-02 -9.95545596e-01 -9.38536771e-04 1.06594931e+02] [-9.95508553e-01 -9.42812308e-02 8.58893316e-03 -7.34237221e+01] [-8.63916099e-03 1.24585609e-04 -9.99962674e-01 7.38732765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81088847899997 meters 0.01890337090512997 Centerline is valid? [True, True] Translation: X:106.59, Y:-73.55, Z:0.74 [[ 1.71479788e-01 -9.85186790e-01 -1.29254992e-03 1.06590073e+02] [-9.85163024e-01 -1.71484631e-01 6.84377309e-03 -7.35536821e+01] [-6.96404729e-03 9.98036319e-05 -9.99975746e-01 7.37755087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84088847899997 meters 0.018416138042496137 Centerline is valid? [True, True] Translation: X:106.59, Y:-73.68, Z:0.74 [[ 2.47718462e-01 -9.68830850e-01 -1.53224729e-03 1.06591860e+02] [-9.68814332e-01 -2.47723187e-01 5.65790187e-03 -7.36766952e+01] [-5.86112305e-03 8.28963833e-05 -9.99982820e-01 7.36851178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87088847899997 meters 0.01866901426276641 Centerline is valid? [True, True] Translation: X:106.62, Y:-73.83, Z:0.74 [[ 3.22454089e-01 -9.46584341e-01 -1.20265990e-03 1.06615152e+02] [-9.46578313e-01 -3.22456328e-01 3.37850330e-03 -7.38337812e+01] [-3.58584361e-03 4.89995793e-05 -9.99993570e-01 7.37619313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90088847899997 meters 0.01866835877890965 Centerline is valid? [True, True] Translation: X:106.63, Y:-73.93, Z:0.74 [[ 3.95588920e-01 -9.18426765e-01 -1.29731786e-03 1.06628932e+02] [-9.18422169e-01 -3.95591045e-01 2.90582716e-03 -7.39327332e+01] [-3.18199677e-03 4.19724536e-05 -9.99994937e-01 7.38198868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93088847899998 meters 0.019005207741099973 Centerline is valid? [True, True] Translation: X:106.66, Y:-74.05, Z:0.74 [[ 4.66057988e-01 -8.84753135e-01 -1.35724972e-03 1.06663092e+02] [-8.84749609e-01 -4.66059963e-01 2.49815437e-03 -7.40531989e+01] [-2.84280967e-03 3.65413565e-05 -9.99995959e-01 7.38807832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96088847899998 meters 0.019076247072217462 Centerline is valid? [True, True] Translation: X:106.70, Y:-74.16, Z:0.74 [[ 5.34098935e-01 -8.45421236e-01 -1.12310173e-03 1.06700620e+02] [-8.45419462e-01 -5.34100115e-01 1.73227103e-03 -7.41602896e+01] [-2.06434748e-03 2.42879525e-05 -9.99997869e-01 7.39142884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99088847899998 meters 0.01912146175162734 Centerline is valid? [True, True] Translation: X:106.71, Y:-74.22, Z:0.74 [[ 5.99482366e-01 -8.00387614e-01 7.48672603e-04 1.06710470e+02] [-8.00387023e-01 -5.99482833e-01 -9.72884152e-04 -7.42189515e+01] [ 1.22750080e-03 -1.60009426e-05 -9.99999247e-01 7.39274589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02088847899998 meters 0.019403101821132446 Centerline is valid? [True, True] Translation: X:106.75, Y:-74.31, Z:0.74 [[ 6.60313751e-01 -7.50987152e-01 2.01205434e-03 1.06753710e+02] [-7.50983819e-01 -6.60316815e-01 -2.23758976e-03 -7.43093192e+01] [ 3.00899448e-03 -3.35089724e-05 -9.99995472e-01 7.39433693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05088847899998 meters 0.019762491441199213 Centerline is valid? [True, True] Translation: X:106.81, Y:-74.41, Z:0.74 [[ 7.17054777e-01 -6.97006768e-01 3.74319939e-03 1.06813075e+02] [-6.96997639e-01 -7.17064546e-01 -3.56767215e-03 -7.44059973e+01] [ 5.17080721e-03 -5.07847819e-05 -9.99986630e-01 7.39819839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08088847899998 meters 0.0205059331384686 Centerline is valid? [True, True] Translation: X:106.81, Y:-74.40, Z:0.74 [[ 7.70579127e-01 -6.37307578e-01 6.84536732e-03 1.06812817e+02] [-6.37283214e-01 -7.70609529e-01 -5.57312197e-03 -7.44030640e+01] [ 8.82689815e-03 -6.79062214e-05 -9.99961040e-01 7.39917655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11088847899998 meters 0.02076887617485875 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.40, Z:0.74 [[ 8.18971004e-01 -5.73769941e-01 8.63421719e-03 1.06815056e+02] [-5.73738866e-01 -8.19016515e-01 -5.97178961e-03 -7.43995419e+01] [ 1.04979998e-02 -6.30634516e-05 -9.99944893e-01 7.40177197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14088847899998 meters 0.021249899957571317 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.39, Z:0.74 [[ 8.62053329e-01 -5.06705834e-01 1.06421313e-02 1.06817390e+02] [-5.06668013e-01 -8.62119014e-01 -6.19107498e-03 -7.43934461e+01] [ 1.23118375e-02 -5.49907118e-05 -9.99924205e-01 7.39232492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17088847899998 meters 0.02156314354691831 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.39, Z:0.74 [[ 8.99638507e-01 -4.36462302e-01 1.22969818e-02 1.06821110e+02] [-4.36422157e-01 -8.99722545e-01 -5.91978853e-03 -7.43869163e+01] [ 1.36476363e-02 -4.10055953e-05 -9.99906866e-01 7.39231736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20088847899999 meters 0.02226066476806477 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.39, Z:0.74 [[ 9.31770197e-01 -3.62719332e-01 1.54592139e-02 1.06821451e+02] [-3.62669645e-01 -9.31898431e-01 -6.00351971e-03 -7.43863567e+01] [ 1.65840098e-02 -1.26868764e-05 -9.99862476e-01 7.40575256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.230888479 meters 0.022866424940433925 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.38, Z:0.74 [[ 9.57434314e-01 -2.88163394e-01 1.67747755e-02 1.06822505e+02] [-2.88119210e-01 -9.57581254e-01 -5.04602497e-03 -7.43849074e+01] [ 1.75172902e-02 -1.89761259e-06 -9.99846561e-01 7.41253749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.260888479 meters 0.023447356391545642 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.38, Z:0.74 [[ 9.77061054e-01 -2.12209164e-01 1.78596619e-02 1.06824215e+02] [-2.12173679e-01 -9.77224268e-01 -3.88065629e-03 -7.43812309e+01] [ 1.82764058e-02 2.28796417e-06 -9.99832973e-01 7.41286067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290888479 meters 0.02356362429240694 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.38, Z:0.74 [[ 9.90608072e-01 -1.35446201e-01 1.87075865e-02 1.06824511e+02] [-1.35422148e-01 -9.90784703e-01 -2.55245698e-03 -7.43784455e+01] [ 1.88809111e-02 -4.93706773e-06 -9.99821740e-01 7.44828231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.320888479 meters 0.02445482472053219 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.38, Z:0.75 [[ 9.98002567e-01 -6.02741313e-02 1.89183824e-02 1.06822263e+02] [-6.02643980e-02 -9.98181860e-01 -1.08468883e-03 -7.43764967e+01] [ 1.89493648e-02 -5.75826857e-05 -9.99820443e-01 7.46863259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.350888479 meters 0.025057818052672536 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.37, Z:0.75 [[ 9.99681736e-01 1.54711839e-02 1.99265912e-02 1.06820024e+02] [ 1.54658889e-02 -9.99880308e-01 4.19814899e-04 -7.43654092e+01] [ 1.99307012e-02 -1.11498841e-04 -9.99801358e-01 7.47793610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.380888479 meters 0.025720543362114802 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.36, Z:0.75 [[ 9.95677199e-01 9.05066728e-02 2.08675998e-02 1.06818584e+02] [ 9.04829057e-02 -9.95895832e-01 2.08227158e-03 -7.43558563e+01] [ 2.09704152e-02 -1.85109267e-04 -9.99780080e-01 7.49765030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.410888479 meters 0.029252085938918766 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.34, Z:0.75 [[ 9.86890019e-01 1.59651152e-01 2.36558607e-02 1.06815166e+02] [ 1.59595109e-01 -9.87173406e-01 4.25061155e-03 -7.43444420e+01] [ 2.40310516e-02 -4.19526457e-04 -9.99711125e-01 7.48767810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.440888479 meters 0.02916076529499742 Centerline is valid? [True, True] Translation: X:106.81, Y:-74.34, Z:0.76 [[ 9.72388851e-01 2.31823294e-01 2.67933243e-02 1.06814481e+02] [ 2.31717910e-01 -9.72757721e-01 7.01618147e-03 -7.43437424e+01] [ 2.76899274e-02 -6.13963530e-04 -9.99616372e-01 7.55062539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47088847899997 meters 0.03160703501895191 Centerline is valid? [True, True] Translation: X:106.81, Y:-74.35, Z:0.75 [[ 9.52576035e-01 3.03033383e-01 2.77428769e-02 1.06814591e+02] [ 3.02880980e-01 -9.52979621e-01 9.64123537e-03 -7.43491163e+01] [ 2.93600125e-02 -7.81220021e-04 -9.99568597e-01 7.53418493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50088847899997 meters 0.036905239805576785 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.35, Z:0.75 [[ 9.28374479e-01 3.70419162e-01 3.01740099e-02 1.06815302e+02] [ 3.70184936e-01 -9.28864056e-01 1.32165884e-02 -7.43530958e+01] [ 3.29232308e-02 -1.09997942e-03 -9.99457278e-01 7.52202003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53088847899997 meters 0.0380841807083787 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.36, Z:0.76 [[ 8.97666027e-01 4.39635648e-01 3.02688149e-02 1.06819130e+02] [ 4.39339154e-01 -8.98175356e-01 1.61906737e-02 -7.43610704e+01] [ 3.43047010e-02 -1.23554222e-03 -9.99410657e-01 7.55026530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56088847899997 meters 0.04164892410790534 Centerline is valid? [True, True] Translation: X:106.82, Y:-74.36, Z:0.75 [[ 8.61506422e-01 5.06817065e-01 3.07106887e-02 1.06819492e+02] [ 5.06437296e-01 -8.62052512e-01 1.96654953e-02 -7.43625806e+01] [ 3.64410350e-02 -1.38891238e-03 -9.99334840e-01 7.51921417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59088847899997 meters 0.043325676982749604 Centerline is valid? [True, True] Translation: X:106.83, Y:-74.37, Z:0.75 [[ 8.19871494e-01 5.71724608e-01 3.06872311e-02 1.06825340e+02] [ 5.71254559e-01 -8.20444197e-01 2.32281764e-02 -7.43688556e+01] [ 3.84572808e-02 -1.51389904e-03 -9.99259098e-01 7.54213269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62088847899997 meters 0.052845830562793246 Centerline is valid? [True, True] Translation: X:106.83, Y:-74.37, Z:0.75 [[ 7.72789430e-01 6.33983505e-01 2.93498239e-02 1.06830604e+02] [ 6.33449226e-01 -7.73345008e-01 2.60686952e-02 -7.43746599e+01] [ 3.92246625e-02 -1.55398887e-03 -9.99229208e-01 7.53130847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65088847899997 meters 0.05950559422911727 Centerline is valid? [True, True] Translation: X:106.83, Y:-74.37, Z:0.75 [[ 7.20518613e-01 6.92873863e-01 2.79058998e-02 1.06831073e+02] [ 6.92268460e-01 -7.21057087e-01 2.90009799e-02 -7.43736835e+01] [ 4.02157678e-02 -1.57737150e-03 -9.99189774e-01 7.52523986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68088847899998 meters 0.06151666016900337 Centerline is valid? [True, True] Translation: X:106.83, Y:-74.37, Z:0.75 [[ 6.62114118e-01 7.48973801e-01 2.53601970e-02 1.06830439e+02] [ 7.48338894e-01 -6.62598004e-01 3.08672120e-02 -7.43722654e+01] [ 3.99223490e-02 -1.45959506e-03 -9.99201719e-01 7.53052064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71088847899998 meters 0.07346733201758929 Centerline is valid? [True, True] Translation: X:106.83, Y:-74.37, Z:0.76 [[ 5.98400031e-01 8.00883504e-01 2.24279957e-02 1.06834144e+02] [ 8.00239646e-01 -5.98818814e-01 3.21331025e-02 -7.43729319e+01] [ 3.91651776e-02 -1.28067817e-03 -9.99231929e-01 7.55079908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74088847899998 meters 0.07614561001334959 Centerline is valid? [True, True] Translation: X:106.84, Y:-74.37, Z:0.76 [[ 5.32348200e-01 8.46285967e-01 2.01359496e-02 1.06836245e+02] [ 8.45591873e-01 -5.32727468e-01 3.42903574e-02 -7.43704532e+01] [ 3.97464217e-02 -1.22761472e-03 -9.99209045e-01 7.63677154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77088847899998 meters 0.08101397666129562 Centerline is valid? [True, True] Translation: X:106.85, Y:-74.37, Z:0.76 [[ 4.62843919e-01 8.86276700e-01 1.70034734e-02 1.06845568e+02] [ 8.85587323e-01 -4.63154771e-01 3.49678594e-02 -7.43718647e+01] [ 3.88664388e-02 -1.12660055e-03 -9.99243779e-01 7.59816880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80088847899998 meters 0.08847526537105295 Centerline is valid? [True, True] Translation: X:106.87, Y:-74.38, Z:0.77 [[ 3.89687268e-01 9.20838547e-01 1.41493370e-02 1.06873727e+02] [ 9.20134098e-01 -3.89942727e-01 3.60265359e-02 -7.43783764e+01] [ 3.86920540e-02 -1.01979486e-03 -9.99250662e-01 7.69548561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83088847899998 meters 0.09484135436029965 Centerline is valid? [True, True] Translation: X:106.89, Y:-74.38, Z:0.77 [[ 3.15391025e-01 9.48892337e-01 1.14819074e-02 1.06887512e+02] [ 9.48144716e-01 -3.15598387e-01 3.76729999e-02 -7.43778766e+01] [ 3.93712924e-02 -9.95216200e-04 -9.99224154e-01 7.66389277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86088847899998 meters 0.0965163523523235 Centerline is valid? [True, True] Translation: X:106.90, Y:-74.38, Z:0.77 [[ 2.38822409e-01 9.71023702e-01 8.76509069e-03 1.06901621e+02] [ 9.70213510e-01 -2.38981231e-01 3.96700992e-02 -7.43755932e+01] [ 4.06152988e-02 -9.70099249e-04 -9.99174387e-01 7.67813099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89088847899998 meters 0.10441936285619988 Centerline is valid? [True, False] Translation: X:106.70, Y:-75.76, Z:-1.34 [[ 9.96820453e-01 6.99912739e-02 -3.80815730e-02 1.06696540e+02] [-5.40484102e-02 9.45104175e-01 3.22268317e-01 -7.57561688e+01] [ 5.85470237e-02 -3.19185402e-01 9.45882089e-01 -1.34377803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2627.17 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%| | 0/5797 [00:00